diff --git a/episodes/c1_p004_e028/data.npz b/episodes/c1_p004_e028/data.npz new file mode 100644 index 0000000000000000000000000000000000000000..c25986cb91a509b7f62c1b6f83ee7bfceb3620fe --- /dev/null +++ b/episodes/c1_p004_e028/data.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:ea453334bee53af2422cb15244ee517967dd71cacf4f8ccbbab7adf4aa80d0dd +size 186836 diff --git a/episodes/c1_p004_e028/device_events.jsonl b/episodes/c1_p004_e028/device_events.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..d6da2268e567769052a913216cd76ff0e7b73ca8 --- /dev/null +++ b/episodes/c1_p004_e028/device_events.jsonl @@ -0,0 +1,35 @@ +{"env_id": 2, "seq": 1, "step": 35, "t": 0.175, "topic": "conveyor_1.belt.station.pick.captured", "source": "conveyor_1.belt", "data": {"rider": "carrier_2"}, "cause": null} +{"env_id": 2, "seq": 2, "step": 35, "t": 0.175, "topic": "conveyor_1.belt.state.changed", "source": "conveyor_1.belt", "data": {"from": "running", "to": "at_station"}, "cause": null} +{"env_id": 2, "seq": 3, "step": 40, "t": 0.2, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_2"}, "cause": null} +{"env_id": 2, "seq": 4, "step": 5555, "t": 27.775, "topic": "a4s_sealer_1.plate_present.present", "source": "a4s_sealer_1.plate_present", "data": {"object": "plate_2"}, "cause": null} +{"env_id": 2, "seq": 5, "step": 6168, "t": 30.84, "topic": "a4s_sealer_1.command.started", "source": "a4s_sealer_1", "data": {"command_id": "task-2-1", "name": "seal", "source": "task"}, "cause": "task-2-1"} +{"env_id": 2, "seq": 6, "step": 6168, "t": 30.84, "topic": "a4s_sealer_1.seal.started", "source": "a4s_sealer_1", "data": {"dwell": 1.958790006201287}, "cause": "task-2-1"} +{"env_id": 2, "seq": 7, "step": 6168, "t": 30.84, "topic": "a4s_sealer_1.drawer.command.started", "source": "a4s_sealer_1.drawer", "data": {"command_id": "program-2-2", "name": "close", "source": "program:seal"}, "cause": "program-2-2"} +{"env_id": 2, "seq": 8, "step": 6168, "t": 30.84, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "at_out", "to": "moving"}, "cause": null} +{"env_id": 2, "seq": 9, "step": 6168, "t": 30.84, "topic": "a4s_sealer_1.drawer.moving", "source": "a4s_sealer_1.drawer", "data": {"target": 0.3, "goal": "in"}, "cause": "program-2-2"} +{"env_id": 2, "seq": 10, "step": 6587, "t": 32.935, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "moving", "to": "at_in"}, "cause": null} +{"env_id": 2, "seq": 11, "step": 6587, "t": 32.935, "topic": "a4s_sealer_1.drawer.reached", "source": "a4s_sealer_1.drawer", "data": {"position": "in", "q": 0.30000001192092896}, "cause": "program-2-2"} +{"env_id": 2, "seq": 12, "step": 6587, "t": 32.935, "topic": "a4s_sealer_1.drawer.at_in", "source": "a4s_sealer_1.drawer", "data": {"q": 0.30000001192092896}, "cause": "program-2-2"} +{"env_id": 2, "seq": 13, "step": 6587, "t": 32.935, "topic": "a4s_sealer_1.drawer.command.succeeded", "source": "a4s_sealer_1.drawer", "data": {"command_id": "program-2-2", "name": "close", "source": "program:seal", "result": {"position": "in"}}, "cause": "program-2-2"} +{"env_id": 2, "seq": 14, "step": 6587, "t": 32.935, "topic": "labware.plate_2.changed", "source": "labware.plate_2", "data": {"key": "sealed", "value": true}, "cause": "task-2-1"} +{"env_id": 2, "seq": 15, "step": 6587, "t": 32.935, "topic": "a4s_sealer_1.sealed", "source": "a4s_sealer_1", "data": {"plate": "plate_2"}, "cause": "task-2-1"} +{"env_id": 2, "seq": 16, "step": 6587, "t": 32.935, "topic": "a4s_sealer_1.heater.command.started", "source": "a4s_sealer_1.heater", "data": {"command_id": "program-2-3", "name": "run", "source": "program:seal"}, "cause": "program-2-3"} +{"env_id": 2, "seq": 17, "step": 6587, "t": 32.935, "topic": "a4s_sealer_1.heater.state.changed", "source": "a4s_sealer_1.heater", "data": {"from": "ready", "to": "running"}, "cause": null} +{"env_id": 2, "seq": 18, "step": 6587, "t": 32.935, "topic": "a4s_sealer_1.heater.started", "source": "a4s_sealer_1.heater", "data": {"duration": 1.958790006201287}, "cause": "program-2-3"} +{"env_id": 2, "seq": 19, "step": 6979, "t": 34.895, "topic": "a4s_sealer_1.heater.state.changed", "source": "a4s_sealer_1.heater", "data": {"from": "running", "to": "ready"}, "cause": null} +{"env_id": 2, "seq": 20, "step": 6979, "t": 34.895, "topic": "a4s_sealer_1.heater.finished", "source": "a4s_sealer_1.heater", "data": {"elapsed": 1.9600000000010027}, "cause": "program-2-3"} +{"env_id": 2, "seq": 21, "step": 6979, "t": 34.895, "topic": "a4s_sealer_1.heater.command.succeeded", "source": "a4s_sealer_1.heater", "data": {"command_id": "program-2-3", "name": "run", "source": "program:seal", "result": {"elapsed": 1.9600000000010027}}, "cause": "program-2-3"} +{"env_id": 2, "seq": 22, "step": 6979, "t": 34.895, "topic": "a4s_sealer_1.drawer.command.started", "source": "a4s_sealer_1.drawer", "data": {"command_id": "program-2-4", "name": "open", "source": "program:seal"}, "cause": "program-2-4"} +{"env_id": 2, "seq": 23, "step": 6979, "t": 34.895, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "at_in", "to": "moving"}, "cause": null} +{"env_id": 2, "seq": 24, "step": 6979, "t": 34.895, "topic": "a4s_sealer_1.drawer.moving", "source": "a4s_sealer_1.drawer", "data": {"target": 0.0, "goal": "out"}, "cause": "program-2-4"} +{"env_id": 2, "seq": 25, "step": 7399, "t": 36.995, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "moving", "to": "at_out"}, "cause": null} +{"env_id": 2, "seq": 26, "step": 7399, "t": 36.995, "topic": "a4s_sealer_1.drawer.reached", "source": "a4s_sealer_1.drawer", "data": {"position": "out", "q": 1.1467902183426304e-09}, "cause": "program-2-4"} +{"env_id": 2, "seq": 27, "step": 7399, "t": 36.995, "topic": "a4s_sealer_1.drawer.at_out", "source": "a4s_sealer_1.drawer", "data": {"q": 1.1467902183426304e-09}, "cause": "program-2-4"} +{"env_id": 2, "seq": 28, "step": 7399, "t": 36.995, "topic": "a4s_sealer_1.drawer.command.succeeded", "source": "a4s_sealer_1.drawer", "data": {"command_id": "program-2-4", "name": "open", "source": "program:seal", "result": {"position": "out"}}, "cause": "program-2-4"} +{"env_id": 2, "seq": 29, "step": 7399, "t": 36.995, "topic": "a4s_sealer_1.seal.finished", "source": "a4s_sealer_1", "data": {}, "cause": "task-2-1"} +{"env_id": 2, "seq": 30, "step": 7399, "t": 36.995, "topic": "a4s_sealer_1.command.succeeded", "source": "a4s_sealer_1", "data": {"command_id": "task-2-1", "name": "seal", "source": "task"}, "cause": "task-2-1"} +{"env_id": 2, "seq": 31, "step": 7979, "t": 39.895, "topic": "a4s_sealer_1.plate_present.absent", "source": "a4s_sealer_1.plate_present", "data": {"object": "plate_2"}, "cause": null} +{"env_id": 2, "seq": 32, "step": 9664, "t": 48.32, "topic": "conveyor_1.belt.command.started", "source": "conveyor_1.belt", "data": {"command_id": "task-2-5", "name": "release", "source": "task"}, "cause": "task-2-5"} +{"env_id": 2, "seq": 33, "step": 9664, "t": 48.32, "topic": "conveyor_1.belt.station.pick.released", "source": "conveyor_1.belt", "data": {"rider": "carrier_2"}, "cause": "task-2-5"} +{"env_id": 2, "seq": 34, "step": 9664, "t": 48.32, "topic": "conveyor_1.belt.state.changed", "source": "conveyor_1.belt", "data": {"from": "at_station", "to": "running"}, "cause": null} +{"env_id": 2, "seq": 35, "step": 9664, "t": 48.32, "topic": "conveyor_1.belt.command.succeeded", "source": "conveyor_1.belt", "data": {"command_id": "task-2-5", "name": "release", "source": "task", "result": {"state": "running"}}, "cause": "task-2-5"} diff --git a/episodes/c1_p004_e028/env.mp4 b/episodes/c1_p004_e028/env.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..fd9c3aa8950c801c904d11a1e6f18b56d6b7377e --- /dev/null +++ b/episodes/c1_p004_e028/env.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:312a6b4710e835189234a3298ae41df237314521b9a945ef50fcd5a07a130901 +size 1236003 diff --git a/episodes/c1_p004_e028/meta.json b/episodes/c1_p004_e028/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..e5a07478d8c2692cc5f93e75e9c9329a63a2f9fa --- /dev/null +++ b/episodes/c1_p004_e028/meta.json @@ -0,0 +1,32 @@ +{ + "source": "raw/c1_p004/magicsim/28", + "fps": 25, + "frames": 1161, + "kept_ticks": "even", + "video_frames": { + "wrist": 1161, + "env": 1161 + }, + "joint_target_source": "joint_pos_target", + "fk_vs_recorded_eef_max_m": 0.0, + "curobo_joints": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "joint_order": [ + "shoulder_pan", + "shoulder_lift", + "elbow", + "wrist_1", + "wrist_2", + "wrist_3", + "finger_left", + "finger_right" + ], + "frames_note": "eef / actions in the robot base frame; camera_pose = local pose (wrist: in plate_gripper_base, env: env frame), pos + quat wxyz", + "dr_version": "v2" +} \ No newline at end of file diff --git a/episodes/c1_p004_e028/scene_snapshot.json b/episodes/c1_p004_e028/scene_snapshot.json new file mode 100644 index 0000000000000000000000000000000000000000..e9931394ae02f3383c0bdd93fe1457b296575e7f --- /dev/null +++ b/episodes/c1_p004_e028/scene_snapshot.json @@ -0,0 +1,1558 @@ +{ + "trajectory_id": 28, + "env_id": 2, + "run_id": "c1_p004", + "task_type": "BioPlateCell", + "success": true, + "timing": { + "fps": 50.0, + "sim_dt": 0.005, + "decimation": 4 + }, + "restore_interface": { + "scene": "scene_manager.reset_to(snapshot['scene'], env_ids=[env_id])", + "robots": "robot_manager.set_state({'robots': snapshot['robots']}, env_ids=[env_id])" + }, + "snapshot": { + "env_id": 2, + "scene": { + "objects": [ + {}, + {}, + { + "rac_cell": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/rac_cell.usd", + "pose": { + "pos": [ + 0.0, + 0.0, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "physics_material": { + "static_friction": 0.6, + "dynamic_friction": 0.5, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "robot_mount": [ + { + "asset": "Cube", + "pose": { + "pos": [ + 0.0, + 0.0, + 0.9075 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": "color", + "value": [ + 0.55, + 0.56, + 0.58 + ], + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": { + "size": [ + 0.2, + 0.2, + 0.015 + ] + } + }, + "type_specific": {} + } + ], + "plate_rack": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/plate_hotel.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 0.9 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "physics_material": { + "static_friction": 0.6, + "dynamic_friction": 0.5, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "hotel_plate": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_6_clear/plate_6_clear.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 0.9605 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_96_clear/plate_96_clear.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.0285 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_96_clear/plate_96_clear.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.0965 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_12_clear/plate_12_clear.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.1645 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_12_clear/plate_12_clear.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.2325 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "a4s_sealer": [ + { + "asset": "$MAGICSIM_ASSETS/Articulated/A4SSealer/Object.usd", + "pose": { + "pos": [ + 0.4877500534057617, + 0.10293388366699219, + 0.8999999761581421 + ], + "ori": [ + -0.6928829550743103, + 0.0, + 0.0, + 0.7210500836372375 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "articulation", + "solver_position_iteration_count": 16.0, + "solver_velocity_iteration_count": 1.0, + "enabled_self_collisions": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "joint_position": [ + 0.0 + ], + "joint_velocity": [ + 0.0 + ], + "linear_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "angular_velocity": [ + 0.0, + 0.0, + 0.0 + ] + } + } + ], + "conveyor": [ + { + "asset": "Cube", + "pose": { + "pos": [ + 0.15, + 0.45, + 0.9 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "conveyor", + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9 + }, + "ratio": 1.0 + }, + "primitive_params": { + "size": [ + 2.4, + 0.076, + 0.03 + ] + }, + "conveyor": { + "speed": 0.21569791070179567, + "direction": [ + 1.0, + 0.0, + 0.0 + ], + "enabled": true, + "drive": "surface_velocity", + "lines": null, + "station_line": null, + "riders": [ + "carrier" + ], + "stations": { + "pick": { + "position": -0.020531602640349145, + "slow_distance": 0.03, + "slow_speed": 0.03 + } + }, + "rails": { + "height": 0.01, + "thickness": 0.01, + "gap": 0.001, + "friction": 0.05 + }, + "legs": 0.87, + "loop": { + "radius": 0.35, + "side": "left", + "curve_extra_width": 0.0, + "segments": 18, + "curve_rails": "both" + }, + "snap_distance": 0.1, + "junction_snap": 0.02, + "collision_approximation": "auto", + "plate_mass": 1.0, + "lift_drop": 0.004, + "accel": 0.0, + "decel": 0.0, + "drive_damping": 1000000.0, + "drive_max_force": 1000000000.0 + } + }, + "type_specific": { + "controller": { + "state": "at_station", + "speed": 0.21569791070179567, + "holds": [], + "station": "pick", + "rider": "carrier_2", + "arrived": true, + "applied_speed": 0.0 + } + } + } + ], + "carrier": [ + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + -1.3591556549072266, + 0.9620742797851562, + 0.8999999761581421 + ], + "ori": [ + -0.5156942009925842, + 5.342003817077057e-08, + 1.1430176272142489e-07, + 0.856772780418396 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 1.2223295708935211e-09, + 9.94898274875311e-10, + 1.1175870895385742e-08 + ], + "angular_velocity": [ + -1.4095897427068849e-07, + 2.7907329780418877e-08, + 1.494789003686492e-08 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + 0.1297283172607422, + 0.4499950408935547, + 0.8999999761581421 + ], + "ori": [ + 1.0, + -3.1292526347925786e-09, + 1.6000053504328093e-09, + -3.291281245765276e-05 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 2.7752278253245777e-10, + 1.5321542923274478e-09, + 3.725290298461914e-09 + ], + "angular_velocity": [ + -1.5942042352889985e-07, + 9.748525542363495e-09, + -8.46331182913218e-09 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + 0.08287620544433594, + 1.1499958038330078, + 0.8999999761581421 + ], + "ori": [ + 3.7676363717764616e-05, + -8.71450822614861e-09, + -7.124039136385818e-10, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -2.164725065867401e-10, + -4.713613943607697e-10, + 3.725290298461914e-09 + ], + "angular_velocity": [ + 7.879212660100166e-08, + -3.0716122978446947e-09, + -1.0209202372379877e-08 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + 1.6943893432617188, + 0.856781005859375, + 0.8999999761581421 + ], + "ori": [ + 0.6483170986175537, + 3.303925311115563e-08, + -1.0679379158773372e-07, + 0.7613704800605774 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 3.915348258942686e-07, + 6.141222286260017e-08, + 1.0058283805847168e-07 + ], + "angular_velocity": [ + 1.8140308384317905e-06, + 9.93568573903758e-06, + -3.3258461371588055e-06 + ] + } + } + ], + "plate": [ + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_24_clear/Object.usd", + "pose": { + "pos": [ + -1.3616256713867188, + 0.9753170013427734, + 0.9179999828338623 + ], + "ori": [ + -0.5475050210952759, + 5.748475473410508e-08, + 1.1438642388839071e-07, + 0.8368024230003357 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 2.6653079743255148e-08, + 2.6951637366323666e-08, + 9.313225746154785e-08 + ], + "angular_velocity": [ + -1.9517472082952736e-06, + 3.324267083826271e-07, + 1.8156177361561276e-07 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_384_black/Object.usd", + "pose": { + "pos": [ + 0.13576889038085938, + 0.4556713104248047, + 0.9180000424385071 + ], + "ori": [ + 0.998935878276825, + -4.527289210187746e-09, + 1.494072199292873e-09, + -0.046121224761009216 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -1.9895852076956544e-08, + 9.137018253113638e-09, + -5.487352609634399e-06 + ], + "angular_velocity": [ + 2.1144177253518137e-07, + -1.7349761947116349e-06, + 9.337894368854904e-08 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_1536_black/Object.usd", + "pose": { + "pos": [ + 0.07765960693359375, + 1.1449804306030273, + 0.9180000424385071 + ], + "ori": [ + 0.0915391594171524, + -9.358861241537397e-09, + -1.6393812973802824e-09, + 0.9958014488220215 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 1.5766172367648323e-08, + -2.1234829006289146e-08, + -5.219131708145142e-06 + ], + "angular_velocity": [ + 2.999585291263429e-08, + 1.5581601928715827e-06, + 1.595700496181962e-07 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/deep_well_24_10ml/Object.usd", + "pose": { + "pos": [ + 1.6844902038574219, + 0.8499784469604492, + 0.9179999828338623 + ], + "ori": [ + 0.5702805519104004, + -7.029962034721393e-07, + -8.103442041829112e-07, + 0.8214500546455383 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 8.298883585666772e-06, + 5.989722922095098e-07, + -5.938112735748291e-06 + ], + "angular_velocity": [ + -0.0001496239856351167, + 0.0002077576646115631, + -1.581955439178273e-05 + ] + } + } + ], + "deco_hub_west": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/hub_c.usd", + "pose": { + "pos": [ + -3.36, + 0.0, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_hub_east": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/hub_a.usd", + "pose": { + "pos": [ + 3.36, + 0.0, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_hub_back": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/hub_e.usd", + "pose": { + "pos": [ + -3.0, + -2.1, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_bench_east": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/bench_a.usd", + "pose": { + "pos": [ + 2.6, + -2.5, + 0.0 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_bench_gap": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/bench_b.usd", + "pose": { + "pos": [ + -0.1, + -2.9, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ] + }, + {} + ], + "devices": { + "hub": [ + null, + null, + { + "t": 2.079999999999978, + "step": 416, + "counter": 0, + "devices": { + "a4s_sealer_1": { + "mode": "auto", + "units": { + "drawer": { + "state": "at_out", + "active": null, + "target": 0.0, + "goal_name": "out", + "profile": null, + "q_start": null, + "reversing": false, + "blocked_for": 0.0, + "settled_for": 0.0, + "last_q": 0.0 + }, + "heater": { + "state": "ready", + "active": null, + "duration": 0.0, + "t_start": null, + "elapsed": 0.0 + } + }, + "queues": {}, + "program": null, + "sensors": { + "plate_present": { + "occupants": [], + "pending": {} + } + }, + "interlocks": {} + }, + "conveyor_1": { + "mode": "auto", + "units": { + "belt": { + "state": "at_station", + "active": null, + "controller": { + "speed": 0.21569791070179567, + "holds": [], + "station": "pick", + "rider": "carrier_2", + "arrived": true, + "settle_count": 380, + "released": { + "pick": [] + }, + "last_pos": { + "carrier_1": [ + -1.509155660867691, + 0.5120742917060852, + 0.0 + ], + "carrier_2": [ + -0.02027168869972229, + -4.947185516357422e-06, + 0.0 + ], + "carrier_3": [ + -0.06712380051612854, + 0.6999958157539368, + 0.0 + ], + "carrier_4": [ + 1.5443893373012543, + 0.40678101778030396, + 0.0 + ] + }, + "command": 0.0 + }, + "belt": { + "target_speed": 0.0, + "command_speed": 0.0 + }, + "seen": { + "state": "at_station", + "station": "pick", + "rider": "carrier_2", + "arrived": true + } + } + }, + "queues": {}, + "program": null, + "sensors": {}, + "interlocks": {} + } + }, + "zones": {}, + "labware": { + "plate_1": { + "sealed": false + }, + "plate_2": { + "sealed": false + }, + "plate_3": { + "sealed": false + }, + "plate_4": { + "sealed": false + } + }, + "rules": {}, + "records": [], + "bus": { + "seq": 3, + "queue": [] + } + }, + null + ], + "drives": [ + null, + null, + {}, + null + ] + }, + "artifacts": [ + {}, + {}, + { + "ceiling": { + "type": "rect", + "pose": { + "pos": [ + 0.2872739733113311, + 0.5874985479984285, + 2.6500749296589565 + ], + "ori": [ + -3.1021752439648083, + 0.021229217900044617, + 17.96893038710801 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "color_temperature": 3733.6417931064784, + "color": [ + 0.9586577917753193, + 0.8954695140140956, + 0.942123857075329 + ], + "intensity": 14522.049518480348, + "width": 2.097175597588775, + "height": 0.9084781222749454 + } + }, + "key": { + "type": "sphere", + "pose": { + "pos": [ + 1.6586461118285456, + 1.1296980517105146, + 2.151357252317685 + ], + "ori": [ + 12.52375951160807, + -38.48708323443276, + 7.621048608303987 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "color_temperature": 4156.431679667607, + "color": [ + 0.798155416121638, + 0.9850446329400337, + 0.7923155984782142 + ], + "intensity": 8444.178606325682, + "radius": 0.2144584045476159 + } + } + }, + {} + ], + "background": { + "type": "dome", + "pose": { + "pos": null, + "ori": null, + "scale": null + }, + "dr": { + "intensity": 1406.155206402213, + "texture": null, + "color": [ + 0.92, + 0.94, + 0.96 + ] + } + } + }, + "robots": { + "UR5e": { + "root_pose": [ + [ + 11.0, + -11.0, + 0.9150000214576721, + 1.0, + 0.0, + 0.0, + 0.0 + ], + [ + 11.0, + 11.0, + 0.9150000214576721, + 1.0, + 0.0, + 0.0, + 0.0 + ], + [ + -11.0, + -11.0, + 0.9150000214576721, + 1.0, + 0.0, + 0.0, + 0.0 + ], + [ + -11.0, + 11.0, + 0.9150000214576721, + 1.0, + 0.0, + 0.0, + 0.0 + ] + ], + "root_vel": [ + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + ], + "joint_pos": [ + [ + 0.8739946484565735, + -1.2739654779434204, + 2.063035488128662, + -2.35986590385437, + -1.5708428621292114, + 2.3632147312164307, + 0.0078096771612763405, + 0.007231832481920719 + ], + [ + 0.9141108989715576, + -1.7193951606750488, + 2.0904979705810547, + -1.941900610923767, + -1.5707999467849731, + 2.4849050045013428, + 0.01799999363720417, + 0.018000004813075066 + ], + [ + 0.914101243019104, + -1.7193982601165771, + 2.0904994010925293, + -1.9419007301330566, + -1.5707999467849731, + 2.4848999977111816, + 0.018000001087784767, + 0.01799999736249447 + ], + [ + 0.9428470134735107, + -1.2518998384475708, + 2.203826427459717, + -2.5226221084594727, + -1.5709161758422852, + 2.536628007888794, + 0.007723715156316757, + 0.007053231354802847 + ] + ], + "joint_vel": [ + [ + 0.0003912404936272651, + -0.01639009267091751, + -0.0077509693801403046, + 0.022642752155661583, + 0.0004800296446774155, + 0.001315579516813159, + -0.006893690209835768, + 0.0003680287045426667 + ], + [ + 1.542043729857849e-16, + 2.924651573019654e-17, + -4.833830682731896e-16, + 2.40750099367369e-15, + -2.008144864317548e-15, + -7.804329488973576e-15, + 7.797120105124122e-08, + -7.797114420782236e-08 + ], + [ + 2.3017651503583907e-38, + -1.9621337027286027e-38, + 1.2895421091979843e-38, + -5.736289476480309e-37, + 5.770328249321408e-37, + -3.014082238132061e-36, + -2.59903654153959e-08, + 2.5990388508034812e-08 + ], + [ + -0.0005491391639225185, + 0.00012084046466043219, + -0.00013452532584778965, + -0.0043163602240383625, + 0.004048149101436138, + 0.015636758878827095, + -0.009414203464984894, + 0.0004512679297477007 + ] + ] + } + }, + "cameras": { + "cameras": { + "camera0": [ + [ + 0.048934753984212875, + -0.0028216016944497824, + -0.03142803907394409, + -0.29142460227012634, + 0.6506669521331787, + 0.640982985496521, + -0.28433260321617126 + ], + [ + 0.04978688806295395, + -0.0016282702563330531, + -0.03230989724397659, + -0.28856849670410156, + 0.6471129059791565, + 0.6466172337532043, + -0.28259387612342834 + ], + [ + 0.04974732920527458, + -0.002374330535531044, + -0.02878749743103981, + -0.28414207696914673, + 0.6563940048217773, + 0.6402201056480408, + -0.28022921085357666 + ], + [ + 0.05164572224020958, + 0.0011195504339411855, + -0.027097005397081375, + -0.2813539505004883, + 0.654670000076294, + 0.6390905976295471, + -0.2895001769065857 + ] + ], + "camera1": [ + [ + 0.0669875517487526, + 0.5709797739982605, + 1.947091817855835, + 0.036109521985054016, + 0.02722797356545925, + 0.26760783791542053, + 0.9624660015106201 + ], + [ + 0.0446348674595356, + 0.5832217335700989, + 1.9509516954421997, + 0.050811685621738434, + -0.003339954186230898, + 0.28015831112861633, + 0.9586023092269897 + ], + [ + 0.059085238724946976, + 0.5601892471313477, + 1.949273943901062, + 0.035095907747745514, + -0.003449582029134035, + 0.27364808320999146, + 0.9611831903457642 + ], + [ + 0.056365590542554855, + 0.5672527551651001, + 1.9309630393981934, + 0.054289937019348145, + 0.002442008815705776, + 0.27241411805152893, + 0.9606441259384155 + ] + ] + } + } + } +} \ No newline at end of file diff --git a/episodes/c1_p004_e028/wrist.mp4 b/episodes/c1_p004_e028/wrist.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..67ee6dbcc0d0be03920e3199845d6a59ee101ca6 --- /dev/null +++ b/episodes/c1_p004_e028/wrist.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:0e31153111179f51ad74106a3fdf46069cd2fb4e0ee3eea3c5f04365cc18468c +size 7038912 diff --git a/episodes/c1_p004_e029/data.npz b/episodes/c1_p004_e029/data.npz new file mode 100644 index 0000000000000000000000000000000000000000..6759b3c8c35730cb510b4eeadfd44a7a01b1e03c --- /dev/null +++ b/episodes/c1_p004_e029/data.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:13bd90e4fbd7b3f4eb1fbf679df247f595d7c26ef0aa170b14c6214cf7b1d73a +size 195271 diff --git a/episodes/c1_p004_e029/device_events.jsonl b/episodes/c1_p004_e029/device_events.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..919d84aeb51762d35398f588cb315dee6184b132 --- /dev/null +++ b/episodes/c1_p004_e029/device_events.jsonl @@ -0,0 +1,35 @@ +{"env_id": 0, "seq": 1, "step": 224, "t": 1.12, "topic": "conveyor_1.belt.station.pick.captured", "source": "conveyor_1.belt", "data": {"rider": "carrier_4"}, "cause": null} +{"env_id": 0, "seq": 2, "step": 224, "t": 1.12, "topic": "conveyor_1.belt.state.changed", "source": "conveyor_1.belt", "data": {"from": "running", "to": "at_station"}, "cause": null} +{"env_id": 0, "seq": 3, "step": 229, "t": 1.145, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_4"}, "cause": null} +{"env_id": 0, "seq": 4, "step": 6938, "t": 34.69, "topic": "a4s_sealer_1.plate_present.present", "source": "a4s_sealer_1.plate_present", "data": {"object": "plate_4"}, "cause": null} +{"env_id": 0, "seq": 5, "step": 7548, "t": 37.74, "topic": "a4s_sealer_1.command.started", "source": "a4s_sealer_1", "data": {"command_id": "task-0-1", "name": "seal", "source": "task"}, "cause": "task-0-1"} +{"env_id": 0, "seq": 6, "step": 7548, "t": 37.74, "topic": "a4s_sealer_1.seal.started", "source": "a4s_sealer_1", "data": {"dwell": 4.486428718950012}, "cause": "task-0-1"} +{"env_id": 0, "seq": 7, "step": 7548, "t": 37.74, "topic": "a4s_sealer_1.drawer.command.started", "source": "a4s_sealer_1.drawer", "data": {"command_id": "program-0-2", "name": "close", "source": "program:seal"}, "cause": "program-0-2"} +{"env_id": 0, "seq": 8, "step": 7548, "t": 37.74, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "at_out", "to": "moving"}, "cause": null} +{"env_id": 0, "seq": 9, "step": 7548, "t": 37.74, "topic": "a4s_sealer_1.drawer.moving", "source": "a4s_sealer_1.drawer", "data": {"target": 0.3, "goal": "in"}, "cause": "program-0-2"} +{"env_id": 0, "seq": 10, "step": 7967, "t": 39.835, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "moving", "to": "at_in"}, "cause": null} +{"env_id": 0, "seq": 11, "step": 7967, "t": 39.835, "topic": "a4s_sealer_1.drawer.reached", "source": "a4s_sealer_1.drawer", "data": {"position": "in", "q": 0.30000001192092896}, "cause": "program-0-2"} +{"env_id": 0, "seq": 12, "step": 7967, "t": 39.835, "topic": "a4s_sealer_1.drawer.at_in", "source": "a4s_sealer_1.drawer", "data": {"q": 0.30000001192092896}, "cause": "program-0-2"} +{"env_id": 0, "seq": 13, "step": 7967, "t": 39.835, "topic": "a4s_sealer_1.drawer.command.succeeded", "source": "a4s_sealer_1.drawer", "data": {"command_id": "program-0-2", "name": "close", "source": "program:seal", "result": {"position": "in"}}, "cause": "program-0-2"} +{"env_id": 0, "seq": 14, "step": 7967, "t": 39.835, "topic": "labware.plate_4.changed", "source": "labware.plate_4", "data": {"key": "sealed", "value": true}, "cause": "task-0-1"} +{"env_id": 0, "seq": 15, "step": 7967, "t": 39.835, "topic": "a4s_sealer_1.sealed", "source": "a4s_sealer_1", "data": {"plate": "plate_4"}, "cause": "task-0-1"} +{"env_id": 0, "seq": 16, "step": 7967, "t": 39.835, "topic": "a4s_sealer_1.heater.command.started", "source": "a4s_sealer_1.heater", "data": {"command_id": "program-0-3", "name": "run", "source": "program:seal"}, "cause": "program-0-3"} +{"env_id": 0, "seq": 17, "step": 7967, "t": 39.835, "topic": "a4s_sealer_1.heater.state.changed", "source": "a4s_sealer_1.heater", "data": {"from": "ready", "to": "running"}, "cause": null} +{"env_id": 0, "seq": 18, "step": 7967, "t": 39.835, "topic": "a4s_sealer_1.heater.started", "source": "a4s_sealer_1.heater", "data": {"duration": 4.486428718950012}, "cause": "program-0-3"} +{"env_id": 0, "seq": 19, "step": 8865, "t": 44.325, "topic": "a4s_sealer_1.heater.state.changed", "source": "a4s_sealer_1.heater", "data": {"from": "running", "to": "ready"}, "cause": null} +{"env_id": 0, "seq": 20, "step": 8865, "t": 44.325, "topic": "a4s_sealer_1.heater.finished", "source": "a4s_sealer_1.heater", "data": {"elapsed": 4.490000000002297}, "cause": "program-0-3"} +{"env_id": 0, "seq": 21, "step": 8865, "t": 44.325, "topic": "a4s_sealer_1.heater.command.succeeded", "source": "a4s_sealer_1.heater", "data": {"command_id": "program-0-3", "name": "run", "source": "program:seal", "result": {"elapsed": 4.490000000002297}}, "cause": "program-0-3"} +{"env_id": 0, "seq": 22, "step": 8865, "t": 44.325, "topic": "a4s_sealer_1.drawer.command.started", "source": "a4s_sealer_1.drawer", "data": {"command_id": "program-0-4", "name": "open", "source": "program:seal"}, "cause": "program-0-4"} +{"env_id": 0, "seq": 23, "step": 8865, "t": 44.325, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "at_in", "to": "moving"}, "cause": null} +{"env_id": 0, "seq": 24, "step": 8865, "t": 44.325, "topic": "a4s_sealer_1.drawer.moving", "source": "a4s_sealer_1.drawer", "data": {"target": 0.0, "goal": "out"}, "cause": "program-0-4"} +{"env_id": 0, "seq": 25, "step": 9285, "t": 46.425, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "moving", "to": "at_out"}, "cause": null} +{"env_id": 0, "seq": 26, "step": 9285, "t": 46.425, "topic": "a4s_sealer_1.drawer.reached", "source": "a4s_sealer_1.drawer", "data": {"position": "out", "q": 9.401768608086059e-08}, "cause": "program-0-4"} +{"env_id": 0, "seq": 27, "step": 9285, "t": 46.425, "topic": "a4s_sealer_1.drawer.at_out", "source": "a4s_sealer_1.drawer", "data": {"q": 9.401768608086059e-08}, "cause": "program-0-4"} +{"env_id": 0, "seq": 28, "step": 9285, "t": 46.425, "topic": "a4s_sealer_1.drawer.command.succeeded", "source": "a4s_sealer_1.drawer", "data": {"command_id": "program-0-4", "name": "open", "source": "program:seal", "result": {"position": "out"}}, "cause": "program-0-4"} +{"env_id": 0, "seq": 29, "step": 9285, "t": 46.425, "topic": "a4s_sealer_1.seal.finished", "source": "a4s_sealer_1", "data": {}, "cause": "task-0-1"} +{"env_id": 0, "seq": 30, "step": 9285, "t": 46.425, "topic": "a4s_sealer_1.command.succeeded", "source": "a4s_sealer_1", "data": {"command_id": "task-0-1", "name": "seal", "source": "task"}, "cause": "task-0-1"} +{"env_id": 0, "seq": 31, "step": 9868, "t": 49.34, "topic": "a4s_sealer_1.plate_present.absent", "source": "a4s_sealer_1.plate_present", "data": {"object": "plate_4"}, "cause": null} +{"env_id": 0, "seq": 32, "step": 11592, "t": 57.96, "topic": "conveyor_1.belt.command.started", "source": "conveyor_1.belt", "data": {"command_id": "task-0-5", "name": "release", "source": "task"}, "cause": "task-0-5"} +{"env_id": 0, "seq": 33, "step": 11592, "t": 57.96, "topic": "conveyor_1.belt.station.pick.released", "source": "conveyor_1.belt", "data": {"rider": "carrier_4"}, "cause": "task-0-5"} +{"env_id": 0, "seq": 34, "step": 11592, "t": 57.96, "topic": "conveyor_1.belt.state.changed", "source": "conveyor_1.belt", "data": {"from": "at_station", "to": "running"}, "cause": null} +{"env_id": 0, "seq": 35, "step": 11592, "t": 57.96, "topic": "conveyor_1.belt.command.succeeded", "source": "conveyor_1.belt", "data": {"command_id": "task-0-5", "name": "release", "source": "task", "result": {"state": "running"}}, "cause": "task-0-5"} diff --git a/episodes/c1_p004_e029/env.mp4 b/episodes/c1_p004_e029/env.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..a491de90c123004e1cdaca97e0880b4ea24e593b --- /dev/null +++ b/episodes/c1_p004_e029/env.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:2091bfdafe1551ab3f3d86dcf5df908ed761cb412078c5527c5177667b5a9d52 +size 1279220 diff --git a/episodes/c1_p004_e029/meta.json b/episodes/c1_p004_e029/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..3e687589ad76b4d741df97177a6c7b6078fb2e17 --- /dev/null +++ b/episodes/c1_p004_e029/meta.json @@ -0,0 +1,32 @@ +{ + "source": "raw/c1_p004/magicsim/29", + "fps": 25, + "frames": 1276, + "kept_ticks": "even", + "video_frames": { + "wrist": 1276, + "env": 1276 + }, + "joint_target_source": "joint_pos_target", + "fk_vs_recorded_eef_max_m": 0.0, + "curobo_joints": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "joint_order": [ + "shoulder_pan", + "shoulder_lift", + "elbow", + "wrist_1", + "wrist_2", + "wrist_3", + "finger_left", + "finger_right" + ], + "frames_note": "eef / actions in the robot base frame; camera_pose = local pose (wrist: in plate_gripper_base, env: env frame), pos + quat wxyz", + "dr_version": "v2" +} \ No newline at end of file diff --git a/episodes/c1_p004_e029/scene_snapshot.json b/episodes/c1_p004_e029/scene_snapshot.json new file mode 100644 index 0000000000000000000000000000000000000000..4f6a0c9489dea1dac725cd17546baa342d4c5ccb --- /dev/null +++ b/episodes/c1_p004_e029/scene_snapshot.json @@ -0,0 +1,1558 @@ +{ + "trajectory_id": 29, + "env_id": 0, + "run_id": "c1_p004", + "task_type": "BioPlateCell", + "success": true, + "timing": { + "fps": 50.0, + "sim_dt": 0.005, + "decimation": 4 + }, + "restore_interface": { + "scene": "scene_manager.reset_to(snapshot['scene'], env_ids=[env_id])", + "robots": "robot_manager.set_state({'robots': snapshot['robots']}, env_ids=[env_id])" + }, + "snapshot": { + "env_id": 0, + "scene": { + "objects": [ + { + "rac_cell": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/rac_cell.usd", + "pose": { + "pos": [ + 0.0, + 0.0, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "physics_material": { + "static_friction": 0.6, + "dynamic_friction": 0.5, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "robot_mount": [ + { + "asset": "Cube", + "pose": { + "pos": [ + 0.0, + 0.0, + 0.9075 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": "color", + "value": [ + 0.55, + 0.56, + 0.58 + ], + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": { + "size": [ + 0.2, + 0.2, + 0.015 + ] + } + }, + "type_specific": {} + } + ], + "plate_rack": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/plate_hotel.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 0.9 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "physics_material": { + "static_friction": 0.6, + "dynamic_friction": 0.5, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "hotel_plate": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_96_black/plate_96_black.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 0.9605 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_96_white/plate_96_white.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.0285 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/pcr_384_red/pcr_384_red.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.0965 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_24_clear/plate_24_clear.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.1645 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_48_clear/plate_48_clear.