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diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00020/resolved_config.yaml b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00020/resolved_config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..0cc0153b5cdf9dcd0b1fe656c3133428353c02f1 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00020/resolved_config.yaml @@ -0,0 +1,232 @@ +name: fast_2beaker_dual_target_s03_psl_brq_00020 +task_type: workflow +controller_type: workflow +mode: collect +usd_path: sim_resources/chemistry_lab/lab_003/lab_003.usd +max_episodes: 100 +infer: + type: local + obs_names: + camera_1_rgb: camera_1_rgb + camera_2_rgb: camera_2_rgb + policy_model_path: '' + policy_config_path: '' + normalizer_path: '' + host: 127.0.0.1 + port: 8000 + n_obs_steps: 1 + timeout: 30 + max_retries: 3 +task: + max_steps: 14000 +workflow: + table_prim_path: /World/table + language_instruction: Pick up beaker b from home. Shake the current contents of + beaker b once. Place beaker b at heater platform. + layout_id: layout_00020 + reproducibility: + enabled: true + layout_id: layout_00020 + action_seed: 5991770722474229261 + step_seeds: + - 3028738977928516977 + - 5597848014300184368 + - 589239366799290088 + strict_task_state: false + allow_physical_randomization: true + verify_action_trace: false + scene_objects: + - name: beaker_a + path: /World/beaker_2 + position_range: + x: + - 0.2173 + - 0.2173 + 'y': + - -0.0872 + - -0.0872 + z: + - 0.0 + - 0.0 + role: source + - name: beaker_b + path: /World/target_beaker + position_range: + x: + - 0.3384 + - 0.3384 + 'y': + - 0.0853 + - 0.0853 + z: + - 0.0 + - 0.0 + role: source + - name: inspection_platform + path: /World/target_plat + position_range: + x: + - 0.3546 + - 0.3546 + 'y': + - 0.2356 + - 0.2356 + z: + - 0.0 + - 0.0 + role: placement_target + - name: heat_device + path: /World/heat_device + position_range: + x: + - 0.2464 + - 0.2464 + 'y': + - -0.3357 + - -0.3357 + z: + - 0.0 + - 0.0 + - name: heater_platform + path: /World/heat_device/heat_device/heat_device/plat + parent_object: heat_device + role: placement_target + steps: + - skill: pick + target_object: beaker_b + params: + end_effector_euler: + - 0 + - 90 + - 30 + events_dt: + - 0.004 + - 0.004 + - 0.01 + - 0.04 + - 0.04 + - 0.006 + - 0.04 + pre_offset_x: 0.05 + pre_offset_z: 0.05 + after_offset_z: 0.3 + gripper_distances: 0.019 + reset_at_center: false + require_phase_convergence: false + lock_target_position: true + position_only: false + gripper_control_mode: position + gripper_control_params: + smooth_close: true + - skill: shake + target_object: beaker_b + params: + end_effector_euler: + - 0 + - 90 + - 30 + shake_distance: 0.08 + shake_center_offset_z: 0.0 + fallback_height_offset: 0.23 + events_dt: + - 0.04 + - 0.018 + - 0.036 + - 0.036 + - 0.036 + - 0.036 + - 0.036 + - 0.036 + - 0.036 + - 0.015 + position_only: true + position_threshold: 0.04 + - skill: place + target_object: heater_platform + params: + end_effector_euler: + - 0 + - 90 + - 30 + events_dt: + - 0.005 + - 0.01 + - 0.08 + - 0.02 + - 0.01 + - 0.1 + pre_place_z: 0.2 + place_offset_z: 0.05 + target_z_offset: 0.045 + retreat_height: 0.15 + retreat_xy: 0.15 + keep_gripper_closed_until_release: true + release_gripper_control_mode: position + release_gripper_position_gap: 0.04 + recreate_motion_controllers_on_reset: true +cameras: +- prim_path: /World/Camera1 + name: camera_1 + translation: + - 2.129903 + - 0.0 + - 2.075001 + resolution: + - 512 + - 512 + focal_length: 3.5 + orientation: + - 0.61237 + - 0.35355 + - 0.35355 + - 0.61237 + image_type: rgb +- prim_path: /World/Camera2 + name: camera_2 + translation: + - 0.1 + - 0.0 + - 2.65 + resolution: + - 512 + - 512 + focal_length: 2.825 + orientation: + - 0.70711 + - 0 + - 0 + - -0.70711 + image_type: rgb +- prim_path: /World/Camera3 + name: camera_3 + translation: + - 0.2 + - -3.01678 + - 1.16281 + resolution: + - 512 + - 512 + focal_length: 4 + orientation: + - 0.7681 + - 0.63858 + - -0.03028 + - -0.03642 + image_type: rgb + track_end_effector: true +robot: + type: ur5e + position: + - -0.27 + - 0.0 + - 0.71 +collector: + type: default + compression: gzip +multi_run: + run_dir: outputs/ur5e_collection_100_randomized_full_scene_c2wide_20260830/runs/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00020 +motion_controller: ik_servo +max_consecutive_failures: 20 +video: + playback_speed: 1 + render_every_n_steps: 3 diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00020/results/episode_0_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00020/results/episode_0_success.json new file mode 100644 index 0000000000000000000000000000000000000000..ec998ab459563f4142e81d7619c2967b0734679b --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00020/results/episode_0_success.json @@ -0,0 +1,686 @@ +{ + "episode": 0, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + 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diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00021/resolved_config.yaml b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00021/resolved_config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..c768e60202913d728e00d67306570269cf27ae9d --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00021/resolved_config.yaml @@ -0,0 +1,232 @@ +name: fast_2beaker_dual_target_s03_psl_brq_00021 +task_type: workflow +controller_type: workflow +mode: collect +usd_path: sim_resources/chemistry_lab/lab_003/lab_003.usd +max_episodes: 100 +infer: + type: local + obs_names: + camera_1_rgb: camera_1_rgb + camera_2_rgb: camera_2_rgb + policy_model_path: '' + policy_config_path: '' + normalizer_path: '' + host: 127.0.0.1 + port: 8000 + n_obs_steps: 1 + timeout: 30 + max_retries: 3 +task: + max_steps: 14000 +workflow: + table_prim_path: /World/table + language_instruction: Pick up beaker b from home. Shake the current contents of + beaker b once. Place beaker b at heater platform. + layout_id: layout_00021 + reproducibility: + enabled: true + layout_id: layout_00021 + action_seed: 4436174054177433429 + step_seeds: + - 541293577389107883 + - 2316932217596112086 + - 8358960574803703126 + strict_task_state: false + allow_physical_randomization: true + verify_action_trace: false + scene_objects: + - name: beaker_a + path: /World/beaker_2 + position_range: + x: + - 0.1898 + - 0.1898 + 'y': + - 0.0576 + - 0.0576 + z: + - 0.0 + - 0.0 + role: source + - name: beaker_b + path: /World/target_beaker + position_range: + x: + - 0.2069 + - 0.2069 + 'y': + - 0.2668 + - 0.2668 + z: + - 0.0 + - 0.0 + role: source + - name: inspection_platform + path: /World/target_plat + position_range: + x: + - 0.3584 + - 0.3584 + 'y': + - 0.1786 + - 0.1786 + z: + - 0.0 + - 0.0 + role: placement_target + - name: heat_device + path: /World/heat_device + position_range: + x: + - 0.2515 + - 0.2515 + 'y': + - -0.3654 + - -0.3654 + z: + - 0.0 + - 0.0 + - name: heater_platform + path: /World/heat_device/heat_device/heat_device/plat + parent_object: heat_device + role: placement_target + steps: + - skill: pick + target_object: beaker_b + params: + end_effector_euler: + - 0 + - 90 + - 30 + events_dt: + - 0.004 + - 0.004 + - 0.01 + - 0.04 + - 0.04 + - 0.006 + - 0.04 + pre_offset_x: 0.05 + pre_offset_z: 0.05 + after_offset_z: 0.3 + gripper_distances: 0.019 + reset_at_center: false + require_phase_convergence: false + lock_target_position: true + position_only: false + gripper_control_mode: position + gripper_control_params: + smooth_close: true + - skill: shake + target_object: beaker_b + params: + end_effector_euler: + - 0 + - 90 + - 30 + shake_distance: 0.08 + shake_center_offset_z: 0.0 + fallback_height_offset: 0.23 + events_dt: + - 0.04 + - 0.018 + - 0.036 + - 0.036 + - 0.036 + - 0.036 + - 0.036 + - 0.036 + - 0.036 + - 0.015 + position_only: true + position_threshold: 0.04 + - skill: place + target_object: heater_platform + params: + end_effector_euler: + - 0 + - 90 + - 30 + events_dt: + - 0.005 + - 0.01 + - 0.08 + - 0.02 + - 0.01 + - 0.1 + pre_place_z: 0.2 + place_offset_z: 0.05 + target_z_offset: 0.045 + retreat_height: 0.15 + retreat_xy: 0.15 + keep_gripper_closed_until_release: true + release_gripper_control_mode: position + release_gripper_position_gap: 0.04 + recreate_motion_controllers_on_reset: true +cameras: +- prim_path: /World/Camera1 + name: camera_1 + translation: + - 2.129903 + - 0.0 + - 2.075001 + resolution: + - 512 + - 512 + focal_length: 3.5 + orientation: + - 0.61237 + - 0.35355 + - 0.35355 + - 0.61237 + image_type: rgb +- prim_path: /World/Camera2 + name: camera_2 + translation: + - 0.1 + - 0.0 + - 2.65 + resolution: + - 512 + - 512 + focal_length: 2.825 + orientation: + - 0.70711 + - 0 + - 0 + - -0.70711 + image_type: rgb +- prim_path: /World/Camera3 + name: camera_3 + translation: + - 0.2 + - -3.01678 + - 1.16281 + resolution: + - 512 + - 512 + focal_length: 4 + orientation: + - 0.7681 + - 0.63858 + - -0.03028 + - -0.03642 + image_type: rgb + track_end_effector: true +robot: + type: ur5e + position: + - -0.27 + - 0.0 + - 0.71 +collector: + type: default + compression: gzip +multi_run: + run_dir: outputs/ur5e_collection_100_randomized_full_scene_c2wide_20260830/runs/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00021 +motion_controller: ik_servo +max_consecutive_failures: 20 +video: + playback_speed: 1 + render_every_n_steps: 3 diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00021/results/episode_0_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00021/results/episode_0_success.json new file mode 100644 index 0000000000000000000000000000000000000000..c785a1b6a862e7557d58a0f84e858c5976cd49b7 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00021/results/episode_0_success.json @@ -0,0 +1,686 @@ +{ + "episode": 0, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.23244116643153878, + 0.2683193659307224, + 1.047194622791814 + ], + "current_z": 1.047194622791814, + "required_z": 0.8565865074085656, + "initial_z": 0.7565865074085656, + "lift_margin": 0.1906081153832485, + "gripper_z": 1.050788732220502, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.2269800762608166, + 0.26329079921849763, + 1.050788732220502 + ], + "object_minus_gripper": [ + 0.005461090170722188, + 0.005028566712224791, + -0.003594109428687986 + ], + "object_to_gripper_xy": 0.0074236102424665145, + "object_to_gripper_z": -0.003594109428687986, + "fingertip_source": 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diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00022/resolved_config.yaml b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00022/resolved_config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..b0890023373e701a1ce0d90660ba827c2c99a959 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00022/resolved_config.yaml @@ -0,0 +1,232 @@ +name: fast_2beaker_dual_target_s03_psl_brq_00022 +task_type: workflow +controller_type: workflow +mode: collect +usd_path: sim_resources/chemistry_lab/lab_003/lab_003.usd +max_episodes: 100 +infer: + type: local + obs_names: + camera_1_rgb: camera_1_rgb + camera_2_rgb: camera_2_rgb + policy_model_path: '' + policy_config_path: '' + normalizer_path: '' + host: 127.0.0.1 + port: 8000 + n_obs_steps: 1 + timeout: 30 + max_retries: 3 +task: + max_steps: 14000 +workflow: + table_prim_path: /World/table + language_instruction: Pick up beaker b from home. Shake the current contents of + beaker b once. Place beaker b at heater platform. + layout_id: layout_00022 + reproducibility: + enabled: true + layout_id: layout_00022 + action_seed: 2714716839106178401 + step_seeds: + - 6879855307333582930 + - 3555770340888182057 + - 838946150517897658 + strict_task_state: false + allow_physical_randomization: true + verify_action_trace: false + scene_objects: + - name: beaker_a + path: /World/beaker_2 + position_range: + x: + - 0.2002 + - 0.2002 + 'y': + - 0.3018 + - 0.3018 + z: + - 0.0 + - 0.0 + role: source + - name: beaker_b + path: /World/target_beaker + position_range: + x: + - 0.21 + - 0.21 + 'y': + - 0.1861 + - 0.1861 + z: + - 0.0 + - 0.0 + role: source + - name: inspection_platform + path: /World/target_plat + position_range: + x: + - 0.3536 + - 0.3536 + 'y': + - 0.2966 + - 0.2966 + z: + - 0.0 + - 0.0 + role: placement_target + - name: heat_device + path: /World/heat_device + position_range: + x: + - 0.2727 + - 0.2727 + 'y': + - -0.3935 + - -0.3935 + z: + - 0.0 + - 0.0 + - name: heater_platform + path: /World/heat_device/heat_device/heat_device/plat + parent_object: heat_device + role: placement_target + steps: + - skill: pick + target_object: beaker_b + params: + end_effector_euler: + - 0 + - 90 + - 30 + events_dt: + - 0.004 + - 0.004 + - 0.01 + - 0.04 + - 0.04 + - 0.006 + - 0.04 + pre_offset_x: 0.05 + pre_offset_z: 0.05 + after_offset_z: 0.3 + gripper_distances: 0.019 + reset_at_center: false + require_phase_convergence: false + lock_target_position: true + position_only: false + gripper_control_mode: position + gripper_control_params: + smooth_close: true + - skill: shake + target_object: beaker_b + params: + end_effector_euler: + - 0 + - 90 + - 30 + shake_distance: 0.08 + shake_center_offset_z: 0.0 + fallback_height_offset: 0.23 + events_dt: + - 0.04 + - 0.018 + - 0.036 + - 0.036 + - 0.036 + - 0.036 + - 0.036 + - 0.036 + - 0.036 + - 0.015 + position_only: true + position_threshold: 0.04 + - skill: place + target_object: heater_platform + params: + end_effector_euler: + - 0 + - 90 + - 30 + events_dt: + - 0.005 + - 0.01 + - 0.08 + - 0.02 + - 0.01 + - 0.1 + pre_place_z: 0.2 + place_offset_z: 0.05 + target_z_offset: 0.045 + retreat_height: 0.15 + retreat_xy: 0.15 + keep_gripper_closed_until_release: true + release_gripper_control_mode: position + release_gripper_position_gap: 0.04 + recreate_motion_controllers_on_reset: true +cameras: +- prim_path: /World/Camera1 + name: camera_1 + translation: + - 2.129903 + - 0.0 + - 2.075001 + resolution: + - 512 + - 512 + focal_length: 3.5 + orientation: + - 0.61237 + - 0.35355 + - 0.35355 + - 0.61237 + image_type: rgb +- prim_path: /World/Camera2 + name: camera_2 + translation: + - 0.1 + - 0.0 + - 2.65 + resolution: + - 512 + - 512 + focal_length: 2.825 + orientation: + - 0.70711 + - 0 + - 0 + - -0.70711 + image_type: rgb +- prim_path: /World/Camera3 + name: camera_3 + translation: + - 0.2 + - -3.01678 + - 1.16281 + resolution: + - 512 + - 512 + focal_length: 4 + orientation: + - 0.7681 + - 0.63858 + - -0.03028 + - -0.03642 + image_type: rgb + track_end_effector: true +robot: + type: ur5e + position: + - -0.27 + - 0.0 + - 0.71 +collector: + type: default + compression: gzip +multi_run: + run_dir: outputs/ur5e_collection_100_randomized_full_scene_c2wide_20260830/runs/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00022 +motion_controller: ik_servo +max_consecutive_failures: 20 +video: + playback_speed: 1 + render_every_n_steps: 3 diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00022/results/episode_0_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00022/results/episode_0_success.json new file mode 100644 index 0000000000000000000000000000000000000000..20c1b8e31860e34c85ec7929f341599d6294abb9 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00022/results/episode_0_success.json @@ -0,0 +1,686 @@ +{ + "episode": 0, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.2315448052898645, + 0.18514554406496506, + 1.0432263113879883 + ], + "current_z": 1.0432263113879883, + "required_z": 0.8565865074085656, + "initial_z": 0.7565865074085656, + "lift_margin": 0.1866398039794227, + "gripper_z": 1.047614735017582, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.22630869874562945, + 0.18021576457936556, + 1.047614735017582 + ], + "object_minus_gripper": [ + 0.005236106544235064, + 0.0049297794855995, + -0.004388423629593685 + ], + "object_to_gripper_xy": 0.007191629684516503, + "object_to_gripper_z": -0.004388423629593685, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.2315448052898645, + 0.1606028032390453, + 1.0432263113879883 + ], + "finger_b": [ + 0.2195736071898154, + 0.18514554406496506, + 1.0432263113879883 + ], + "finger_midpoint": [ + 0.22555920623983994, + 0.1728741736520052, + 1.0432263113879883 + ], + "object_minus_finger_midpoint": [ + 0.005985599050024576, + 0.012271370412959864, + 0.0 + ], + "finger_gap": 0.02730669718583498, + "fingertip_max_gap": 0.09225382713484317, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013653348592917485, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0432263113879883, + "object_top_z": 1.0896041141335349, + "finger_top_clearance": 0.04637780274554659, + "fingertip_min_top_clearance": 0.013913340823663961, + "object_projection_between_fingers": 0.8078073006103551, + "object_to_finger_line_xy": 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"fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.23069520171978902, + 0.18476955635154263, + 1.2371114306276192 + ], + "held_position": [ + 0.23619287011760928, + 0.1892782860069985, + 1.2325927556750202 + ], + "object_initial_z": 0.7730800627579277, + "required_gripper_z": 0.8930800627579277, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 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"allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "heater_platform", + "object_position": [ + 0.3365144894065446, + -0.38953194851500705, + 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"fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + 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