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.2325 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "a4s_sealer": [ + { + "asset": "$MAGICSIM_ASSETS/Articulated/A4SSealer/Object.usd", + "pose": { + "pos": [ + 0.4648113250732422, + 0.12581157684326172, + 0.8999999761581421 + ], + "ori": [ + 0.7221215963363647, + 0.0, + 0.0, + -0.6917661428451538 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "articulation", + "solver_position_iteration_count": 16.0, + "solver_velocity_iteration_count": 1.0, + "enabled_self_collisions": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "joint_position": [ + 5.382664366310186e-12 + ], + "joint_velocity": [ + 0.0 + ], + "linear_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "angular_velocity": [ + 0.0, + 0.0, + 0.0 + ] + } + } + ], + "conveyor": [ + { + "asset": "Cube", + "pose": { + "pos": [ + 0.15, + 0.45, + 0.9 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "conveyor", + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9 + }, + "ratio": 1.0 + }, + "primitive_params": { + "size": [ + 2.4, + 0.076, + 0.03 + ] + }, + "conveyor": { + "speed": 0.18719505386542287, + "direction": [ + 1.0, + 0.0, + 0.0 + ], + "enabled": true, + "drive": "surface_velocity", + "lines": null, + "station_line": null, + "riders": [ + "carrier" + ], + "stations": { + "pick": { + "position": -0.07633431344490244, + "slow_distance": 0.03, + "slow_speed": 0.03 + } + }, + "rails": { + "height": 0.01, + "thickness": 0.01, + "gap": 0.001, + "friction": 0.05 + }, + "legs": 0.87, + "loop": { + "radius": 0.35, + "side": "left", + "curve_extra_width": 0.0, + "segments": 18, + "curve_rails": "both" + }, + "snap_distance": 0.1, + "junction_snap": 0.02, + "collision_approximation": "auto", + "plate_mass": 1.0, + "lift_drop": 0.004, + "accel": 0.0, + "decel": 0.0, + "drive_damping": 1000000.0, + "drive_max_force": 1000000000.0 + } + }, + "type_specific": { + "controller": { + "state": "at_station", + "speed": 0.18719505386542287, + "holds": [], + "station": "pick", + "rider": "carrier_4", + "arrived": true, + "applied_speed": 0.0 + } + } + } + ], + "carrier": [ + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + 1.6811456680297852, + 0.9051427841186523, + 0.8999999761581421 + ], + "ori": [ + 0.5948077440261841, + -8.98783554248439e-08, + 5.630240096365924e-08, + 0.8038680553436279 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -8.604424950320322e-10, + -7.630761578170109e-10, + 3.725290298461914e-09 + ], + "angular_velocity": [ + 6.432334487271874e-08, + -4.546052423393121e-08, + 6.173229039063699e-09 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + -1.1795015335083008, + 1.1215801239013672, + 0.8999999761581421 + ], + "ori": [ + -0.18587760627269745, + -3.9974132448605815e-08, + 1.292555538157103e-07, + 0.9825729131698608 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 3.112558388806974e-08, + -6.814467212734598e-08, + -8.568167686462402e-08 + ], + "angular_velocity": [ + 7.278341627170448e-07, + 1.766375362421968e-06, + -8.593659117650532e-07 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + -0.00699615478515625, + 1.1524438858032227, + 0.8999999761581421 + ], + "ori": [ + -0.011570773087441921, + 2.9098941034533254e-09, + -1.1914194075757223e-09, + 0.999933123588562 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -1.7583745570703968e-10, + -1.3993806113887786e-10, + 0.0 + ], + "angular_velocity": [ + -3.2349397827147186e-08, + -1.0864610544558673e-08, + -1.348009526225269e-08 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + 0.07383537292480469, + 0.4472637176513672, + 0.8999999761581421 + ], + "ori": [ + 0.9999603629112244, + 4.79721817825407e-10, + -2.27702567912047e-09, + 0.008908743970096111 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -6.457492318645564e-10, + -7.840763593947031e-09, + 1.1175870895385742e-08 + ], + "angular_velocity": [ + 2.535591931973613e-07, + -3.395197722966259e-08, + 5.109691159077556e-08 + ] + } + } + ], + "plate": [ + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_6_clear/Object.usd", + "pose": { + "pos": [ + 1.689697265625, + 0.9153871536254883, + 0.9179999828338623 + ], + "ori": [ + 0.5605332255363464, + -8.676291685105753e-08, + 5.829282656577561e-08, + 0.828131914138794 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -2.764101836305599e-09, + -7.767309284645307e-08, + 1.4528632164001465e-07 + ], + "angular_velocity": [ + 2.85038868241827e-06, + 7.172396863097674e-07, + 1.5845114376134006e-07 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_96_black/Object.usd", + "pose": { + "pos": [ + -1.1905193328857422, + 1.1150951385498047, + 0.9180000424385071 + ], + "ori": [ + -0.26914456486701965, + -2.970071300012478e-08, + 1.3317570335402706e-07, + 0.9630997776985168 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 6.708266653276951e-08, + -5.5452517244702904e-08, + -5.073845386505127e-06 + ], + "angular_velocity": [ + 1.2612446198545513e-06, + 2.3413394956151024e-06, + -7.563494364148937e-07 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/pcr_96_blue/Object.usd", + "pose": { + "pos": [ + 0.0024309158325195312, + 1.1536140441894531, + 0.9180000424385071 + ], + "ori": [ + -0.04743757098913193, + 3.1897726682217353e-09, + -1.518850822890272e-09, + 0.998874306678772 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 1.150793060844535e-08, + -5.0520529981668005e-09, + -5.9157609939575195e-06 + ], + "angular_velocity": [ + -6.624335924243496e-07, + 2.037463900705916e-06, + -2.0803440747840796e-08 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/deep_well_96_2ml/Object.usd", + "pose": { + "pos": [ + 0.07919692993164062, + 0.4576902389526367, + 0.9179999828338623 + ], + "ori": [ + 0.999171257019043, + 1.2428380546936069e-09, + -3.604056608708106e-09, + 0.040705010294914246 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -1.0185856069711008e-07, + -1.0782164849842957e-07, + -1.0617077350616455e-06 + ], + "angular_velocity": [ + 3.176799737047986e-06, + -4.0780087147140875e-06, + 1.8894326103691128e-07 + ] + } + } + ], + "deco_hub_west": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/hub_d.usd", + "pose": { + "pos": [ + -3.36, + 0.0, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_hub_east": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/hub_e.usd", + "pose": { + "pos": [ + 3.36, + 0.0, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_hub_back": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/hub_b.usd", + "pose": { + "pos": [ + -3.0, + -2.1, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_bench_east": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/bench_a.usd", + "pose": { + "pos": [ + 2.6, + -2.5, + 0.0 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_bench_gap": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/bench_b.usd", + "pose": { + "pos": [ + -0.1, + -2.9, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ] + }, + {}, + {}, + {} + ], + "devices": { + "hub": [ + { + "t": 7.13999999999987, + "step": 1428, + "counter": 0, + "devices": { + "a4s_sealer_1": { + "mode": "auto", + "units": { + "drawer": { + "state": "at_out", + "active": null, + "target": 0.0, + "goal_name": "out", + "profile": null, + "q_start": null, + "reversing": false, + "blocked_for": 0.0, + "settled_for": 0.0, + "last_q": 5.382664366310186e-12 + }, + "heater": { + "state": "ready", + "active": null, + "duration": 0.0, + "t_start": null, + "elapsed": 0.0 + } + }, + "queues": {}, + "program": null, + "sensors": { + "plate_present": { + "occupants": [], + "pending": {} + } + }, + "interlocks": {} + }, + "conveyor_1": { + "mode": "auto", + "units": { + "belt": { + "state": "at_station", + "active": null, + "controller": { + "speed": 0.18719505386542287, + "holds": [], + "station": "pick", + "rider": "carrier_4", + "arrived": true, + "settle_count": 1203, + "released": { + "pick": [] + }, + "last_pos": { + "carrier_1": [ + 1.5311456620693207, + 0.4551427960395813, + 0.0 + ], + "carrier_2": [ + -1.3295015394687653, + 0.6715801358222961, + 0.0 + ], + "carrier_3": [ + -0.15699616074562073, + 0.7024438977241516, + 0.0 + ], + "carrier_4": [ + -0.07616463303565979, + -0.0027362704277038574, + 0.0 + ] + }, + "command": 0.0 + }, + "belt": { + "target_speed": 0.0, + "command_speed": 0.0 + }, + "seen": { + "state": "at_station", + "station": "pick", + "rider": "carrier_4", + "arrived": true + } + } + }, + "queues": {}, + "program": null, + "sensors": {}, + "interlocks": {} + } + }, + "zones": {}, + "labware": { + "plate_1": { + "sealed": false + }, + "plate_2": { + "sealed": false + }, + "plate_3": { + "sealed": false + }, + "plate_4": { + "sealed": false + } + }, + "rules": {}, + "records": [], + "bus": { + "seq": 3, + "queue": [] + } + }, + null, + null, + null + ], + "drives": [ + {}, + null, + null, + null + ] + }, + "artifacts": [ + { + "ceiling": { + "type": "rect", + "pose": { + "pos": [ + 0.5239607309995761, + 0.13826541460982822, + 2.8188603986616423 + ], + "ori": [ + 8.36730718006913, + 2.1887897894442077, + 19.10813588122359 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "color_temperature": 4549.356219638774, + "color": [ + 0.9834248738887594, + 0.9807306472284478, + 0.8976866177578903 + ], + "intensity": 11505.794105740537, + "width": 2.6406826753404857, + "height": 0.8120195297505229 + } + }, + "key": { + "type": "sphere", + "pose": { + "pos": [ + 1.7486369235223087, + -0.9046672082299051, + 1.906932372907978 + ], + "ori": [ + 14.828299579937507, + 30.260499773104414, + -13.233260152105125 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "color_temperature": 3690.2772235366215, + "color": [ + 0.828843836604675, + 0.9587247242739384, + 0.9724447077841588 + ], + "intensity": 5939.4331457823255, + "radius": 0.21292213235305057 + } + } + }, + {}, + {}, + {} + ], + "background": { + "type": "dome", + "pose": { + "pos": null, + "ori": null, + "scale": null + }, + "dr": { + "intensity": 1406.155206402213, + "texture": null, + "color": [ + 0.92, + 0.94, + 0.96 + ] + } + } + }, + "robots": { + "UR5e": { + "root_pose": [ + [ + 11.0, + -11.0, + 0.9150000214576721, + 1.0, + 0.0, + 0.0, + 0.0 + ], + [ + 11.0, + 11.0, + 0.9150000214576721, + 1.0, + 0.0, + 0.0, + 0.0 + ], + [ + -11.0, + -11.0, + 0.9150000214576721, + 1.0, + 0.0, + 0.0, + 0.0 + ], + [ + -11.0, + 11.0, + 0.9150000214576721, + 1.0, + 0.0, + 0.0, + 0.0 + ] + ], + "root_vel": [ + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + ], + "joint_pos": [ + [ + 0.9141024947166443, + -1.719397783279419, + 2.090498924255371, + -1.941900372505188, + -1.5707999467849731, + 2.484901189804077, + 0.01799999736249447, + 0.018000001087784767 + ], + [ + 0.9140999913215637, + -1.7194000482559204, + 2.0905001163482666, + -1.9419000148773193, + -1.5707999467849731, + 2.4848999977111816, + 0.017999999225139618, + 0.017999999225139618 + ], + [ + 1.2730984687805176, + -1.3350883722305298, + 2.2779250144958496, + -2.513610601425171, + -1.570552110671997, + 2.8457798957824707, + 0.017999982461333275, + 0.01800001785159111 + ], + [ + 0.9141076803207397, + -1.7193961143493652, + 2.0904977321624756, + -1.941900372505188, + -1.5707999467849731, + 2.484903335571289, + 0.01799999736249447, + 0.018000001087784767 + ] + ], + "joint_vel": [ + [ + 0.0, + -2.608342489551992e-38, + -2.20009015677345e-38, + -7.201225724536834e-37, + 1.962141157636433e-37, + 7.599045950767863e-38, + 2.5990388508034812e-08, + -2.5990386731677972e-08 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + [ + 0.00012325435818638653, + -0.015001961961388588, + -0.004870137665420771, + 0.018931498751044273, + 6.728569132974371e-06, + 2.0941317416145466e-05, + 7.165173883549869e-06, + -7.189971711341059e-06 + ], + [ + -2.74152161534173e-38, + 0.0, + 0.0, + 6.738851489586183e-37, + -4.105218869817503e-37, + 3.0371065808358123e-37, + 2.5990386731677972e-08, + -2.5990386731677972e-08 + ] + ] + } + }, + "cameras": { + "cameras": { + "camera0": [ + [ + 0.05016748979687691, + -0.001581604708917439, + -0.03177228197455406, + -0.2891388237476349, + 0.6534048914909363, + 0.6403107047080994, + -0.2818918228149414 + ], + [ + 0.05229838564991951, + -0.002991070505231619, + -0.03490089625120163, + -0.2894505262374878, + 0.6444330215454102, + 0.6484502553939819, + -0.28361374139785767 + ], + [ + 0.04963657259941101, + -0.0010907106334343553, + -0.02865646965801716, + -0.2792001962661743, + 0.6471664309501648, + 0.655760645866394, + -0.27055659890174866 + ], + [ + 0.051799226552248, + 0.0021187872625887394, + -0.02703792415559292, + -0.2779736816883087, + 0.6534144282341003, + 0.6390261054039001, + -0.2956787049770355 + ] + ], + "camera1": [ + [ + 0.0669875517487526, + 0.5709797739982605, + 1.947091817855835, + 0.036109521985054016, + 0.02722797356545925, + 0.26760783791542053, + 0.9624660015106201 + ], + [ + 0.0446348674595356, + 0.5832217335700989, + 1.9509516954421997, + 0.050811685621738434, + -0.003339954186230898, + 0.28015831112861633, + 0.9586023092269897 + ], + [ + 0.03430858254432678, + 0.5888987183570862, + 1.925257921218872, + 0.03439522162079811, + -0.003429393982514739, + 0.282684862613678, + 0.9585898518562317 + ], + [ + 0.056365590542554855, + 0.5672527551651001, + 1.9309630393981934, + 0.054289937019348145, + 0.002442008815705776, + 0.27241411805152893, + 0.9606441259384155 + ] + ] + } + } + } +} \ No newline at end of file diff --git a/episodes/c1_p004_e029/wrist.mp4 b/episodes/c1_p004_e029/wrist.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..d760d597261dcd8780031201ebd109a8bd6a2ab1 --- /dev/null +++ b/episodes/c1_p004_e029/wrist.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:b6a4c1b167c1baf958834c8dce7c6a1c567d8f79abda95c11a02404d86967bdd +size 6798896 diff --git a/episodes/c1_p004_e030/data.npz b/episodes/c1_p004_e030/data.npz new file mode 100644 index 0000000000000000000000000000000000000000..07e14433d63b14c77116ae68a5bd0a2231d994ee --- /dev/null +++ b/episodes/c1_p004_e030/data.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:849294dcad0a42a1c333eff454f614f33a32c9c48ae4f980de8a6312c6389e92 +size 193297 diff --git a/episodes/c1_p004_e030/device_events.jsonl b/episodes/c1_p004_e030/device_events.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..c1bf3eedfa97d8b40c98e59e4d70d0c59e390d19 --- /dev/null +++ b/episodes/c1_p004_e030/device_events.jsonl @@ -0,0 +1,35 @@ +{"env_id": 3, "seq": 1, "step": 52, "t": 0.26, "topic": "conveyor_1.belt.station.pick.captured", "source": "conveyor_1.belt", "data": {"rider": "carrier_2"}, "cause": null} +{"env_id": 3, "seq": 2, "step": 52, "t": 0.26, "topic": "conveyor_1.belt.state.changed", "source": "conveyor_1.belt", "data": {"from": "running", "to": "at_station"}, "cause": null} +{"env_id": 3, "seq": 3, "step": 57, "t": 0.285, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_2"}, "cause": null} +{"env_id": 3, "seq": 4, "step": 6807, "t": 34.035, "topic": "a4s_sealer_1.plate_present.present", "source": "a4s_sealer_1.plate_present", "data": {"object": "plate_2"}, "cause": null} +{"env_id": 3, "seq": 5, "step": 7420, "t": 37.1, "topic": "a4s_sealer_1.command.started", "source": "a4s_sealer_1", "data": {"command_id": "task-3-1", "name": "seal", "source": "task"}, "cause": "task-3-1"} +{"env_id": 3, "seq": 6, "step": 7420, "t": 37.1, "topic": "a4s_sealer_1.seal.started", "source": "a4s_sealer_1", "data": {"dwell": 4.749392915602268}, "cause": "task-3-1"} +{"env_id": 3, "seq": 7, "step": 7420, "t": 37.1, "topic": "a4s_sealer_1.drawer.command.started", "source": "a4s_sealer_1.drawer", "data": {"command_id": "program-3-2", "name": "close", "source": "program:seal"}, "cause": "program-3-2"} +{"env_id": 3, "seq": 8, "step": 7420, "t": 37.1, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "at_out", "to": "moving"}, "cause": null} +{"env_id": 3, "seq": 9, "step": 7420, "t": 37.1, "topic": "a4s_sealer_1.drawer.moving", "source": "a4s_sealer_1.drawer", "data": {"target": 0.3, "goal": "in"}, "cause": "program-3-2"} +{"env_id": 3, "seq": 10, "step": 7839, "t": 39.195, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "moving", "to": "at_in"}, "cause": null} +{"env_id": 3, "seq": 11, "step": 7839, "t": 39.195, "topic": "a4s_sealer_1.drawer.reached", "source": "a4s_sealer_1.drawer", "data": {"position": "in", "q": 0.30000001192092896}, "cause": "program-3-2"} +{"env_id": 3, "seq": 12, "step": 7839, "t": 39.195, "topic": "a4s_sealer_1.drawer.at_in", "source": "a4s_sealer_1.drawer", "data": {"q": 0.30000001192092896}, "cause": "program-3-2"} +{"env_id": 3, "seq": 13, "step": 7839, "t": 39.195, "topic": "a4s_sealer_1.drawer.command.succeeded", "source": "a4s_sealer_1.drawer", "data": {"command_id": "program-3-2", "name": "close", "source": "program:seal", "result": {"position": "in"}}, "cause": "program-3-2"} +{"env_id": 3, "seq": 14, "step": 7839, "t": 39.195, "topic": "labware.plate_2.changed", "source": "labware.plate_2", "data": {"key": "sealed", "value": true}, "cause": "task-3-1"} +{"env_id": 3, "seq": 15, "step": 7839, "t": 39.195, "topic": "a4s_sealer_1.sealed", "source": "a4s_sealer_1", "data": {"plate": "plate_2"}, "cause": "task-3-1"} +{"env_id": 3, "seq": 16, "step": 7839, "t": 39.195, "topic": "a4s_sealer_1.heater.command.started", "source": "a4s_sealer_1.heater", "data": {"command_id": "program-3-3", "name": "run", "source": "program:seal"}, "cause": "program-3-3"} +{"env_id": 3, "seq": 17, "step": 7839, "t": 39.195, "topic": "a4s_sealer_1.heater.state.changed", "source": "a4s_sealer_1.heater", "data": {"from": "ready", "to": "running"}, "cause": null} +{"env_id": 3, "seq": 18, "step": 7839, "t": 39.195, "topic": "a4s_sealer_1.heater.started", "source": "a4s_sealer_1.heater", "data": {"duration": 4.749392915602268}, "cause": "program-3-3"} +{"env_id": 3, "seq": 19, "step": 8789, "t": 43.945, "topic": "a4s_sealer_1.heater.state.changed", "source": "a4s_sealer_1.heater", "data": {"from": "running", "to": "ready"}, "cause": null} +{"env_id": 3, "seq": 20, "step": 8789, "t": 43.945, "topic": "a4s_sealer_1.heater.finished", "source": "a4s_sealer_1.heater", "data": {"elapsed": 4.75000000000243}, "cause": "program-3-3"} +{"env_id": 3, "seq": 21, "step": 8789, "t": 43.945, "topic": "a4s_sealer_1.heater.command.succeeded", "source": "a4s_sealer_1.heater", "data": {"command_id": "program-3-3", "name": "run", "source": "program:seal", "result": {"elapsed": 4.75000000000243}}, "cause": "program-3-3"} +{"env_id": 3, "seq": 22, "step": 8789, "t": 43.945, "topic": "a4s_sealer_1.drawer.command.started", "source": "a4s_sealer_1.drawer", "data": {"command_id": "program-3-4", "name": "open", "source": "program:seal"}, "cause": "program-3-4"} +{"env_id": 3, "seq": 23, "step": 8789, "t": 43.945, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "at_in", "to": "moving"}, "cause": null} +{"env_id": 3, "seq": 24, "step": 8789, "t": 43.945, "topic": "a4s_sealer_1.drawer.moving", "source": "a4s_sealer_1.drawer", "data": {"target": 0.0, "goal": "out"}, "cause": "program-3-4"} +{"env_id": 3, "seq": 25, "step": 9209, "t": 46.045, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "moving", "to": "at_out"}, "cause": null} +{"env_id": 3, "seq": 26, "step": 9209, "t": 46.045, "topic": "a4s_sealer_1.drawer.reached", "source": "a4s_sealer_1.drawer", "data": {"position": "out", "q": 0.0}, "cause": "program-3-4"} +{"env_id": 3, "seq": 27, "step": 9209, "t": 46.045, "topic": "a4s_sealer_1.drawer.at_out", "source": "a4s_sealer_1.drawer", "data": {"q": 0.0}, "cause": "program-3-4"} +{"env_id": 3, "seq": 28, "step": 9209, "t": 46.045, "topic": "a4s_sealer_1.drawer.command.succeeded", "source": "a4s_sealer_1.drawer", "data": {"command_id": "program-3-4", "name": "open", "source": "program:seal", "result": {"position": "out"}}, "cause": "program-3-4"} +{"env_id": 3, "seq": 29, "step": 9209, "t": 46.045, "topic": "a4s_sealer_1.seal.finished", "source": "a4s_sealer_1", "data": {}, "cause": "task-3-1"} +{"env_id": 3, "seq": 30, "step": 9209, "t": 46.045, "topic": "a4s_sealer_1.command.succeeded", "source": "a4s_sealer_1", "data": {"command_id": "task-3-1", "name": "seal", "source": "task"}, "cause": "task-3-1"} +{"env_id": 3, "seq": 31, "step": 9790, "t": 48.95, "topic": "a4s_sealer_1.plate_present.absent", "source": "a4s_sealer_1.plate_present", "data": {"object": "plate_2"}, "cause": null} +{"env_id": 3, "seq": 32, "step": 11544, "t": 57.72, "topic": "conveyor_1.belt.command.started", "source": "conveyor_1.belt", "data": {"command_id": "task-3-5", "name": "release", "source": "task"}, "cause": "task-3-5"} +{"env_id": 3, "seq": 33, "step": 11544, "t": 57.72, "topic": "conveyor_1.belt.station.pick.released", "source": "conveyor_1.belt", "data": {"rider": "carrier_2"}, "cause": "task-3-5"} +{"env_id": 3, "seq": 34, "step": 11544, "t": 57.72, "topic": "conveyor_1.belt.state.changed", "source": "conveyor_1.belt", "data": {"from": "at_station", "to": "running"}, "cause": null} +{"env_id": 3, "seq": 35, "step": 11544, "t": 57.72, "topic": "conveyor_1.belt.command.succeeded", "source": "conveyor_1.belt", "data": {"command_id": "task-3-5", "name": "release", "source": "task", "result": {"state": "running"}}, "cause": "task-3-5"} diff --git a/episodes/c1_p004_e030/env.mp4 b/episodes/c1_p004_e030/env.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..3e03054ed5fed42ccb803167c150dcca527d38dd --- /dev/null +++ b/episodes/c1_p004_e030/env.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:cd4b17fcddb55d34d3c188d3fd50c777c540d3fb0f6f45bc2b3a9d1f98fabee2 +size 1325121 diff --git a/episodes/c1_p004_e030/meta.json b/episodes/c1_p004_e030/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..2ff736db10178a89d9880a7daf53bd09e84bf5f8 --- /dev/null +++ b/episodes/c1_p004_e030/meta.json @@ -0,0 +1,32 @@ +{ + "source": "raw/c1_p004/magicsim/30", + "fps": 25, + "frames": 1281, + "kept_ticks": "even", + "video_frames": { + "wrist": 1281, + "env": 1281 + }, + "joint_target_source": "joint_pos_target", + "fk_vs_recorded_eef_max_m": 0.0, + "curobo_joints": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "joint_order": [ + "shoulder_pan", + "shoulder_lift", + "elbow", + "wrist_1", + "wrist_2", + "wrist_3", + "finger_left", + "finger_right" + ], + "frames_note": "eef / actions in the robot base frame; camera_pose = local pose (wrist: in plate_gripper_base, env: env frame), pos + quat wxyz", + "dr_version": "v2" +} \ No newline at end of file diff --git a/episodes/c1_p004_e030/scene_snapshot.json b/episodes/c1_p004_e030/scene_snapshot.json new file mode 100644 index 0000000000000000000000000000000000000000..f5a25881277dd6c17788cfe4b9306b5438d17a57 --- /dev/null +++ b/episodes/c1_p004_e030/scene_snapshot.json @@ -0,0 +1,1558 @@ +{ + "trajectory_id": 30, + "env_id": 3, + "run_id": "c1_p004", + "task_type": "BioPlateCell", + "success": true, + "timing": { + "fps": 50.0, + "sim_dt": 0.005, + "decimation": 4 + }, + "restore_interface": { + "scene": "scene_manager.reset_to(snapshot['scene'], env_ids=[env_id])", + "robots": "robot_manager.set_state({'robots': snapshot['robots']}, env_ids=[env_id])" + }, + "snapshot": { + "env_id": 3, + "scene": { + "objects": [ + {}, + {}, + {}, + { + "rac_cell": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/rac_cell.usd", + "pose": { + "pos": [ + 0.0, + 0.0, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "physics_material": { + "static_friction": 0.6, + "dynamic_friction": 0.5, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "robot_mount": [ + { + "asset": "Cube", + "pose": { + "pos": [ + 0.0, + 0.0, + 0.9075 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": "color", + "value": [ + 0.55, + 0.56, + 0.58 + ], + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": { + "size": [ + 0.2, + 0.2, + 0.015 + ] + } + }, + "type_specific": {} + } + ], + "plate_rack": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/plate_hotel.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 0.9 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "physics_material": { + "static_friction": 0.6, + "dynamic_friction": 0.5, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "hotel_plate": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_6_clear/plate_6_clear.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 0.9605 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_96_white/plate_96_white.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.0285 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_96_white/plate_96_white.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.0965 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/deep_well_24_10ml/deep_well_24_10ml.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.1645 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/deep_well_24_10ml/deep_well_24_10ml.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.2325 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "a4s_sealer": [ + { + "asset": "$MAGICSIM_ASSETS/Articulated/A4SSealer/Object.usd", + "pose": { + "pos": [ + 0.48879337310791016, + 0.054409027099609375, + 0.8999999761581421 + ], + "ori": [ + -0.6974012851715088, + 0.0, + 0.0, + 0.7166808843612671 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "articulation", + "solver_position_iteration_count": 16.0, + "solver_velocity_iteration_count": 1.0, + "enabled_self_collisions": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "joint_position": [ + 0.0 + ], + "joint_velocity": [ + 0.0 + ], + "linear_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "angular_velocity": [ + 0.0, + 0.0, + 0.0 + ] + } + } + ], + "conveyor": [ + { + "asset": "Cube", + "pose": { + "pos": [ + 0.15, + 0.45, + 0.9 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "conveyor", + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9 + }, + "ratio": 1.0 + }, + "primitive_params": { + "size": [ + 2.4, + 0.076, + 0.03 + ] + }, + "conveyor": { + "speed": 0.19273017612990903, + "direction": [ + 1.0, + 0.0, + 0.0 + ], + "enabled": true, + "drive": "surface_velocity", + "lines": null, + "station_line": null, + "riders": [ + "carrier" + ], + "stations": { + "pick": { + "position": -0.12650233917167283, + "slow_distance": 0.03, + "slow_speed": 0.03 + } + }, + "rails": { + "height": 0.01, + "thickness": 0.01, + "gap": 0.001, + "friction": 0.05 + }, + "legs": 0.87, + "loop": { + "radius": 0.35, + "side": "left", + "curve_extra_width": 0.0, + "segments": 18, + "curve_rails": "both" + }, + "snap_distance": 0.1, + "junction_snap": 0.02, + "collision_approximation": "auto", + "plate_mass": 1.0, + "lift_drop": 0.004, + "accel": 0.0, + "decel": 0.0, + "drive_damping": 1000000.0, + "drive_max_force": 1000000000.0 + } + }, + "type_specific": { + "controller": { + "state": "at_station", + "speed": 0.19273017612990903, + "holds": [], + "station": "pick", + "rider": "carrier_2", + "arrived": true, + "applied_speed": 0.0 + } + } + } + ], + "carrier": [ + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + -1.3888635635375977, + 0.7164497375488281, + 0.8999999761581421 + ], + "ori": [ + -0.7869439125061035, + 1.4076121601647174e-07, + -1.8941989310405916e-08, + 0.6170246601104736 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -9.940885092873941e-07, + 9.558708597978693e-07, + -2.4065375328063965e-06 + ], + "angular_velocity": [ + -8.003720722626895e-05, + -0.00010030471457866952, + 2.2080021153669804e-06 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + 0.02311229705810547, + 0.45000267028808594, + 0.8999999761581421 + ], + "ori": [ + 1.0, + 1.6634559285577666e-09, + -6.324766821386163e-10, + -2.9414448363240808e-05 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 6.49043707667829e-10, + 1.4618835031399158e-09, + 3.725290298461914e-09 + ], + "angular_velocity": [ + -1.0812753714617429e-07, + 4.5691471939335315e-08, + -2.221420380976724e-09 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + 1.453690528869629, + 0.4692192077636719, + 0.8999999761581421 + ], + "ori": [ + 0.988932192325592, + 5.298971572642586e-08, + -1.2500649404501019e-07, + 0.1483686864376068 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 3.8006646718713455e-09, + -1.9062831313476636e-09, + 1.862645149230957e-08 + ], + "angular_velocity": [ + 1.1459633242338896e-08, + 2.559754648245871e-07, + 3.3443711799918674e-08 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + 0.2527332305908203, + 1.1500005722045898, + 0.8999999761581421 + ], + "ori": [ + -7.63802836445393e-06, + -7.646594468724288e-09, + 6.198216162545123e-09, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 2.1489854340472903e-10, + -1.8413561786445598e-09, + 3.725290298461914e-09 + ], + "angular_velocity": [ + 1.1816827338861913e-07, + 3.7204372915766726e-08, + -2.8620155134717606e-09 + ] + } + } + ], + "plate": [ + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_48_clear/Object.usd", + "pose": { + "pos": [ + -1.391026496887207, + 0.7019577026367188, + 0.9179999828338623 + ], + "ori": [ + -0.7428009510040283, + 1.785581957847171e-07, + -1.7210925307153957e-07, + 0.6695123314857483 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -5.152069206815213e-07, + 2.677188831512467e-06, + -1.257285475730896e-05 + ], + "angular_velocity": [ + -6.162013596622273e-05, + -0.00026657889247871935, + 3.734773054020479e-05 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_384_white/Object.usd", + "pose": { + "pos": [ + 0.02269268035888672, + 0.4542217254638672, + 0.9180000424385071 + ], + "ori": [ + 0.9999311566352844, + 7.510937982679877e-10, + -1.7355743509028798e-09, + -0.011739769019186497 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -1.7739511193326507e-08, + 8.36652169766694e-09, + -5.02169132232666e-06 + ], + "angular_velocity": [ + 3.897286262599664e-07, + -1.6124763533298392e-06, + 9.210172180473819e-08 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_96_clear/Object.usd", + "pose": { + "pos": [ + 1.4654655456542969, + 0.46307373046875, + 0.9180000424385071 + ], + "ori": [ + 0.9900863170623779, + 5.386342394331223e-08, + -1.2768980184318934e-07, + 0.1404600292444229 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -4.054754754179157e-09, + -4.773038853045364e-08, + 2.1606683731079102e-07 + ], + "angular_velocity": [ + 1.6506928659509867e-06, + -2.485809091012925e-06, + -1.4763531908101868e-07 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/reservoir_12ch/Object.usd", + "pose": { + "pos": [ + 0.2618865966796875, + 1.1599092483520508, + 0.9179999828338623 + ], + "ori": [ + -0.0508347749710083, + -4.625376970324169e-09, + 8.725008271426304e-09, + 0.9987070560455322 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 6.310764177896999e-08, + 4.837620792841335e-08, + 3.3527612686157227e-08 + ], + "angular_velocity": [ + -3.4743757169053424e-06, + 2.5013632694026455e-06, + 1.2996250120522745e-07 + ] + } + } + ], + "deco_hub_west": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/hub_e.usd", + "pose": { + "pos": [ + -3.36, + 0.0, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_hub_east": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/hub_d.usd", + "pose": { + "pos": [ + 3.36, + 0.0, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_hub_back": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/hub_a.usd", + "pose": { + "pos": [ + -3.0, + -2.1, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_bench_east": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/bench_c.usd", + "pose": { + "pos": [ + 2.6, + -2.5, + 0.0 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_bench_gap": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/bench_b.usd", + "pose": { + "pos": [ + -0.1, + -2.9, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ] + } + ], + "devices": { + "hub": [ + null, + null, + null, + { + "t": 6.719999999999879, + "step": 1344, + "counter": 0, + "devices": { + "a4s_sealer_1": { + "mode": "auto", + "units": { + "drawer": { + "state": "at_out", + "active": null, + "target": 0.0, + "goal_name": "out", + "profile": null, + "q_start": null, + "reversing": false, + "blocked_for": 0.0, + "settled_for": 0.0, + "last_q": 0.0 + }, + "heater": { + "state": "ready", + "active": null, + "duration": 0.0, + "t_start": null, + "elapsed": 0.0 + } + }, + "queues": {}, + "program": null, + "sensors": { + "plate_present": { + "occupants": [], + "pending": {} + } + }, + "interlocks": {} + }, + "conveyor_1": { + "mode": "auto", + "units": { + "belt": { + "state": "at_station", + "active": null, + "controller": { + "speed": 0.19273017612990903, + "holds": [], + "station": "pick", + "rider": "carrier_2", + "arrived": true, + "settle_count": 1291, + "released": { + "pick": [] + }, + "last_pos": { + "carrier_1": [ + -1.5388635694980621, + 0.2664497494697571, + 0.0 + ], + "carrier_2": [ + -0.126887708902359, + 2.682209014892578e-06, + 0.0 + ], + "carrier_3": [ + 1.3036905229091644, + 0.01921921968460083, + 0.0 + ], + "carrier_4": [ + 0.10273322463035583, + 0.7000005841255188, + 0.0 + ] + }, + "command": 0.0 + }, + "belt": { + "target_speed": 0.0, + "command_speed": 0.0 + }, + "seen": { + "state": "at_station", + "station": "pick", + "rider": "carrier_2", + "arrived": true + } + } + }, + "queues": {}, + "program": null, + "sensors": {}, + "interlocks": {} + } + }, + "zones": {}, + "labware": { + "plate_1": { + "sealed": false + }, + "plate_2": { + "sealed": false + }, + "plate_3": { + "sealed": false + }, + "plate_4": { + "sealed": false + } + }, + "rules": {}, + "records": [], + "bus": { + "seq": 3, + "queue": [] + } + } + ], + "drives": [ + null, + null, + null, + {} + ] + }, + "artifacts": [ + {}, + {}, + {}, + { + "ceiling": { + "type": "rect", + "pose": { + "pos": [ + 0.505377681518418, + -0.15488146574224482, + 3.164971685925962 + ], + "ori": [ + -7.45758236351378, + -2.9500430550773284, + 0.08587946242796107 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "color_temperature": 6084.106186572824, + "color": [ + 0.9071946120449583, + 0.8540150273463558, + 0.9895110435415467 + ], + "intensity": 4649.791702503449, + "width": 1.4979186294959925, + "height": 1.0796608148350322 + } + }, + "key": { + "type": "disk", + "pose": { + "pos": [ + 1.108076780265816, + -1.17685675032248, + 2.584822043669837 + ], + "ori": [ + -23.901440630214417, + -39.23504286676427, + -9.044906492159779 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "color_temperature": 6909.093195688807, + "color": [ + 0.9846069984920514, + 0.9363862818406247, + 0.892166622383799 + ], + "intensity": 4996.3120648219565, + "radius": 0.22028359091317795 + } + } + } + ], + "background": { + "type": "dome", + "pose": { + "pos": null, + "ori": null, + "scale": null + }, + "dr": { + "intensity": 1406.155206402213, + "texture": null, + "color": [ + 0.92, + 0.94, + 0.96 + ] + } + } + }, + "robots": { + "UR5e": { + "root_pose": [ + [ + 11.0, + -11.0, + 0.9150000214576721, + 1.0, + 0.0, + 0.0, + 0.0 + ], + [ + 11.0, + 11.0, + 0.9150000214576721, + 1.0, + 0.0, + 0.0, + 0.0 + ], + [ + -11.0, + -11.0, + 0.9150000214576721, + 1.0, + 0.0, + 0.0, + 0.0 + ], + [ + -11.0, + 11.0, + 0.9150000214576721, + 1.0, + 0.0, + 0.0, + 0.0 + ] + ], + "root_vel": [ + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + ], + "joint_pos": [ + [ + 0.8779107928276062, + -1.431403636932373, + 1.990328073501587, + -2.129685878753662, + -1.5707979202270508, + 2.375286817550659, + 0.018000800162553787, + 0.017999205738306046 + ], + [ + 0.9141018986701965, + -1.719398021697998, + 2.0904994010925293, + -1.9419004917144775, + -1.5707999467849731, + 2.484900951385498, + 0.01799999736249447, + 0.018000001087784767 + ], + [ + 1.2731068134307861, + -1.523057222366333, + 2.1837220191955566, + -2.2314493656158447, + -1.5705516338348389, + 2.8457889556884766, + 0.01799996756017208, + 0.018000032752752304 + ], + [ + 0.9141144752502441, + -1.719393014907837, + 2.0904970169067383, + -1.941901445388794, + -1.5707999467849731, + 2.484905958175659, + 0.01799999549984932, + 0.018000002950429916 + ] + ], + "joint_vel": [ + [ + -0.0030271175783127546, + 0.022138703614473343, + -0.007147444412112236, + -0.013719148933887482, + -1.5119367162697017e-05, + -0.008029661141335964, + 1.8472912415745668e-05, + -1.855424852692522e-05 + ], + [ + -2.6698219373370077e-38, + 2.8536893916976884e-38, + 1.7556246283007473e-38, + 3.319218678166736e-37, + -7.554584319949117e-37, + 1.961802603927452e-37, + 2.5990388508034812e-08, + -2.5990388508034812e-08 + ], + [ + 0.00013286391913425177, + -0.015245523303747177, + -0.011354976333677769, + 0.02534993179142475, + 8.922105735109653e-06, + 7.262768576765666e-06, + 6.65203560856753e-06, + -6.675757504126523e-06 + ], + [ + -2.220983516876533e-38, + 1.5750443398776797e-38, + 0.0, + 3.576830921562913e-37, + -5.051687690123594e-38, + 4.2820291048521515e-37, + 5.1980773463355945e-08, + -5.198078412149698e-08 + ] + ] + } + }, + "cameras": { + "cameras": { + "camera0": [ + [ + 0.051580917090177536, + -0.0018445242894813418, + -0.032703567296266556, + -0.2890718877315521, + 0.6521314978599548, + 0.6419589519500732, + -0.28115957975387573 + ], + [ + 0.048961758613586426, + -0.0011368466075509787, + -0.03383798152208328, + -0.291684627532959, + 0.6428772807121277, + 0.6509862542152405, + -0.27900856733322144 + ], + [ + 0.049320872873067856, + 0.0024160032626241446, + -0.0293801911175251, + -0.2752523422241211, + 0.6446020007133484, + 0.6571020483970642, + -0.277383029460907 + ], + [ + 0.05151846632361412, + 0.001838706899434328, + -0.027241678908467293, + -0.27789634466171265, + 0.6532905697822571, + 0.6393994688987732, + -0.2952175736427307 + ] + ], + "camera1": [ + [ + 0.0669875517487526, + 0.5709797739982605, + 1.947091817855835, + 0.036109521985054016, + 0.02722797356545925, + 0.26760783791542053, + 0.9624660015106201 + ], + [ + 0.0446348674595356, + 0.5832217335700989, + 1.9509516954421997, + 0.050811685621738434, + -0.003339954186230898, + 0.28015831112861633, + 0.9586023092269897 + ], + [ + 0.03430858254432678, + 0.5888987183570862, + 1.925257921218872, + 0.03439522162079811, + -0.003429393982514739, + 0.282684862613678, + 0.9585898518562317 + ], + [ + 0.056365590542554855, + 0.5672527551651001, + 1.9309630393981934, + 0.054289937019348145, + 0.002442008815705776, + 0.27241411805152893, + 0.9606441259384155 + ] + ] + } + } + } +} \ No newline at end of file diff --git a/episodes/c1_p004_e030/wrist.mp4 b/episodes/c1_p004_e030/wrist.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..0a6cca72a9a5e4bdf62df3cfa9679d27fcbcb98b --- /dev/null +++ b/episodes/c1_p004_e030/wrist.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:0b439418493da9474d6da5589e571dbc5cbcbd79b2e27e07f80eb1b88b971ad1 +size 6754921 diff --git a/episodes/c1_p004_e031/data.npz b/episodes/c1_p004_e031/data.npz new file mode 100644 index 0000000000000000000000000000000000000000..7fbb221932e16248f9da78c65e59650ee69bd19d --- /dev/null +++ b/episodes/c1_p004_e031/data.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:72abc288ca85852daf3cafc205682bb902b51f957726710886e65a46ae06391e +size 185991 diff --git a/episodes/c1_p004_e031/device_events.jsonl b/episodes/c1_p004_e031/device_events.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..cfe8288cfc3d2bc41dee0e5e91f75ca65720248d --- /dev/null +++ b/episodes/c1_p004_e031/device_events.jsonl @@ -0,0 +1,35 @@ +{"env_id": 1, "seq": 1, "step": 158, "t": 0.79, "topic": "conveyor_1.belt.station.pick.captured", "source": "conveyor_1.belt", "data": {"rider": "carrier_1"}, "cause": null} +{"env_id": 1, "seq": 2, "step": 158, "t": 0.79, "topic": "conveyor_1.belt.state.changed", "source": "conveyor_1.belt", "data": {"from": "running", "to": "at_station"}, "cause": null} +{"env_id": 1, "seq": 3, "step": 163, "t": 0.815, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_1"}, "cause": null} +{"env_id": 1, "seq": 4, "step": 6783, "t": 33.915, "topic": "a4s_sealer_1.plate_present.present", "source": "a4s_sealer_1.plate_present", "data": {"object": "plate_1"}, "cause": null} +{"env_id": 1, "seq": 5, "step": 7396, "t": 36.98, "topic": "a4s_sealer_1.command.started", "source": "a4s_sealer_1", "data": {"command_id": "task-1-1", "name": "seal", "source": "task"}, "cause": "task-1-1"} +{"env_id": 1, "seq": 6, "step": 7396, "t": 36.98, "topic": "a4s_sealer_1.seal.started", "source": "a4s_sealer_1", "data": {"dwell": 4.570445667540643}, "cause": "task-1-1"} +{"env_id": 1, "seq": 7, "step": 7396, "t": 36.98, "topic": "a4s_sealer_1.drawer.command.started", "source": "a4s_sealer_1.drawer", "data": {"command_id": "program-1-2", "name": "close", "source": "program:seal"}, "cause": "program-1-2"} +{"env_id": 1, "seq": 8, "step": 7396, "t": 36.98, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "at_out", "to": "moving"}, "cause": null} +{"env_id": 1, "seq": 9, "step": 7396, "t": 36.98, "topic": "a4s_sealer_1.drawer.moving", "source": "a4s_sealer_1.drawer", "data": {"target": 0.3, "goal": "in"}, "cause": "program-1-2"} +{"env_id": 1, "seq": 10, "step": 7815, "t": 39.075, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "moving", "to": "at_in"}, "cause": null} +{"env_id": 1, "seq": 11, "step": 7815, "t": 39.075, "topic": "a4s_sealer_1.drawer.reached", "source": "a4s_sealer_1.drawer", "data": {"position": "in", "q": 0.30000001192092896}, "cause": "program-1-2"} +{"env_id": 1, "seq": 12, "step": 7815, "t": 39.075, "topic": "a4s_sealer_1.drawer.at_in", "source": "a4s_sealer_1.drawer", "data": {"q": 0.30000001192092896}, "cause": "program-1-2"} +{"env_id": 1, "seq": 13, "step": 7815, "t": 39.075, "topic": "a4s_sealer_1.drawer.command.succeeded", "source": "a4s_sealer_1.drawer", "data": {"command_id": "program-1-2", "name": "close", "source": "program:seal", "result": {"position": "in"}}, "cause": "program-1-2"} +{"env_id": 1, "seq": 14, "step": 7815, "t": 39.075, "topic": "labware.plate_1.changed", "source": "labware.plate_1", "data": {"key": "sealed", "value": true}, "cause": "task-1-1"} +{"env_id": 1, "seq": 15, "step": 7815, "t": 39.075, "topic": "a4s_sealer_1.sealed", "source": "a4s_sealer_1", "data": {"plate": "plate_1"}, "cause": "task-1-1"} +{"env_id": 1, "seq": 16, "step": 7815, "t": 39.075, "topic": "a4s_sealer_1.heater.command.started", "source": "a4s_sealer_1.heater", "data": {"command_id": "program-1-3", "name": "run", "source": "program:seal"}, "cause": "program-1-3"} +{"env_id": 1, "seq": 17, "step": 7815, "t": 39.075, "topic": "a4s_sealer_1.heater.state.changed", "source": "a4s_sealer_1.heater", "data": {"from": "ready", "to": "running"}, "cause": null} +{"env_id": 1, "seq": 18, "step": 7815, "t": 39.075, "topic": "a4s_sealer_1.heater.started", "source": "a4s_sealer_1.heater", "data": {"duration": 4.570445667540643}, "cause": "program-1-3"} +{"env_id": 1, "seq": 19, "step": 8730, "t": 43.65, "topic": "a4s_sealer_1.heater.state.changed", "source": "a4s_sealer_1.heater", "data": {"from": "running", "to": "ready"}, "cause": null} +{"env_id": 1, "seq": 20, "step": 8730, "t": 43.65, "topic": "a4s_sealer_1.heater.finished", "source": "a4s_sealer_1.heater", "data": {"elapsed": 4.5750000000023405}, "cause": "program-1-3"} +{"env_id": 1, "seq": 21, "step": 8730, "t": 43.65, "topic": "a4s_sealer_1.heater.command.succeeded", "source": "a4s_sealer_1.heater", "data": {"command_id": "program-1-3", "name": "run", "source": "program:seal", "result": {"elapsed": 4.5750000000023405}}, "cause": "program-1-3"} +{"env_id": 1, "seq": 22, "step": 8730, "t": 43.65, "topic": "a4s_sealer_1.drawer.command.started", "source": "a4s_sealer_1.drawer", "data": {"command_id": "program-1-4", "name": "open", "source": "program:seal"}, "cause": "program-1-4"} +{"env_id": 1, "seq": 23, "step": 8730, "t": 43.65, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "at_in", "to": "moving"}, "cause": null} +{"env_id": 1, "seq": 24, "step": 8730, "t": 43.65, "topic": "a4s_sealer_1.drawer.moving", "source": "a4s_sealer_1.drawer", "data": {"target": 0.0, "goal": "out"}, "cause": "program-1-4"} +{"env_id": 1, "seq": 25, "step": 9150, "t": 45.75, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "moving", "to": "at_out"}, "cause": null} +{"env_id": 1, "seq": 26, "step": 9150, "t": 45.75, "topic": "a4s_sealer_1.drawer.reached", "source": "a4s_sealer_1.drawer", "data": {"position": "out", "q": 0.0}, "cause": "program-1-4"} +{"env_id": 1, "seq": 27, "step": 9150, "t": 45.75, "topic": "a4s_sealer_1.drawer.at_out", "source": "a4s_sealer_1.drawer", "data": {"q": 0.0}, "cause": "program-1-4"} +{"env_id": 1, "seq": 28, "step": 9150, "t": 45.75, "topic": "a4s_sealer_1.drawer.command.succeeded", "source": "a4s_sealer_1.drawer", "data": {"command_id": "program-1-4", "name": "open", "source": "program:seal", "result": {"position": "out"}}, "cause": "program-1-4"} +{"env_id": 1, "seq": 29, "step": 9150, "t": 45.75, "topic": "a4s_sealer_1.seal.finished", "source": "a4s_sealer_1", "data": {}, "cause": "task-1-1"} +{"env_id": 1, "seq": 30, "step": 9150, "t": 45.75, "topic": "a4s_sealer_1.command.succeeded", "source": "a4s_sealer_1", "data": {"command_id": "task-1-1", "name": "seal", "source": "task"}, "cause": "task-1-1"} +{"env_id": 1, "seq": 31, "step": 9731, "t": 48.655, "topic": "a4s_sealer_1.plate_present.absent", "source": "a4s_sealer_1.plate_present", "data": {"object": "plate_1"}, "cause": null} +{"env_id": 1, "seq": 32, "step": 11392, "t": 56.96, "topic": "conveyor_1.belt.command.started", "source": "conveyor_1.belt", "data": {"command_id": "task-1-5", "name": "release", "source": "task"}, "cause": "task-1-5"} +{"env_id": 1, "seq": 33, "step": 11392, "t": 56.96, "topic": "conveyor_1.belt.station.pick.released", "source": "conveyor_1.belt", "data": {"rider": "carrier_1"}, "cause": "task-1-5"} +{"env_id": 1, "seq": 34, "step": 11392, "t": 56.96, "topic": "conveyor_1.belt.state.changed", "source": "conveyor_1.belt", "data": {"from": "at_station", "to": "running"}, "cause": null} +{"env_id": 1, "seq": 35, "step": 11392, "t": 56.96, "topic": "conveyor_1.belt.command.succeeded", "source": "conveyor_1.belt", "data": {"command_id": "task-1-5", "name": "release", "source": "task", "result": {"state": "running"}}, "cause": "task-1-5"} diff --git a/episodes/c1_p004_e031/env.mp4 b/episodes/c1_p004_e031/env.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..348688527a985d656123988eaa5d638de14bbbc3 --- /dev/null +++ b/episodes/c1_p004_e031/env.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:1f31d69ac1371bc033dc5ecc93f95faa992784015c9e0bc832343ad1017bbea0 +size 1287328 diff --git a/episodes/c1_p004_e031/meta.json b/episodes/c1_p004_e031/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..6d3d70e9ab00ebeac5daf48c1bd11deaa57246ec --- /dev/null +++ b/episodes/c1_p004_e031/meta.json @@ -0,0 +1,32 @@ +{ + "source": "raw/c1_p004/magicsim/31", + "fps": 25, + "frames": 1214, + "kept_ticks": "even", + "video_frames": { + "wrist": 1214, + "env": 1214 + }, + "joint_target_source": "joint_pos_target", + "fk_vs_recorded_eef_max_m": 0.0, + "curobo_joints": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "joint_order": [ + "shoulder_pan", + "shoulder_lift", + "elbow", + "wrist_1", + "wrist_2", + "wrist_3", + "finger_left", + "finger_right" + ], + "frames_note": "eef / actions in the robot base frame; camera_pose = local pose (wrist: in plate_gripper_base, env: env frame), pos + quat wxyz", + "dr_version": "v2" +} \ No newline at end of file diff --git a/episodes/c1_p004_e031/scene_snapshot.json b/episodes/c1_p004_e031/scene_snapshot.json new file mode 100644 index 0000000000000000000000000000000000000000..c13314e5975196d20635988cb8541ca9def7540b --- /dev/null +++ b/episodes/c1_p004_e031/scene_snapshot.json @@ -0,0 +1,1558 @@ +{ + "trajectory_id": 31, + "env_id": 1, + "run_id": "c1_p004", + "task_type": "BioPlateCell", + "success": true, + "timing": { + "fps": 50.0, + "sim_dt": 0.005, + "decimation": 4 + }, + "restore_interface": { + "scene": "scene_manager.reset_to(snapshot['scene'], env_ids=[env_id])", + "robots": "robot_manager.set_state({'robots': snapshot['robots']}, env_ids=[env_id])" + }, + "snapshot": { + "env_id": 1, + "scene": { + "objects": [ + {}, + { + "rac_cell": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/rac_cell.usd", + "pose": { + "pos": [ + 0.0, + 0.0, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "physics_material": { + "static_friction": 0.6, + "dynamic_friction": 0.5, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "robot_mount": [ + { + "asset": "Cube", + "pose": { + "pos": [ + 0.0, + 0.0, + 0.9075 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": "color", + "value": [ + 0.55, + 0.56, + 0.58 + ], + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": { + "size": [ + 0.2, + 0.2, + 0.015 + ] + } + }, + "type_specific": {} + } + ], + "plate_rack": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/plate_hotel.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 0.9 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "physics_material": { + "static_friction": 0.6, + "dynamic_friction": 0.5, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "hotel_plate": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_96_clear/plate_96_clear.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 0.9605 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_24_clear/plate_24_clear.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.0285 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/pcr_96_blue/pcr_96_blue.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.0965 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_96_white/plate_96_white.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.1645 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_12_clear/plate_12_clear.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.2325 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "a4s_sealer": [ + { + "asset": "$MAGICSIM_ASSETS/Articulated/A4SSealer/Object.usd", + "pose": { + "pos": [ + 0.5042552947998047, + 0.08044242858886719, + 0.8999999761581421 + ], + "ori": [ + -0.7036067247390747, + 0.0, + 0.0, + 0.710589587688446 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "articulation", + "solver_position_iteration_count": 16.0, + "solver_velocity_iteration_count": 1.0, + "enabled_self_collisions": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "joint_position": [ + 3.027748407893882e-12 + ], + "joint_velocity": [ + 0.0 + ], + "linear_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "angular_velocity": [ + 0.0, + 0.0, + 0.0 + ] + } + } + ], + "conveyor": [ + { + "asset": "Cube", + "pose": { + "pos": [ + 0.15, + 0.45, + 0.9 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "conveyor", + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9 + }, + "ratio": 1.0 + }, + "primitive_params": { + "size": [ + 2.4, + 0.076, + 0.03 + ] + }, + "conveyor": { + "speed": 0.23986348000852764, + "direction": [ + 1.0, + 0.0, + 0.0 + ], + "enabled": true, + "drive": "surface_velocity", + "lines": null, + "station_line": null, + "riders": [ + "carrier" + ], + "stations": { + "pick": { + "position": -0.03351470049632216, + "slow_distance": 0.03, + "slow_speed": 0.03 + } + }, + "rails": { + "height": 0.01, + "thickness": 0.01, + "gap": 0.001, + "friction": 0.05 + }, + "legs": 0.87, + "loop": { + "radius": 0.35, + "side": "left", + "curve_extra_width": 0.0, + "segments": 18, + "curve_rails": "both" + }, + "snap_distance": 0.1, + "junction_snap": 0.02, + "collision_approximation": "auto", + "plate_mass": 1.0, + "lift_drop": 0.004, + "accel": 0.0, + "decel": 0.0, + "drive_damping": 1000000.0, + "drive_max_force": 1000000000.0 + } + }, + "type_specific": { + "controller": { + "state": "at_station", + "speed": 0.23986348000852764, + "holds": [], + "station": "pick", + "rider": "carrier_1", + "arrived": true, + "applied_speed": 0.0 + } + } + } + ], + "carrier": [ + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + 0.11629104614257812, + 0.44740867614746094, + 0.8999999761581421 + ], + "ori": [ + 0.9999350309371948, + 4.3326600640547497e-10, + 1.0862889476825899e-09, + 0.011402258649468422 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 5.492206689439172e-11, + 1.048619746590873e-09, + 0.0 + ], + "angular_velocity": [ + -1.3208365601258265e-07, + -1.0473067746374909e-08, + -1.0287839913303287e-08 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + -1.3972969055175781, + 0.7962274551391602, + 0.8999999761581421 + ], + "ori": [ + -0.7049232721328735, + -5.743194808616181e-10, + -7.976579041724108e-08, + 0.7092836499214172 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -4.4563772116923417e-10, + 3.4091909850708646e-10, + 0.0 + ], + "angular_velocity": [ + -2.4135571763395092e-08, + -3.242982060669419e-08, + 9.630296560203533e-10 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + 1.6956748962402344, + 0.7664518356323242, + 0.8999999761581421 + ], + "ori": [ + 0.7455599904060364, + 1.1231151120227878e-07, + -8.138850660088792e-08, + 0.6664385199546814 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -1.738408172968775e-08, + -2.4016995059383817e-09, + 0.0 + ], + "angular_velocity": [ + -1.220694514358911e-07, + -5.727943062083796e-07, + -2.2161574975143594e-07 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + 0.29976940155029297, + 1.152557373046875, + 0.8999999761581421 + ], + "ori": [ + -0.010405292734503746, + 4.161096467392156e-10, + 1.6178258732679751e-09, + 0.9999459385871887 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 4.711890433384269e-09, + 7.664840318000188e-09, + 2.60770320892334e-08 + ], + "angular_velocity": [ + -4.144847594034218e-07, + 3.899338310020539e-07, + -5.972210459503913e-08 + ] + } + } + ], + "plate": [ + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_12_clear/Object.usd", + "pose": { + "pos": [ + 0.1290426254272461, + 0.45795726776123047, + 0.9179999828338623 + ], + "ori": [ + 0.9994422793388367, + -1.214146116979009e-09, + 9.891307772846858e-10, + -0.03339444473385811 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -3.0781237114752e-08, + -1.3780100616145319e-08, + 9.685754776000977e-08 + ], + "angular_velocity": [ + 4.918753120364272e-07, + -1.9192293621017598e-06, + 6.054318646420143e-08 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_96_white/Object.usd", + "pose": { + "pos": [ + -1.399618148803711, + 0.8013162612915039, + 0.9180000424385071 + ], + "ori": [ + -0.6329517364501953, + 7.95236765327445e-09, + -8.002024287634413e-08, + 0.7741912603378296 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -3.2653817427785725e-09, + 1.895071477520105e-08, + -5.327165126800537e-06 + ], + "angular_velocity": [ + -1.4328884390124585e-06, + -9.444344328812804e-08, + 7.853007133462597e-09 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/pcr_384_red/Object.usd", + "pose": { + "pos": [ + 1.694692611694336, + 0.7540445327758789, + 0.9179999828338623 + ], + "ori": [ + 0.7819584012031555, + 4.344404658240819e-07, + 1.306650432297829e-07, + 0.6233306527137756 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -6.335150828817859e-06, + 2.8178940283396514e-06, + -7.666647434234619e-06 + ], + "angular_velocity": [ + 2.6213136152364314e-05, + 0.00011503277346491814, + 4.3293221096973866e-05 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/deep_well_96_1ml/Object.usd", + "pose": { + "pos": [ + 0.3142127990722656, + 1.1495294570922852, + 0.9179999828338623 + ], + "ori": [ + -0.05453244969248772, + 2.393014675305949e-10, + -1.4035834716707996e-09, + 0.9985120296478271 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 1.0199000399779834e-07, + 9.631468600446169e-08, + 2.1979212760925293e-07 + ], + "angular_velocity": [ + -3.1596430289937416e-06, + 3.5718505841941806e-06, + 1.1758157114627465e-07 + ] + } + } + ], + "deco_hub_west": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/hub_a.usd", + "pose": { + "pos": [ + -3.36, + 0.0, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_hub_east": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/hub_c.usd", + "pose": { + "pos": [ + 3.36, + 0.0, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_hub_back": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/hub_d.usd", + "pose": { + "pos": [ + -3.0, + -2.1, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_bench_east": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/bench_c.usd", + "pose": { + "pos": [ + 2.6, + -2.5, + 0.0 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_bench_gap": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/bench_b.usd", + "pose": { + "pos": [ + -0.1, + -2.9, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ] + }, + {}, + {} + ], + "devices": { + "hub": [ + null, + { + "t": 8.599999999999945, + "step": 1720, + "counter": 0, + "devices": { + "a4s_sealer_1": { + "mode": "auto", + "units": { + "drawer": { + "state": "at_out", + "active": null, + "target": 0.0, + "goal_name": "out", + "profile": null, + "q_start": null, + "reversing": false, + "blocked_for": 0.0, + "settled_for": 0.0, + "last_q": 3.027748407893882e-12 + }, + "heater": { + "state": "ready", + "active": null, + "duration": 0.0, + "t_start": null, + "elapsed": 0.0 + } + }, + "queues": {}, + "program": null, + "sensors": { + "plate_present": { + "occupants": [], + "pending": {} + } + }, + "interlocks": {} + }, + "conveyor_1": { + "mode": "auto", + "units": { + "belt": { + "state": "at_station", + "active": null, + "controller": { + "speed": 0.23986348000852764, + "holds": [], + "station": "pick", + "rider": "carrier_1", + "arrived": true, + "settle_count": 1561, + "released": { + "pick": [] + }, + "last_pos": { + "carrier_1": [ + -0.03370895981788635, + -0.0025913119316101074, + 0.0 + ], + "carrier_2": [ + -1.5472969114780426, + 0.3462274670600891, + 0.0 + ], + "carrier_3": [ + 1.54567489027977, + 0.3164518475532532, + 0.0 + ], + "carrier_4": [ + 0.1497693955898285, + 0.702557384967804, + 0.0 + ] + }, + "command": 0.0 + }, + "belt": { + "target_speed": 0.0, + "command_speed": 0.0 + }, + "seen": { + "state": "at_station", + "station": "pick", + "rider": "carrier_1", + "arrived": true + } + } + }, + "queues": {}, + "program": null, + "sensors": {}, + "interlocks": {} + } + }, + "zones": {}, + "labware": { + "plate_1": { + "sealed": false + }, + "plate_2": { + "sealed": false + }, + "plate_3": { + "sealed": false + }, + "plate_4": { + "sealed": false + } + }, + "rules": {}, + "records": [], + "bus": { + "seq": 3, + "queue": [] + } + }, + null, + null + ], + "drives": [ + null, + {}, + null, + null + ] + }, + "artifacts": [ + {}, + { + "ceiling": { + "type": "rect", + "pose": { + "pos": [ + 0.579814476233164, + 0.5287680817316882, + 3.1015781596847254 + ], + "ori": [ + -6.015225086628259, + 7.323013488451611, + 15.295941124014973 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "color_temperature": 3821.659463254255, + "color": [ + 0.9355602879384806, + 0.8645646188673055, + 0.9843628131302748 + ], + "intensity": 5344.0439439479205, + "width": 2.5299842339562204, + "height": 1.0924088269610068 + } + }, + "key": { + "type": "disk", + "pose": { + "pos": [ + 1.7539608930382053, + 0.8830363723894512, + 2.2305687058278045 + ], + "ori": [ + -34.632362554845464, + -4.769073415369448, + -7.234502199962954 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "color_temperature": 5834.265564649493, + "color": [ + 0.9193053305776352, + 0.7710042691897621, + 0.8153508165188749 + ], + "intensity": 8238.06999312055, + "radius": 0.3481565336311443 + } + } + }, + {}, + {} + ], + "background": { + "type": "dome", + "pose": { + "pos": null, + "ori": null, + "scale": null + }, + "dr": { + "intensity": 1406.155206402213, + "texture": null, + "color": [ + 0.92, + 0.94, + 0.96 + ] + } + } + }, + "robots": { + "UR5e": { + "root_pose": [ + [ + 11.0, + -11.0, + 0.9150000214576721, + 1.0, + 0.0, + 0.0, + 0.0 + ], + [ + 11.0, + 11.0, + 0.9150000214576721, + 1.0, + 0.0, + 0.0, + 0.0 + ], + [ + -11.0, + -11.0, + 0.9150000214576721, + 1.0, + 0.0, + 0.0, + 0.0 + ], + [ + -11.0, + 11.0, + 0.9150000214576721, + 1.0, + 0.0, + 0.0, + 0.0 + ] + ], + "root_vel": [ + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + ], + "joint_pos": [ + [ + 2.2671990394592285, + -2.334730386734009, + 2.77877140045166, + -2.0148417949676514, + -1.5710852146148682, + 3.836256265640259, + 0.007939592003822327, + 0.007236693985760212 + ], + [ + 0.914114773273468, + -1.719393253326416, + 2.0904972553253174, + -1.941901683807373, + -1.5707999467849731, + 2.4849066734313965, + 0.01799999736249447, + 0.018000001087784767 + ], + [ + 0.7561704516410828, + -1.3916311264038086, + 1.9691780805587769, + -2.1484758853912354, + -1.5706920623779297, + 2.4194769859313965, + 0.008687099441885948, + 0.00641860906034708 + ], + [ + 1.8936084508895874, + -2.1735713481903076, + 2.2285540103912354, + -1.6254584789276123, + -1.570393443107605, + 3.4704344272613525, + 0.007735841441899538, + 0.00712059298530221 + ] + ], + "joint_vel": [ + [ + 0.027095701545476913, + -0.016990138217806816, + 0.02084038406610489, + 0.007835364900529385, + 0.004321425687521696, + 0.011410949751734734, + -0.003554729511961341, + 7.674330845475197e-06 + ], + [ + -2.7554813506433337e-38, + 0.0, + 0.0, + 6.75072418700696e-37, + -4.110395378448596e-37, + 3.066293946289541e-37, + 2.5990399166175848e-08, + -2.5990388508034812e-08 + ], + [ + 0.0011622346937656403, + -4.793838525074534e-05, + -0.00020903513359371573, + 0.0023896479979157448, + -0.0010643184650689363, + -0.003322595963254571, + -0.004766231402754784, + 2.4724940885789692e-05 + ], + [ + 0.0737207755446434, + -0.054660964757204056, + 0.010663587599992752, + 0.04117967560887337, + 0.00028282246785238385, + 0.06921666860580444, + -0.008054914884269238, + 0.0006838177214376628 + ] + ] + } + }, + "cameras": { + "cameras": { + "camera0": [ + [ + 0.05342775210738182, + -0.0034295262303203344, + -0.030710021033883095, + -0.2904115617275238, + 0.6476448178291321, + 0.6417847275733948, + -0.2903957962989807 + ], + [ + 0.049249570816755295, + -0.002208436606451869, + -0.03180549293756485, + -0.29282045364379883, + 0.6406324505805969, + 0.6516215801239014, + -0.2814880609512329 + ], + [ + 0.04826760292053223, + -0.0011865174164995551, + -0.029055073857307434, + -0.2803449332714081, + 0.656787097454071, + 0.6416003704071045, + -0.2799757719039917 + ], + [ + 0.05248861387372017, + -0.0005432314937934279, + -0.028503119945526123, + -0.28176990151405334, + 0.6538212895393372, + 0.6366629004478455, + -0.2962833344936371 + ] + ], + "camera1": [ + [ + 0.0669875517487526, + 0.5709797739982605, + 1.947091817855835, + 0.036109521985054016, + 0.02722797356545925, + 0.26760783791542053, + 0.9624660015106201 + ], + [ + 0.0446348674595356, + 0.5832217335700989, + 1.9509516954421997, + 0.050811685621738434, + -0.003339954186230898, + 0.28015831112861633, + 0.9586023092269897 + ], + [ + 0.059085238724946976, + 0.5601892471313477, + 1.949273943901062, + 0.035095907747745514, + -0.003449582029134035, + 0.27364808320999146, + 0.9611831903457642 + ], + [ + 0.056365590542554855, + 0.5672527551651001, + 1.9309630393981934, + 0.054289937019348145, + 0.002442008815705776, + 0.27241411805152893, + 0.9606441259384155 + ] + ] + } + } + } +} \ No newline at end of file diff --git a/episodes/c1_p004_e031/wrist.mp4 b/episodes/c1_p004_e031/wrist.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..c910d90114b70615134e40834f4caa3f16caf55a --- /dev/null +++ b/episodes/c1_p004_e031/wrist.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:a16b4a5af03ec6cbd37107959891a1ef5730f0fc0050582a9ea76b84e111748a +size 6857674 diff --git a/episodes/c2_p007_e000/data.npz b/episodes/c2_p007_e000/data.npz new file mode 100644 index 0000000000000000000000000000000000000000..cf93b4487d4911ebe87d171df7ad89c9121b6c27 --- /dev/null +++ b/episodes/c2_p007_e000/data.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:7d8c80e5c90c37b728a74feaae26b5e0bd8eeeebe6c12065f41850c6c089fc2a +size 185368 diff --git a/episodes/c2_p007_e000/device_events.jsonl b/episodes/c2_p007_e000/device_events.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..b1774d766a004843ad3182028308fa1467876f83 --- /dev/null +++ b/episodes/c2_p007_e000/device_events.jsonl @@ -0,0 +1,35 @@ +{"env_id": 1, "seq": 1, "step": 182, "t": 0.91, "topic": "conveyor_1.belt.station.pick.captured", "source": "conveyor_1.belt", "data": {"rider": "carrier_2"}, "cause": null} +{"env_id": 1, "seq": 2, "step": 182, "t": 0.91, "topic": "conveyor_1.belt.state.changed", "source": "conveyor_1.belt", "data": {"from": "running", "to": "at_station"}, "cause": null} +{"env_id": 1, "seq": 3, "step": 187, "t": 0.935, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_2"}, "cause": null} +{"env_id": 1, "seq": 4, "step": 6375, "t": 31.875, "topic": "a4s_sealer_1.plate_present.present", "source": "a4s_sealer_1.plate_present", "data": {"object": "plate_2"}, "cause": null} +{"env_id": 1, "seq": 5, "step": 6988, "t": 34.94, "topic": "a4s_sealer_1.command.started", "source": "a4s_sealer_1", "data": {"command_id": "task-1-1", "name": "seal", "source": "task"}, "cause": "task-1-1"} +{"env_id": 1, "seq": 6, "step": 6988, "t": 34.94, "topic": "a4s_sealer_1.seal.started", "source": "a4s_sealer_1", "data": {"dwell": 3.167046710065049}, "cause": "task-1-1"} +{"env_id": 1, "seq": 7, "step": 6988, "t": 34.94, "topic": "a4s_sealer_1.drawer.command.started", "source": "a4s_sealer_1.drawer", "data": {"command_id": "program-1-2", "name": "close", "source": "program:seal"}, "cause": "program-1-2"} +{"env_id": 1, "seq": 8, "step": 6988, "t": 34.94, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "at_out", "to": "moving"}, "cause": null} +{"env_id": 1, "seq": 9, "step": 6988, "t": 34.94, "topic": "a4s_sealer_1.drawer.moving", "source": "a4s_sealer_1.drawer", "data": {"target": 0.3, "goal": "in"}, "cause": "program-1-2"} +{"env_id": 1, "seq": 10, "step": 7407, "t": 37.035, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "moving", "to": "at_in"}, "cause": null} +{"env_id": 1, "seq": 11, "step": 7407, "t": 37.035, "topic": "a4s_sealer_1.drawer.reached", "source": "a4s_sealer_1.drawer", "data": {"position": "in", "q": 0.30000001192092896}, "cause": "program-1-2"} +{"env_id": 1, "seq": 12, "step": 7407, "t": 37.035, "topic": "a4s_sealer_1.drawer.at_in", "source": "a4s_sealer_1.drawer", "data": {"q": 0.30000001192092896}, "cause": "program-1-2"} +{"env_id": 1, "seq": 13, "step": 7407, "t": 37.035, "topic": "a4s_sealer_1.drawer.command.succeeded", "source": "a4s_sealer_1.drawer", "data": {"command_id": "program-1-2", "name": "close", "source": "program:seal", "result": {"position": "in"}}, "cause": "program-1-2"} +{"env_id": 1, "seq": 14, "step": 7407, "t": 37.035, "topic": "labware.plate_2.changed", "source": "labware.plate_2", "data": {"key": "sealed", "value": true}, "cause": "task-1-1"} +{"env_id": 1, "seq": 15, "step": 7407, "t": 37.035, "topic": "a4s_sealer_1.sealed", "source": "a4s_sealer_1", "data": {"plate": "plate_2"}, "cause": "task-1-1"} +{"env_id": 1, "seq": 16, "step": 7407, "t": 37.035, "topic": "a4s_sealer_1.heater.command.started", "source": "a4s_sealer_1.heater", "data": {"command_id": "program-1-3", "name": "run", "source": "program:seal"}, "cause": "program-1-3"} +{"env_id": 1, "seq": 17, "step": 7407, "t": 37.035, "topic": "a4s_sealer_1.heater.state.changed", "source": "a4s_sealer_1.heater", "data": {"from": "ready", "to": "running"}, "cause": null} +{"env_id": 1, "seq": 18, "step": 7407, "t": 37.035, "topic": "a4s_sealer_1.heater.started", "source": "a4s_sealer_1.heater", "data": {"duration": 3.167046710065049}, "cause": "program-1-3"} +{"env_id": 1, "seq": 19, "step": 8041, "t": 40.205, "topic": "a4s_sealer_1.heater.state.changed", "source": "a4s_sealer_1.heater", "data": {"from": "running", "to": "ready"}, "cause": null} +{"env_id": 1, "seq": 20, "step": 8041, "t": 40.205, "topic": "a4s_sealer_1.heater.finished", "source": "a4s_sealer_1.heater", "data": {"elapsed": 3.1700000000016217}, "cause": "program-1-3"} +{"env_id": 1, "seq": 21, "step": 8041, "t": 40.205, "topic": "a4s_sealer_1.heater.command.succeeded", "source": "a4s_sealer_1.heater", "data": {"command_id": "program-1-3", "name": "run", "source": "program:seal", "result": {"elapsed": 3.1700000000016217}}, "cause": "program-1-3"} +{"env_id": 1, "seq": 22, "step": 8041, "t": 40.205, "topic": "a4s_sealer_1.drawer.command.started", "source": "a4s_sealer_1.drawer", "data": {"command_id": "program-1-4", "name": "open", "source": "program:seal"}, "cause": "program-1-4"} +{"env_id": 1, "seq": 23, "step": 8041, "t": 40.205, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "at_in", "to": "moving"}, "cause": null} +{"env_id": 1, "seq": 24, "step": 8041, "t": 40.205, "topic": "a4s_sealer_1.drawer.moving", "source": "a4s_sealer_1.drawer", "data": {"target": 0.0, "goal": "out"}, "cause": "program-1-4"} +{"env_id": 1, "seq": 25, "step": 8461, "t": 42.305, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "moving", "to": "at_out"}, "cause": null} +{"env_id": 1, "seq": 26, "step": 8461, "t": 42.305, "topic": "a4s_sealer_1.drawer.reached", "source": "a4s_sealer_1.drawer", "data": {"position": "out", "q": 0.0}, "cause": "program-1-4"} +{"env_id": 1, "seq": 27, "step": 8461, "t": 42.305, "topic": "a4s_sealer_1.drawer.at_out", "source": "a4s_sealer_1.drawer", "data": {"q": 0.0}, "cause": "program-1-4"} +{"env_id": 1, "seq": 28, "step": 8461, "t": 42.305, "topic": "a4s_sealer_1.drawer.command.succeeded", "source": "a4s_sealer_1.drawer", "data": {"command_id": "program-1-4", "name": "open", "source": "program:seal", "result": {"position": "out"}}, "cause": "program-1-4"} +{"env_id": 1, "seq": 29, "step": 8461, "t": 42.305, "topic": "a4s_sealer_1.seal.finished", "source": "a4s_sealer_1", "data": {}, "cause": "task-1-1"} +{"env_id": 1, "seq": 30, "step": 8461, "t": 42.305, "topic": "a4s_sealer_1.command.succeeded", "source": "a4s_sealer_1", "data": {"command_id": "task-1-1", "name": "seal", "source": "task"}, "cause": "task-1-1"} +{"env_id": 1, "seq": 31, "step": 9042, "t": 45.21, "topic": "a4s_sealer_1.plate_present.absent", "source": "a4s_sealer_1.plate_present", "data": {"object": "plate_2"}, "cause": null} +{"env_id": 1, "seq": 32, "step": 10732, "t": 53.66, "topic": "conveyor_1.belt.command.started", "source": "conveyor_1.belt", "data": {"command_id": "task-1-5", "name": "release", "source": "task"}, "cause": "task-1-5"} +{"env_id": 1, "seq": 33, "step": 10732, "t": 53.66, "topic": "conveyor_1.belt.station.pick.released", "source": "conveyor_1.belt", "data": {"rider": "carrier_2"}, "cause": "task-1-5"} +{"env_id": 1, "seq": 34, "step": 10732, "t": 53.66, "topic": "conveyor_1.belt.state.changed", "source": "conveyor_1.belt", "data": {"from": "at_station", "to": "running"}, "cause": null} +{"env_id": 1, "seq": 35, "step": 10732, "t": 53.66, "topic": "conveyor_1.belt.command.succeeded", "source": "conveyor_1.belt", "data": {"command_id": "task-1-5", "name": "release", "source": "task", "result": {"state": "running"}}, "cause": "task-1-5"} diff --git a/episodes/c2_p007_e000/env.mp4 b/episodes/c2_p007_e000/env.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..a5d9d86f8a0947465f0f145ed602825ec8ed31ca --- /dev/null +++ b/episodes/c2_p007_e000/env.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:08d29db20eafda18097628b7e700e19f1e13cb27c543477da6c3403b56af3b76 +size 1372097 diff --git a/episodes/c2_p007_e000/meta.json b/episodes/c2_p007_e000/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..85e3ec873fd29b3d187d13fff9e8a2c2f1188380 --- /dev/null +++ b/episodes/c2_p007_e000/meta.json @@ -0,0 +1,32 @@ +{ + "source": "raw/c2_p007/magicsim/0", + "fps": 25, + "frames": 1228, + "kept_ticks": "even", + "video_frames": { + "wrist": 1228, + "env": 1228 + }, + "joint_target_source": "joint_pos_target", + "fk_vs_recorded_eef_max_m": 0.0, + "curobo_joints": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "joint_order": [ + "shoulder_pan", + "shoulder_lift", + "elbow", + "wrist_1", + "wrist_2", + "wrist_3", + "finger_left", + "finger_right" + ], + "frames_note": "eef / actions in the robot base frame; camera_pose = local pose (wrist: in plate_gripper_base, env: env frame), pos + quat wxyz", + "dr_version": "v2" +} \ No newline at end of file diff --git a/episodes/c2_p007_e000/scene_snapshot.json b/episodes/c2_p007_e000/scene_snapshot.json new file mode 100644 index 0000000000000000000000000000000000000000..53906b282fba0d93788dcebc600fc406fe45759d --- /dev/null +++ b/episodes/c2_p007_e000/scene_snapshot.json @@ -0,0 +1,1558 @@ +{ + "trajectory_id": 0, + "env_id": 1, + "run_id": "c2_p007", + "task_type": "BioPlateCell", + "success": true, + "timing": { + "fps": 50.0, + "sim_dt": 0.005, + "decimation": 4 + }, + "restore_interface": { + "scene": "scene_manager.reset_to(snapshot['scene'], env_ids=[env_id])", + "robots": "robot_manager.set_state({'robots': snapshot['robots']}, env_ids=[env_id])" + }, + "snapshot": { + "env_id": 1, + "scene": { + "objects": [ + {}, + { + "rac_cell": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/rac_cell.usd", + "pose": { + "pos": [ + 0.0, + 0.0, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "physics_material": { + "static_friction": 0.6, + "dynamic_friction": 0.5, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "robot_mount": [ + { + "asset": "Cube", + "pose": { + "pos": [ + 0.0, + 0.0, + 0.9075 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": "color", + "value": [ + 0.55, + 0.56, + 0.58 + ], + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": { + "size": [ + 0.2, + 0.2, + 0.015 + ] + } + }, + "type_specific": {} + } + ], + "plate_rack": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/plate_hotel.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 0.9 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "physics_material": { + "static_friction": 0.6, + "dynamic_friction": 0.5, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "hotel_plate": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_96_black/plate_96_black.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 0.9605 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_48_clear/plate_48_clear.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.0285 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_96_black/plate_96_black.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.0965 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/deep_well_96_2ml/deep_well_96_2ml.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.1645 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/pcr_384_red/pcr_384_red.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.2325 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "a4s_sealer": [ + { + "asset": "$MAGICSIM_ASSETS/Articulated/A4SSealer/Object.usd", + "pose": { + "pos": [ + 0.5104236602783203, + 0.09545230865478516, + 0.8999999761581421 + ], + "ori": [ + -0.6867352724075317, + 0.0, + 0.0, + 0.7269076108932495 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "articulation", + "solver_position_iteration_count": 16.0, + "solver_velocity_iteration_count": 1.0, + "enabled_self_collisions": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "joint_position": [ + 4.6988363720801285e-12 + ], + "joint_velocity": [ + 0.0 + ], + "linear_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "angular_velocity": [ + 0.0, + 0.0, + 0.0 + ] + } + } + ], + "conveyor": [ + { + "asset": "Cube", + "pose": { + "pos": [ + 0.15, + 0.45, + 0.9 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "conveyor", + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9 + }, + "ratio": 1.0 + }, + "primitive_params": { + "size": [ + 2.4, + 0.076, + 0.03 + ] + }, + "conveyor": { + "speed": 0.24348549353491633, + "direction": [ + 1.0, + 0.0, + 0.0 + ], + "enabled": true, + "drive": "surface_velocity", + "lines": null, + "station_line": null, + "riders": [ + "carrier" + ], + "stations": { + "pick": { + "position": -0.08995362903886123, + "slow_distance": 0.03, + "slow_speed": 0.03 + } + }, + "rails": { + "height": 0.01, + "thickness": 0.01, + "gap": 0.001, + "friction": 0.05 + }, + "legs": 0.87, + "loop": { + "radius": 0.35, + "side": "left", + "curve_extra_width": 0.0, + "segments": 18, + "curve_rails": "both" + }, + "snap_distance": 0.1, + "junction_snap": 0.02, + "collision_approximation": "auto", + "plate_mass": 1.0, + "lift_drop": 0.004, + "accel": 0.0, + "decel": 0.0, + "drive_damping": 1000000.0, + "drive_max_force": 1000000000.0 + } + }, + "type_specific": { + "controller": { + "state": "at_station", + "speed": 0.24348549353491633, + "holds": [], + "station": "pick", + "rider": "carrier_2", + "arrived": true, + "applied_speed": 0.0 + } + } + } + ], + "carrier": [ + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + -1.1805744171142578, + 1.1211023330688477, + 0.8999999761581421 + ], + "ori": [ + -0.18471528589725494, + -3.674393411756682e-08, + -9.654010924009526e-09, + 0.9827920794487 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -7.369011512103896e-10, + 6.912934669145443e-10, + 0.0 + ], + "angular_velocity": [ + -1.8453413019869913e-08, + -6.644565075930586e-08, + 2.399198173463901e-09 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + 0.05964469909667969, + 0.4473724365234375, + 0.8999999761581421 + ], + "ori": [ + 0.9999404549598694, + 6.637524418984242e-10, + -3.216466204492008e-09, + 0.010922207497060299 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 4.5373549362182075e-10, + 1.139903393898578e-09, + 3.725290298461914e-09 + ], + "angular_velocity": [ + -9.219889562928074e-08, + 2.8950168484698224e-08, + -3.3311486902221077e-09 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + 0.4293794631958008, + 1.152587890625, + 0.8999999761581421 + ], + "ori": [ + -0.009625778533518314, + -2.272062815666942e-10, + 1.3057039893737965e-09, + 0.9999536871910095 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -2.2442347979989563e-09, + -7.418508474188457e-09, + 3.725290298461914e-09 + ], + "angular_velocity": [ + 1.7131631580014073e-07, + -1.4368987422130886e-07, + -4.913256290706158e-08 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + 1.5958795547485352, + 0.554865837097168, + 0.8999999761581421 + ], + "ori": [ + 0.9239809513092041, + 1.3640692131389187e-08, + 7.150764425034595e-09, + 0.38243845105171204 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -2.0021193036789953e-11, + 2.869676718475489e-12, + 0.0 + ], + "angular_velocity": [ + -5.960192339671266e-09, + -9.759570929190886e-09, + 3.7618201886857605e-09 + ] + } + } + ], + "plate": [ + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_12_clear/Object.usd", + "pose": { + "pos": [ + -1.1680002212524414, + 1.1308927536010742, + 0.9179999828338623 + ], + "ori": [ + -0.16954390704631805, + -3.686288607696042e-08, + -1.3105801777157922e-08, + 0.9855226874351501 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 4.083287663547708e-08, + 5.4212804911912826e-08, + 5.21540641784668e-08 + ], + "angular_velocity": [ + -8.408018175032339e-07, + 1.153185394286993e-06, + 1.3424715916698915e-07 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_96_white/Object.usd", + "pose": { + "pos": [ + 0.05030536651611328, + 0.4453001022338867, + 0.9180000424385071 + ], + "ori": [ + 0.998785138130188, + 1.5090036997733591e-09, + -2.3048218888988004e-09, + -0.04927700385451317 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -1.2254284698087758e-08, + 1.5575167822134972e-08, + -5.606561899185181e-06 + ], + "angular_velocity": [ + -1.9386456528991403e-07, + -1.0858292398552294e-06, + 1.0213951640025698e-07 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/pcr_384_red/Object.usd", + "pose": { + "pos": [ + 0.4282960891723633, + 1.1565608978271484, + 0.9179999828338623 + ], + "ori": [ + 0.08463770151138306, + -5.243206979699266e-10, + 1.8267394263915548e-09, + 0.9964118599891663 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 6.630656024242398e-10, + -5.957239679332815e-08, + -5.6549906730651855e-06 + ], + "angular_velocity": [ + -7.507219379476737e-08, + 1.4442420024352032e-06, + 8.126890271853426e-09 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/deep_well_96_1ml/Object.usd", + "pose": { + "pos": [ + 1.5959253311157227, + 0.5573740005493164, + 0.9179999828338623 + ], + "ori": [ + 0.8939033150672913, + 1.600058041617558e-08, + 4.583736945562578e-09, + 0.44825977087020874 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -1.6654013279548963e-08, + -5.9596295898245444e-08, + 1.043081283569336e-07 + ], + "angular_velocity": [ + 2.94843380288512e-06, + -1.358042993615527e-07, + 4.031348765920484e-08 + ] + } + } + ], + "deco_hub_west": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/hub_a.usd", + "pose": { + "pos": [ + -3.36, + 0.0, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_hub_east": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/hub_c.usd", + "pose": { + "pos": [ + 3.36, + 0.0, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_hub_back": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/hub_d.usd", + "pose": { + "pos": [ + -3.0, + -2.1, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_bench_east": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/bench_c.usd", + "pose": { + "pos": [ + 2.6, + -2.5, + 0.0 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_bench_gap": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/bench_b.usd", + "pose": { + "pos": [ + -0.1, + -2.9, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ] + }, + {}, + {} + ], + "devices": { + "hub": [ + null, + { + "t": 4.719999999999922, + "step": 944, + "counter": 0, + "devices": { + "a4s_sealer_1": { + "mode": "auto", + "units": { + "drawer": { + "state": "at_out", + "active": null, + "target": 0.0, + "goal_name": "out", + "profile": null, + "q_start": null, + "reversing": false, + "blocked_for": 0.0, + "settled_for": 0.0, + "last_q": 4.6988363720801285e-12 + }, + "heater": { + "state": "ready", + "active": null, + "duration": 0.0, + "t_start": null, + "elapsed": 0.0 + } + }, + "queues": {}, + "program": null, + "sensors": { + "plate_present": { + "occupants": [], + "pending": {} + } + }, + "interlocks": {} + }, + "conveyor_1": { + "mode": "auto", + "units": { + "belt": { + "state": "at_station", + "active": null, + "controller": { + "speed": 0.24348549353491633, + "holds": [], + "station": "pick", + "rider": "carrier_2", + "arrived": true, + "settle_count": 761, + "released": { + "pick": [] + }, + "last_pos": { + "carrier_1": [ + -1.3305744230747223, + 0.6711023449897766, + 0.0 + ], + "carrier_2": [ + -0.09035530686378479, + -0.002627551555633545, + 0.0 + ], + "carrier_3": [ + 0.2793794572353363, + 0.702587902545929, + 0.0 + ], + "carrier_4": [ + 1.4458795487880707, + 0.10486584901809692, + 0.0 + ] + }, + "command": 0.0 + }, + "belt": { + "target_speed": 0.0, + "command_speed": 0.0 + }, + "seen": { + "state": "at_station", + "station": "pick", + "rider": "carrier_2", + "arrived": true + } + } + }, + "queues": {}, + "program": null, + "sensors": {}, + "interlocks": {} + } + }, + "zones": {}, + "labware": { + "plate_1": { + "sealed": false + }, + "plate_2": { + "sealed": false + }, + "plate_3": { + "sealed": false + }, + "plate_4": { + "sealed": false + } + }, + "rules": {}, + "records": [], + "bus": { + "seq": 3, + "queue": [] + } + }, + null, + null + ], + "drives": [ + null, + {}, + null, + null + ] + }, + "artifacts": [ + {}, + { + "ceiling": { + "type": "rect", + "pose": { + "pos": [ + 0.4357560794177183, + -0.16984060990616356, + 2.699535224578701 + ], + "ori": [ + 10.42155857024354, + 12.819561204383938, + -8.5287584149522 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "color_temperature": 3638.540072756196, + "color": [ + 0.9572648086750333, + 0.8795113703395468, + 0.861250250195538 + ], + "intensity": 13376.519453445157, + "width": 1.610022976761898, + "height": 1.162840682192819 + } + }, + "key": { + "type": "disk", + "pose": { + "pos": [ + -0.5454965612206955, + 0.43611617836960037, + 2.472868465824399 + ], + "ori": [ + 27.221771671242266, + -3.1216271412607597, + 13.041825576197546 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "color_temperature": 3898.5446448841167, + "color": [ + 0.9266680530125236, + 0.9588700990045348, + 0.8392388272378145 + ], + "intensity": 6927.174359960906, + "radius": 0.16777858517592797 + } + } + }, + {}, + {} + ], + "background": { + "type": "dome", + "pose": { + "pos": null, + "ori": null, + "scale": null + }, + "dr": { + "intensity": 603.347035282019, + "texture": null, + "color": [ + 0.92, + 0.94, + 0.96 + ] + } + } + }, + "robots": { + "UR5e": { + "root_pose": [ + [ + 11.0, + -11.0, + 0.9150000214576721, + 1.0, + 0.0, + 0.0, + 0.0 + ], + [ + 11.0, + 11.0, + 0.9150000214576721, + 1.0, + 0.0, + 0.0, + 0.0 + ], + [ + -11.0, + -11.0, + 0.9150000214576721, + 1.0, + 0.0, + 0.0, + 0.0 + ], + [ + -11.0, + 11.0, + 0.9150000214576721, + 1.0, + 0.0, + 0.0, + 0.0 + ] + ], + "root_vel": [ + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + ], + "joint_pos": [ + [ + 0.9140999913215637, + -1.7194000482559204, + 2.0905001163482666, + -1.9419000148773193, + -1.5707999467849731, + 2.4848999977111816, + 0.017999999225139618, + 0.017999999225139618 + ], + [ + 0.9140999913215637, + -1.7194000482559204, + 2.0905001163482666, + -1.9419000148773193, + -1.5707999467849731, + 2.4848999977111816, + 0.017999999225139618, + 0.017999999225139618 + ], + [ + 0.9140999913215637, + -1.7194000482559204, + 2.0905001163482666, + -1.9419000148773193, + -1.5707999467849731, + 2.4848999977111816, + 0.017999999225139618, + 0.017999999225139618 + ], + [ + 0.9140999913215637, + -1.7194000482559204, + 2.0905001163482666, + -1.9419000148773193, + -1.5707999467849731, + 2.4848999977111816, + 0.017999999225139618, + 0.017999999225139618 + ] + ], + "joint_vel": [ + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + ] + } + }, + "cameras": { + "cameras": { + "camera0": [ + [ + 0.049356382340192795, + 0.002061891369521618, + -0.02960694208741188, + -0.2763383090496063, + 0.6524073481559753, + 0.6454731822013855, + -0.2852475643157959 + ], + [ + 0.04843376949429512, + -0.0023075963836163282, + -0.029629359021782875, + -0.2971806824207306, + 0.6370366215705872, + 0.6546453237533569, + -0.2780422568321228 + ], + [ + 0.04691676050424576, + -0.0008851684397086501, + -0.02757979929447174, + -0.27831628918647766, + 0.6461085677146912, + 0.6527426242828369, + -0.2810886800289154 + ], + [ + 0.05336500331759453, + -0.001740217674523592, + -0.026411667466163635, + -0.2586219310760498, + 0.6523922681808472, + 0.6554329991340637, + -0.2791174650192261 + ] + ], + "camera1": [ + [ + 0.0650700181722641, + 0.5855382680892944, + 1.9510035514831543, + 0.05444188043475151, + 0.006014169193804264, + 0.2757602334022522, + 0.9596646428108215 + ], + [ + 0.06585000455379486, + 0.5832615494728088, + 1.931291937828064, + 0.047798652201890945, + -0.005887546110898256, + 0.2717774510383606, + 0.9611543416976929 + ], + [ + 0.03002513386309147, + 0.5767843723297119, + 1.9705108404159546, + 0.029460957273840904, + -0.0024535830598324537, + 0.2808568477630615, + 0.9592942595481873 + ], + [ + 0.02681967429816723, + 0.5658280253410339, + 1.9609524011611938, + 0.04137752577662468, + 0.009255612269043922, + 0.26106226444244385, + 0.9643903374671936 + ] + ] + } + } + } +} \ No newline at end of file diff --git a/episodes/c2_p007_e000/wrist.mp4 b/episodes/c2_p007_e000/wrist.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..a6bbf365d5616504b3bf7b5f1e25ae2a57faf221 --- /dev/null +++ b/episodes/c2_p007_e000/wrist.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:221772536abb34567e232ebcabb96f0c988f1e9e0c96b992a2cb78c0a7485320 +size 7140697 diff --git a/episodes/c2_p007_e001/data.npz b/episodes/c2_p007_e001/data.npz new file mode 100644 index 0000000000000000000000000000000000000000..ea684a85f48813efb9013e4d18e506628144671e --- /dev/null +++ b/episodes/c2_p007_e001/data.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:33c18c2721bb0920de29aa0e8fd26f9af5eef7239ebdf8ffb8704531700fd27c +size 185510 diff --git a/episodes/c2_p007_e001/device_events.jsonl b/episodes/c2_p007_e001/device_events.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..dce5d2748178435b06818fdc07c1065b577e7519 --- /dev/null +++ b/episodes/c2_p007_e001/device_events.jsonl @@ -0,0 +1,36 @@ +{"env_id": 0, "seq": 1, "step": 89, "t": 0.445, "topic": "conveyor_1.belt.station.pick.captured", "source": "conveyor_1.belt", "data": {"rider": "carrier_1"}, "cause": null} +{"env_id": 0, "seq": 2, "step": 89, "t": 0.445, "topic": "conveyor_1.belt.state.changed", "source": "conveyor_1.belt", "data": {"from": "running", "to": "at_station"}, "cause": null} +{"env_id": 0, "seq": 3, "step": 94, "t": 0.47, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_1"}, "cause": null} +{"env_id": 0, "seq": 4, "step": 1888, "t": 9.44, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_1"}, "cause": null} +{"env_id": 0, "seq": 5, "step": 6663, "t": 33.315, "topic": "a4s_sealer_1.plate_present.present", "source": "a4s_sealer_1.plate_present", "data": {"object": "plate_1"}, "cause": null} +{"env_id": 0, "seq": 6, "step": 7276, "t": 36.38, "topic": "a4s_sealer_1.command.started", "source": "a4s_sealer_1", "data": {"command_id": "task-0-1", "name": "seal", "source": "task"}, "cause": "task-0-1"} +{"env_id": 0, "seq": 7, "step": 7276, "t": 36.38, "topic": "a4s_sealer_1.seal.started", "source": "a4s_sealer_1", "data": {"dwell": 2.2586804364012454}, "cause": "task-0-1"} +{"env_id": 0, "seq": 8, "step": 7276, "t": 36.38, "topic": "a4s_sealer_1.drawer.command.started", "source": "a4s_sealer_1.drawer", "data": {"command_id": "program-0-2", "name": "close", "source": "program:seal"}, "cause": "program-0-2"} +{"env_id": 0, "seq": 9, "step": 7276, "t": 36.38, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "at_out", "to": "moving"}, "cause": null} +{"env_id": 0, "seq": 10, "step": 7276, "t": 36.38, "topic": "a4s_sealer_1.drawer.moving", "source": "a4s_sealer_1.drawer", "data": {"target": 0.3, "goal": "in"}, "cause": "program-0-2"} +{"env_id": 0, "seq": 11, "step": 7695, "t": 38.475, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "moving", "to": "at_in"}, "cause": null} +{"env_id": 0, "seq": 12, "step": 7695, "t": 38.475, "topic": "a4s_sealer_1.drawer.reached", "source": "a4s_sealer_1.drawer", "data": {"position": "in", "q": 0.30000001192092896}, "cause": "program-0-2"} +{"env_id": 0, "seq": 13, "step": 7695, "t": 38.475, "topic": "a4s_sealer_1.drawer.at_in", "source": "a4s_sealer_1.drawer", "data": {"q": 0.30000001192092896}, "cause": "program-0-2"} +{"env_id": 0, "seq": 14, "step": 7695, "t": 38.475, "topic": "a4s_sealer_1.drawer.command.succeeded", "source": "a4s_sealer_1.drawer", "data": {"command_id": "program-0-2", "name": "close", "source": "program:seal", "result": {"position": "in"}}, "cause": "program-0-2"} +{"env_id": 0, "seq": 15, "step": 7695, "t": 38.475, "topic": "labware.plate_1.changed", "source": "labware.plate_1", "data": {"key": "sealed", "value": true}, "cause": "task-0-1"} +{"env_id": 0, "seq": 16, "step": 7695, "t": 38.475, "topic": "a4s_sealer_1.sealed", "source": "a4s_sealer_1", "data": {"plate": "plate_1"}, "cause": "task-0-1"} +{"env_id": 0, "seq": 17, "step": 7695, "t": 38.475, "topic": "a4s_sealer_1.heater.command.started", "source": "a4s_sealer_1.heater", "data": {"command_id": "program-0-3", "name": "run", "source": "program:seal"}, "cause": "program-0-3"} +{"env_id": 0, "seq": 18, "step": 7695, "t": 38.475, "topic": "a4s_sealer_1.heater.state.changed", "source": "a4s_sealer_1.heater", "data": {"from": "ready", "to": "running"}, "cause": null} +{"env_id": 0, "seq": 19, "step": 7695, "t": 38.475, "topic": "a4s_sealer_1.heater.started", "source": "a4s_sealer_1.heater", "data": {"duration": 2.2586804364012454}, "cause": "program-0-3"} +{"env_id": 0, "seq": 20, "step": 8147, "t": 40.735, "topic": "a4s_sealer_1.heater.state.changed", "source": "a4s_sealer_1.heater", "data": {"from": "running", "to": "ready"}, "cause": null} +{"env_id": 0, "seq": 21, "step": 8147, "t": 40.735, "topic": "a4s_sealer_1.heater.finished", "source": "a4s_sealer_1.heater", "data": {"elapsed": 2.260000000001156}, "cause": "program-0-3"} +{"env_id": 0, "seq": 22, "step": 8147, "t": 40.735, "topic": "a4s_sealer_1.heater.command.succeeded", "source": "a4s_sealer_1.heater", "data": {"command_id": "program-0-3", "name": "run", "source": "program:seal", "result": {"elapsed": 2.260000000001156}}, "cause": "program-0-3"} +{"env_id": 0, "seq": 23, "step": 8147, "t": 40.735, "topic": "a4s_sealer_1.drawer.command.started", "source": "a4s_sealer_1.drawer", "data": {"command_id": "program-0-4", "name": "open", "source": "program:seal"}, "cause": "program-0-4"} +{"env_id": 0, "seq": 24, "step": 8147, "t": 40.735, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "at_in", "to": "moving"}, "cause": null} +{"env_id": 0, "seq": 25, "step": 8147, "t": 40.735, "topic": "a4s_sealer_1.drawer.moving", "source": "a4s_sealer_1.drawer", "data": {"target": 0.0, "goal": "out"}, "cause": "program-0-4"} +{"env_id": 0, "seq": 26, "step": 8567, "t": 42.835, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "moving", "to": "at_out"}, "cause": null} +{"env_id": 0, "seq": 27, "step": 8567, "t": 42.835, "topic": "a4s_sealer_1.drawer.reached", "source": "a4s_sealer_1.drawer", "data": {"position": "out", "q": 7.406722346559036e-09}, "cause": "program-0-4"} +{"env_id": 0, "seq": 28, "step": 8567, "t": 42.835, "topic": "a4s_sealer_1.drawer.at_out", "source": "a4s_sealer_1.drawer", "data": {"q": 7.406722346559036e-09}, "cause": "program-0-4"} +{"env_id": 0, "seq": 29, "step": 8567, "t": 42.835, "topic": "a4s_sealer_1.drawer.command.succeeded", "source": "a4s_sealer_1.drawer", "data": {"command_id": "program-0-4", "name": "open", "source": "program:seal", "result": {"position": "out"}}, "cause": "program-0-4"} +{"env_id": 0, "seq": 30, "step": 8567, "t": 42.835, "topic": "a4s_sealer_1.seal.finished", "source": "a4s_sealer_1", "data": {}, "cause": "task-0-1"} +{"env_id": 0, "seq": 31, "step": 8567, "t": 42.835, "topic": "a4s_sealer_1.command.succeeded", "source": "a4s_sealer_1", "data": {"command_id": "task-0-1", "name": "seal", "source": "task"}, "cause": "task-0-1"} +{"env_id": 0, "seq": 32, "step": 9146, "t": 45.73, "topic": "a4s_sealer_1.plate_present.absent", "source": "a4s_sealer_1.plate_present", "data": {"object": "plate_1"}, "cause": null} +{"env_id": 0, "seq": 33, "step": 10836, "t": 54.18, "topic": "conveyor_1.belt.command.started", "source": "conveyor_1.belt", "data": {"command_id": "task-0-5", "name": "release", "source": "task"}, "cause": "task-0-5"} +{"env_id": 0, "seq": 34, "step": 10836, "t": 54.18, "topic": "conveyor_1.belt.station.pick.released", "source": "conveyor_1.belt", "data": {"rider": "carrier_1"}, "cause": "task-0-5"} +{"env_id": 0, "seq": 35, "step": 10836, "t": 54.18, "topic": "conveyor_1.belt.state.changed", "source": "conveyor_1.belt", "data": {"from": "at_station", "to": "running"}, "cause": null} +{"env_id": 0, "seq": 36, "step": 10836, "t": 54.18, "topic": "conveyor_1.belt.command.succeeded", "source": "conveyor_1.belt", "data": {"command_id": "task-0-5", "name": "release", "source": "task", "result": {"state": "running"}}, "cause": "task-0-5"} diff --git a/episodes/c2_p007_e001/env.mp4 b/episodes/c2_p007_e001/env.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..94343b6f1dd7c2453e68b8fc8311a6ee881fd8b0 --- /dev/null +++ b/episodes/c2_p007_e001/env.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:195ff381b7960d81cfaf8f74775ec6a8eda23e144fca379cd3b8e497f26b5f9c +size 1321256 diff --git a/episodes/c2_p007_e001/meta.json b/episodes/c2_p007_e001/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..7d58a14f31e9281987839a4706213cd5194770bd --- /dev/null +++ b/episodes/c2_p007_e001/meta.json @@ -0,0 +1,32 @@ +{ + "source": "raw/c2_p007/magicsim/1", + "fps": 25, + "frames": 1179, + "kept_ticks": "even", + "video_frames": { + "wrist": 1179, + "env": 1179 + }, + "joint_target_source": "joint_pos_target", + "fk_vs_recorded_eef_max_m": 0.0, + "curobo_joints": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "joint_order": [ + "shoulder_pan", + "shoulder_lift", + "elbow", + "wrist_1", + "wrist_2", + "wrist_3", + "finger_left", + "finger_right" + ], + "frames_note": "eef / actions in the robot base frame; camera_pose = local pose (wrist: in plate_gripper_base, env: env frame), pos + quat wxyz", + "dr_version": "v2" +} \ No newline at end of file diff --git a/episodes/c2_p007_e001/scene_snapshot.json b/episodes/c2_p007_e001/scene_snapshot.json new file mode 100644 index 0000000000000000000000000000000000000000..cdfe008fba17a308c35c48686664b0c0cd0dc745 --- /dev/null +++ b/episodes/c2_p007_e001/scene_snapshot.json @@ -0,0 +1,1558 @@ +{ + "trajectory_id": 1, + "env_id": 0, + "run_id": "c2_p007", + "task_type": "BioPlateCell", + "success": true, + "timing": { + "fps": 50.0, + "sim_dt": 0.005, + "decimation": 4 + }, + "restore_interface": { + "scene": "scene_manager.reset_to(snapshot['scene'], env_ids=[env_id])", + "robots": "robot_manager.set_state({'robots': snapshot['robots']}, env_ids=[env_id])" + }, + "snapshot": { + "env_id": 0, + "scene": { + "objects": [ + { + "rac_cell": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/rac_cell.usd", + "pose": { + "pos": [ + 0.0, + 0.0, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "physics_material": { + "static_friction": 0.6, + "dynamic_friction": 0.5, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "robot_mount": [ + { + "asset": "Cube", + "pose": { + "pos": [ + 0.0, + 0.0, + 0.9075 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": "color", + "value": [ + 0.55, + 0.56, + 0.58 + ], + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": { + "size": [ + 0.2, + 0.2, + 0.015 + ] + } + }, + "type_specific": {} + } + ], + "plate_rack": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/plate_hotel.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 0.9 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "physics_material": { + "static_friction": 0.6, + "dynamic_friction": 0.5, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "hotel_plate": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_12_clear/plate_12_clear.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 0.9605 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/deep_well_24_10ml/deep_well_24_10ml.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.0285 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_6_clear/plate_6_clear.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.0965 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/deep_well_24_10ml/deep_well_24_10ml.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.1645 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/pcr_384_red/pcr_384_red.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.2325 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "a4s_sealer": [ + { + "asset": "$MAGICSIM_ASSETS/Articulated/A4SSealer/Object.usd", + "pose": { + "pos": [ + 0.4996671676635742, + 0.1175851821899414, + 0.8999999761581421 + ], + "ori": [ + 0.7093530893325806, + 0.0, + 0.0, + -0.7048532962799072 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "articulation", + "solver_position_iteration_count": 16.0, + "solver_velocity_iteration_count": 1.0, + "enabled_self_collisions": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "joint_position": [ + 2.8915899622644625e-12 + ], + "joint_velocity": [ + 0.0 + ], + "linear_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "angular_velocity": [ + 0.0, + 0.0, + 0.0 + ] + } + } + ], + "conveyor": [ + { + "asset": "Cube", + "pose": { + "pos": [ + 0.15, + 0.45, + 0.9 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "conveyor", + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9 + }, + "ratio": 1.0 + }, + "primitive_params": { + "size": [ + 2.4, + 0.076, + 0.03 + ] + }, + "conveyor": { + "speed": 0.19928762059158384, + "direction": [ + 1.0, + 0.0, + 0.0 + ], + "enabled": true, + "drive": "surface_velocity", + "lines": null, + "station_line": null, + "riders": [ + "carrier" + ], + "stations": { + "pick": { + "position": -0.10074189103203599, + "slow_distance": 0.03, + "slow_speed": 0.03 + } + }, + "rails": { + "height": 0.01, + "thickness": 0.01, + "gap": 0.001, + "friction": 0.05 + }, + "legs": 0.87, + "loop": { + "radius": 0.35, + "side": "left", + "curve_extra_width": 0.0, + "segments": 18, + "curve_rails": "both" + }, + "snap_distance": 0.1, + "junction_snap": 0.02, + "collision_approximation": "auto", + "plate_mass": 1.0, + "lift_drop": 0.004, + "accel": 0.0, + "decel": 0.0, + "drive_damping": 1000000.0, + "drive_max_force": 1000000000.0 + } + }, + "type_specific": { + "controller": { + "state": "at_station", + "speed": 0.19928762059158384, + "holds": [], + "station": "pick", + "rider": "carrier_1", + "arrived": true, + "applied_speed": 0.0 + } + } + } + ], + "carrier": [ + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + 0.049053192138671875, + 0.4499998092651367, + 0.8999999761581421 + ], + "ori": [ + 1.0, + 3.6434646411009908e-09, + -7.24566795451409e-11, + -2.900181607401464e-05 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 1.974024499418192e-09, + 1.1374433617206137e-09, + 1.1175870895385742e-08 + ], + "angular_velocity": [ + -3.249990854214957e-08, + 1.789708221622277e-07, + -2.2716928782529067e-08 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + 0.056054115295410156, + 1.1500005722045898, + 0.8999999761581421 + ], + "ori": [ + -3.0216412483241584e-07, + -7.390876799462376e-09, + 6.552800524417535e-10, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 8.432906595245981e-10, + -9.590465088749056e-10, + 0.0 + ], + "angular_velocity": [ + 4.5069995735502744e-08, + 8.332747825079423e-08, + 3.5286440436266275e-11 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + -1.0826025009155273, + 1.1456480026245117, + 0.8999999761581421 + ], + "ori": [ + -0.0427657850086689, + 3.459130937244481e-08, + -2.1349182421914747e-09, + 0.9990851283073425 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -2.9489843900165624e-10, + -5.855134155297037e-09, + 0.0 + ], + "angular_velocity": [ + 6.248538397812808e-08, + 2.412139110674616e-08, + 1.894822609926905e-08 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + 1.5594720840454102, + 1.0792102813720703, + 0.8999999761581421 + ], + "ori": [ + 0.31727221608161926, + 2.599421300431004e-08, + -7.820049496842785e-09, + 0.9483345746994019 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -9.728197136738004e-10, + 2.014083344548112e-10, + 0.0 + ], + "angular_velocity": [ + -3.4817290384125954e-08, + -7.152024750212149e-09, + 1.5718368828743223e-08 + ] + } + } + ], + "plate": [ + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_6_clear/Object.usd", + "pose": { + "pos": [ + 0.05183696746826172, + 0.44679737091064453, + 0.9179999828338623 + ], + "ori": [ + 0.999530017375946, + 2.272527499513899e-09, + 1.2205747523807986e-09, + 0.03065682388842106 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -1.3937498266614057e-08, + 4.14043377361395e-09, + 1.601874828338623e-07 + ], + "angular_velocity": [ + 4.80243045331008e-07, + -1.8121182847607997e-06, + -3.342672272310665e-08 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_96_black/Object.usd", + "pose": { + "pos": [ + 0.06907272338867188, + 1.149205207824707, + 0.9180000424385071 + ], + "ori": [ + 0.04794980213046074, + -7.315820393927197e-09, + -2.270453380859294e-09, + 0.9988497495651245 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 1.5795098562421117e-08, + -1.7567430177223287e-08, + -5.602836608886719e-06 + ], + "angular_velocity": [ + 4.6135781417433464e-08, + 1.3106362075632205e-06, + 1.0816417272963008e-07 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/pcr_96_blue/Object.usd", + "pose": { + "pos": [ + -1.0952434539794922, + 1.1558113098144531, + 0.9180000424385071 + ], + "ori": [ + -0.03106820210814476, + 4.331880631980312e-09, + 2.919281314461841e-07, + 0.9995172619819641 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 2.3095653887139633e-06, + -8.027245712582953e-07, + -1.0050833225250244e-05 + ], + "angular_velocity": [ + -0.0001413869031239301, + -1.9935803720727563e-05, + 3.6994060792494565e-05 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/deep_well_96_2ml/Object.usd", + "pose": { + "pos": [ + 1.5658445358276367, + 1.0813093185424805, + 0.9179999828338623 + ], + "ori": [ + 0.34792277216911316, + 2.5783020163316905e-08, + -6.277021569189856e-09, + 0.9375232458114624 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 6.428340526554166e-08, + -5.8998303131829744e-08, + -1.3336539268493652e-06 + ], + "angular_velocity": [ + 1.3379936945057125e-06, + 3.323394821563852e-06, + 2.1822128815074393e-07 + ] + } + } + ], + "deco_hub_west": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/hub_d.usd", + "pose": { + "pos": [ + -3.36, + 0.0, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_hub_east": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/hub_e.usd", + "pose": { + "pos": [ + 3.36, + 0.0, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_hub_back": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/hub_b.usd", + "pose": { + "pos": [ + -3.0, + -2.1, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_bench_east": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/bench_a.usd", + "pose": { + "pos": [ + 2.6, + -2.5, + 0.0 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_bench_gap": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/bench_b.usd", + "pose": { + "pos": [ + -0.1, + -2.9, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ] + }, + {}, + {}, + {} + ], + "devices": { + "hub": [ + { + "t": 7.239999999999868, + "step": 1448, + "counter": 0, + "devices": { + "a4s_sealer_1": { + "mode": "auto", + "units": { + "drawer": { + "state": "at_out", + "active": null, + "target": 0.0, + "goal_name": "out", + "profile": null, + "q_start": null, + "reversing": false, + "blocked_for": 0.0, + "settled_for": 0.0, + "last_q": 2.8915899622644625e-12 + }, + "heater": { + "state": "ready", + "active": null, + "duration": 0.0, + "t_start": null, + "elapsed": 0.0 + } + }, + "queues": {}, + "program": null, + "sensors": { + "plate_present": { + "occupants": [], + "pending": {} + } + }, + "interlocks": {} + }, + "conveyor_1": { + "mode": "auto", + "units": { + "belt": { + "state": "at_station", + "active": null, + "controller": { + "speed": 0.19928762059158384, + "holds": [], + "station": "pick", + "rider": "carrier_1", + "arrived": true, + "settle_count": 1358, + "released": { + "pick": [] + }, + "last_pos": { + "carrier_1": [ + -0.1009468138217926, + -1.7881393432617188e-07, + 0.0 + ], + "carrier_2": [ + -0.09394589066505432, + 0.7000005841255188, + 0.0 + ], + "carrier_3": [ + -1.2326025068759918, + 0.6956480145454407, + 0.0 + ], + "carrier_4": [ + 1.4094720780849457, + 0.6292102932929993, + 0.0 + ] + }, + "command": 0.0 + }, + "belt": { + "target_speed": 0.0, + "command_speed": 0.0 + }, + "seen": { + "state": "at_station", + "station": "pick", + "rider": "carrier_1", + "arrived": true + } + } + }, + "queues": {}, + "program": null, + "sensors": {}, + "interlocks": {} + } + }, + "zones": {}, + "labware": { + "plate_1": { + "sealed": false + }, + "plate_2": { + "sealed": false + }, + "plate_3": { + "sealed": false + }, + "plate_4": { + "sealed": false + } + }, + "rules": {}, + "records": [], + "bus": { + "seq": 3, + "queue": [] + } + }, + null, + null, + null + ], + "drives": [ + {}, + null, + null, + null + ] + }, + "artifacts": [ + { + "ceiling": { + "type": "rect", + "pose": { + "pos": [ + -0.3832221792333829, + 0.5041620320687983, + 2.9792585119618016 + ], + "ori": [ + 4.294541197816798, + -1.162507048721821, + 27.529324600667934 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "color_temperature": 6811.833286821193, + "color": [ + 0.9741517381010028, + 0.9223107559794584, + 0.9343131346872804 + ], + "intensity": 8211.169019281046, + "width": 2.167096419602376, + "height": 1.0006389201931234 + } + }, + "key": { + "type": "sphere", + "pose": { + "pos": [ + 1.688236287461938, + -0.5305530057424523, + 2.6123151452508124 + ], + "ori": [ + -31.112149915118295, + -1.3125248389833715, + -0.0634168727008344 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "color_temperature": 3076.425345326308, + "color": [ + 0.8558512495021884, + 0.8231247413573703, + 0.8255627844654144 + ], + "intensity": 8700.31717516643, + "radius": 0.1941596177172502 + } + } + }, + {}, + {}, + {} + ], + "background": { + "type": "dome", + "pose": { + "pos": null, + "ori": null, + "scale": null + }, + "dr": { + "intensity": 603.347035282019, + "texture": null, + "color": [ + 0.92, + 0.94, + 0.96 + ] + } + } + }, + "robots": { + "UR5e": { + "root_pose": [ + [ + 11.0, + -11.0, + 0.9150000214576721, + 1.0, + 0.0, + 0.0, + 0.0 + ], + [ + 11.0, + 11.0, + 0.9150000214576721, + 1.0, + 0.0, + 0.0, + 0.0 + ], + [ + -11.0, + -11.0, + 0.9150000214576721, + 1.0, + 0.0, + 0.0, + 0.0 + ], + [ + -11.0, + 11.0, + 0.9150000214576721, + 1.0, + 0.0, + 0.0, + 0.0 + ] + ], + "root_vel": [ + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + ], + "joint_pos": [ + [ + 0.9141025543212891, + -1.719397783279419, + 2.0904994010925293, + -1.9419012069702148, + -1.5707999467849731, + 2.484901189804077, + 0.01799999736249447, + 0.018000001087784767 + ], + [ + 0.8700478672981262, + -1.266066074371338, + 2.2262306213378906, + -2.5308804512023926, + -1.5708551406860352, + 2.5392088890075684, + 0.007658492773771286, + 0.007004439830780029 + ], + [ + 1.009765386581421, + -1.2284972667694092, + 2.166396379470825, + -2.5086910724639893, + -1.5708129405975342, + 2.4828007221221924, + 0.00763819320127368, + 0.007059839088469744 + ], + [ + 0.8975892066955566, + -1.4235421419143677, + 2.1864633560180664, + -2.333672285079956, + -1.5707964897155762, + 2.518421173095703, + 0.01800004579126835, + 0.017999952659010887 + ] + ], + "joint_vel": [ + [ + -2.442258073222979e-38, + 2.97718246224232e-38, + 2.7947636702340584e-38, + 4.5719288343206525e-37, + -5.715706756220798e-37, + -7.685524002637048e-38, + 2.5990400942532688e-08, + -2.5990388508034812e-08 + ], + [ + -9.84731232165359e-05, + -2.1883730369154364e-05, + -0.0005564159364439547, + -0.0021334688644856215, + 0.002334090182557702, + 0.00870045367628336, + -0.009043815545737743, + 0.00028235436184331775 + ], + [ + -7.934142195153981e-05, + 2.989065797009971e-05, + -0.00010130633017979562, + -0.001040376489982009, + 0.0010303646558895707, + 0.0037888900842517614, + -0.0076322657987475395, + 0.00031321184360422194 + ], + [ + -0.00014103736612014472, + 0.01612015627324581, + 0.008776741102337837, + -0.023689022287726402, + -7.5630564424500335e-06, + 2.000248605327215e-05, + -6.761133136024e-06, + 6.762708835594822e-06 + ] + ] + } + }, + "cameras": { + "cameras": { + "camera0": [ + [ + 0.04775412008166313, + 0.001491613918915391, + -0.029542693868279457, + -0.28298255801200867, + 0.649932324886322, + 0.6467561721801758, + -0.2814522087574005 + ], + [ + 0.048146914690732956, + -0.002110125031322241, + -0.02965916320681572, + -0.298117071390152, + 0.634919285774231, + 0.6562868356704712, + -0.2780132293701172 + ], + [ + 0.048301368951797485, + -0.0019465527730062604, + -0.028023039922118187, + -0.27987655997276306, + 0.6454399228096008, + 0.6515559554100037, + -0.28381553292274475 + ], + [ + 0.048582449555397034, + -0.003564999671652913, + -0.027842571958899498, + -0.26852792501449585, + 0.6473365426063538, + 0.6592167019844055, + -0.2725463807582855 + ] + ], + "camera1": [ + [ + 0.0650700181722641, + 0.5855382680892944, + 1.9510035514831543, + 0.05444188043475151, + 0.006014169193804264, + 0.2757602334022522, + 0.9596646428108215 + ], + [ + 0.06585000455379486, + 0.5832615494728088, + 1.931291937828064, + 0.047798652201890945, + -0.005887546110898256, + 0.2717774510383606, + 0.9611543416976929 + ], + [ + 0.03002513386309147, + 0.5767843723297119, + 1.9705108404159546, + 0.029460957273840904, + -0.0024535830598324537, + 0.2808568477630615, + 0.9592942595481873 + ], + [ + 0.02681967429816723, + 0.5658280253410339, + 1.9609524011611938, + 0.04137752577662468, + 0.009255612269043922, + 0.26106226444244385, + 0.9643903374671936 + ] + ] + } + } + } +} \ No newline at end of file diff --git a/episodes/c2_p007_e001/wrist.mp4 b/episodes/c2_p007_e001/wrist.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..a234f90ae4fcce0f058bb2ce3a7fcf9c3f27044f --- /dev/null +++ b/episodes/c2_p007_e001/wrist.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:c7cf56be158d6b5be30fdce6aed0244f4cfcf741b6855b75de14cd5ba9a19d64 +size 6483530 diff --git a/episodes/c2_p007_e002/data.npz b/episodes/c2_p007_e002/data.npz new file mode 100644 index 0000000000000000000000000000000000000000..535bf5d403e1fd10db681171612d5fa6d973c792 --- /dev/null +++ b/episodes/c2_p007_e002/data.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:290d5b7c8620c9cea1de94e73a2743e28d4ea15b43aac7a9aa51b93029ce340e +size 202842 diff --git a/episodes/c2_p007_e002/device_events.jsonl b/episodes/c2_p007_e002/device_events.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..8b6b5a95a93cb8a238baaae83cf5bb75120511af --- /dev/null +++ b/episodes/c2_p007_e002/device_events.jsonl @@ -0,0 +1,37 @@ +{"env_id": 2, "seq": 1, "step": 82, "t": 0.41, "topic": "conveyor_1.belt.station.pick.captured", "source": "conveyor_1.belt", "data": {"rider": "carrier_1"}, "cause": null} +{"env_id": 2, "seq": 2, "step": 82, "t": 0.41, "topic": "conveyor_1.belt.state.changed", "source": "conveyor_1.belt", "data": {"from": "running", "to": "at_station"}, "cause": null} +{"env_id": 2, "seq": 3, "step": 87, "t": 0.435, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_1"}, "cause": null} +{"env_id": 2, "seq": 4, "step": 1440, "t": 7.2, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_1"}, "cause": null} +{"env_id": 2, "seq": 5, "step": 1460, "t": 7.3, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_1"}, "cause": null} +{"env_id": 2, "seq": 6, "step": 6067, "t": 30.335, "topic": "a4s_sealer_1.plate_present.present", "source": "a4s_sealer_1.plate_present", "data": {"object": "plate_1"}, "cause": null} +{"env_id": 2, "seq": 7, "step": 6680, "t": 33.4, "topic": "a4s_sealer_1.command.started", "source": "a4s_sealer_1", "data": {"command_id": "task-2-1", "name": "seal", "source": "task"}, "cause": "task-2-1"} +{"env_id": 2, "seq": 8, "step": 6680, "t": 33.4, "topic": "a4s_sealer_1.seal.started", "source": "a4s_sealer_1", "data": {"dwell": 4.859661366540303}, "cause": "task-2-1"} +{"env_id": 2, "seq": 9, "step": 6680, "t": 33.4, "topic": "a4s_sealer_1.drawer.command.started", "source": "a4s_sealer_1.drawer", "data": {"command_id": "program-2-2", "name": "close", "source": "program:seal"}, "cause": "program-2-2"} +{"env_id": 2, "seq": 10, "step": 6680, "t": 33.4, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "at_out", "to": "moving"}, "cause": null} +{"env_id": 2, "seq": 11, "step": 6680, "t": 33.4, "topic": "a4s_sealer_1.drawer.moving", "source": "a4s_sealer_1.drawer", "data": {"target": 0.3, "goal": "in"}, "cause": "program-2-2"} +{"env_id": 2, "seq": 12, "step": 7099, "t": 35.495, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "moving", "to": "at_in"}, "cause": null} +{"env_id": 2, "seq": 13, "step": 7099, "t": 35.495, "topic": "a4s_sealer_1.drawer.reached", "source": "a4s_sealer_1.drawer", "data": {"position": "in", "q": 0.30000001192092896}, "cause": "program-2-2"} +{"env_id": 2, "seq": 14, "step": 7099, "t": 35.495, "topic": "a4s_sealer_1.drawer.at_in", "source": "a4s_sealer_1.drawer", "data": {"q": 0.30000001192092896}, "cause": "program-2-2"} +{"env_id": 2, "seq": 15, "step": 7099, "t": 35.495, "topic": "a4s_sealer_1.drawer.command.succeeded", "source": "a4s_sealer_1.drawer", "data": {"command_id": "program-2-2", "name": "close", "source": "program:seal", "result": {"position": "in"}}, "cause": "program-2-2"} +{"env_id": 2, "seq": 16, "step": 7099, "t": 35.495, "topic": "labware.plate_1.changed", "source": "labware.plate_1", "data": {"key": "sealed", "value": true}, "cause": "task-2-1"} +{"env_id": 2, "seq": 17, "step": 7099, "t": 35.495, "topic": "a4s_sealer_1.sealed", "source": "a4s_sealer_1", "data": {"plate": "plate_1"}, "cause": "task-2-1"} +{"env_id": 2, "seq": 18, "step": 7099, "t": 35.495, "topic": "a4s_sealer_1.heater.command.started", "source": "a4s_sealer_1.heater", "data": {"command_id": "program-2-3", "name": "run", "source": "program:seal"}, "cause": "program-2-3"} +{"env_id": 2, "seq": 19, "step": 7099, "t": 35.495, "topic": "a4s_sealer_1.heater.state.changed", "source": "a4s_sealer_1.heater", "data": {"from": "ready", "to": "running"}, "cause": null} +{"env_id": 2, "seq": 20, "step": 7099, "t": 35.495, "topic": "a4s_sealer_1.heater.started", "source": "a4s_sealer_1.heater", "data": {"duration": 4.859661366540303}, "cause": "program-2-3"} +{"env_id": 2, "seq": 21, "step": 8071, "t": 40.355, "topic": "a4s_sealer_1.heater.state.changed", "source": "a4s_sealer_1.heater", "data": {"from": "running", "to": "ready"}, "cause": null} +{"env_id": 2, "seq": 22, "step": 8071, "t": 40.355, "topic": "a4s_sealer_1.heater.finished", "source": "a4s_sealer_1.heater", "data": {"elapsed": 4.860000000002486}, "cause": "program-2-3"} +{"env_id": 2, "seq": 23, "step": 8071, "t": 40.355, "topic": "a4s_sealer_1.heater.command.succeeded", "source": "a4s_sealer_1.heater", "data": {"command_id": "program-2-3", "name": "run", "source": "program:seal", "result": {"elapsed": 4.860000000002486}}, "cause": "program-2-3"} +{"env_id": 2, "seq": 24, "step": 8071, "t": 40.355, "topic": "a4s_sealer_1.drawer.command.started", "source": "a4s_sealer_1.drawer", "data": {"command_id": "program-2-4", "name": "open", "source": "program:seal"}, "cause": "program-2-4"} +{"env_id": 2, "seq": 25, "step": 8071, "t": 40.355, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "at_in", "to": "moving"}, "cause": null} +{"env_id": 2, "seq": 26, "step": 8071, "t": 40.355, "topic": "a4s_sealer_1.drawer.moving", "source": "a4s_sealer_1.drawer", "data": {"target": 0.0, "goal": "out"}, "cause": "program-2-4"} +{"env_id": 2, "seq": 27, "step": 8491, "t": 42.455, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "moving", "to": "at_out"}, "cause": null} +{"env_id": 2, "seq": 28, "step": 8491, "t": 42.455, "topic": "a4s_sealer_1.drawer.reached", "source": "a4s_sealer_1.drawer", "data": {"position": "out", "q": 8.997392830778494e-10}, "cause": "program-2-4"} +{"env_id": 2, "seq": 29, "step": 8491, "t": 42.455, "topic": "a4s_sealer_1.drawer.at_out", "source": "a4s_sealer_1.drawer", "data": {"q": 8.997392830778494e-10}, "cause": "program-2-4"} +{"env_id": 2, "seq": 30, "step": 8491, "t": 42.455, "topic": "a4s_sealer_1.drawer.command.succeeded", "source": "a4s_sealer_1.drawer", "data": {"command_id": "program-2-4", "name": "open", "source": "program:seal", "result": {"position": "out"}}, "cause": "program-2-4"} +{"env_id": 2, "seq": 31, "step": 8491, "t": 42.455, "topic": "a4s_sealer_1.seal.finished", "source": "a4s_sealer_1", "data": {}, "cause": "task-2-1"} +{"env_id": 2, "seq": 32, "step": 8491, "t": 42.455, "topic": "a4s_sealer_1.command.succeeded", "source": "a4s_sealer_1", "data": {"command_id": "task-2-1", "name": "seal", "source": "task"}, "cause": "task-2-1"} +{"env_id": 2, "seq": 33, "step": 9071, "t": 45.355, "topic": "a4s_sealer_1.plate_present.absent", "source": "a4s_sealer_1.plate_present", "data": {"object": "plate_1"}, "cause": null} +{"env_id": 2, "seq": 34, "step": 11312, "t": 56.56, "topic": "conveyor_1.belt.command.started", "source": "conveyor_1.belt", "data": {"command_id": "task-2-5", "name": "release", "source": "task"}, "cause": "task-2-5"} +{"env_id": 2, "seq": 35, "step": 11312, "t": 56.56, "topic": "conveyor_1.belt.station.pick.released", "source": "conveyor_1.belt", "data": {"rider": "carrier_1"}, "cause": "task-2-5"} +{"env_id": 2, "seq": 36, "step": 11312, "t": 56.56, "topic": "conveyor_1.belt.state.changed", "source": "conveyor_1.belt", "data": {"from": "at_station", "to": "running"}, "cause": null} +{"env_id": 2, "seq": 37, "step": 11312, "t": 56.56, "topic": "conveyor_1.belt.command.succeeded", "source": "conveyor_1.belt", "data": {"command_id": "task-2-5", "name": "release", "source": "task", "result": {"state": "running"}}, "cause": "task-2-5"} diff --git a/episodes/c2_p007_e002/env.mp4 b/episodes/c2_p007_e002/env.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..bb54207b41ced45b714c4b7940c73187b04bbb68 --- /dev/null +++ b/episodes/c2_p007_e002/env.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:db2ba98922f2e51bd89a829dc38f1070291e2791f36d5b1b6e79a85dc54b66f8 +size 1365093 diff --git a/episodes/c2_p007_e002/meta.json b/episodes/c2_p007_e002/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..cfc4f2747c920bcd4ec33a6a664c0a441dbda379 --- /dev/null +++ b/episodes/c2_p007_e002/meta.json @@ -0,0 +1,32 @@ +{ + "source": "raw/c2_p007/magicsim/2", + "fps": 25, + "frames": 1289, + "kept_ticks": "even", + "video_frames": { + "wrist": 1289, + "env": 1289 + }, + "joint_target_source": "joint_pos_target", + "fk_vs_recorded_eef_max_m": 0.0, + "curobo_joints": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "joint_order": [ + "shoulder_pan", + "shoulder_lift", + "elbow", + "wrist_1", + "wrist_2", + "wrist_3", + "finger_left", + "finger_right" + ], + "frames_note": "eef / actions in the robot base frame; camera_pose = local pose (wrist: in plate_gripper_base, env: env frame), pos + quat wxyz", + "dr_version": "v2" +} \ No newline at end of file diff --git a/episodes/c2_p007_e002/scene_snapshot.json b/episodes/c2_p007_e002/scene_snapshot.json new file mode 100644 index 0000000000000000000000000000000000000000..57af33b8d6559943c07b454a39489ab63b69dfcc --- /dev/null +++ b/episodes/c2_p007_e002/scene_snapshot.json @@ -0,0 +1,1558 @@ +{ + "trajectory_id": 2, + "env_id": 2, + "run_id": "c2_p007", + "task_type": "BioPlateCell", + "success": true, + "timing": { + "fps": 50.0, + "sim_dt": 0.005, + "decimation": 4 + }, + "restore_interface": { + "scene": "scene_manager.reset_to(snapshot['scene'], env_ids=[env_id])", + "robots": "robot_manager.set_state({'robots': snapshot['robots']}, env_ids=[env_id])" + }, + "snapshot": { + "env_id": 2, + "scene": { + "objects": [ + {}, + {}, + { + "rac_cell": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/rac_cell.usd", + "pose": { + "pos": [ + 0.0, + 0.0, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "physics_material": { + "static_friction": 0.6, + "dynamic_friction": 0.5, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "robot_mount": [ + { + "asset": "Cube", + "pose": { + "pos": [ + 0.0, + 0.0, + 0.9075 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": "color", + "value": [ + 0.55, + 0.56, + 0.58 + ], + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": { + "size": [ + 0.2, + 0.2, + 0.015 + ] + } + }, + "type_specific": {} + } + ], + "plate_rack": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/plate_hotel.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 0.9 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "physics_material": { + "static_friction": 0.6, + "dynamic_friction": 0.5, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "hotel_plate": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/deep_well_96_2ml/deep_well_96_2ml.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 0.9605 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/pcr_96_blue/pcr_96_blue.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.0285 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/deep_well_24_10ml/deep_well_24_10ml.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.0965 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_96_white/plate_96_white.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.1645 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/deep_well_96_2ml/deep_well_96_2ml.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.2325 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "a4s_sealer": [ + { + "asset": "$MAGICSIM_ASSETS/Articulated/A4SSealer/Object.usd", + "pose": { + "pos": [ + 0.5135993957519531, + 0.10516643524169922, + 0.8999999761581421 + ], + "ori": [ + 0.7200183868408203, + 0.0, + 0.0, + -0.6939550042152405 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "articulation", + "solver_position_iteration_count": 16.0, + "solver_velocity_iteration_count": 1.0, + "enabled_self_collisions": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "joint_position": [ + 2.891589745424028e-12 + ], + "joint_velocity": [ + 0.0 + ], + "linear_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "angular_velocity": [ + 0.0, + 0.0, + 0.0 + ] + } + } + ], + "conveyor": [ + { + "asset": "Cube", + "pose": { + "pos": [ + 0.15, + 0.45, + 0.9 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "conveyor", + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9 + }, + "ratio": 1.0 + }, + "primitive_params": { + "size": [ + 2.4, + 0.076, + 0.03 + ] + }, + "conveyor": { + "speed": 0.28988506984472473, + "direction": [ + 1.0, + 0.0, + 0.0 + ], + "enabled": true, + "drive": "surface_velocity", + "lines": null, + "station_line": null, + "riders": [ + "carrier" + ], + "stations": { + "pick": { + "position": -0.14905631117965878, + "slow_distance": 0.03, + "slow_speed": 0.03 + } + }, + "rails": { + "height": 0.01, + "thickness": 0.01, + "gap": 0.001, + "friction": 0.05 + }, + "legs": 0.87, + "loop": { + "radius": 0.35, + "side": "left", + "curve_extra_width": 0.0, + "segments": 18, + "curve_rails": "both" + }, + "snap_distance": 0.1, + "junction_snap": 0.02, + "collision_approximation": "auto", + "plate_mass": 1.0, + "lift_drop": 0.004, + "accel": 0.0, + "decel": 0.0, + "drive_damping": 1000000.0, + "drive_max_force": 1000000000.0 + } + }, + "type_specific": { + "controller": { + "state": "at_station", + "speed": 0.28988506984472473, + "holds": [], + "station": "pick", + "rider": "carrier_1", + "arrived": true, + "applied_speed": 0.0 + } + } + } + ], + "carrier": [ + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + 0.000583648681640625, + 0.45000267028808594, + 0.8999999761581421 + ], + "ori": [ + 1.0, + 1.7594999901504593e-09, + 3.8010300462687496e-10, + -6.386545283021405e-05 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 4.2671799427296264e-10, + -4.640579032155756e-10, + 1.1175870895385742e-08 + ], + "angular_velocity": [ + 1.0169699748985295e-08, + 5.539070713211913e-08, + 6.601516222559667e-09 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + 0.4059715270996094, + 1.150003433227539, + 0.8999999761581421 + ], + "ori": [ + 3.9311057662416715e-06, + -8.479457414001246e-11, + 2.314239022638276e-09, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -1.9619150748440006e-09, + -4.480153470431958e-10, + 1.1175870895385742e-08 + ], + "angular_velocity": [ + -1.9415531404831654e-09, + -1.823854631766153e-07, + -1.5422497057215878e-08 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + 1.6194639205932617, + 0.5811424255371094, + 0.8999999761581421 + ], + "ori": [ + 0.9072290062904358, + -1.1458017468157777e-07, + 6.034935040588607e-08, + 0.42063724994659424 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -3.020831362832155e-09, + -1.1301825031395651e-09, + 1.862645149230957e-08 + ], + "angular_velocity": [ + 8.586140154420718e-08, + -2.3725743858449277e-07, + 4.415649179634329e-09 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + -1.2338027954101562, + 1.0940322875976562, + 0.8999999761581421 + ], + "ori": [ + -0.26597538590431213, + 1.6335702923697681e-07, + -6.139475772215519e-08, + 0.9639798402786255 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 1.1722421504600788e-06, + 5.540533720704843e-07, + -2.9765069484710693e-06 + ], + "angular_velocity": [ + -3.603117511374876e-05, + 0.00010253197979182005, + -2.4741377728787484e-06 + ] + } + } + ], + "plate": [ + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_24_clear/Object.usd", + "pose": { + "pos": [ + 0.0001735687255859375, + 0.45888805389404297, + 0.9179999828338623 + ], + "ori": [ + 0.9988072514533997, + 3.955340055483703e-09, + -7.554434855450154e-10, + 0.048826832324266434 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -1.1018345347224567e-08, + -1.9891055913490163e-08, + 1.4156103134155273e-07 + ], + "angular_velocity": [ + 1.5587226016577915e-06, + -1.7324598502455046e-06, + -7.239337662667822e-08 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_384_black/Object.usd", + "pose": { + "pos": [ + 0.4050750732421875, + 1.1479606628417969, + 0.9180000424385071 + ], + "ori": [ + -0.022678101435303688, + -6.053719747711739e-10, + 3.5244827056857275e-09, + 0.999742865562439 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 4.762195526808455e-09, + -4.994546998204896e-09, + -5.062669515609741e-06 + ], + "angular_velocity": [ + -9.217063734467956e-07, + 1.81444102054229e-06, + -5.6580258700478225e-08 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_1536_black/Object.usd", + "pose": { + "pos": [ + 1.6155176162719727, + 0.5776996612548828, + 0.9180000424385071 + ], + "ori": [ + 0.901469349861145, + -1.1430670099343843e-07, + 6.296938437344579e-08, + 0.4328429400920868 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -5.806180780609793e-08, + -3.124921477137832e-08, + -5.1781535148620605e-06 + ], + "angular_velocity": [ + 3.2263660614262335e-06, + -1.8214292367702e-06, + 1.81560864120911e-07 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/deep_well_24_10ml/Object.usd", + "pose": { + "pos": [ + -1.2377033233642578, + 1.1013250350952148, + 0.9179999828338623 + ], + "ori": [ + -0.34438395500183105, + 1.2394707482599188e-07, + -5.2883155632343914e-08, + 0.9388288855552673 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 3.6284950510889757e-06, + 1.4584661585104186e-06, + -4.209578037261963e-06 + ], + "angular_velocity": [ + -4.0555951272835955e-05, + 0.00010616498911986127, + -2.698545131352148e-06 + ] + } + } + ], + "deco_hub_west": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/hub_c.usd", + "pose": { + "pos": [ + -3.36, + 0.0, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_hub_east": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/hub_a.usd", + "pose": { + "pos": [ + 3.36, + 0.0, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_hub_back": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/hub_e.usd", + "pose": { + "pos": [ + -3.0, + -2.1, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_bench_east": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/bench_a.usd", + "pose": { + "pos": [ + 2.6, + -2.5, + 0.0 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_bench_gap": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/bench_b.usd", + "pose": { + "pos": [ + -0.1, + -2.9, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ] + }, + {} + ], + "devices": { + "hub": [ + null, + null, + { + "t": 5.139999999999913, + "step": 1028, + "counter": 0, + "devices": { + "a4s_sealer_1": { + "mode": "auto", + "units": { + "drawer": { + "state": "at_out", + "active": null, + "target": 0.0, + "goal_name": "out", + "profile": null, + "q_start": null, + "reversing": false, + "blocked_for": 0.0, + "settled_for": 0.0, + "last_q": 2.891589745424028e-12 + }, + "heater": { + "state": "ready", + "active": null, + "duration": 0.0, + "t_start": null, + "elapsed": 0.0 + } + }, + "queues": {}, + "program": null, + "sensors": { + "plate_present": { + "occupants": [], + "pending": {} + } + }, + "interlocks": {} + }, + "conveyor_1": { + "mode": "auto", + "units": { + "belt": { + "state": "at_station", + "active": null, + "controller": { + "speed": 0.28988506984472473, + "holds": [], + "station": "pick", + "rider": "carrier_1", + "arrived": true, + "settle_count": 945, + "released": { + "pick": [] + }, + "last_pos": { + "carrier_1": [ + -0.14941635727882385, + 2.682209014892578e-06, + 0.0 + ], + "carrier_2": [ + 0.2559715211391449, + 0.700003445148468, + 0.0 + ], + "carrier_3": [ + 1.4694639146327972, + 0.13114243745803833, + 0.0 + ], + "carrier_4": [ + -1.3838028013706207, + 0.6440322995185852, + 0.0 + ] + }, + "command": 0.0 + }, + "belt": { + "target_speed": 0.0, + "command_speed": 0.0 + }, + "seen": { + "state": "at_station", + "station": "pick", + "rider": "carrier_1", + "arrived": true + } + } + }, + "queues": {}, + "program": null, + "sensors": {}, + "interlocks": {} + } + }, + "zones": {}, + "labware": { + "plate_1": { + "sealed": false + }, + "plate_2": { + "sealed": false + }, + "plate_3": { + "sealed": false + }, + "plate_4": { + "sealed": false + } + }, + "rules": {}, + "records": [], + "bus": { + "seq": 3, + "queue": [] + } + }, + null + ], + "drives": [ + null, + null, + {}, + null + ] + }, + "artifacts": [ + {}, + {}, + { + "ceiling": { + "type": "rect", + "pose": { + "pos": [ + 0.6605730459744364, + 0.41021103749864274, + 2.6775138310964803 + ], + "ori": [ + -9.596393435292388, + 5.326141896709018, + -8.507273737381006 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "color_temperature": 4854.107929928521, + "color": [ + 0.9490834434752712, + 0.8682884144430525, + 0.9595755340194916 + ], + "intensity": 11424.839953770459, + "width": 1.6171068260046673, + "height": 1.0311808842957255 + } + }, + "key": { + "type": "sphere", + "pose": { + "pos": [ + -1.270820901284507, + 0.4487541020705643, + 2.2375485908652384 + ], + "ori": [ + -27.15813747243856, + 2.504752915277635, + -19.906280837581207 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "color_temperature": 7060.60848839943, + "color": [ + 0.8954467793163303, + 0.96913015940742, + 0.9713998806448718 + ], + "intensity": 1552.1101816590967, + "radius": 0.1520532160103915 + } + } + }, + {} + ], + "background": { + "type": "dome", + "pose": { + "pos": null, + "ori": null, + "scale": null + }, + "dr": { + "intensity": 603.347035282019, + "texture": null, + "color": [ + 0.92, + 0.94, + 0.96 + ] + } + } + }, + "robots": { + "UR5e": { + "root_pose": [ + [ + 11.0, + -11.0, + 0.9150000214576721, + 1.0, + 0.0, + 0.0, + 0.0 + ], + [ + 11.0, + 11.0, + 0.9150000214576721, + 1.0, + 0.0, + 0.0, + 0.0 + ], + [ + -11.0, + -11.0, + 0.9150000214576721, + 1.0, + 0.0, + 0.0, + 0.0 + ], + [ + -11.0, + 11.0, + 0.9150000214576721, + 1.0, + 0.0, + 0.0, + 0.0 + ] + ], + "root_vel": [ + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + ], + "joint_pos": [ + [ + 0.9140999913215637, + -1.7194000482559204, + 2.0905001163482666, + -1.9419000148773193, + -1.5707999467849731, + 2.4848999977111816, + 0.017999999225139618, + 0.017999999225139618 + ], + [ + 0.8898717761039734, + -1.602025032043457, + 2.0964152812957764, + -2.06512188911438, + -1.5707993507385254, + 2.514847755432129, + 0.018001560121774673, + 0.017998483031988144 + ], + [ + 0.9140999913215637, + -1.7194000482559204, + 2.0905001163482666, + -1.9419000148773193, + -1.5707999467849731, + 2.4848999977111816, + 0.017999999225139618, + 0.017999999225139618 + ], + [ + 0.9140999913215637, + -1.7194000482559204, + 2.0905001163482666, + -1.9419000148773193, + -1.5707999467849731, + 2.4848999977111816, + 0.017999999225139618, + 0.017999999225139618 + ] + ], + "joint_vel": [ + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + [ + -0.00788153987377882, + 0.03706742823123932, + 0.0021832564380019903, + -0.03689227253198624, + -2.7420408514444716e-05, + 0.008979755453765392, + 3.9575632399646565e-05, + -3.9965387259144336e-05 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + ] + } + }, + "cameras": { + "cameras": { + "camera0": [ + [ + 0.04840892553329468, + 0.002374444156885147, + -0.02883957512676716, + -0.27345719933509827, + 0.6510934829711914, + 0.6446352005004883, + -0.292820543050766 + ], + [ + 0.053366366773843765, + -0.0005973917432129383, + -0.031045258045196533, + -0.2942264676094055, + 0.6392514109611511, + 0.6537889242172241, + -0.27811601758003235 + ], + [ + 0.04819057881832123, + -0.0003378277469892055, + -0.025862714275717735, + -0.27513551712036133, + 0.6505219340324402, + 0.6505837440490723, + -0.27903833985328674 + ], + [ + 0.04800698906183243, + -0.0018613364081829786, + -0.02751995623111725, + -0.26197755336761475, + 0.648094117641449, + 0.6599962115287781, + -0.2752213478088379 + ] + ], + "camera1": [ + [ + 0.0650700181722641, + 0.5855382680892944, + 1.9510035514831543, + 0.05444188043475151, + 0.006014169193804264, + 0.2757602334022522, + 0.9596646428108215 + ], + [ + 0.06585000455379486, + 0.5832615494728088, + 1.931291937828064, + 0.047798652201890945, + -0.005887546110898256, + 0.2717774510383606, + 0.9611543416976929 + ], + [ + 0.03002513386309147, + 0.5767843723297119, + 1.9705108404159546, + 0.029460957273840904, + -0.0024535830598324537, + 0.2808568477630615, + 0.9592942595481873 + ], + [ + 0.02681967429816723, + 0.5658280253410339, + 1.9609524011611938, + 0.04137752577662468, + 0.009255612269043922, + 0.26106226444244385, + 0.9643903374671936 + ] + ] + } + } + } +} \ No newline at end of file diff --git a/episodes/c2_p007_e002/wrist.mp4 b/episodes/c2_p007_e002/wrist.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..ac9afde212e8f4732520f731932da5f3c6355006 --- /dev/null +++ b/episodes/c2_p007_e002/wrist.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:b49aa53d73a64d794abbc19341a987c71632a25e09484407b84649438dfe4310 +size 7062182 diff --git a/episodes/c2_p007_e003/data.npz b/episodes/c2_p007_e003/data.npz new file mode 100644 index 0000000000000000000000000000000000000000..05054c9d52a1a487c286c897ce192e7d393f0c65 --- /dev/null +++ b/episodes/c2_p007_e003/data.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:7c87cb54709aba286c944e2588ab300cbbf4ae9d4485f6aac60abaf1324987bf +size 189903 diff --git a/episodes/c2_p007_e003/device_events.jsonl b/episodes/c2_p007_e003/device_events.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..82917da453993843dfdeb70ec682f67a14029cb4 --- /dev/null +++ b/episodes/c2_p007_e003/device_events.jsonl @@ -0,0 +1,35 @@ +{"env_id": 3, "seq": 1, "step": 120, "t": 0.6, "topic": "conveyor_1.belt.station.pick.captured", "source": "conveyor_1.belt", "data": {"rider": "carrier_3"}, "cause": null} +{"env_id": 3, "seq": 2, "step": 120, "t": 0.6, "topic": "conveyor_1.belt.state.changed", "source": "conveyor_1.belt", "data": {"from": "running", "to": "at_station"}, "cause": null} +{"env_id": 3, "seq": 3, "step": 125, "t": 0.625, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_3"}, "cause": null} +{"env_id": 3, "seq": 4, "step": 6526, "t": 32.63, "topic": "a4s_sealer_1.plate_present.present", "source": "a4s_sealer_1.plate_present", "data": {"object": "plate_3"}, "cause": null} +{"env_id": 3, "seq": 5, "step": 7140, "t": 35.7, "topic": "a4s_sealer_1.command.started", "source": "a4s_sealer_1", "data": {"command_id": "task-3-1", "name": "seal", "source": "task"}, "cause": "task-3-1"} +{"env_id": 3, "seq": 6, "step": 7140, "t": 35.7, "topic": "a4s_sealer_1.seal.started", "source": "a4s_sealer_1", "data": {"dwell": 4.899347855223305}, "cause": "task-3-1"} +{"env_id": 3, "seq": 7, "step": 7140, "t": 35.7, "topic": "a4s_sealer_1.drawer.command.started", "source": "a4s_sealer_1.drawer", "data": {"command_id": "program-3-2", "name": "close", "source": "program:seal"}, "cause": "program-3-2"} +{"env_id": 3, "seq": 8, "step": 7140, "t": 35.7, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "at_out", "to": "moving"}, "cause": null} +{"env_id": 3, "seq": 9, "step": 7140, "t": 35.7, "topic": "a4s_sealer_1.drawer.moving", "source": "a4s_sealer_1.drawer", "data": {"target": 0.3, "goal": "in"}, "cause": "program-3-2"} +{"env_id": 3, "seq": 10, "step": 7559, "t": 37.795, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "moving", "to": "at_in"}, "cause": null} +{"env_id": 3, "seq": 11, "step": 7559, "t": 37.795, "topic": "a4s_sealer_1.drawer.reached", "source": "a4s_sealer_1.drawer", "data": {"position": "in", "q": 0.30000001192092896}, "cause": "program-3-2"} +{"env_id": 3, "seq": 12, "step": 7559, "t": 37.795, "topic": "a4s_sealer_1.drawer.at_in", "source": "a4s_sealer_1.drawer", "data": {"q": 0.30000001192092896}, "cause": "program-3-2"} +{"env_id": 3, "seq": 13, "step": 7559, "t": 37.795, "topic": "a4s_sealer_1.drawer.command.succeeded", "source": "a4s_sealer_1.drawer", "data": {"command_id": "program-3-2", "name": "close", "source": "program:seal", "result": {"position": "in"}}, "cause": "program-3-2"} +{"env_id": 3, "seq": 14, "step": 7559, "t": 37.795, "topic": "labware.plate_3.changed", "source": "labware.plate_3", "data": {"key": "sealed", "value": true}, "cause": "task-3-1"} +{"env_id": 3, "seq": 15, "step": 7559, "t": 37.795, "topic": "a4s_sealer_1.sealed", "source": "a4s_sealer_1", "data": {"plate": "plate_3"}, "cause": "task-3-1"} +{"env_id": 3, "seq": 16, "step": 7559, "t": 37.795, "topic": "a4s_sealer_1.heater.command.started", "source": "a4s_sealer_1.heater", "data": {"command_id": "program-3-3", "name": "run", "source": "program:seal"}, "cause": "program-3-3"} +{"env_id": 3, "seq": 17, "step": 7559, "t": 37.795, "topic": "a4s_sealer_1.heater.state.changed", "source": "a4s_sealer_1.heater", "data": {"from": "ready", "to": "running"}, "cause": null} +{"env_id": 3, "seq": 18, "step": 7559, "t": 37.795, "topic": "a4s_sealer_1.heater.started", "source": "a4s_sealer_1.heater", "data": {"duration": 4.899347855223305}, "cause": "program-3-3"} +{"env_id": 3, "seq": 19, "step": 8539, "t": 42.695, "topic": "a4s_sealer_1.heater.state.changed", "source": "a4s_sealer_1.heater", "data": {"from": "running", "to": "ready"}, "cause": null} +{"env_id": 3, "seq": 20, "step": 8539, "t": 42.695, "topic": "a4s_sealer_1.heater.finished", "source": "a4s_sealer_1.heater", "data": {"elapsed": 4.900000000002507}, "cause": "program-3-3"} +{"env_id": 3, "seq": 21, "step": 8539, "t": 42.695, "topic": "a4s_sealer_1.heater.command.succeeded", "source": "a4s_sealer_1.heater", "data": {"command_id": "program-3-3", "name": "run", "source": "program:seal", "result": {"elapsed": 4.900000000002507}}, "cause": "program-3-3"} +{"env_id": 3, "seq": 22, "step": 8539, "t": 42.695, "topic": "a4s_sealer_1.drawer.command.started", "source": "a4s_sealer_1.drawer", "data": {"command_id": "program-3-4", "name": "open", "source": "program:seal"}, "cause": "program-3-4"} +{"env_id": 3, "seq": 23, "step": 8539, "t": 42.695, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "at_in", "to": "moving"}, "cause": null} +{"env_id": 3, "seq": 24, "step": 8539, "t": 42.695, "topic": "a4s_sealer_1.drawer.moving", "source": "a4s_sealer_1.drawer", "data": {"target": 0.0, "goal": "out"}, "cause": "program-3-4"} +{"env_id": 3, "seq": 25, "step": 8959, "t": 44.795, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "moving", "to": "at_out"}, "cause": null} +{"env_id": 3, "seq": 26, "step": 8959, "t": 44.795, "topic": "a4s_sealer_1.drawer.reached", "source": "a4s_sealer_1.drawer", "data": {"position": "out", "q": 1.7558544895823758e-10}, "cause": "program-3-4"} +{"env_id": 3, "seq": 27, "step": 8959, "t": 44.795, "topic": "a4s_sealer_1.drawer.at_out", "source": "a4s_sealer_1.drawer", "data": {"q": 1.7558544895823758e-10}, "cause": "program-3-4"} +{"env_id": 3, "seq": 28, "step": 8959, "t": 44.795, "topic": "a4s_sealer_1.drawer.command.succeeded", "source": "a4s_sealer_1.drawer", "data": {"command_id": "program-3-4", "name": "open", "source": "program:seal", "result": {"position": "out"}}, "cause": "program-3-4"} +{"env_id": 3, "seq": 29, "step": 8959, "t": 44.795, "topic": "a4s_sealer_1.seal.finished", "source": "a4s_sealer_1", "data": {}, "cause": "task-3-1"} +{"env_id": 3, "seq": 30, "step": 8959, "t": 44.795, "topic": "a4s_sealer_1.command.succeeded", "source": "a4s_sealer_1", "data": {"command_id": "task-3-1", "name": "seal", "source": "task"}, "cause": "task-3-1"} +{"env_id": 3, "seq": 31, "step": 9539, "t": 47.695, "topic": "a4s_sealer_1.plate_present.absent", "source": "a4s_sealer_1.plate_present", "data": {"object": "plate_3"}, "cause": null} +{"env_id": 3, "seq": 32, "step": 11308, "t": 56.54, "topic": "conveyor_1.belt.command.started", "source": "conveyor_1.belt", "data": {"command_id": "task-3-5", "name": "release", "source": "task"}, "cause": "task-3-5"} +{"env_id": 3, "seq": 33, "step": 11308, "t": 56.54, "topic": "conveyor_1.belt.station.pick.released", "source": "conveyor_1.belt", "data": {"rider": "carrier_3"}, "cause": "task-3-5"} +{"env_id": 3, "seq": 34, "step": 11308, "t": 56.54, "topic": "conveyor_1.belt.state.changed", "source": "conveyor_1.belt", "data": {"from": "at_station", "to": "running"}, "cause": null} +{"env_id": 3, "seq": 35, "step": 11308, "t": 56.54, "topic": "conveyor_1.belt.command.succeeded", "source": "conveyor_1.belt", "data": {"command_id": "task-3-5", "name": "release", "source": "task", "result": {"state": "running"}}, "cause": "task-3-5"} diff --git a/episodes/c2_p007_e003/env.mp4 b/episodes/c2_p007_e003/env.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..790869cca02f8fce6c40279c7995503456bb1cec --- /dev/null +++ b/episodes/c2_p007_e003/env.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:95b9ea51658767dc6d24f3274e94d13a9f5512ef19c1d5df6521ce9a2fe85027 +size 1358699 diff --git a/episodes/c2_p007_e003/meta.json b/episodes/c2_p007_e003/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..2bd90d92168f0d827e5b8223ed89f7e7e2f8ac94 --- /dev/null +++ b/episodes/c2_p007_e003/meta.json @@ -0,0 +1,32 @@ +{ + "source": "raw/c2_p007/magicsim/3", + "fps": 25, + "frames": 1271, + "kept_ticks": "even", + "video_frames": { + "wrist": 1271, + "env": 1271 + }, + "joint_target_source": "joint_pos_target", + "fk_vs_recorded_eef_max_m": 0.0, + "curobo_joints": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "joint_order": [ + "shoulder_pan", + "shoulder_lift", + "elbow", + "wrist_1", + "wrist_2", + "wrist_3", + "finger_left", + "finger_right" + ], + "frames_note": "eef / actions in the robot base frame; camera_pose = local pose (wrist: in plate_gripper_base, env: env frame), pos + quat wxyz", + "dr_version": "v2" +} \ No newline at end of file diff --git a/episodes/c2_p007_e003/scene_snapshot.json b/episodes/c2_p007_e003/scene_snapshot.json new file mode 100644 index 0000000000000000000000000000000000000000..03f9f513594e73860577e01ce7c3f061113b76ac --- /dev/null +++ b/episodes/c2_p007_e003/scene_snapshot.json @@ -0,0 +1,1558 @@ +{ + "trajectory_id": 3, + "env_id": 3, + "run_id": "c2_p007", + "task_type": "BioPlateCell", + "success": true, + "timing": { + "fps": 50.0, + "sim_dt": 0.005, + "decimation": 4 + }, + "restore_interface": { + "scene": "scene_manager.reset_to(snapshot['scene'], env_ids=[env_id])", + "robots": "robot_manager.set_state({'robots': snapshot['robots']}, env_ids=[env_id])" + }, + "snapshot": { + "env_id": 3, + "scene": { + "objects": [ + {}, + {}, + {}, + { + "rac_cell": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/rac_cell.usd", + "pose": { + "pos": [ + 0.0, + 0.0, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "physics_material": { + "static_friction": 0.6, + "dynamic_friction": 0.5, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "robot_mount": [ + { + "asset": "Cube", + "pose": { + "pos": [ + 0.0, + 0.0, + 0.9075 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": "color", + "value": [ + 0.55, + 0.56, + 0.58 + ], + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": { + "size": [ + 0.2, + 0.2, + 0.015 + ] + } + }, + "type_specific": {} + } + ], + "plate_rack": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/plate_hotel.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 0.9 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "physics_material": { + "static_friction": 0.6, + "dynamic_friction": 0.5, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "hotel_plate": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_384_white/plate_384_white.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 0.9605 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_384_white/plate_384_white.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.0285 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/deep_well_96_2ml/deep_well_96_2ml.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.0965 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_96_clear/plate_96_clear.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.1645 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_12_clear/plate_12_clear.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.2325 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "a4s_sealer": [ + { + "asset": "$MAGICSIM_ASSETS/Articulated/A4SSealer/Object.usd", + "pose": { + "pos": [ + 0.4724998474121094, + 0.052265167236328125, + 0.8999999761581421 + ], + "ori": [ + -0.6936050653457642, + 0.0, + 0.0, + 0.7203554511070251 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "articulation", + "solver_position_iteration_count": 16.0, + "solver_velocity_iteration_count": 1.0, + "enabled_self_collisions": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "joint_position": [ + 4.6988368057609975e-12 + ], + "joint_velocity": [ + 0.0 + ], + "linear_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "angular_velocity": [ + 0.0, + 0.0, + 0.0 + ] + } + } + ], + "conveyor": [ + { + "asset": "Cube", + "pose": { + "pos": [ + 0.15, + 0.45, + 0.9 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "conveyor", + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9 + }, + "ratio": 1.0 + }, + "primitive_params": { + "size": [ + 2.4, + 0.076, + 0.03 + ] + }, + "conveyor": { + "speed": 0.1800402076149779, + "direction": [ + 1.0, + 0.0, + 0.0 + ], + "enabled": true, + "drive": "surface_velocity", + "lines": null, + "station_line": null, + "riders": [ + "carrier" + ], + "stations": { + "pick": { + "position": -0.10531593469775477, + "slow_distance": 0.03, + "slow_speed": 0.03 + } + }, + "rails": { + "height": 0.01, + "thickness": 0.01, + "gap": 0.001, + "friction": 0.05 + }, + "legs": 0.87, + "loop": { + "radius": 0.35, + "side": "left", + "curve_extra_width": 0.0, + "segments": 18, + "curve_rails": "both" + }, + "snap_distance": 0.1, + "junction_snap": 0.02, + "collision_approximation": "auto", + "plate_mass": 1.0, + "lift_drop": 0.004, + "accel": 0.0, + "decel": 0.0, + "drive_damping": 1000000.0, + "drive_max_force": 1000000000.0 + } + }, + "type_specific": { + "controller": { + "state": "at_station", + "speed": 0.1800402076149779, + "holds": [], + "station": "pick", + "rider": "carrier_3", + "arrived": true, + "applied_speed": 0.0 + } + } + } + ], + "carrier": [ + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + 0.16358375549316406, + 1.1500015258789062, + 0.8999999761581421 + ], + "ori": [ + -6.296136689343257e-06, + 1.317022402247403e-08, + 8.190427003285095e-09, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -1.1067664562602886e-09, + 1.9590218336418275e-10, + 1.4901161193847656e-08 + ], + "angular_velocity": [ + -3.4185198671821126e-08, + -1.1220826934277284e-07, + -8.73011707369642e-09 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + 1.6092042922973633, + 0.5693416595458984, + 0.8999999761581421 + ], + "ori": [ + 0.9134606122970581, + 8.302126985881841e-09, + 3.4498505385727185e-08, + 0.40692728757858276 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -1.3038582435953572e-09, + 1.928943005324868e-09, + 1.1175870895385742e-08 + ], + "angular_velocity": [ + -8.684542507353399e-08, + 1.0744557954467382e-07, + -3.586392693932794e-08 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + 0.04513740539550781, + 0.45000267028808594, + 0.8999999761581421 + ], + "ori": [ + 1.0, + 4.3940159843991466e-10, + -2.7840985072913327e-09, + 2.7105068511446007e-05 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -3.009304472278984e-10, + 1.359480750195985e-09, + 3.725290298461914e-09 + ], + "angular_velocity": [ + -4.9542791202839e-08, + -3.236146284280039e-08, + 4.90138729603018e-09 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + -1.3974237442016602, + 0.8011837005615234, + 0.8999999761581421 + ], + "ori": [ + -0.7034306526184082, + -7.049458616847915e-08, + 1.3099862528065387e-08, + 0.7107639312744141 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 2.449032763252035e-07, + -1.0813956663469071e-07, + 2.421438694000244e-07 + ], + "angular_velocity": [ + 5.232596322457539e-06, + 3.674663730635075e-06, + -2.60292745224433e-06 + ] + } + } + ], + "plate": [ + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_48_clear/Object.usd", + "pose": { + "pos": [ + 0.15584182739257812, + 1.1418647766113281, + 0.9179999828338623 + ], + "ori": [ + 0.10374864935874939, + 1.1795211918297355e-08, + 6.074525771282424e-09, + 0.9946035742759705 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 1.4448662710719873e-08, + 1.6384397838464793e-08, + 1.4901161193847656e-07 + ], + "angular_velocity": [ + -7.265332442329964e-07, + 1.985692051675869e-06, + -7.967558701693633e-08 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_384_white/Object.usd", + "pose": { + "pos": [ + 1.6099720001220703, + 0.5652694702148438, + 0.9180000424385071 + ], + "ori": [ + 0.8805233836174011, + 9.89497195291733e-09, + 3.4371058887927575e-08, + 0.4740027189254761 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -2.473350946274877e-08, + 2.946471511222626e-09, + -5.461275577545166e-06 + ], + "angular_velocity": [ + 2.7321334528096486e-07, + -9.896973551803967e-07, + -2.5673282166849276e-08 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_96_clear/Object.usd", + "pose": { + "pos": [ + 0.033695220947265625, + 0.43836307525634766, + 0.9180000424385071 + ], + "ori": [ + 0.9996848106384277, + -1.4299542105966623e-10, + -3.167941464710111e-09, + -0.025105692446231842 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -1.4049478913591429e-08, + 2.4300501166862887e-08, + -5.315989255905151e-06 + ], + "angular_velocity": [ + -4.781729217029351e-07, + -1.16162129870645e-06, + 1.3173509216812818e-07 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/reservoir_12ch/Object.usd", + "pose": { + "pos": [ + -1.404433250427246, + 0.8101348876953125, + 0.9179999828338623 + ], + "ori": [ + -0.639045774936676, + -5.590616183326347e-07, + 1.0149146874027792e-06, + 0.7691687345504761 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 1.5525945855188183e-05, + -5.9833387240360025e-06, + -1.0874122381210327e-05 + ], + "angular_velocity": [ + 0.00010268425103276968, + 0.0005625555641017854, + 1.399750544806011e-05 + ] + } + } + ], + "deco_hub_west": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/hub_e.usd", + "pose": { + "pos": [ + -3.36, + 0.0, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_hub_east": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/hub_d.usd", + "pose": { + "pos": [ + 3.36, + 0.0, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_hub_back": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/hub_a.usd", + "pose": { + "pos": [ + -3.0, + -2.1, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_bench_east": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/bench_c.usd", + "pose": { + "pos": [ + 2.6, + -2.5, + 0.0 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_bench_gap": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/bench_b.usd", + "pose": { + "pos": [ + -0.1, + -2.9, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ] + } + ], + "devices": { + "hub": [ + null, + null, + null, + { + "t": 5.919999999999896, + "step": 1184, + "counter": 0, + "devices": { + "a4s_sealer_1": { + "mode": "auto", + "units": { + "drawer": { + "state": "at_out", + "active": null, + "target": 0.0, + "goal_name": "out", + "profile": null, + "q_start": null, + "reversing": false, + "blocked_for": 0.0, + "settled_for": 0.0, + "last_q": 4.6988368057609975e-12 + }, + "heater": { + "state": "ready", + "active": null, + "duration": 0.0, + "t_start": null, + "elapsed": 0.0 + } + }, + "queues": {}, + "program": null, + "sensors": { + "plate_present": { + "occupants": [], + "pending": {} + } + }, + "interlocks": {} + }, + "conveyor_1": { + "mode": "auto", + "units": { + "belt": { + "state": "at_station", + "active": null, + "controller": { + "speed": 0.1800402076149779, + "holds": [], + "station": "pick", + "rider": "carrier_3", + "arrived": true, + "settle_count": 1063, + "released": { + "pick": [] + }, + "last_pos": { + "carrier_1": [ + 0.013583749532699585, + 0.7000015377998352, + 0.0 + ], + "carrier_2": [ + 1.4592042863368988, + 0.11934167146682739, + 0.0 + ], + "carrier_3": [ + -0.10486260056495667, + 2.682209014892578e-06, + 0.0 + ], + "carrier_4": [ + -1.5474237501621246, + 0.3511837124824524, + 0.0 + ] + }, + "command": 0.0 + }, + "belt": { + "target_speed": 0.0, + "command_speed": 0.0 + }, + "seen": { + "state": "at_station", + "station": "pick", + "rider": "carrier_3", + "arrived": true + } + } + }, + "queues": {}, + "program": null, + "sensors": {}, + "interlocks": {} + } + }, + "zones": {}, + "labware": { + "plate_1": { + "sealed": false + }, + "plate_2": { + "sealed": false + }, + "plate_3": { + "sealed": false + }, + "plate_4": { + "sealed": false + } + }, + "rules": {}, + "records": [], + "bus": { + "seq": 3, + "queue": [] + } + } + ], + "drives": [ + null, + null, + null, + {} + ] + }, + "artifacts": [ + {}, + {}, + {}, + { + "ceiling": { + "type": "rect", + "pose": { + "pos": [ + 0.7189674574410264, + 0.06450653279797058, + 2.9907153362479986 + ], + "ori": [ + -2.5234022206826463, + 0.12566189627012214, + 21.14966825364902 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "color_temperature": 5738.103030522543, + "color": [ + 0.898849953118371, + 0.9727263539633364, + 0.9967332270475475 + ], + "intensity": 15891.720909906342, + "width": 1.7001702462631578, + "height": 1.3603210935849201 + } + }, + "key": { + "type": "sphere", + "pose": { + "pos": [ + 1.4493211784348903, + -1.1549490386872796, + 2.2887351049208307 + ], + "ori": [ + 1.4404844495850426, + -16.72659519387226, + 4.591745448572723 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "color_temperature": 4073.401598894792, + "color": [ + 0.9013236100483576, + 0.8496608788915856, + 0.8740376888333758 + ], + "intensity": 6773.607735276818, + "radius": 0.1491982091566863 + } + } + } + ], + "background": { + "type": "dome", + "pose": { + "pos": null, + "ori": null, + "scale": null + }, + "dr": { + "intensity": 603.347035282019, + "texture": null, + "color": [ + 0.92, + 0.94, + 0.96 + ] + } + } + }, + "robots": { + "UR5e": { + "root_pose": [ + [ + 11.0, + -11.0, + 0.9150000214576721, + 1.0, + 0.0, + 0.0, + 0.0 + ], + [ + 11.0, + 11.0, + 0.9150000214576721, + 1.0, + 0.0, + 0.0, + 0.0 + ], + [ + -11.0, + -11.0, + 0.9150000214576721, + 1.0, + 0.0, + 0.0, + 0.0 + ], + [ + -11.0, + 11.0, + 0.9150000214576721, + 1.0, + 0.0, + 0.0, + 0.0 + ] + ], + "root_vel": [ + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + ], + "joint_pos": [ + [ + 0.9141025543212891, + -1.719397783279419, + 2.0904994010925293, + -1.9419012069702148, + -1.5707999467849731, + 2.484901189804077, + 0.01799999736249447, + 0.018000001087784767 + ], + [ + 0.8701192736625671, + -1.4399718046188354, + 2.1512813568115234, + -2.282064437866211, + -1.5707961320877075, + 2.539318084716797, + 0.0180000439286232, + 0.017999954521656036 + ], + [ + 1.008276343345642, + -1.4601186513900757, + 2.0464279651641846, + -2.157089948654175, + -1.5707966089248657, + 2.4829001426696777, + 0.018000528216362, + 0.017999473959207535 + ], + [ + 0.9141013622283936, + -1.7193995714187622, + 2.0905003547668457, + -1.9419008493423462, + -1.5707999467849731, + 2.48490047454834, + 0.01799999736249447, + 0.018000001087784767 + ] + ], + "joint_vel": [ + [ + -2.442258073222979e-38, + 2.97718246224232e-38, + 2.7947636702340584e-38, + 4.5719288343206525e-37, + -5.715706756220798e-37, + -7.685524002637048e-38, + 2.5990400942532688e-08, + -2.5990388508034812e-08 + ], + [ + -0.00013408384984359145, + 0.014842631295323372, + 0.009430150501430035, + -0.023062756285071373, + -7.5404341259854846e-06, + 2.001881875912659e-05, + -6.450130058510695e-06, + 6.4516607380937785e-06 + ], + [ + 0.003188628936186433, + 0.009196305647492409, + -0.0014093039790168405, + -0.00728338398039341, + 8.058129424171057e-06, + -6.034442048985511e-05, + 1.1809655916295014e-05, + -1.18533553177258e-05 + ], + [ + -2.527969334572485e-38, + 1.5499014020516852e-38, + 3.8572760902926146e-38, + 5.210929902362941e-37, + -4.883688819832621e-38, + 4.337454158544144e-37, + 2.5990399166175848e-08, + -2.5990386731677972e-08 + ] + ] + } + }, + "cameras": { + "cameras": { + "camera0": [ + [ + 0.048240333795547485, + 0.002271130681037903, + -0.02836613915860653, + -0.27255406975746155, + 0.6511237621307373, + 0.6457976698875427, + -0.29102835059165955 + ], + [ + 0.05060110241174698, + -0.00036793301114812493, + -0.03269156813621521, + -0.2944512665271759, + 0.6346763372421265, + 0.6581528782844543, + -0.2780631482601166 + ], + [ + 0.046923648566007614, + 0.0007221904234029353, + -0.02606724202632904, + -0.28095296025276184, + 0.643905520439148, + 0.6522924900054932, + -0.28454452753067017 + ], + [ + 0.04950062558054924, + -0.0006930457311682403, + -0.028804363682866096, + -0.2653184235095978, + 0.6477632522583008, + 0.6590054035186768, + -0.275174081325531 + ] + ], + "camera1": [ + [ + 0.0650700181722641, + 0.5855382680892944, + 1.9510035514831543, + 0.05444188043475151, + 0.006014169193804264, + 0.2757602334022522, + 0.9596646428108215 + ], + [ + 0.06585000455379486, + 0.5832615494728088, + 1.931291937828064, + 0.047798652201890945, + -0.005887546110898256, + 0.2717774510383606, + 0.9611543416976929 + ], + [ + 0.03002513386309147, + 0.5767843723297119, + 1.9705108404159546, + 0.029460957273840904, + -0.0024535830598324537, + 0.2808568477630615, + 0.9592942595481873 + ], + [ + 0.02681967429816723, + 0.5658280253410339, + 1.9609524011611938, + 0.04137752577662468, + 0.009255612269043922, + 0.26106226444244385, + 0.9643903374671936 + ] + ] + } + } + } +} \ No newline at end of file diff --git a/episodes/c2_p007_e003/wrist.mp4 b/episodes/c2_p007_e003/wrist.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..630536f97681bcc5c27d281b6c34522130453c2b --- /dev/null +++ b/episodes/c2_p007_e003/wrist.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:fcc28651786416c033d62a1f2bc6e6aaf72b2e92b48c340b706156e07399014c +size 7438750 diff --git a/episodes/c3_p005_e000/data.npz b/episodes/c3_p005_e000/data.npz new file mode 100644 index 0000000000000000000000000000000000000000..8974385fdd74bfe8f7b9e84a4508b1480a6b8d79 --- /dev/null +++ b/episodes/c3_p005_e000/data.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:bba4ebe3b93efe28ff6180f929aee6f3ba2c9d69b4016850aacc6adc4edf92cd +size 188525 diff --git a/episodes/c3_p005_e000/device_events.jsonl b/episodes/c3_p005_e000/device_events.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..8e83ac8f1376eab0f7f590a9c0be8a3d6fbfe79a --- /dev/null +++ b/episodes/c3_p005_e000/device_events.jsonl @@ -0,0 +1,35 @@ +{"env_id": 1, "seq": 1, "step": 57, "t": 0.285, "topic": "conveyor_1.belt.station.pick.captured", "source": "conveyor_1.belt", "data": {"rider": "carrier_4"}, "cause": null} +{"env_id": 1, "seq": 2, "step": 57, "t": 0.285, "topic": "conveyor_1.belt.state.changed", "source": "conveyor_1.belt", "data": {"from": "running", "to": "at_station"}, "cause": null} +{"env_id": 1, "seq": 3, "step": 62, "t": 0.31, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_4"}, "cause": null} +{"env_id": 1, "seq": 4, "step": 5555, "t": 27.775, "topic": "a4s_sealer_1.plate_present.present", "source": "a4s_sealer_1.plate_present", "data": {"object": "plate_4"}, "cause": null} +{"env_id": 1, "seq": 5, "step": 6168, "t": 30.84, "topic": "a4s_sealer_1.command.started", "source": "a4s_sealer_1", "data": {"command_id": "task-1-1", "name": "seal", "source": "task"}, "cause": "task-1-1"} +{"env_id": 1, "seq": 6, "step": 6168, "t": 30.84, "topic": "a4s_sealer_1.seal.started", "source": "a4s_sealer_1", "data": {"dwell": 3.6757424171748383}, "cause": "task-1-1"} +{"env_id": 1, "seq": 7, "step": 6168, "t": 30.84, "topic": "a4s_sealer_1.drawer.command.started", "source": "a4s_sealer_1.drawer", "data": {"command_id": "program-1-2", "name": "close", "source": "program:seal"}, "cause": "program-1-2"} +{"env_id": 1, "seq": 8, "step": 6168, "t": 30.84, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "at_out", "to": "moving"}, "cause": null} +{"env_id": 1, "seq": 9, "step": 6168, "t": 30.84, "topic": "a4s_sealer_1.drawer.moving", "source": "a4s_sealer_1.drawer", "data": {"target": 0.3, "goal": "in"}, "cause": "program-1-2"} +{"env_id": 1, "seq": 10, "step": 6587, "t": 32.935, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "moving", "to": "at_in"}, "cause": null} +{"env_id": 1, "seq": 11, "step": 6587, "t": 32.935, "topic": "a4s_sealer_1.drawer.reached", "source": "a4s_sealer_1.drawer", "data": {"position": "in", "q": 0.30000001192092896}, "cause": "program-1-2"} +{"env_id": 1, "seq": 12, "step": 6587, "t": 32.935, "topic": "a4s_sealer_1.drawer.at_in", "source": "a4s_sealer_1.drawer", "data": {"q": 0.30000001192092896}, "cause": "program-1-2"} +{"env_id": 1, "seq": 13, "step": 6587, "t": 32.935, "topic": "a4s_sealer_1.drawer.command.succeeded", "source": "a4s_sealer_1.drawer", "data": {"command_id": "program-1-2", "name": "close", "source": "program:seal", "result": {"position": "in"}}, "cause": "program-1-2"} +{"env_id": 1, "seq": 14, "step": 6587, "t": 32.935, "topic": "labware.plate_4.changed", "source": "labware.plate_4", "data": {"key": "sealed", "value": true}, "cause": "task-1-1"} +{"env_id": 1, "seq": 15, "step": 6587, "t": 32.935, "topic": "a4s_sealer_1.sealed", "source": "a4s_sealer_1", "data": {"plate": "plate_4"}, "cause": "task-1-1"} +{"env_id": 1, "seq": 16, "step": 6587, "t": 32.935, "topic": "a4s_sealer_1.heater.command.started", "source": "a4s_sealer_1.heater", "data": {"command_id": "program-1-3", "name": "run", "source": "program:seal"}, "cause": "program-1-3"} +{"env_id": 1, "seq": 17, "step": 6587, "t": 32.935, "topic": "a4s_sealer_1.heater.state.changed", "source": "a4s_sealer_1.heater", "data": {"from": "ready", "to": "running"}, "cause": null} +{"env_id": 1, "seq": 18, "step": 6587, "t": 32.935, "topic": "a4s_sealer_1.heater.started", "source": "a4s_sealer_1.heater", "data": {"duration": 3.6757424171748383}, "cause": "program-1-3"} +{"env_id": 1, "seq": 19, "step": 7323, "t": 36.615, "topic": "a4s_sealer_1.heater.state.changed", "source": "a4s_sealer_1.heater", "data": {"from": "running", "to": "ready"}, "cause": null} +{"env_id": 1, "seq": 20, "step": 7323, "t": 36.615, "topic": "a4s_sealer_1.heater.finished", "source": "a4s_sealer_1.heater", "data": {"elapsed": 3.6800000000018827}, "cause": "program-1-3"} +{"env_id": 1, "seq": 21, "step": 7323, "t": 36.615, "topic": "a4s_sealer_1.heater.command.succeeded", "source": "a4s_sealer_1.heater", "data": {"command_id": "program-1-3", "name": "run", "source": "program:seal", "result": {"elapsed": 3.6800000000018827}}, "cause": "program-1-3"} +{"env_id": 1, "seq": 22, "step": 7323, "t": 36.615, "topic": "a4s_sealer_1.drawer.command.started", "source": "a4s_sealer_1.drawer", "data": {"command_id": "program-1-4", "name": "open", "source": "program:seal"}, "cause": "program-1-4"} +{"env_id": 1, "seq": 23, "step": 7323, "t": 36.615, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "at_in", "to": "moving"}, "cause": null} +{"env_id": 1, "seq": 24, "step": 7323, "t": 36.615, "topic": "a4s_sealer_1.drawer.moving", "source": "a4s_sealer_1.drawer", "data": {"target": 0.0, "goal": "out"}, "cause": "program-1-4"} +{"env_id": 1, "seq": 25, "step": 7743, "t": 38.715, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "moving", "to": "at_out"}, "cause": null} +{"env_id": 1, "seq": 26, "step": 7743, "t": 38.715, "topic": "a4s_sealer_1.drawer.reached", "source": "a4s_sealer_1.drawer", "data": {"position": "out", "q": 1.4518886093384253e-10}, "cause": "program-1-4"} +{"env_id": 1, "seq": 27, "step": 7743, "t": 38.715, "topic": "a4s_sealer_1.drawer.at_out", "source": "a4s_sealer_1.drawer", "data": {"q": 1.4518886093384253e-10}, "cause": "program-1-4"} +{"env_id": 1, "seq": 28, "step": 7743, "t": 38.715, "topic": "a4s_sealer_1.drawer.command.succeeded", "source": "a4s_sealer_1.drawer", "data": {"command_id": "program-1-4", "name": "open", "source": "program:seal", "result": {"position": "out"}}, "cause": "program-1-4"} +{"env_id": 1, "seq": 29, "step": 7743, "t": 38.715, "topic": "a4s_sealer_1.seal.finished", "source": "a4s_sealer_1", "data": {}, "cause": "task-1-1"} +{"env_id": 1, "seq": 30, "step": 7743, "t": 38.715, "topic": "a4s_sealer_1.command.succeeded", "source": "a4s_sealer_1", "data": {"command_id": "task-1-1", "name": "seal", "source": "task"}, "cause": "task-1-1"} +{"env_id": 1, "seq": 31, "step": 8323, "t": 41.615, "topic": "a4s_sealer_1.plate_present.absent", "source": "a4s_sealer_1.plate_present", "data": {"object": "plate_4"}, "cause": null} +{"env_id": 1, "seq": 32, "step": 9992, "t": 49.96, "topic": "conveyor_1.belt.command.started", "source": "conveyor_1.belt", "data": {"command_id": "task-1-5", "name": "release", "source": "task"}, "cause": "task-1-5"} +{"env_id": 1, "seq": 33, "step": 9992, "t": 49.96, "topic": "conveyor_1.belt.station.pick.released", "source": "conveyor_1.belt", "data": {"rider": "carrier_4"}, "cause": "task-1-5"} +{"env_id": 1, "seq": 34, "step": 9992, "t": 49.96, "topic": "conveyor_1.belt.state.changed", "source": "conveyor_1.belt", "data": {"from": "at_station", "to": "running"}, "cause": null} +{"env_id": 1, "seq": 35, "step": 9992, "t": 49.96, "topic": "conveyor_1.belt.command.succeeded", "source": "conveyor_1.belt", "data": {"command_id": "task-1-5", "name": "release", "source": "task", "result": {"state": "running"}}, "cause": "task-1-5"} diff --git a/episodes/c3_p005_e000/env.mp4 b/episodes/c3_p005_e000/env.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..28a0f6a93103a555220102f380a2b3fbfed7714b --- /dev/null +++ b/episodes/c3_p005_e000/env.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:995229d53944906a1fd800d53c1df3648d50b053d854d0a8ba838466267c1f57 +size 1235863 diff --git a/episodes/c3_p005_e000/meta.json b/episodes/c3_p005_e000/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..8c29155624ae9e3a9b12dd536f8f688967a70322 --- /dev/null +++ b/episodes/c3_p005_e000/meta.json @@ -0,0 +1,32 @@ +{ + "source": "raw/c3_p005/magicsim/0", + "fps": 25, + "frames": 1225, + "kept_ticks": "even", + "video_frames": { + "wrist": 1225, + "env": 1225 + }, + "joint_target_source": "joint_pos_target", + "fk_vs_recorded_eef_max_m": 0.0, + "curobo_joints": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "joint_order": [ + "shoulder_pan", + "shoulder_lift", + "elbow", + "wrist_1", + "wrist_2", + "wrist_3", + "finger_left", + "finger_right" + ], + "frames_note": "eef / actions in the robot base frame; camera_pose = local pose (wrist: in plate_gripper_base, env: env frame), pos + quat wxyz", + "dr_version": "v2" +} \ No newline at end of file diff --git a/episodes/c3_p005_e000/scene_snapshot.json b/episodes/c3_p005_e000/scene_snapshot.json new file mode 100644 index 0000000000000000000000000000000000000000..6e15419452a599723ba59b45cc21bdf01c70ec90 --- /dev/null +++ b/episodes/c3_p005_e000/scene_snapshot.json @@ -0,0 +1,1558 @@ +{ + "trajectory_id": 0, + "env_id": 1, + "run_id": "c3_p005", + "task_type": "BioPlateCell", + "success": true, + "timing": { + "fps": 50.0, + "sim_dt": 0.005, + "decimation": 4 + }, + "restore_interface": { + "scene": "scene_manager.reset_to(snapshot['scene'], env_ids=[env_id])", + "robots": "robot_manager.set_state({'robots': snapshot['robots']}, env_ids=[env_id])" + }, + "snapshot": { + "env_id": 1, + "scene": { + "objects": [ + {}, + { + "rac_cell": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/rac_cell.usd", + "pose": { + "pos": [ + 0.0, + 0.0, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "physics_material": { + "static_friction": 0.6, + "dynamic_friction": 0.5, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "robot_mount": [ + { + "asset": "Cube", + "pose": { + "pos": [ + 0.0, + 0.0, + 0.9075 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": "color", + "value": [ + 0.55, + 0.56, + 0.58 + ], + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": { + "size": [ + 0.2, + 0.2, + 0.015 + ] + } + }, + "type_specific": {} + } + ], + "plate_rack": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/plate_hotel.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 0.9 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "physics_material": { + "static_friction": 0.6, + "dynamic_friction": 0.5, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "hotel_plate": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_12_clear/plate_12_clear.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 0.9605 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/deep_well_24_10ml/deep_well_24_10ml.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.0285 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/deep_well_96_2ml/deep_well_96_2ml.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.0965 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_24_clear/plate_24_clear.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.1645 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_96_black/plate_96_black.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.2325 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "a4s_sealer": [ + { + "asset": "$MAGICSIM_ASSETS/Articulated/A4SSealer/Object.usd", + "pose": { + "pos": [ + 0.5018272399902344, + 0.11866378784179688, + 0.8999999761581421 + ], + "ori": [ + -0.7068486213684082, + 0.0, + 0.0, + 0.7073648571968079 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "articulation", + "solver_position_iteration_count": 16.0, + "solver_velocity_iteration_count": 1.0, + "enabled_self_collisions": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "joint_position": [ + 2.8915908296262005e-12 + ], + "joint_velocity": [ + 0.0 + ], + "linear_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "angular_velocity": [ + 0.0, + 0.0, + 0.0 + ] + } + } + ], + "conveyor": [ + { + "asset": "Cube", + "pose": { + "pos": [ + 0.15, + 0.45, + 0.9 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "conveyor", + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9 + }, + "ratio": 1.0 + }, + "primitive_params": { + "size": [ + 2.4, + 0.076, + 0.03 + ] + }, + "conveyor": { + "speed": 0.2965027116637645, + "direction": [ + 1.0, + 0.0, + 0.0 + ], + "enabled": true, + "drive": "surface_velocity", + "lines": null, + "station_line": null, + "riders": [ + "carrier" + ], + "stations": { + "pick": { + "position": -0.06056854937711409, + "slow_distance": 0.03, + "slow_speed": 0.03 + } + }, + "rails": { + "height": 0.01, + "thickness": 0.01, + "gap": 0.001, + "friction": 0.05 + }, + "legs": 0.87, + "loop": { + "radius": 0.35, + "side": "left", + "curve_extra_width": 0.0, + "segments": 18, + "curve_rails": "both" + }, + "snap_distance": 0.1, + "junction_snap": 0.02, + "collision_approximation": "auto", + "plate_mass": 1.0, + "lift_drop": 0.004, + "accel": 0.0, + "decel": 0.0, + "drive_damping": 1000000.0, + "drive_max_force": 1000000000.0 + } + }, + "type_specific": { + "controller": { + "state": "at_station", + "speed": 0.2965027116637645, + "holds": [], + "station": "pick", + "rider": "carrier_4", + "arrived": true, + "applied_speed": 0.0 + } + } + } + ], + "carrier": [ + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + 0.31077003479003906, + 1.1499967575073242, + 0.8999999761581421 + ], + "ori": [ + 2.9656173865078017e-05, + 2.3057949993798843e-10, + 1.98996552569497e-09, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -1.8498309550807335e-09, + -2.022972456217076e-09, + 1.1175870895385742e-08 + ], + "angular_velocity": [ + 1.2348374411885743e-07, + -1.7283598197082028e-07, + -1.8414361591112538e-08 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + 1.4117279052734375, + 0.4589710235595703, + 0.8999999761581421 + ], + "ori": [ + 0.9968546032905579, + -1.9858414912476974e-09, + -9.670105605152912e-09, + 0.07925298810005188 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -2.93541191354052e-09, + -2.415848077141902e-10, + 2.2351741790771484e-08 + ], + "angular_velocity": [ + -1.4111423141116575e-08, + -2.4744591087255685e-07, + -3.3612437277952267e-09 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + -1.3473472595214844, + 0.9794540405273438, + 0.8999999761581421 + ], + "ori": [ + -0.48245179653167725, + -2.4366734407976764e-08, + -2.5409825354927307e-08, + 0.8759225606918335 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 5.099215494297482e-10, + -1.1504053265554148e-10, + 0.0 + ], + "angular_velocity": [ + -1.166067242763802e-09, + 3.59671830096886e-08, + 1.502279189935507e-09 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + 0.08945274353027344, + 0.4499940872192383, + 0.8999999761581421 + ], + "ori": [ + 1.0, + -2.5701956118950875e-09, + 1.2915574165717203e-09, + -2.5920624466380104e-05 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -1.7387868922469352e-11, + 1.030702190263355e-09, + 3.725290298461914e-09 + ], + "angular_velocity": [ + -6.766050830719905e-08, + -1.8552157143858494e-08, + -3.1948164114226074e-09 + ] + } + } + ], + "plate": [ + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_12_clear/Object.usd", + "pose": { + "pos": [ + 0.3054218292236328, + 1.1566362380981445, + 0.9179999828338623 + ], + "ori": [ + 0.012567303143441677, + 1.853499131954095e-09, + 1.0655503146494993e-09, + 0.9999210834503174 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 1.7018404463442494e-08, + -1.5750737603070775e-08, + 1.4901161193847656e-07 + ], + "angular_velocity": [ + 1.1051385229166044e-07, + 1.8407184825264267e-06, + -2.866472392781816e-09 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_96_white/Object.usd", + "pose": { + "pos": [ + 1.4117813110351562, + 0.45665931701660156, + 0.9180000424385071 + ], + "ori": [ + 0.9863393902778625, + -2.7570750127381416e-09, + -8.795775663372751e-09, + 0.16472624242305756 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -6.648497929973018e-08, + -2.6295811750287612e-08, + -5.21540641784668e-06 + ], + "angular_velocity": [ + 1.439820948689885e-06, + -2.7766029688791605e-06, + 2.6646966944099404e-07 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/pcr_384_red/Object.usd", + "pose": { + "pos": [ + -1.333939552307129, + 0.987339973449707, + 0.9179999828338623 + ], + "ori": [ + -0.5049196481704712, + -2.5004714743204204e-08, + -2.5597165276280975e-08, + 0.8631663918495178 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 9.932951350322128e-09, + 4.6118153740337675e-09, + -5.54695725440979e-06 + ], + "angular_velocity": [ + -8.693981499163783e-07, + 8.408465390630226e-08, + 6.972455679488121e-08 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/deep_well_96_1ml/Object.usd", + "pose": { + "pos": [ + 0.10312652587890625, + 0.45636940002441406, + 0.9179999828338623 + ], + "ori": [ + 0.9980341792106628, + -1.0565863739486758e-09, + -2.8523217121545485e-09, + -0.06267254799604416 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -7.057541040467186e-08, + -1.8986337835258382e-08, + 1.564621925354004e-07 + ], + "angular_velocity": [ + 6.87568899593316e-07, + -3.1990930438041687e-06, + 1.1167772839826284e-07 + ] + } + } + ], + "deco_hub_west": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/hub_a.usd", + "pose": { + "pos": [ + -3.36, + 0.0, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_hub_east": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/hub_c.usd", + "pose": { + "pos": [ + 3.36, + 0.0, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_hub_back": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/hub_d.usd", + "pose": { + "pos": [ + -3.0, + -2.1, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_bench_east": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/bench_c.usd", + "pose": { + "pos": [ + 2.6, + -2.5, + 0.0 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_bench_gap": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/bench_b.usd", + "pose": { + "pos": [ + -0.1, + -2.9, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ] + }, + {}, + {} + ], + "devices": { + "hub": [ + null, + { + "t": 1.119999999999998, + "step": 224, + "counter": 0, + "devices": { + "a4s_sealer_1": { + "mode": "auto", + "units": { + "drawer": { + "state": "at_out", + "active": null, + "target": 0.0, + "goal_name": "out", + "profile": null, + "q_start": null, + "reversing": false, + "blocked_for": 0.0, + "settled_for": 0.0, + "last_q": 2.8915908296262005e-12 + }, + "heater": { + "state": "ready", + "active": null, + "duration": 0.0, + "t_start": null, + "elapsed": 0.0 + } + }, + "queues": {}, + "program": null, + "sensors": { + "plate_present": { + "occupants": [], + "pending": {} + } + }, + "interlocks": {} + }, + "conveyor_1": { + "mode": "auto", + "units": { + "belt": { + "state": "at_station", + "active": null, + "controller": { + "speed": 0.2965027116637645, + "holds": [], + "station": "pick", + "rider": "carrier_4", + "arrived": true, + "settle_count": 166, + "released": { + "pick": [] + }, + "last_pos": { + "carrier_1": [ + 0.16077002882957458, + 0.6999967694282532, + 0.0 + ], + "carrier_2": [ + 1.261727899312973, + 0.008971035480499268, + 0.0 + ], + "carrier_3": [ + -1.4973472654819489, + 0.5294540524482727, + 0.0 + ], + "carrier_4": [ + -0.06054726243019104, + -5.900859832763672e-06, + 0.0 + ] + }, + "command": 0.0 + }, + "belt": { + "target_speed": 0.0, + "command_speed": 0.0 + }, + "seen": { + "state": "at_station", + "station": "pick", + "rider": "carrier_4", + "arrived": true + } + } + }, + "queues": {}, + "program": null, + "sensors": {}, + "interlocks": {} + } + }, + "zones": {}, + "labware": { + "plate_1": { + "sealed": false + }, + "plate_2": { + "sealed": false + }, + "plate_3": { + "sealed": false + }, + "plate_4": { + "sealed": false + } + }, + "rules": {}, + "records": [], + "bus": { + "seq": 3, + "queue": [] + } + }, + null, + null + ], + "drives": [ + null, + {}, + null, + null + ] + }, + "artifacts": [ + {}, + { + "ceiling": { + "type": "rect", + "pose": { + "pos": [ + 0.7522391556141513, + 0.4713854453163806, + 2.938501312659032 + ], + "ori": [ + 5.23876570939052, + 4.4030474501003845, + 0.22359968566583532 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "color_temperature": 5461.687108572332, + "color": [ + 0.9125300530983165, + 0.9566936758451824, + 0.8290553865605802 + ], + "intensity": 12621.88280745654, + "width": 2.4002818911997057, + "height": 1.3519209457866481 + } + }, + "key": { + "type": "disk", + "pose": { + "pos": [ + 0.16890517951081718, + 0.7953659526848802, + 2.0276250708520545 + ], + "ori": [ + -4.085942551307738, + -14.332040264565364, + 1.550346210165678 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "color_temperature": 7098.386574294028, + "color": [ + 0.8313831088605139, + 0.9966317365013637, + 0.9024321075769441 + ], + "intensity": 5299.958300223864, + "radius": 0.28564292012613457 + } + } + }, + {}, + {} + ], + "background": { + "type": "dome", + "pose": { + "pos": null, + "ori": null, + "scale": null + }, + "dr": { + "intensity": 1260.8924498923423, + "texture": null, + "color": [ + 0.92, + 0.94, + 0.96 + ] + } + } + }, + "robots": { + "UR5e": { + "root_pose": [ + [ + 11.0, + -11.0, + 0.9150000214576721, + 1.0, + 0.0, + 0.0, + 0.0 + ], + [ + 11.0, + 11.0, + 0.9150000214576721, + 1.0, + 0.0, + 0.0, + 0.0 + ], + [ + -11.0, + -11.0, + 0.9150000214576721, + 1.0, + 0.0, + 0.0, + 0.0 + ], + [ + -11.0, + 11.0, + 0.9150000214576721, + 1.0, + 0.0, + 0.0, + 0.0 + ] + ], + "root_vel": [ + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + ], + "joint_pos": [ + [ + 0.9140999913215637, + -1.7194000482559204, + 2.0905001163482666, + -1.9419000148773193, + -1.5707999467849731, + 2.4848999977111816, + 0.017999999225139618, + 0.017999999225139618 + ], + [ + 0.9140999913215637, + -1.7194000482559204, + 2.0905001163482666, + -1.9419000148773193, + -1.5707999467849731, + 2.4848999977111816, + 0.017999999225139618, + 0.017999999225139618 + ], + [ + 0.9140999913215637, + -1.7194000482559204, + 2.0905001163482666, + -1.9419000148773193, + -1.5707999467849731, + 2.4848999977111816, + 0.017999999225139618, + 0.017999999225139618 + ], + [ + 0.9140999913215637, + -1.7194000482559204, + 2.0905001163482666, + -1.9419000148773193, + -1.5707999467849731, + 2.4848999977111816, + 0.017999999225139618, + 0.017999999225139618 + ] + ], + "joint_vel": [ + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + ] + } + }, + "cameras": { + "cameras": { + "camera0": [ + [ + 0.04595700651407242, + 0.0010189671302214265, + -0.031014706939458847, + -0.27953067421913147, + 0.6441701650619507, + 0.65143221616745, + -0.28730374574661255 + ], + [ + 0.05037500709295273, + 0.00425677327439189, + -0.027243372052907944, + -0.2639930546283722, + 0.6527409553527832, + 0.6533616185188293, + -0.27812865376472473 + ], + [ + 0.04872018098831177, + 0.0017347504617646337, + -0.03183547407388687, + -0.27081531286239624, + 0.6567509770393372, + 0.6404588222503662, + -0.2918042242527008 + ], + [ + 0.04784649610519409, + 0.003356178756803274, + -0.03287982568144798, + -0.2875280976295471, + 0.6477983593940735, + 0.6464964747428894, + -0.2823600471019745 + ] + ], + "camera1": [ + [ + 0.03829045221209526, + 0.5648154616355896, + 1.9475328922271729, + 0.0545307882130146, + -0.003932269290089607, + 0.2759581208229065, + 0.9596135020256042 + ], + [ + 0.07391547411680222, + 0.5814281105995178, + 1.9405794143676758, + 0.045872434973716736, + -0.006822303403168917, + 0.2674201428890228, + 0.9624633193016052 + ], + [ + 0.05444110557436943, + 0.5642682909965515, + 1.950761318206787, + 0.03111790306866169, + 0.007030889857560396, + 0.2740095555782318, + 0.9611976742744446 + ], + [ + 0.03842918202280998, + 0.6011009216308594, + 1.9464271068572998, + 0.04611796885728836, + 0.004703698214143515, + 0.2594301104545593, + 0.9646486639976501 + ] + ] + } + } + } +} \ No newline at end of file diff --git a/episodes/c3_p005_e000/wrist.mp4 b/episodes/c3_p005_e000/wrist.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..54024896ae68d12cc0c37704083f943e7257d263 --- /dev/null +++ b/episodes/c3_p005_e000/wrist.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:eeb045ade811b70e619be0e11fb68a7bc54cb313c10874a4ac925711078c75bd +size 6645114 diff --git a/episodes/c3_p005_e001/data.npz b/episodes/c3_p005_e001/data.npz new file mode 100644 index 0000000000000000000000000000000000000000..def9bbba7c614923ea8bfda3b5920ee5fd42d23d --- /dev/null +++ b/episodes/c3_p005_e001/data.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:2f3c6c0c4e3bf44eb1a860f065d92ee394115c1ec7ea4960fc390f23469ff71e +size 190226 diff --git a/episodes/c3_p005_e001/device_events.jsonl b/episodes/c3_p005_e001/device_events.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..bcdd80ba31f94a43733ea74b62875ef19f75ca00 --- /dev/null +++ b/episodes/c3_p005_e001/device_events.jsonl @@ -0,0 +1,42 @@ +{"env_id": 0, "seq": 1, "step": 87, "t": 0.435, "topic": "conveyor_1.belt.station.pick.captured", "source": "conveyor_1.belt", "data": {"rider": "carrier_4"}, "cause": null} +{"env_id": 0, "seq": 2, "step": 87, "t": 0.435, "topic": "conveyor_1.belt.state.changed", "source": "conveyor_1.belt", "data": {"from": "running", "to": "at_station"}, "cause": null} +{"env_id": 0, "seq": 3, "step": 92, "t": 0.46, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_4"}, "cause": null} +{"env_id": 0, "seq": 4, "step": 761, "t": 3.805, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_4"}, "cause": null} +{"env_id": 0, "seq": 5, "step": 777, "t": 3.885, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_4"}, "cause": null} +{"env_id": 0, "seq": 6, "step": 807, "t": 4.035, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_4"}, "cause": null} +{"env_id": 0, "seq": 7, "step": 824, "t": 4.12, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_4"}, "cause": null} +{"env_id": 0, "seq": 8, "step": 868, "t": 4.34, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_4"}, "cause": null} +{"env_id": 0, "seq": 9, "step": 879, "t": 4.395, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_4"}, "cause": null} +{"env_id": 0, "seq": 10, "step": 891, "t": 4.455, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_4"}, "cause": null} +{"env_id": 0, "seq": 11, "step": 5855, "t": 29.275, "topic": "a4s_sealer_1.plate_present.present", "source": "a4s_sealer_1.plate_present", "data": {"object": "plate_4"}, "cause": null} +{"env_id": 0, "seq": 12, "step": 6468, "t": 32.34, "topic": "a4s_sealer_1.command.started", "source": "a4s_sealer_1", "data": {"command_id": "task-0-1", "name": "seal", "source": "task"}, "cause": "task-0-1"} +{"env_id": 0, "seq": 13, "step": 6468, "t": 32.34, "topic": "a4s_sealer_1.seal.started", "source": "a4s_sealer_1", "data": {"dwell": 2.8798507244049403}, "cause": "task-0-1"} +{"env_id": 0, "seq": 14, "step": 6468, "t": 32.34, "topic": "a4s_sealer_1.drawer.command.started", "source": "a4s_sealer_1.drawer", "data": {"command_id": "program-0-2", "name": "close", "source": "program:seal"}, "cause": "program-0-2"} +{"env_id": 0, "seq": 15, "step": 6468, "t": 32.34, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "at_out", "to": "moving"}, "cause": null} +{"env_id": 0, "seq": 16, "step": 6468, "t": 32.34, "topic": "a4s_sealer_1.drawer.moving", "source": "a4s_sealer_1.drawer", "data": {"target": 0.3, "goal": "in"}, "cause": "program-0-2"} +{"env_id": 0, "seq": 17, "step": 6887, "t": 34.435, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "moving", "to": "at_in"}, "cause": null} +{"env_id": 0, "seq": 18, "step": 6887, "t": 34.435, "topic": "a4s_sealer_1.drawer.reached", "source": "a4s_sealer_1.drawer", "data": {"position": "in", "q": 0.30000001192092896}, "cause": "program-0-2"} +{"env_id": 0, "seq": 19, "step": 6887, "t": 34.435, "topic": "a4s_sealer_1.drawer.at_in", "source": "a4s_sealer_1.drawer", "data": {"q": 0.30000001192092896}, "cause": "program-0-2"} +{"env_id": 0, "seq": 20, "step": 6887, "t": 34.435, "topic": "a4s_sealer_1.drawer.command.succeeded", "source": "a4s_sealer_1.drawer", "data": {"command_id": "program-0-2", "name": "close", "source": "program:seal", "result": {"position": "in"}}, "cause": "program-0-2"} +{"env_id": 0, "seq": 21, "step": 6887, "t": 34.435, "topic": "labware.plate_4.changed", "source": "labware.plate_4", "data": {"key": "sealed", "value": true}, "cause": "task-0-1"} +{"env_id": 0, "seq": 22, "step": 6887, "t": 34.435, "topic": "a4s_sealer_1.sealed", "source": "a4s_sealer_1", "data": {"plate": "plate_4"}, "cause": "task-0-1"} +{"env_id": 0, "seq": 23, "step": 6887, "t": 34.435, "topic": "a4s_sealer_1.heater.command.started", "source": "a4s_sealer_1.heater", "data": {"command_id": "program-0-3", "name": "run", "source": "program:seal"}, "cause": "program-0-3"} +{"env_id": 0, "seq": 24, "step": 6887, "t": 34.435, "topic": "a4s_sealer_1.heater.state.changed", "source": "a4s_sealer_1.heater", "data": {"from": "ready", "to": "running"}, "cause": null} +{"env_id": 0, "seq": 25, "step": 6887, "t": 34.435, "topic": "a4s_sealer_1.heater.started", "source": "a4s_sealer_1.heater", "data": {"duration": 2.8798507244049403}, "cause": "program-0-3"} +{"env_id": 0, "seq": 26, "step": 7463, "t": 37.315, "topic": "a4s_sealer_1.heater.state.changed", "source": "a4s_sealer_1.heater", "data": {"from": "running", "to": "ready"}, "cause": null} +{"env_id": 0, "seq": 27, "step": 7463, "t": 37.315, "topic": "a4s_sealer_1.heater.finished", "source": "a4s_sealer_1.heater", "data": {"elapsed": 2.8800000000014734}, "cause": "program-0-3"} +{"env_id": 0, "seq": 28, "step": 7463, "t": 37.315, "topic": "a4s_sealer_1.heater.command.succeeded", "source": "a4s_sealer_1.heater", "data": {"command_id": "program-0-3", "name": "run", "source": "program:seal", "result": {"elapsed": 2.8800000000014734}}, "cause": "program-0-3"} +{"env_id": 0, "seq": 29, "step": 7463, "t": 37.315, "topic": "a4s_sealer_1.drawer.command.started", "source": "a4s_sealer_1.drawer", "data": {"command_id": "program-0-4", "name": "open", "source": "program:seal"}, "cause": "program-0-4"} +{"env_id": 0, "seq": 30, "step": 7463, "t": 37.315, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "at_in", "to": "moving"}, "cause": null} +{"env_id": 0, "seq": 31, "step": 7463, "t": 37.315, "topic": "a4s_sealer_1.drawer.moving", "source": "a4s_sealer_1.drawer", "data": {"target": 0.0, "goal": "out"}, "cause": "program-0-4"} +{"env_id": 0, "seq": 32, "step": 7883, "t": 39.415, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "moving", "to": "at_out"}, "cause": null} +{"env_id": 0, "seq": 33, "step": 7883, "t": 39.415, "topic": "a4s_sealer_1.drawer.reached", "source": "a4s_sealer_1.drawer", "data": {"position": "out", "q": 1.6606405139896196e-09}, "cause": "program-0-4"} +{"env_id": 0, "seq": 34, "step": 7883, "t": 39.415, "topic": "a4s_sealer_1.drawer.at_out", "source": "a4s_sealer_1.drawer", "data": {"q": 1.6606405139896196e-09}, "cause": "program-0-4"} +{"env_id": 0, "seq": 35, "step": 7883, "t": 39.415, "topic": "a4s_sealer_1.drawer.command.succeeded", "source": "a4s_sealer_1.drawer", "data": {"command_id": "program-0-4", "name": "open", "source": "program:seal", "result": {"position": "out"}}, "cause": "program-0-4"} +{"env_id": 0, "seq": 36, "step": 7883, "t": 39.415, "topic": "a4s_sealer_1.seal.finished", "source": "a4s_sealer_1", "data": {}, "cause": "task-0-1"} +{"env_id": 0, "seq": 37, "step": 7883, "t": 39.415, "topic": "a4s_sealer_1.command.succeeded", "source": "a4s_sealer_1", "data": {"command_id": "task-0-1", "name": "seal", "source": "task"}, "cause": "task-0-1"} +{"env_id": 0, "seq": 38, "step": 8462, "t": 42.31, "topic": "a4s_sealer_1.plate_present.absent", "source": "a4s_sealer_1.plate_present", "data": {"object": "plate_4"}, "cause": null} +{"env_id": 0, "seq": 39, "step": 10232, "t": 51.16, "topic": "conveyor_1.belt.command.started", "source": "conveyor_1.belt", "data": {"command_id": "task-0-5", "name": "release", "source": "task"}, "cause": "task-0-5"} +{"env_id": 0, "seq": 40, "step": 10232, "t": 51.16, "topic": "conveyor_1.belt.station.pick.released", "source": "conveyor_1.belt", "data": {"rider": "carrier_4"}, "cause": "task-0-5"} +{"env_id": 0, "seq": 41, "step": 10232, "t": 51.16, "topic": "conveyor_1.belt.state.changed", "source": "conveyor_1.belt", "data": {"from": "at_station", "to": "running"}, "cause": null} +{"env_id": 0, "seq": 42, "step": 10232, "t": 51.16, "topic": "conveyor_1.belt.command.succeeded", "source": "conveyor_1.belt", "data": {"command_id": "task-0-5", "name": "release", "source": "task", "result": {"state": "running"}}, "cause": "task-0-5"} diff --git a/episodes/c3_p005_e001/env.mp4 b/episodes/c3_p005_e001/env.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..80a8bc927d6d1c561dddbc3d80c16ffcedd45e31 --- /dev/null +++ b/episodes/c3_p005_e001/env.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:a65bd80350ee0d105f2048f1f7e4778a8a32d1e037b6b308c223b18ada219080 +size 1285433 diff --git a/episodes/c3_p005_e001/meta.json b/episodes/c3_p005_e001/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..6c50d0014a0b913966148a5e7465c500e355ef26 --- /dev/null +++ b/episodes/c3_p005_e001/meta.json @@ -0,0 +1,32 @@ +{ + "source": "raw/c3_p005/magicsim/1", + "fps": 25, + "frames": 1243, + "kept_ticks": "even", + "video_frames": { + "wrist": 1243, + "env": 1243 + }, + "joint_target_source": "joint_pos_target", + "fk_vs_recorded_eef_max_m": 0.0, + "curobo_joints": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "joint_order": [ + "shoulder_pan", + "shoulder_lift", + "elbow", + "wrist_1", + "wrist_2", + "wrist_3", + "finger_left", + "finger_right" + ], + "frames_note": "eef / actions in the robot base frame; camera_pose = local pose (wrist: in plate_gripper_base, env: env frame), pos + quat wxyz", + "dr_version": "v2" +} \ No newline at end of file diff --git a/episodes/c3_p005_e001/scene_snapshot.json b/episodes/c3_p005_e001/scene_snapshot.json new file mode 100644 index 0000000000000000000000000000000000000000..86bb757abdeb813caee7f6254dda18b80ab67a4a --- /dev/null +++ b/episodes/c3_p005_e001/scene_snapshot.json @@ -0,0 +1,1558 @@ +{ + "trajectory_id": 1, + "env_id": 0, + "run_id": "c3_p005", + "task_type": "BioPlateCell", + "success": true, + "timing": { + "fps": 50.0, + "sim_dt": 0.005, + "decimation": 4 + }, + "restore_interface": { + "scene": "scene_manager.reset_to(snapshot['scene'], env_ids=[env_id])", + "robots": "robot_manager.set_state({'robots': snapshot['robots']}, env_ids=[env_id])" + }, + "snapshot": { + "env_id": 0, + "scene": { + "objects": [ + { + "rac_cell": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/rac_cell.usd", + "pose": { + "pos": [ + 0.0, + 0.0, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "physics_material": { + "static_friction": 0.6, + "dynamic_friction": 0.5, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "robot_mount": [ + { + "asset": "Cube", + "pose": { + "pos": [ + 0.0, + 0.0, + 0.9075 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": "color", + "value": [ + 0.55, + 0.56, + 0.58 + ], + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": { + "size": [ + 0.2, + 0.2, + 0.015 + ] + } + }, + "type_specific": {} + } + ], + "plate_rack": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/plate_hotel.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 0.9 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "physics_material": { + "static_friction": 0.6, + "dynamic_friction": 0.5, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "hotel_plate": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/pcr_96_blue/pcr_96_blue.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 0.9605 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_384_white/plate_384_white.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.0285 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/deep_well_24_10ml/deep_well_24_10ml.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.0965 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_48_clear/plate_48_clear.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.1645 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_96_black/plate_96_black.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.2325 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "a4s_sealer": [ + { + "asset": "$MAGICSIM_ASSETS/Articulated/A4SSealer/Object.usd", + "pose": { + "pos": [ + 0.5093593597412109, + 0.1066446304321289, + 0.8999999761581421 + ], + "ori": [ + -0.7055394649505615, + 0.0, + 0.0, + 0.7086706161499023 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "articulation", + "solver_position_iteration_count": 16.0, + "solver_velocity_iteration_count": 1.0, + "enabled_self_collisions": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "joint_position": [ + 3.9759367673197765e-12 + ], + "joint_velocity": [ + 0.0 + ], + "linear_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "angular_velocity": [ + 0.0, + 0.0, + 0.0 + ] + } + } + ], + "conveyor": [ + { + "asset": "Cube", + "pose": { + "pos": [ + 0.15, + 0.45, + 0.9 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "conveyor", + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9 + }, + "ratio": 1.0 + }, + "primitive_params": { + "size": [ + 2.4, + 0.076, + 0.03 + ] + }, + "conveyor": { + "speed": 0.1881616449302106, + "direction": [ + 1.0, + 0.0, + 0.0 + ], + "enabled": true, + "drive": "surface_velocity", + "lines": null, + "station_line": null, + "riders": [ + "carrier" + ], + "stations": { + "pick": { + "position": -0.20323614419640457, + "slow_distance": 0.03, + "slow_speed": 0.03 + } + }, + "rails": { + "height": 0.01, + "thickness": 0.01, + "gap": 0.001, + "friction": 0.05 + }, + "legs": 0.87, + "loop": { + "radius": 0.35, + "side": "left", + "curve_extra_width": 0.0, + "segments": 18, + "curve_rails": "both" + }, + "snap_distance": 0.1, + "junction_snap": 0.02, + "collision_approximation": "auto", + "plate_mass": 1.0, + "lift_drop": 0.004, + "accel": 0.0, + "decel": 0.0, + "drive_damping": 1000000.0, + "drive_max_force": 1000000000.0 + } + }, + "type_specific": { + "controller": { + "state": "at_station", + "speed": 0.1881616449302106, + "holds": [], + "station": "pick", + "rider": "carrier_4", + "arrived": true, + "applied_speed": 0.0 + } + } + } + ], + "carrier": [ + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + 1.6699438095092773, + 0.6654014587402344, + 0.8999999761581421 + ], + "ori": [ + 0.8353278040885925, + -7.993266137873434e-08, + 1.4418058746912266e-08, + 0.5497523546218872 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 3.080962152068878e-10, + -8.463968415028944e-11, + 3.725290298461914e-09 + ], + "angular_velocity": [ + -5.2647806114691775e-09, + 3.3664242948816536e-08, + -1.994283849171552e-09 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + 0.36571216583251953, + 1.149998664855957, + 0.8999999761581421 + ], + "ori": [ + -2.213836160080973e-05, + -5.200856967313428e-10, + 1.748636901943712e-09, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -1.3476140203749765e-09, + -1.5089804961121445e-09, + 7.450580596923828e-09 + ], + "angular_velocity": [ + 6.123064366647668e-08, + -1.1540037547774773e-07, + -2.1617317713662487e-08 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + -1.3880138397216797, + 0.7156925201416016, + 0.9000011682510376 + ], + "ori": [ + -0.7917138338088989, + 1.8705273760133423e-05, + -2.0554512047965545e-06, + 0.610892117023468 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -5.317104296409525e-05, + -5.190428419155069e-05, + -0.00020354613661766052 + ], + "angular_velocity": [ + 0.004388100001960993, + -0.004284990020096302, + -6.445062899729237e-05 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + -0.053032875061035156, + 0.4499969482421875, + 0.8999999761581421 + ], + "ori": [ + 1.0, + 3.064150266851584e-09, + -3.745361798479507e-09, + 1.2550300198199693e-05 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 2.8227749027109894e-09, + 3.732156805824616e-09, + 1.862645149230957e-08 + ], + "angular_velocity": [ + -2.2199407112566405e-07, + 2.5121389057858323e-07, + -3.362665168538115e-08 + ] + } + } + ], + "plate": [ + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_6_clear/Object.usd", + "pose": { + "pos": [ + 1.6683521270751953, + 0.6575765609741211, + 0.9179999828338623 + ], + "ori": [ + 0.8104317784309387, + -8.21800298922426e-08, + 1.647053693432099e-08, + 0.5858330130577087 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 3.8748261488308344e-08, + -3.769265077835371e-08, + 1.30385160446167e-07 + ], + "angular_velocity": [ + 2.4962614588730503e-06, + 9.94897163764108e-07, + -1.8448881178301235e-07 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_96_black/Object.usd", + "pose": { + "pos": [ + 0.35938072204589844, + 1.1561336517333984, + 0.9180000424385071 + ], + "ori": [ + 0.05594131350517273, + -1.9318502353371514e-09, + 1.1565994828544035e-09, + 0.9984340667724609 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 7.2271300055604115e-09, + -1.8363490283945794e-08, + -5.6587159633636475e-06 + ], + "angular_velocity": [ + 2.561952499036124e-07, + 1.5091414979906403e-06, + 7.164710602580726e-09 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/pcr_96_blue/Object.usd", + "pose": { + "pos": [ + -1.3766059875488281, + 0.7084341049194336, + 0.9180010557174683 + ], + "ori": [ + -0.8052616715431213, + 1.5778496162965894e-05, + -3.466308726274292e-06, + 0.5929195880889893 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -8.024568523978814e-05, + -0.00011662289034575224, + -0.00021899119019508362 + ], + "angular_velocity": [ + 0.0035466921981424093, + -0.0031371694058179855, + 0.00012182694626972079 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/deep_well_96_2ml/Object.usd", + "pose": { + "pos": [ + -0.06616401672363281, + 0.4397439956665039, + 0.9179999828338623 + ], + "ori": [ + 0.9983797669410706, + 3.2172092767623894e-10, + -3.5586302793433333e-09, + -0.05690228193998337 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -1.0905806036021204e-08, + 5.720621842897344e-08, + -1.2218952178955078e-06 + ], + "angular_velocity": [ + -1.3826359008817235e-06, + -1.5268581137206638e-06, + -7.741014940165769e-08 + ] + } + } + ], + "deco_hub_west": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/hub_d.usd", + "pose": { + "pos": [ + -3.36, + 0.0, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_hub_east": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/hub_e.usd", + "pose": { + "pos": [ + 3.36, + 0.0, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_hub_back": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/hub_b.usd", + "pose": { + "pos": [ + -3.0, + -2.1, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_bench_east": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/bench_a.usd", + "pose": { + "pos": [ + 2.6, + -2.5, + 0.0 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_bench_gap": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/bench_b.usd", + "pose": { + "pos": [ + -0.1, + -2.9, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ] + }, + {}, + {}, + {} + ], + "devices": { + "hub": [ + { + "t": 1.6599999999999866, + "step": 332, + "counter": 0, + "devices": { + "a4s_sealer_1": { + "mode": "auto", + "units": { + "drawer": { + "state": "at_out", + "active": null, + "target": 0.0, + "goal_name": "out", + "profile": null, + "q_start": null, + "reversing": false, + "blocked_for": 0.0, + "settled_for": 0.0, + "last_q": 3.9759367673197765e-12 + }, + "heater": { + "state": "ready", + "active": null, + "duration": 0.0, + "t_start": null, + "elapsed": 0.0 + } + }, + "queues": {}, + "program": null, + "sensors": { + "plate_present": { + "occupants": [], + "pending": {} + } + }, + "interlocks": {} + }, + "conveyor_1": { + "mode": "auto", + "units": { + "belt": { + "state": "at_station", + "active": null, + "controller": { + "speed": 0.1881616449302106, + "holds": [], + "station": "pick", + "rider": "carrier_4", + "arrived": true, + "settle_count": 244, + "released": { + "pick": [] + }, + "last_pos": { + "carrier_1": [ + 1.5199438035488129, + 0.21540147066116333, + 0.0 + ], + "carrier_2": [ + 0.21571215987205505, + 0.699998676776886, + 0.0 + ], + "carrier_3": [ + -1.5380186140537262, + 0.2656925320625305, + 1.1920928955078125e-06 + ], + "carrier_4": [ + -0.20303288102149963, + -3.039836883544922e-06, + 0.0 + ] + }, + "command": 0.0 + }, + "belt": { + "target_speed": 0.0, + "command_speed": 0.0 + }, + "seen": { + "state": "at_station", + "station": "pick", + "rider": "carrier_4", + "arrived": true + } + } + }, + "queues": {}, + "program": null, + "sensors": {}, + "interlocks": {} + } + }, + "zones": {}, + "labware": { + "plate_1": { + "sealed": false + }, + "plate_2": { + "sealed": false + }, + "plate_3": { + "sealed": false + }, + "plate_4": { + "sealed": false + } + }, + "rules": {}, + "records": [], + "bus": { + "seq": 3, + "queue": [] + } + }, + null, + null, + null + ], + "drives": [ + {}, + null, + null, + null + ] + }, + "artifacts": [ + { + "ceiling": { + "type": "rect", + "pose": { + "pos": [ + -0.26453598751871665, + -0.409693228473602, + 2.605903273920148 + ], + "ori": [ + 14.024557762594252, + -3.188191760971325, + 7.963339333434796 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "color_temperature": 5181.228358056747, + "color": [ + 0.8340085892146664, + 0.9822963755263444, + 0.7857430834728958 + ], + "intensity": 10461.863727999218, + "width": 1.9923374154667395, + "height": 0.8559565826327235 + } + }, + "key": { + "type": "disk", + "pose": { + "pos": [ + 0.549010680936032, + -0.26840568345649607, + 1.8094704819794503 + ], + "ori": [ + 19.423515803663662, + -32.51626363485211, + -5.602174944009484 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "color_temperature": 3921.4656229319826, + "color": [ + 0.9644303164093276, + 0.9075599974706428, + 0.9874820011666754 + ], + "intensity": 2388.8384813439243, + "radius": 0.26659936441349286 + } + } + }, + {}, + {}, + {} + ], + "background": { + "type": "dome", + "pose": { + "pos": null, + "ori": null, + "scale": null + }, + "dr": { + "intensity": 1260.8924498923423, + "texture": null, + "color": [ + 0.92, + 0.94, + 0.96 + ] + } + } + }, + "robots": { + "UR5e": { + "root_pose": [ + [ + 11.0, + -11.0, + 0.9150000214576721, + 1.0, + 0.0, + 0.0, + 0.0 + ], + [ + 11.0, + 11.0, + 0.9150000214576721, + 1.0, + 0.0, + 0.0, + 0.0 + ], + [ + -11.0, + -11.0, + 0.9150000214576721, + 1.0, + 0.0, + 0.0, + 0.0 + ], + [ + -11.0, + 11.0, + 0.9150000214576721, + 1.0, + 0.0, + 0.0, + 0.0 + ] + ], + "root_vel": [ + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + ], + "joint_pos": [ + [ + 0.9141025543212891, + -1.719397783279419, + 2.0904994010925293, + -1.9419012069702148, + -1.5707999467849731, + 2.484901189804077, + 0.01799999736249447, + 0.018000001087784767 + ], + [ + 0.8344467878341675, + -1.526214838027954, + 2.0446360111236572, + -2.0891575813293457, + -1.5707998275756836, + 2.490989923477173, + 0.01800149865448475, + 0.01799854077398777 + ], + [ + 0.9140999913215637, + -1.7194000482559204, + 2.0905001163482666, + -1.9419000148773193, + -1.5707999467849731, + 2.4848999977111816, + 0.017999999225139618, + 0.017999999225139618 + ], + [ + 0.9141013622283936, + -1.7193995714187622, + 2.0905003547668457, + -1.9419008493423462, + -1.5707999467849731, + 2.48490047454834, + 0.01799999736249447, + 0.018000001087784767 + ] + ], + "joint_vel": [ + [ + -2.442258073222979e-38, + 2.97718246224232e-38, + 2.7947636702340584e-38, + 4.5719288343206525e-37, + -5.715706756220798e-37, + -7.685524002637048e-38, + 2.5990400942532688e-08, + -2.5990388508034812e-08 + ], + [ + -0.015248412266373634, + 0.03666628897190094, + -0.007982500828802586, + -0.026521215215325356, + -4.436816743691452e-05, + 0.001104891300201416, + 3.730102616827935e-05, + -3.764856228372082e-05 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + [ + -2.527969334572485e-38, + 1.5499014020516852e-38, + 3.8572760902926146e-38, + 5.210929902362941e-37, + -4.883688819832621e-38, + 4.337454158544144e-37, + 2.5990399166175848e-08, + -2.5990386731677972e-08 + ] + ] + } + }, + "cameras": { + "cameras": { + "camera0": [ + [ + 0.047018539160490036, + -0.0018761534010991454, + -0.029058340936899185, + -0.2860693633556366, + 0.644651472568512, + 0.649770975112915, + -0.2835250794887543 + ], + [ + 0.050418321043252945, + 0.0027205729857087135, + -0.026023641228675842, + -0.2682240903377533, + 0.654985249042511, + 0.6486730575561523, + -0.2797739505767822 + ], + [ + 0.05011649429798126, + 0.0017205094918608665, + -0.031196435913443565, + -0.2714184522628784, + 0.6569353342056274, + 0.6429054737091064, + -0.28537794947624207 + ], + [ + 0.046290140599012375, + 0.0028732852078974247, + -0.034395258873701096, + -0.2973620593547821, + 0.642716646194458, + 0.6470760703086853, + -0.28246012330055237 + ] + ], + "camera1": [ + [ + 0.03829045221209526, + 0.5648154616355896, + 1.9475328922271729, + 0.0545307882130146, + -0.003932269290089607, + 0.2759581208229065, + 0.9596135020256042 + ], + [ + 0.07391547411680222, + 0.5814281105995178, + 1.9405794143676758, + 0.045872434973716736, + -0.006822303403168917, + 0.2674201428890228, + 0.9624633193016052 + ], + [ + 0.05444110557436943, + 0.5642682909965515, + 1.950761318206787, + 0.03111790306866169, + 0.007030889857560396, + 0.2740095555782318, + 0.9611976742744446 + ], + [ + 0.03842918202280998, + 0.6011009216308594, + 1.9464271068572998, + 0.04611796885728836, + 0.004703698214143515, + 0.2594301104545593, + 0.9646486639976501 + ] + ] + } + } + } +} \ No newline at end of file diff --git a/episodes/c3_p005_e001/wrist.mp4 b/episodes/c3_p005_e001/wrist.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..f06cde3d6d50e8bb9eaa0564ae2e715f6b701b17 --- /dev/null +++ b/episodes/c3_p005_e001/wrist.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:d0b2f932dd64a988096fd9de3e5687b8d06f73029e88d7180ccc970fa3cc82af +size 6955253 diff --git a/episodes/c3_p005_e002/data.npz b/episodes/c3_p005_e002/data.npz new file mode 100644 index 0000000000000000000000000000000000000000..ca6ee39ec26074d744b7c5bb56a66452c2e3d3d9 --- /dev/null +++ b/episodes/c3_p005_e002/data.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:9f26d44ca1135385b860406b4a93c86046013ae161a5b1466dd6b168590083b7 +size 201703 diff --git a/episodes/c3_p005_e002/device_events.jsonl b/episodes/c3_p005_e002/device_events.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..38f72aa0b398ef9628b189f7533255f56ff747e0 --- /dev/null +++ b/episodes/c3_p005_e002/device_events.jsonl @@ -0,0 +1,36 @@ +{"env_id": 2, "seq": 1, "step": 129, "t": 0.645, "topic": "conveyor_1.belt.station.pick.captured", "source": "conveyor_1.belt", "data": {"rider": "carrier_3"}, "cause": null} +{"env_id": 2, "seq": 2, "step": 129, "t": 0.645, "topic": "conveyor_1.belt.state.changed", "source": "conveyor_1.belt", "data": {"from": "running", "to": "at_station"}, "cause": null} +{"env_id": 2, "seq": 3, "step": 134, "t": 0.67, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_3"}, "cause": null} +{"env_id": 2, "seq": 4, "step": 801, "t": 4.005, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_3"}, "cause": null} +{"env_id": 2, "seq": 5, "step": 5598, "t": 27.99, "topic": "a4s_sealer_1.plate_present.present", "source": "a4s_sealer_1.plate_present", "data": {"object": "plate_3"}, "cause": null} +{"env_id": 2, "seq": 6, "step": 6208, "t": 31.04, "topic": "a4s_sealer_1.command.started", "source": "a4s_sealer_1", "data": {"command_id": "task-2-1", "name": "seal", "source": "task"}, "cause": "task-2-1"} +{"env_id": 2, "seq": 7, "step": 6208, "t": 31.04, "topic": "a4s_sealer_1.seal.started", "source": "a4s_sealer_1", "data": {"dwell": 3.214390404698988}, "cause": "task-2-1"} +{"env_id": 2, "seq": 8, "step": 6208, "t": 31.04, "topic": "a4s_sealer_1.drawer.command.started", "source": "a4s_sealer_1.drawer", "data": {"command_id": "program-2-2", "name": "close", "source": "program:seal"}, "cause": "program-2-2"} +{"env_id": 2, "seq": 9, "step": 6208, "t": 31.04, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "at_out", "to": "moving"}, "cause": null} +{"env_id": 2, "seq": 10, "step": 6208, "t": 31.04, "topic": "a4s_sealer_1.drawer.moving", "source": "a4s_sealer_1.drawer", "data": {"target": 0.3, "goal": "in"}, "cause": "program-2-2"} +{"env_id": 2, "seq": 11, "step": 6627, "t": 33.135, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "moving", "to": "at_in"}, "cause": null} +{"env_id": 2, "seq": 12, "step": 6627, "t": 33.135, "topic": "a4s_sealer_1.drawer.reached", "source": "a4s_sealer_1.drawer", "data": {"position": "in", "q": 0.30000001192092896}, "cause": "program-2-2"} +{"env_id": 2, "seq": 13, "step": 6627, "t": 33.135, "topic": "a4s_sealer_1.drawer.at_in", "source": "a4s_sealer_1.drawer", "data": {"q": 0.30000001192092896}, "cause": "program-2-2"} +{"env_id": 2, "seq": 14, "step": 6627, "t": 33.135, "topic": "a4s_sealer_1.drawer.command.succeeded", "source": "a4s_sealer_1.drawer", "data": {"command_id": "program-2-2", "name": "close", "source": "program:seal", "result": {"position": "in"}}, "cause": "program-2-2"} +{"env_id": 2, "seq": 15, "step": 6627, "t": 33.135, "topic": "labware.plate_3.changed", "source": "labware.plate_3", "data": {"key": "sealed", "value": true}, "cause": "task-2-1"} +{"env_id": 2, "seq": 16, "step": 6627, "t": 33.135, "topic": "a4s_sealer_1.sealed", "source": "a4s_sealer_1", "data": {"plate": "plate_3"}, "cause": "task-2-1"} +{"env_id": 2, "seq": 17, "step": 6627, "t": 33.135, "topic": "a4s_sealer_1.heater.command.started", "source": "a4s_sealer_1.heater", "data": {"command_id": "program-2-3", "name": "run", "source": "program:seal"}, "cause": "program-2-3"} +{"env_id": 2, "seq": 18, "step": 6627, "t": 33.135, "topic": "a4s_sealer_1.heater.state.changed", "source": "a4s_sealer_1.heater", "data": {"from": "ready", "to": "running"}, "cause": null} +{"env_id": 2, "seq": 19, "step": 6627, "t": 33.135, "topic": "a4s_sealer_1.heater.started", "source": "a4s_sealer_1.heater", "data": {"duration": 3.214390404698988}, "cause": "program-2-3"} +{"env_id": 2, "seq": 20, "step": 7270, "t": 36.35, "topic": "a4s_sealer_1.heater.state.changed", "source": "a4s_sealer_1.heater", "data": {"from": "running", "to": "ready"}, "cause": null} +{"env_id": 2, "seq": 21, "step": 7270, "t": 36.35, "topic": "a4s_sealer_1.heater.finished", "source": "a4s_sealer_1.heater", "data": {"elapsed": 3.2150000000016448}, "cause": "program-2-3"} +{"env_id": 2, "seq": 22, "step": 7270, "t": 36.35, "topic": "a4s_sealer_1.heater.command.succeeded", "source": "a4s_sealer_1.heater", "data": {"command_id": "program-2-3", "name": "run", "source": "program:seal", "result": {"elapsed": 3.2150000000016448}}, "cause": "program-2-3"} +{"env_id": 2, "seq": 23, "step": 7270, "t": 36.35, "topic": "a4s_sealer_1.drawer.command.started", "source": "a4s_sealer_1.drawer", "data": {"command_id": "program-2-4", "name": "open", "source": "program:seal"}, "cause": "program-2-4"} +{"env_id": 2, "seq": 24, "step": 7270, "t": 36.35, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "at_in", "to": "moving"}, "cause": null} +{"env_id": 2, "seq": 25, "step": 7270, "t": 36.35, "topic": "a4s_sealer_1.drawer.moving", "source": "a4s_sealer_1.drawer", "data": {"target": 0.0, "goal": "out"}, "cause": "program-2-4"} +{"env_id": 2, "seq": 26, "step": 7690, "t": 38.45, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "moving", "to": "at_out"}, "cause": null} +{"env_id": 2, "seq": 27, "step": 7690, "t": 38.45, "topic": "a4s_sealer_1.drawer.reached", "source": "a4s_sealer_1.drawer", "data": {"position": "out", "q": 3.8400658521065e-12}, "cause": "program-2-4"} +{"env_id": 2, "seq": 28, "step": 7690, "t": 38.45, "topic": "a4s_sealer_1.drawer.at_out", "source": "a4s_sealer_1.drawer", "data": {"q": 3.8400658521065e-12}, "cause": "program-2-4"} +{"env_id": 2, "seq": 29, "step": 7690, "t": 38.45, "topic": "a4s_sealer_1.drawer.command.succeeded", "source": "a4s_sealer_1.drawer", "data": {"command_id": "program-2-4", "name": "open", "source": "program:seal", "result": {"position": "out"}}, "cause": "program-2-4"} +{"env_id": 2, "seq": 30, "step": 7690, "t": 38.45, "topic": "a4s_sealer_1.seal.finished", "source": "a4s_sealer_1", "data": {}, "cause": "task-2-1"} +{"env_id": 2, "seq": 31, "step": 7690, "t": 38.45, "topic": "a4s_sealer_1.command.succeeded", "source": "a4s_sealer_1", "data": {"command_id": "task-2-1", "name": "seal", "source": "task"}, "cause": "task-2-1"} +{"env_id": 2, "seq": 32, "step": 8271, "t": 41.355, "topic": "a4s_sealer_1.plate_present.absent", "source": "a4s_sealer_1.plate_present", "data": {"object": "plate_3"}, "cause": null} +{"env_id": 2, "seq": 33, "step": 10504, "t": 52.52, "topic": "conveyor_1.belt.command.started", "source": "conveyor_1.belt", "data": {"command_id": "task-2-5", "name": "release", "source": "task"}, "cause": "task-2-5"} +{"env_id": 2, "seq": 34, "step": 10504, "t": 52.52, "topic": "conveyor_1.belt.station.pick.released", "source": "conveyor_1.belt", "data": {"rider": "carrier_3"}, "cause": "task-2-5"} +{"env_id": 2, "seq": 35, "step": 10504, "t": 52.52, "topic": "conveyor_1.belt.state.changed", "source": "conveyor_1.belt", "data": {"from": "at_station", "to": "running"}, "cause": null} +{"env_id": 2, "seq": 36, "step": 10504, "t": 52.52, "topic": "conveyor_1.belt.command.succeeded", "source": "conveyor_1.belt", "data": {"command_id": "task-2-5", "name": "release", "source": "task", "result": {"state": "running"}}, "cause": "task-2-5"} diff --git a/episodes/c3_p005_e002/env.mp4 b/episodes/c3_p005_e002/env.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..5b03f92c034c80aa5f27e522ce551e40415d4c7c --- /dev/null +++ b/episodes/c3_p005_e002/env.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:92bacdbc65647cf70e87025a0efeea93b61de45944eed512085034d5833c2f5d +size 1349892 diff --git a/episodes/c3_p005_e002/meta.json b/episodes/c3_p005_e002/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..f8917ec598dbd4333aa5fa8bc0081fd309bab330 --- /dev/null +++ b/episodes/c3_p005_e002/meta.json @@ -0,0 +1,32 @@ +{ + "source": "raw/c3_p005/magicsim/2", + "fps": 25, + "frames": 1270, + "kept_ticks": "even", + "video_frames": { + "wrist": 1270, + "env": 1270 + }, + "joint_target_source": "joint_pos_target", + "fk_vs_recorded_eef_max_m": 0.0, + "curobo_joints": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "joint_order": [ + "shoulder_pan", + "shoulder_lift", + "elbow", + "wrist_1", + "wrist_2", + "wrist_3", + "finger_left", + "finger_right" + ], + "frames_note": "eef / actions in the robot base frame; camera_pose = local pose (wrist: in plate_gripper_base, env: env frame), pos + quat wxyz", + "dr_version": "v2" +} \ No newline at end of file diff --git a/episodes/c3_p005_e002/scene_snapshot.json b/episodes/c3_p005_e002/scene_snapshot.json new file mode 100644 index 0000000000000000000000000000000000000000..fc3d29901202953e9f67e6eed0bea3e9fffb0353 --- /dev/null +++ b/episodes/c3_p005_e002/scene_snapshot.json @@ -0,0 +1,1558 @@ +{ + "trajectory_id": 2, + "env_id": 2, + "run_id": "c3_p005", + "task_type": "BioPlateCell", + "success": true, + "timing": { + "fps": 50.0, + "sim_dt": 0.005, + "decimation": 4 + }, + "restore_interface": { + "scene": "scene_manager.reset_to(snapshot['scene'], env_ids=[env_id])", + "robots": "robot_manager.set_state({'robots': snapshot['robots']}, env_ids=[env_id])" + }, + "snapshot": { + "env_id": 2, + "scene": { + "objects": [ + {}, + {}, + { + "rac_cell": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/rac_cell.usd", + "pose": { + "pos": [ + 0.0, + 0.0, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "physics_material": { + "static_friction": 0.6, + "dynamic_friction": 0.5, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "robot_mount": [ + { + "asset": "Cube", + "pose": { + "pos": [ + 0.0, + 0.0, + 0.9075 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": "color", + "value": [ + 0.55, + 0.56, + 0.58 + ], + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": { + "size": [ + 0.2, + 0.2, + 0.015 + ] + } + }, + "type_specific": {} + } + ], + "plate_rack": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/plate_hotel.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 0.9 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "physics_material": { + "static_friction": 0.6, + "dynamic_friction": 0.5, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "hotel_plate": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_96_clear/plate_96_clear.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 0.9605 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_6_clear/plate_6_clear.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.0285 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/pcr_384_red/pcr_384_red.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.0965 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_96_black/plate_96_black.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.1645 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/deep_well_96_2ml/deep_well_96_2ml.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.2325 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "a4s_sealer": [ + { + "asset": "$MAGICSIM_ASSETS/Articulated/A4SSealer/Object.usd", + "pose": { + "pos": [ + 0.4623851776123047, + 0.08329963684082031, + 0.8999999761581421 + ], + "ori": [ + -0.6992065906524658, + 0.0, + 0.0, + 0.7149196863174438 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "articulation", + "solver_position_iteration_count": 16.0, + "solver_velocity_iteration_count": 1.0, + "enabled_self_collisions": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "joint_position": [ + 2.5301414609268935e-12 + ], + "joint_velocity": [ + 0.0 + ], + "linear_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "angular_velocity": [ + 0.0, + 0.0, + 0.0 + ] + } + } + ], + "conveyor": [ + { + "asset": "Cube", + "pose": { + "pos": [ + 0.15, + 0.45, + 0.9 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "conveyor", + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9 + }, + "ratio": 1.0 + }, + "primitive_params": { + "size": [ + 2.4, + 0.076, + 0.03 + ] + }, + "conveyor": { + "speed": 0.2062899449224049, + "direction": [ + 1.0, + 0.0, + 0.0 + ], + "enabled": true, + "drive": "surface_velocity", + "lines": null, + "station_line": null, + "riders": [ + "carrier" + ], + "stations": { + "pick": { + "position": -0.16363919138376676, + "slow_distance": 0.03, + "slow_speed": 0.03 + } + }, + "rails": { + "height": 0.01, + "thickness": 0.01, + "gap": 0.001, + "friction": 0.05 + }, + "legs": 0.87, + "loop": { + "radius": 0.35, + "side": "left", + "curve_extra_width": 0.0, + "segments": 18, + "curve_rails": "both" + }, + "snap_distance": 0.1, + "junction_snap": 0.02, + "collision_approximation": "auto", + "plate_mass": 1.0, + "lift_drop": 0.004, + "accel": 0.0, + "decel": 0.0, + "drive_damping": 1000000.0, + "drive_max_force": 1000000000.0 + } + }, + "type_specific": { + "controller": { + "state": "at_station", + "speed": 0.2062899449224049, + "holds": [], + "station": "pick", + "rider": "carrier_3", + "arrived": true, + "applied_speed": 0.0 + } + } + } + ], + "carrier": [ + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + 1.656076431274414, + 0.6364574432373047, + 0.8999999761581421 + ], + "ori": [ + 0.8610057234764099, + -5.340095299288805e-08, + 4.603322167895385e-08, + 0.5085952281951904 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 8.092993653008307e-08, + -1.4859196539873665e-08, + 1.862645149230957e-08 + ], + "angular_velocity": [ + 4.516018918820919e-07, + 1.2266136764083058e-06, + 9.78931439021835e-07 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + -1.396967887878418, + 0.8131752014160156, + 0.8999999761581421 + ], + "ori": [ + -0.6880001425743103, + -8.783442950743847e-08, + 2.0151365021092715e-09, + 0.7257105708122253 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 8.512596139098605e-08, + 8.674206242176297e-09, + -1.4901161193847656e-08 + ], + "angular_velocity": [ + 3.675693278637482e-07, + 3.216613777112798e-06, + -5.175029400561471e-07 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + -0.013546943664550781, + 0.4499979019165039, + 0.8999999761581421 + ], + "ori": [ + 1.0, + 4.836371303440501e-10, + -4.225534588897517e-09, + -4.448500476428308e-06 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 1.909060687310671e-09, + 1.342361111156265e-09, + 1.1175870895385742e-08 + ], + "angular_velocity": [ + -1.3567685641646676e-07, + 1.8844825433461665e-07, + 2.9734703588246703e-09 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + 0.4679536819458008, + 1.14996337890625, + 0.8999999761581421 + ], + "ori": [ + 0.0004263966984581202, + 1.0051849130832125e-08, + 8.989555211336153e-10, + 0.9999998807907104 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -8.587004884930138e-09, + -1.5150369847560796e-08, + 4.470348358154297e-08 + ], + "angular_velocity": [ + 6.589441454707412e-07, + -8.016933179533225e-07, + -6.705521116145974e-08 + ] + } + } + ], + "plate": [ + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_24_clear/Object.usd", + "pose": { + "pos": [ + 1.6617059707641602, + 0.6419925689697266, + 0.9179999828338623 + ], + "ori": [ + 0.8232531547546387, + -4.781958864441549e-07, + -2.1350801659991703e-07, + 0.5676745176315308 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 7.077043846948072e-06, + -1.9496310414979234e-06, + -3.285706043243408e-06 + ], + "angular_velocity": [ + 7.61712872190401e-05, + 0.0001689761265879497, + -3.678254142869264e-05 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_384_black/Object.usd", + "pose": { + "pos": [ + -1.3971881866455078, + 0.8263616561889648, + 0.9180000424385071 + ], + "ori": [ + -0.7023320198059082, + -2.929861864231498e-07, + 3.045527989797847e-07, + 0.7118495106697083 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 4.5452575250237714e-06, + -3.184654588039848e-06, + -7.074326276779175e-06 + ], + "angular_velocity": [ + 2.041154948528856e-05, + 0.00022452438133768737, + 8.705348591320217e-06 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_1536_black/Object.usd", + "pose": { + "pos": [ + -0.010468482971191406, + 0.4487152099609375, + 0.9180000424385071 + ], + "ori": [ + 0.9972414374351501, + 6.936138885471621e-10, + -3.826878369750375e-09, + -0.07422730326652527 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -3.131609638273858e-09, + 1.4491573274710845e-08, + -5.539506673812866e-06 + ], + "angular_velocity": [ + -1.102956304066538e-08, + -1.7196011867781635e-06, + -1.6201552099914807e-08 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/deep_well_24_10ml/Object.usd", + "pose": { + "pos": [ + 0.45758914947509766, + 1.1502971649169922, + 0.9179999828338623 + ], + "ori": [ + 0.09635382145643234, + 8.742956580931605e-09, + -3.284297278582926e-10, + 0.9953471422195435 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 4.4351597949798816e-09, + -8.508860105393978e-08, + -1.475214958190918e-06 + ], + "angular_velocity": [ + 1.6430288951596594e-06, + 1.7275120853810222e-06, + -9.037507453513172e-08 + ] + } + } + ], + "deco_hub_west": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/hub_c.usd", + "pose": { + "pos": [ + -3.36, + 0.0, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_hub_east": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/hub_a.usd", + "pose": { + "pos": [ + 3.36, + 0.0, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_hub_back": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/hub_e.usd", + "pose": { + "pos": [ + -3.0, + -2.1, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_bench_east": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/bench_a.usd", + "pose": { + "pos": [ + 2.6, + -2.5, + 0.0 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_bench_gap": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/bench_b.usd", + "pose": { + "pos": [ + -0.1, + -2.9, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ] + }, + {} + ], + "devices": { + "hub": [ + null, + null, + { + "t": 1.9399999999999806, + "step": 388, + "counter": 0, + "devices": { + "a4s_sealer_1": { + "mode": "auto", + "units": { + "drawer": { + "state": "at_out", + "active": null, + "target": 0.0, + "goal_name": "out", + "profile": null, + "q_start": null, + "reversing": false, + "blocked_for": 0.0, + "settled_for": 0.0, + "last_q": 2.5301414609268935e-12 + }, + "heater": { + "state": "ready", + "active": null, + "duration": 0.0, + "t_start": null, + "elapsed": 0.0 + } + }, + "queues": {}, + "program": null, + "sensors": { + "plate_present": { + "occupants": [], + "pending": {} + } + }, + "interlocks": {} + }, + "conveyor_1": { + "mode": "auto", + "units": { + "belt": { + "state": "at_station", + "active": null, + "controller": { + "speed": 0.2062899449224049, + "holds": [], + "station": "pick", + "rider": "carrier_3", + "arrived": true, + "settle_count": 258, + "released": { + "pick": [] + }, + "last_pos": { + "carrier_1": [ + 1.5060764253139496, + 0.18645745515823364, + 0.0 + ], + "carrier_2": [ + -1.5469678938388824, + 0.3631752133369446, + 0.0 + ], + "carrier_3": [ + -0.16354694962501526, + -2.086162567138672e-06, + 0.0 + ], + "carrier_4": [ + 0.3179536759853363, + 0.699963390827179, + 0.0 + ] + }, + "command": 0.0 + }, + "belt": { + "target_speed": 0.0, + "command_speed": 0.0 + }, + "seen": { + "state": "at_station", + "station": "pick", + "rider": "carrier_3", + "arrived": true + } + } + }, + "queues": {}, + "program": null, + "sensors": {}, + "interlocks": {} + } + }, + "zones": {}, + "labware": { + "plate_1": { + "sealed": false + }, + "plate_2": { + "sealed": false + }, + "plate_3": { + "sealed": false + }, + "plate_4": { + "sealed": false + } + }, + "rules": {}, + "records": [], + "bus": { + "seq": 3, + "queue": [] + } + }, + null + ], + "drives": [ + null, + null, + {}, + null + ] + }, + "artifacts": [ + {}, + {}, + { + "ceiling": { + "type": "rect", + "pose": { + "pos": [ + -0.027548571969114533, + 0.5205814798723665, + 3.0154585171495483 + ], + "ori": [ + -8.560151959779287, + 4.423668790975988, + 12.944957584454798 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "color_temperature": 4939.463722838037, + "color": [ + 0.9671748713880615, + 0.8724548108063191, + 0.8825799380762889 + ], + "intensity": 5106.986978108039, + "width": 1.8478528057766654, + "height": 0.8307397441158938 + } + }, + "key": { + "type": "sphere", + "pose": { + "pos": [ + -0.6256940506740635, + 0.32644046826694306, + 2.7991793765471433 + ], + "ori": [ + -13.733969467221925, + -35.74271309377683, + 9.546317780302346 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "color_temperature": 6194.725447078051, + "color": [ + 0.8885664818153949, + 0.7855261284283206, + 0.855190395812121 + ], + "intensity": 3397.3846633592043, + "radius": 0.17419503226154837 + } + } + }, + {} + ], + "background": { + "type": "dome", + "pose": { + "pos": null, + "ori": null, + "scale": null + }, + "dr": { + "intensity": 1260.8924498923423, + "texture": null, + "color": [ + 0.92, + 0.94, + 0.96 + ] + } + } + }, + "robots": { + "UR5e": { + "root_pose": [ + [ + 11.0, + -11.0, + 0.9150000214576721, + 1.0, + 0.0, + 0.0, + 0.0 + ], + [ + 11.0, + 11.0, + 0.9150000214576721, + 1.0, + 0.0, + 0.0, + 0.0 + ], + [ + -11.0, + -11.0, + 0.9150000214576721, + 1.0, + 0.0, + 0.0, + 0.0 + ], + [ + -11.0, + 11.0, + 0.9150000214576721, + 1.0, + 0.0, + 0.0, + 0.0 + ] + ], + "root_vel": [ + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + ], + "joint_pos": [ + [ + 0.9471753239631653, + -1.6975312232971191, + 2.1123931407928467, + -1.9856330156326294, + -1.5707964897155762, + 2.539961099624634, + 0.0180007703602314, + 0.017999250441789627 + ], + [ + 0.7988141775131226, + -1.4397785663604736, + 2.024094581604004, + -2.155097007751465, + -1.5707969665527344, + 2.4937169551849365, + 0.018000338226556778, + 0.017999662086367607 + ], + [ + 0.9140999913215637, + -1.7194000482559204, + 2.0905001163482666, + -1.9419000148773193, + -1.5707999467849731, + 2.4848999977111816, + 0.017999999225139618, + 0.017999999225139618 + ], + [ + 0.9141013622283936, + -1.7193995714187622, + 2.0905003547668457, + -1.9419008493423462, + -1.5707999467849731, + 2.48490047454834, + 0.01799999736249447, + 0.018000001087784767 + ] + ], + "joint_vel": [ + [ + 0.01626499369740486, + 0.01104555744677782, + 0.011020081117749214, + -0.021114584058523178, + 2.8299471523496322e-05, + 0.026666469871997833, + 2.1569303498836234e-05, + -2.1814263163832948e-05 + ], + [ + -0.003487369744107127, + 0.008375856094062328, + -0.0018172269919887185, + -0.006071052979677916, + -8.824870747048408e-06, + 0.00025373828248120844, + 6.418305929400958e-06, + -6.43197790850536e-06 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + [ + -2.527969334572485e-38, + 1.5499014020516852e-38, + 3.8572760902926146e-38, + 5.210929902362941e-37, + -4.883688819832621e-38, + 4.337454158544144e-37, + 2.5990399166175848e-08, + -2.5990386731677972e-08 + ] + ] + } + }, + "cameras": { + "cameras": { + "camera0": [ + [ + 0.04868195205926895, + -0.0024389144964516163, + -0.03212880343198776, + -0.28284114599227905, + 0.6468502283096313, + 0.6519262790679932, + -0.2767268717288971 + ], + [ + 0.05091434717178345, + 0.003460703883320093, + -0.026741329580545425, + -0.26720985770225525, + 0.65719074010849, + 0.6475101113319397, + -0.2782621681690216 + ], + [ + 0.04862186312675476, + 0.0007728105410933495, + -0.03318574279546738, + -0.2716993987560272, + 0.6578123569488525, + 0.639002799987793, + -0.2917836904525757 + ], + [ + 0.048003554344177246, + 0.0003093177219852805, + -0.03322477266192436, + -0.2935994565486908, + 0.6489232182502747, + 0.6430703997612, + -0.28135114908218384 + ] + ], + "camera1": [ + [ + 0.03829045221209526, + 0.5648154616355896, + 1.9475328922271729, + 0.0545307882130146, + -0.003932269290089607, + 0.2759581208229065, + 0.9596135020256042 + ], + [ + 0.07391547411680222, + 0.5814281105995178, + 1.9405794143676758, + 0.045872434973716736, + -0.006822303403168917, + 0.2674201428890228, + 0.9624633193016052 + ], + [ + 0.05444110557436943, + 0.5642682909965515, + 1.950761318206787, + 0.03111790306866169, + 0.007030889857560396, + 0.2740095555782318, + 0.9611976742744446 + ], + [ + 0.03842918202280998, + 0.6011009216308594, + 1.9464271068572998, + 0.04611796885728836, + 0.004703698214143515, + 0.2594301104545593, + 0.9646486639976501 + ] + ] + } + } + } +} \ No newline at end of file diff --git a/episodes/c3_p005_e002/wrist.mp4 b/episodes/c3_p005_e002/wrist.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..7272ec3d66673f802aaa6fbf1f6d247181b205f6 --- /dev/null +++ b/episodes/c3_p005_e002/wrist.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:c111ae980abe7be573b7fab84f92fe16abe9c934cce9c5c346c50a38e6a47d0e +size 6750579 diff --git a/episodes/c3_p005_e003/data.npz b/episodes/c3_p005_e003/data.npz new file mode 100644 index 0000000000000000000000000000000000000000..92071ebfba859e79e540cab41e3ec87b3694ccfd --- /dev/null +++ b/episodes/c3_p005_e003/data.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:fd64e25147271427df168668b97475dc56fa0a887286575c354f4ccb14675ade +size 186029 diff --git a/episodes/c3_p005_e003/device_events.jsonl b/episodes/c3_p005_e003/device_events.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..6494ac57eb9d33520f0a027ed1feb605690faef9 --- /dev/null +++ b/episodes/c3_p005_e003/device_events.jsonl @@ -0,0 +1,35 @@ +{"env_id": 3, "seq": 1, "step": 95, "t": 0.475, "topic": "conveyor_1.belt.station.pick.captured", "source": "conveyor_1.belt", "data": {"rider": "carrier_1"}, "cause": null} +{"env_id": 3, "seq": 2, "step": 95, "t": 0.475, "topic": "conveyor_1.belt.state.changed", "source": "conveyor_1.belt", "data": {"from": "running", "to": "at_station"}, "cause": null} +{"env_id": 3, "seq": 3, "step": 100, "t": 0.5, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_1"}, "cause": null} +{"env_id": 3, "seq": 4, "step": 6414, "t": 32.07, "topic": "a4s_sealer_1.plate_present.present", "source": "a4s_sealer_1.plate_present", "data": {"object": "plate_1"}, "cause": null} +{"env_id": 3, "seq": 5, "step": 7028, "t": 35.14, "topic": "a4s_sealer_1.command.started", "source": "a4s_sealer_1", "data": {"command_id": "task-3-1", "name": "seal", "source": "task"}, "cause": "task-3-1"} +{"env_id": 3, "seq": 6, "step": 7028, "t": 35.14, "topic": "a4s_sealer_1.seal.started", "source": "a4s_sealer_1", "data": {"dwell": 4.979040656512288}, "cause": "task-3-1"} +{"env_id": 3, "seq": 7, "step": 7028, "t": 35.14, "topic": "a4s_sealer_1.drawer.command.started", "source": "a4s_sealer_1.drawer", "data": {"command_id": "program-3-2", "name": "close", "source": "program:seal"}, "cause": "program-3-2"} +{"env_id": 3, "seq": 8, "step": 7028, "t": 35.14, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "at_out", "to": "moving"}, "cause": null} +{"env_id": 3, "seq": 9, "step": 7028, "t": 35.14, "topic": "a4s_sealer_1.drawer.moving", "source": "a4s_sealer_1.drawer", "data": {"target": 0.3, "goal": "in"}, "cause": "program-3-2"} +{"env_id": 3, "seq": 10, "step": 7447, "t": 37.235, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "moving", "to": "at_in"}, "cause": null} +{"env_id": 3, "seq": 11, "step": 7447, "t": 37.235, "topic": "a4s_sealer_1.drawer.reached", "source": "a4s_sealer_1.drawer", "data": {"position": "in", "q": 0.30000001192092896}, "cause": "program-3-2"} +{"env_id": 3, "seq": 12, "step": 7447, "t": 37.235, "topic": "a4s_sealer_1.drawer.at_in", "source": "a4s_sealer_1.drawer", "data": {"q": 0.30000001192092896}, "cause": "program-3-2"} +{"env_id": 3, "seq": 13, "step": 7447, "t": 37.235, "topic": "a4s_sealer_1.drawer.command.succeeded", "source": "a4s_sealer_1.drawer", "data": {"command_id": "program-3-2", "name": "close", "source": "program:seal", "result": {"position": "in"}}, "cause": "program-3-2"} +{"env_id": 3, "seq": 14, "step": 7447, "t": 37.235, "topic": "labware.plate_1.changed", "source": "labware.plate_1", "data": {"key": "sealed", "value": true}, "cause": "task-3-1"} +{"env_id": 3, "seq": 15, "step": 7447, "t": 37.235, "topic": "a4s_sealer_1.sealed", "source": "a4s_sealer_1", "data": {"plate": "plate_1"}, "cause": "task-3-1"} +{"env_id": 3, "seq": 16, "step": 7447, "t": 37.235, "topic": "a4s_sealer_1.heater.command.started", "source": "a4s_sealer_1.heater", "data": {"command_id": "program-3-3", "name": "run", "source": "program:seal"}, "cause": "program-3-3"} +{"env_id": 3, "seq": 17, "step": 7447, "t": 37.235, "topic": "a4s_sealer_1.heater.state.changed", "source": "a4s_sealer_1.heater", "data": {"from": "ready", "to": "running"}, "cause": null} +{"env_id": 3, "seq": 18, "step": 7447, "t": 37.235, "topic": "a4s_sealer_1.heater.started", "source": "a4s_sealer_1.heater", "data": {"duration": 4.979040656512288}, "cause": "program-3-3"} +{"env_id": 3, "seq": 19, "step": 8443, "t": 42.215, "topic": "a4s_sealer_1.heater.state.changed", "source": "a4s_sealer_1.heater", "data": {"from": "running", "to": "ready"}, "cause": null} +{"env_id": 3, "seq": 20, "step": 8443, "t": 42.215, "topic": "a4s_sealer_1.heater.finished", "source": "a4s_sealer_1.heater", "data": {"elapsed": 4.980000000002548}, "cause": "program-3-3"} +{"env_id": 3, "seq": 21, "step": 8443, "t": 42.215, "topic": "a4s_sealer_1.heater.command.succeeded", "source": "a4s_sealer_1.heater", "data": {"command_id": "program-3-3", "name": "run", "source": "program:seal", "result": {"elapsed": 4.980000000002548}}, "cause": "program-3-3"} +{"env_id": 3, "seq": 22, "step": 8443, "t": 42.215, "topic": "a4s_sealer_1.drawer.command.started", "source": "a4s_sealer_1.drawer", "data": {"command_id": "program-3-4", "name": "open", "source": "program:seal"}, "cause": "program-3-4"} +{"env_id": 3, "seq": 23, "step": 8443, "t": 42.215, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "at_in", "to": "moving"}, "cause": null} +{"env_id": 3, "seq": 24, "step": 8443, "t": 42.215, "topic": "a4s_sealer_1.drawer.moving", "source": "a4s_sealer_1.drawer", "data": {"target": 0.0, "goal": "out"}, "cause": "program-3-4"} +{"env_id": 3, "seq": 25, "step": 8863, "t": 44.315, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "moving", "to": "at_out"}, "cause": null} +{"env_id": 3, "seq": 26, "step": 8863, "t": 44.315, "topic": "a4s_sealer_1.drawer.reached", "source": "a4s_sealer_1.drawer", "data": {"position": "out", "q": 5.996977847644303e-08}, "cause": "program-3-4"} +{"env_id": 3, "seq": 27, "step": 8863, "t": 44.315, "topic": "a4s_sealer_1.drawer.at_out", "source": "a4s_sealer_1.drawer", "data": {"q": 5.996977847644303e-08}, "cause": "program-3-4"} +{"env_id": 3, "seq": 28, "step": 8863, "t": 44.315, "topic": "a4s_sealer_1.drawer.command.succeeded", "source": "a4s_sealer_1.drawer", "data": {"command_id": "program-3-4", "name": "open", "source": "program:seal", "result": {"position": "out"}}, "cause": "program-3-4"} +{"env_id": 3, "seq": 29, "step": 8863, "t": 44.315, "topic": "a4s_sealer_1.seal.finished", "source": "a4s_sealer_1", "data": {}, "cause": "task-3-1"} +{"env_id": 3, "seq": 30, "step": 8863, "t": 44.315, "topic": "a4s_sealer_1.command.succeeded", "source": "a4s_sealer_1", "data": {"command_id": "task-3-1", "name": "seal", "source": "task"}, "cause": "task-3-1"} +{"env_id": 3, "seq": 31, "step": 9438, "t": 47.19, "topic": "a4s_sealer_1.plate_present.absent", "source": "a4s_sealer_1.plate_present", "data": {"object": "plate_1"}, "cause": null} +{"env_id": 3, "seq": 32, "step": 11140, "t": 55.7, "topic": "conveyor_1.belt.command.started", "source": "conveyor_1.belt", "data": {"command_id": "task-3-5", "name": "release", "source": "task"}, "cause": "task-3-5"} +{"env_id": 3, "seq": 33, "step": 11140, "t": 55.7, "topic": "conveyor_1.belt.station.pick.released", "source": "conveyor_1.belt", "data": {"rider": "carrier_1"}, "cause": "task-3-5"} +{"env_id": 3, "seq": 34, "step": 11140, "t": 55.7, "topic": "conveyor_1.belt.state.changed", "source": "conveyor_1.belt", "data": {"from": "at_station", "to": "running"}, "cause": null} +{"env_id": 3, "seq": 35, "step": 11140, "t": 55.7, "topic": "conveyor_1.belt.command.succeeded", "source": "conveyor_1.belt", "data": {"command_id": "task-3-5", "name": "release", "source": "task", "result": {"state": "running"}}, "cause": "task-3-5"} diff --git a/episodes/c3_p005_e003/env.mp4 b/episodes/c3_p005_e003/env.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..cca829b5a85ada445c83b1062ddeea1ce4d4bbb1 --- /dev/null +++ b/episodes/c3_p005_e003/env.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:d3119d3fd0f94f05587fdfb2e51e2aaff0950d67fa7e8b85571c268565b085ec +size 1326300 diff --git a/episodes/c3_p005_e003/meta.json b/episodes/c3_p005_e003/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..fbf3bdb2101450ef2953d8bd71d594fe5b955eb9 --- /dev/null +++ b/episodes/c3_p005_e003/meta.json @@ -0,0 +1,32 @@ +{ + "source": "raw/c3_p005/magicsim/3", + "fps": 25, + "frames": 1230, + "kept_ticks": "even", + "video_frames": { + "wrist": 1230, + "env": 1230 + }, + "joint_target_source": "joint_pos_target", + "fk_vs_recorded_eef_max_m": 0.0, + "curobo_joints": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "joint_order": [ + "shoulder_pan", + "shoulder_lift", + "elbow", + "wrist_1", + "wrist_2", + "wrist_3", + "finger_left", + "finger_right" + ], + "frames_note": "eef / actions in the robot base frame; camera_pose = local pose (wrist: in plate_gripper_base, env: env frame), pos + quat wxyz", + "dr_version": "v2" +} \ No newline at end of file diff --git a/episodes/c3_p005_e003/scene_snapshot.json b/episodes/c3_p005_e003/scene_snapshot.json new file mode 100644 index 0000000000000000000000000000000000000000..55f09786b099ae6406d56e19efaac18ff90db751 --- /dev/null +++ b/episodes/c3_p005_e003/scene_snapshot.json @@ -0,0 +1,1558 @@ +{ + "trajectory_id": 3, + "env_id": 3, + "run_id": "c3_p005", + "task_type": "BioPlateCell", + "success": true, + "timing": { + "fps": 50.0, + "sim_dt": 0.005, + "decimation": 4 + }, + "restore_interface": { + "scene": "scene_manager.reset_to(snapshot['scene'], env_ids=[env_id])", + "robots": "robot_manager.set_state({'robots': snapshot['robots']}, env_ids=[env_id])" + }, + "snapshot": { + "env_id": 3, + "scene": { + "objects": [ + {}, + {}, + {}, + { + "rac_cell": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/rac_cell.usd", + "pose": { + "pos": [ + 0.0, + 0.0, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "physics_material": { + "static_friction": 0.6, + "dynamic_friction": 0.5, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "robot_mount": [ + { + "asset": "Cube", + "pose": { + "pos": [ + 0.0, + 0.0, + 0.9075 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": "color", + "value": [ + 0.55, + 0.56, + 0.58 + ], + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": { + "size": [ + 0.2, + 0.2, + 0.015 + ] + } + }, + "type_specific": {} + } + ], + "plate_rack": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/plate_hotel.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 0.9 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "physics_material": { + "static_friction": 0.6, + "dynamic_friction": 0.5, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "hotel_plate": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_6_clear/plate_6_clear.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 0.9605 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/deep_well_96_2ml/deep_well_96_2ml.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.0285 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_6_clear/plate_6_clear.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.0965 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/pcr_384_red/pcr_384_red.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.1645 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_96_clear/plate_96_clear.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.2325 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "a4s_sealer": [ + { + "asset": "$MAGICSIM_ASSETS/Articulated/A4SSealer/Object.usd", + "pose": { + "pos": [ + 0.47032737731933594, + 0.10230731964111328, + 0.8999999761581421 + ], + "ori": [ + -0.7001363039016724, + 0.0, + 0.0, + 0.7140092253684998 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "articulation", + "solver_position_iteration_count": 16.0, + "solver_velocity_iteration_count": 1.0, + "enabled_self_collisions": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "joint_position": [ + 0.0 + ], + "joint_velocity": [ + 0.0 + ], + "linear_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "angular_velocity": [ + 0.0, + 0.0, + 0.0 + ] + } + } + ], + "conveyor": [ + { + "asset": "Cube", + "pose": { + "pos": [ + 0.15, + 0.45, + 0.9 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "conveyor", + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9 + }, + "ratio": 1.0 + }, + "primitive_params": { + "size": [ + 2.4, + 0.076, + 0.03 + ] + }, + "conveyor": { + "speed": 0.26390218729863935, + "direction": [ + 1.0, + 0.0, + 0.0 + ], + "enabled": true, + "drive": "surface_velocity", + "lines": null, + "station_line": null, + "riders": [ + "carrier" + ], + "stations": { + "pick": { + "position": -0.09927176790602119, + "slow_distance": 0.03, + "slow_speed": 0.03 + } + }, + "rails": { + "height": 0.01, + "thickness": 0.01, + "gap": 0.001, + "friction": 0.05 + }, + "legs": 0.87, + "loop": { + "radius": 0.35, + "side": "left", + "curve_extra_width": 0.0, + "segments": 18, + "curve_rails": "both" + }, + "snap_distance": 0.1, + "junction_snap": 0.02, + "collision_approximation": "auto", + "plate_mass": 1.0, + "lift_drop": 0.004, + "accel": 0.0, + "decel": 0.0, + "drive_damping": 1000000.0, + "drive_max_force": 1000000000.0 + } + }, + "type_specific": { + "controller": { + "state": "at_station", + "speed": 0.26390218729863935, + "holds": [], + "station": "pick", + "rider": "carrier_1", + "arrived": true, + "applied_speed": 0.0 + } + } + } + ], + "carrier": [ + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + 0.051174163818359375, + 0.45000553131103516, + 0.8999999761581421 + ], + "ori": [ + 1.0, + 5.15896552144568e-08, + -1.7143928943141873e-08, + -5.103867806610651e-05 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 2.9514453103729466e-09, + 6.742665448200569e-08, + 1.043081283569336e-07 + ], + "angular_velocity": [ + -1.1767099749704357e-05, + -4.444609658094123e-07, + -1.6967891269814572e-06 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + 0.5796079635620117, + 1.1513500213623047, + 0.8999999761581421 + ], + "ori": [ + -0.017023757100105286, + -3.4412732219379905e-08, + -5.5396448317424074e-08, + 0.9998551607131958 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 2.9469426010564348e-08, + 4.46434796685935e-07, + -2.9802322387695312e-08 + ], + "angular_velocity": [ + -9.591960406396538e-06, + -3.227683009754401e-08, + 2.6172281195613323e-06 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + 1.6880474090576172, + 0.720402717590332, + 0.8999999761581421 + ], + "ori": [ + 0.7877636551856995, + 4.468443393079724e-10, + 8.865150391557108e-09, + 0.6159777045249939 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 4.873517145398409e-10, + -1.026572993279018e-10, + 0.0 + ], + "angular_velocity": [ + -2.032198409551711e-09, + 1.5121232266324114e-08, + -4.886557380956447e-09 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + -1.3959760665893555, + 0.7652034759521484, + 0.8999999761581421 + ], + "ori": [ + -0.7356811165809631, + -3.936937531534568e-08, + -4.8357712501001515e-08, + 0.6773281097412109 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -7.747888997045038e-10, + 2.8971081089679274e-10, + 0.0 + ], + "angular_velocity": [ + -1.2248428049588256e-08, + -3.879453558397472e-08, + -5.635340194487526e-09 + ] + } + } + ], + "plate": [ + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_48_clear/Object.usd", + "pose": { + "pos": [ + 0.03821849822998047, + 0.46079349517822266, + 0.9179999828338623 + ], + "ori": [ + 0.9997986555099487, + 4.84148415580421e-07, + -9.688744739833055e-08, + 0.020068105310201645 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -1.6374565348087344e-06, + 7.4802665039896965e-06, + -2.477318048477173e-06 + ], + "angular_velocity": [ + -7.264259329531342e-05, + 1.4757384633412585e-05, + 3.903973993146792e-05 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_384_white/Object.usd", + "pose": { + "pos": [ + 0.5920896530151367, + 1.1608495712280273, + 0.9180000424385071 + ], + "ori": [ + 0.044505223631858826, + -1.9425016262175632e-08, + -4.252087251188641e-07, + 0.9990091919898987 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -1.649476644161041e-06, + 4.399889803607948e-06, + -6.05359673500061e-06 + ], + "angular_velocity": [ + 5.4769174312241375e-05, + 3.0189748940756544e-05, + -2.63562542386353e-05 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_96_clear/Object.usd", + "pose": { + "pos": [ + 1.6839637756347656, + 0.7162418365478516, + 0.9180000424385071 + ], + "ori": [ + 0.7495794296264648, + 1.0748369971835814e-09, + 9.617314056242776e-09, + 0.6619144082069397 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 1.682015238202439e-08, + -2.21154614621355e-08, + -6.083399057388306e-06 + ], + "angular_velocity": [ + 1.229786676049116e-06, + 7.299412914107961e-07, + -3.021977335038173e-08 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/reservoir_12ch/Object.usd", + "pose": { + "pos": [ + -1.3922138214111328, + 0.7705049514770508, + 0.9179999828338623 + ], + "ori": [ + -0.7610894441604614, + -4.535323938625879e-08, + -4.415123910916918e-08, + 0.6486470103263855 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -6.630035898069764e-08, + 8.190493616666572e-08, + -2.51084566116333e-06 + ], + "angular_velocity": [ + -1.926781806105282e-06, + -2.568501713540172e-06, + 6.928798512717549e-08 + ] + } + } + ], + "deco_hub_west": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/hub_e.usd", + "pose": { + "pos": [ + -3.36, + 0.0, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_hub_east": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/hub_d.usd", + "pose": { + "pos": [ + 3.36, + 0.0, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_hub_back": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/hub_a.usd", + "pose": { + "pos": [ + -3.0, + -2.1, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_bench_east": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/bench_c.usd", + "pose": { + "pos": [ + 2.6, + -2.5, + 0.0 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_bench_gap": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/bench_b.usd", + "pose": { + "pos": [ + -0.1, + -2.9, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ] + } + ], + "devices": { + "hub": [ + null, + null, + null, + { + "t": 6.67999999999988, + "step": 1336, + "counter": 0, + "devices": { + "a4s_sealer_1": { + "mode": "auto", + "units": { + "drawer": { + "state": "at_out", + "active": null, + "target": 0.0, + "goal_name": "out", + "profile": null, + "q_start": null, + "reversing": false, + "blocked_for": 0.0, + "settled_for": 0.0, + "last_q": 0.0 + }, + "heater": { + "state": "ready", + "active": null, + "duration": 0.0, + "t_start": null, + "elapsed": 0.0 + } + }, + "queues": {}, + "program": null, + "sensors": { + "plate_present": { + "occupants": [], + "pending": {} + } + }, + "interlocks": {} + }, + "conveyor_1": { + "mode": "auto", + "units": { + "belt": { + "state": "at_station", + "active": null, + "controller": { + "speed": 0.26390218729863935, + "holds": [], + "station": "pick", + "rider": "carrier_1", + "arrived": true, + "settle_count": 1240, + "released": { + "pick": [] + }, + "last_pos": { + "carrier_1": [ + -0.0988258421421051, + 5.543231964111328e-06, + 0.0 + ], + "carrier_2": [ + 0.42960795760154724, + 0.7013500332832336, + 0.0 + ], + "carrier_3": [ + 1.5380474030971527, + 0.270402729511261, + 0.0 + ], + "carrier_4": [ + -1.54597607254982, + 0.3152034878730774, + 0.0 + ] + }, + "command": 0.0 + }, + "belt": { + "target_speed": 0.0, + "command_speed": 0.0 + }, + "seen": { + "state": "at_station", + "station": "pick", + "rider": "carrier_1", + "arrived": true + } + } + }, + "queues": {}, + "program": null, + "sensors": {}, + "interlocks": {} + } + }, + "zones": {}, + "labware": { + "plate_1": { + "sealed": false + }, + "plate_2": { + "sealed": false + }, + "plate_3": { + "sealed": false + }, + "plate_4": { + "sealed": false + } + }, + "rules": {}, + "records": [], + "bus": { + "seq": 3, + "queue": [] + } + } + ], + "drives": [ + null, + null, + null, + {} + ] + }, + "artifacts": [ + {}, + {}, + {}, + { + "ceiling": { + "type": "rect", + "pose": { + "pos": [ + 0.14752467781074052, + -0.2799823380797375, + 3.1384831698864937 + ], + "ori": [ + 6.859893919550096, + 0.20620313162370252, + 2.7890214023938427 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "color_temperature": 3535.6215676722554, + "color": [ + 0.9236293886066917, + 0.8749924482137414, + 0.7967310798745486 + ], + "intensity": 14872.353278526702, + "width": 1.8396582480070056, + "height": 0.9611224827669302 + } + }, + "key": { + "type": "sphere", + "pose": { + "pos": [ + -1.5237513926434332, + -0.9043219310390751, + 1.6304708115963773 + ], + "ori": [ + -1.0235510127578422, + -38.53106024654004, + -37.08289227101933 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "color_temperature": 6690.0695200626005, + "color": [ + 0.8811677218683128, + 0.8554993460238702, + 0.9705841233715755 + ], + "intensity": 9574.277119173508, + "radius": 0.24723769404595147 + } + } + } + ], + "background": { + "type": "dome", + "pose": { + "pos": null, + "ori": null, + "scale": null + }, + "dr": { + "intensity": 1260.8924498923423, + "texture": null, + "color": [ + 0.92, + 0.94, + 0.96 + ] + } + } + }, + "robots": { + "UR5e": { + "root_pose": [ + [ + 11.0, + -11.0, + 0.9150000214576721, + 1.0, + 0.0, + 0.0, + 0.0 + ], + [ + 11.0, + 11.0, + 0.9150000214576721, + 1.0, + 0.0, + 0.0, + 0.0 + ], + [ + -11.0, + -11.0, + 0.9150000214576721, + 1.0, + 0.0, + 0.0, + 0.0 + ], + [ + -11.0, + 11.0, + 0.9150000214576721, + 1.0, + 0.0, + 0.0, + 0.0 + ] + ], + "root_vel": [ + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + ], + "joint_pos": [ + [ + 1.085296392440796, + -1.6062637567520142, + 2.2036216259002686, + -2.1685123443603516, + -1.5706158876419067, + 2.770707607269287, + 0.00809031818062067, + 0.007076576352119446 + ], + [ + 0.797581672668457, + -1.436781644821167, + 2.0234036445617676, + -2.1573750972747803, + -1.570814847946167, + 2.4937691688537598, + 0.007750626653432846, + 0.0072720046155154705 + ], + [ + 0.977679967880249, + -1.5634828805923462, + 2.164393663406372, + -2.1707303524017334, + -1.5706745386123657, + 2.6966872215270996, + 0.0070347413420677185, + 0.007864061743021011 + ], + [ + 0.9141013622283936, + -1.7193995714187622, + 2.0905003547668457, + -1.9419008493423462, + -1.5707999467849731, + 2.48490047454834, + 0.01799999736249447, + 0.018000001087784767 + ] + ], + "joint_vel": [ + [ + -0.0008103180443868041, + -0.0006135238218121231, + -8.152780355885625e-05, + 0.004950424190610647, + -0.003146534087136388, + -0.01831829734146595, + -0.0033312253654003143, + 2.790729922708124e-06 + ], + [ + 0.00018935324624180794, + 3.694844781421125e-05, + -0.00032247064518742263, + -0.0004407182277645916, + 0.0008324221707880497, + 0.0027682282961905003, + -0.005980269983410835, + 0.00017272359400521964 + ], + [ + -0.0028414938133209944, + -0.002084195613861084, + -0.00472220266237855, + -2.1185827790759504e-05, + -0.0006467998027801514, + -0.004496254958212376, + -0.006341123022139072, + 0.0003001820296049118 + ], + [ + -2.527969334572485e-38, + 1.5499014020516852e-38, + 3.8572760902926146e-38, + 5.210929902362941e-37, + -4.883688819832621e-38, + 4.337454158544144e-37, + 2.5990399166175848e-08, + -2.5990386731677972e-08 + ] + ] + } + }, + "cameras": { + "cameras": { + "camera0": [ + [ + 0.045557472854852676, + -0.00016047236567828804, + -0.03138137236237526, + -0.27631035447120667, + 0.6453777551651001, + 0.6518380641937256, + -0.2867879271507263 + ], + [ + 0.05228133127093315, + -1.719916326692328e-05, + -0.027396200224757195, + -0.2689684331417084, + 0.6520217657089233, + 0.6503918170928955, + -0.2819824516773224 + ], + [ + 0.04832324758172035, + 0.0015390883199870586, + -0.03253236040472984, + -0.2642430067062378, + 0.6608061790466309, + 0.6413772702217102, + -0.2866113483905792 + ], + [ + 0.04620307683944702, + 0.0009729372104629874, + -0.0321001335978508, + -0.2937314510345459, + 0.6468366980552673, + 0.6453408598899841, + -0.280818909406662 + ] + ], + "camera1": [ + [ + 0.03829045221209526, + 0.5648154616355896, + 1.9475328922271729, + 0.0545307882130146, + -0.003932269290089607, + 0.2759581208229065, + 0.9596135020256042 + ], + [ + 0.07391547411680222, + 0.5814281105995178, + 1.9405794143676758, + 0.045872434973716736, + -0.006822303403168917, + 0.2674201428890228, + 0.9624633193016052 + ], + [ + 0.05444110557436943, + 0.5642682909965515, + 1.950761318206787, + 0.03111790306866169, + 0.007030889857560396, + 0.2740095555782318, + 0.9611976742744446 + ], + [ + 0.03842918202280998, + 0.6011009216308594, + 1.9464271068572998, + 0.04611796885728836, + 0.004703698214143515, + 0.2594301104545593, + 0.9646486639976501 + ] + ] + } + } + } +} \ No newline at end of file diff --git a/episodes/c3_p005_e003/wrist.mp4 b/episodes/c3_p005_e003/wrist.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..61ba3ea8340457005a0b8ef6920123bf6de8824a --- /dev/null +++ b/episodes/c3_p005_e003/wrist.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:39e8c7730b91f5f0409707833fdb5ad9631ebff05f10e1ff7819acc1d72abc08 +size 7336615 diff --git a/episodes/c4_p005_e000/data.npz b/episodes/c4_p005_e000/data.npz new file mode 100644 index 0000000000000000000000000000000000000000..f4a6fabbc395a4d5509b2fc58bc34b91fcd1c4bc --- /dev/null +++ b/episodes/c4_p005_e000/data.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:756e2dd82c828f2942a7150694af6d50f4b39091d8364b0ed31d2b6f6be9fd15 +size 186628 diff --git a/episodes/c4_p005_e000/device_events.jsonl b/episodes/c4_p005_e000/device_events.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..b0ba8b758ce4d72082868ec42dda5edec5fb414b --- /dev/null +++ b/episodes/c4_p005_e000/device_events.jsonl @@ -0,0 +1,35 @@ +{"env_id": 3, "seq": 1, "step": 71, "t": 0.355, "topic": "conveyor_1.belt.station.pick.captured", "source": "conveyor_1.belt", "data": {"rider": "carrier_1"}, "cause": null} +{"env_id": 3, "seq": 2, "step": 71, "t": 0.355, "topic": "conveyor_1.belt.state.changed", "source": "conveyor_1.belt", "data": {"from": "running", "to": "at_station"}, "cause": null} +{"env_id": 3, "seq": 3, "step": 76, "t": 0.38, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_1"}, "cause": null} +{"env_id": 3, "seq": 4, "step": 5478, "t": 27.39, "topic": "a4s_sealer_1.plate_present.present", "source": "a4s_sealer_1.plate_present", "data": {"object": "plate_1"}, "cause": null} +{"env_id": 3, "seq": 5, "step": 6088, "t": 30.44, "topic": "a4s_sealer_1.command.started", "source": "a4s_sealer_1", "data": {"command_id": "task-3-1", "name": "seal", "source": "task"}, "cause": "task-3-1"} +{"env_id": 3, "seq": 6, "step": 6088, "t": 30.44, "topic": "a4s_sealer_1.seal.started", "source": "a4s_sealer_1", "data": {"dwell": 1.7572166006188192}, "cause": "task-3-1"} +{"env_id": 3, "seq": 7, "step": 6088, "t": 30.44, "topic": "a4s_sealer_1.drawer.command.started", "source": "a4s_sealer_1.drawer", "data": {"command_id": "program-3-2", "name": "close", "source": "program:seal"}, "cause": "program-3-2"} +{"env_id": 3, "seq": 8, "step": 6088, "t": 30.44, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "at_out", "to": "moving"}, "cause": null} +{"env_id": 3, "seq": 9, "step": 6088, "t": 30.44, "topic": "a4s_sealer_1.drawer.moving", "source": "a4s_sealer_1.drawer", "data": {"target": 0.3, "goal": "in"}, "cause": "program-3-2"} +{"env_id": 3, "seq": 10, "step": 6507, "t": 32.535, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "moving", "to": "at_in"}, "cause": null} +{"env_id": 3, "seq": 11, "step": 6507, "t": 32.535, "topic": "a4s_sealer_1.drawer.reached", "source": "a4s_sealer_1.drawer", "data": {"position": "in", "q": 0.30000001192092896}, "cause": "program-3-2"} +{"env_id": 3, "seq": 12, "step": 6507, "t": 32.535, "topic": "a4s_sealer_1.drawer.at_in", "source": "a4s_sealer_1.drawer", "data": {"q": 0.30000001192092896}, "cause": "program-3-2"} +{"env_id": 3, "seq": 13, "step": 6507, "t": 32.535, "topic": "a4s_sealer_1.drawer.command.succeeded", "source": "a4s_sealer_1.drawer", "data": {"command_id": "program-3-2", "name": "close", "source": "program:seal", "result": {"position": "in"}}, "cause": "program-3-2"} +{"env_id": 3, "seq": 14, "step": 6507, "t": 32.535, "topic": "labware.plate_1.changed", "source": "labware.plate_1", "data": {"key": "sealed", "value": true}, "cause": "task-3-1"} +{"env_id": 3, "seq": 15, "step": 6507, "t": 32.535, "topic": "a4s_sealer_1.sealed", "source": "a4s_sealer_1", "data": {"plate": "plate_1"}, "cause": "task-3-1"} +{"env_id": 3, "seq": 16, "step": 6507, "t": 32.535, "topic": "a4s_sealer_1.heater.command.started", "source": "a4s_sealer_1.heater", "data": {"command_id": "program-3-3", "name": "run", "source": "program:seal"}, "cause": "program-3-3"} +{"env_id": 3, "seq": 17, "step": 6507, "t": 32.535, "topic": "a4s_sealer_1.heater.state.changed", "source": "a4s_sealer_1.heater", "data": {"from": "ready", "to": "running"}, "cause": null} +{"env_id": 3, "seq": 18, "step": 6507, "t": 32.535, "topic": "a4s_sealer_1.heater.started", "source": "a4s_sealer_1.heater", "data": {"duration": 1.7572166006188192}, "cause": "program-3-3"} +{"env_id": 3, "seq": 19, "step": 6859, "t": 34.295, "topic": "a4s_sealer_1.heater.state.changed", "source": "a4s_sealer_1.heater", "data": {"from": "running", "to": "ready"}, "cause": null} +{"env_id": 3, "seq": 20, "step": 6859, "t": 34.295, "topic": "a4s_sealer_1.heater.finished", "source": "a4s_sealer_1.heater", "data": {"elapsed": 1.7600000000009004}, "cause": "program-3-3"} +{"env_id": 3, "seq": 21, "step": 6859, "t": 34.295, "topic": "a4s_sealer_1.heater.command.succeeded", "source": "a4s_sealer_1.heater", "data": {"command_id": "program-3-3", "name": "run", "source": "program:seal", "result": {"elapsed": 1.7600000000009004}}, "cause": "program-3-3"} +{"env_id": 3, "seq": 22, "step": 6859, "t": 34.295, "topic": "a4s_sealer_1.drawer.command.started", "source": "a4s_sealer_1.drawer", "data": {"command_id": "program-3-4", "name": "open", "source": "program:seal"}, "cause": "program-3-4"} +{"env_id": 3, "seq": 23, "step": 6859, "t": 34.295, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "at_in", "to": "moving"}, "cause": null} +{"env_id": 3, "seq": 24, "step": 6859, "t": 34.295, "topic": "a4s_sealer_1.drawer.moving", "source": "a4s_sealer_1.drawer", "data": {"target": 0.0, "goal": "out"}, "cause": "program-3-4"} +{"env_id": 3, "seq": 25, "step": 7279, "t": 36.395, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "moving", "to": "at_out"}, "cause": null} +{"env_id": 3, "seq": 26, "step": 7279, "t": 36.395, "topic": "a4s_sealer_1.drawer.reached", "source": "a4s_sealer_1.drawer", "data": {"position": "out", "q": 0.0}, "cause": "program-3-4"} +{"env_id": 3, "seq": 27, "step": 7279, "t": 36.395, "topic": "a4s_sealer_1.drawer.at_out", "source": "a4s_sealer_1.drawer", "data": {"q": 0.0}, "cause": "program-3-4"} +{"env_id": 3, "seq": 28, "step": 7279, "t": 36.395, "topic": "a4s_sealer_1.drawer.command.succeeded", "source": "a4s_sealer_1.drawer", "data": {"command_id": "program-3-4", "name": "open", "source": "program:seal", "result": {"position": "out"}}, "cause": "program-3-4"} +{"env_id": 3, "seq": 29, "step": 7279, "t": 36.395, "topic": "a4s_sealer_1.seal.finished", "source": "a4s_sealer_1", "data": {}, "cause": "task-3-1"} +{"env_id": 3, "seq": 30, "step": 7279, "t": 36.395, "topic": "a4s_sealer_1.command.succeeded", "source": "a4s_sealer_1", "data": {"command_id": "task-3-1", "name": "seal", "source": "task"}, "cause": "task-3-1"} +{"env_id": 3, "seq": 31, "step": 7859, "t": 39.295, "topic": "a4s_sealer_1.plate_present.absent", "source": "a4s_sealer_1.plate_present", "data": {"object": "plate_1"}, "cause": null} +{"env_id": 3, "seq": 32, "step": 9568, "t": 47.84, "topic": "conveyor_1.belt.command.started", "source": "conveyor_1.belt", "data": {"command_id": "task-3-5", "name": "release", "source": "task"}, "cause": "task-3-5"} +{"env_id": 3, "seq": 33, "step": 9568, "t": 47.84, "topic": "conveyor_1.belt.station.pick.released", "source": "conveyor_1.belt", "data": {"rider": "carrier_1"}, "cause": "task-3-5"} +{"env_id": 3, "seq": 34, "step": 9568, "t": 47.84, "topic": "conveyor_1.belt.state.changed", "source": "conveyor_1.belt", "data": {"from": "at_station", "to": "running"}, "cause": null} +{"env_id": 3, "seq": 35, "step": 9568, "t": 47.84, "topic": "conveyor_1.belt.command.succeeded", "source": "conveyor_1.belt", "data": {"command_id": "task-3-5", "name": "release", "source": "task", "result": {"state": "running"}}, "cause": "task-3-5"} diff --git a/episodes/c4_p005_e000/env.mp4 b/episodes/c4_p005_e000/env.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..92fbe5ba269be58db94f4081672b2a847ebf3a9f --- /dev/null +++ b/episodes/c4_p005_e000/env.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:76470df6fd71db032b814a0b5017553e844d23dcf4b0767f9289919c026c901c +size 1275771 diff --git a/episodes/c4_p005_e000/meta.json b/episodes/c4_p005_e000/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..90c661d9cbe7296861f255af329af8da8c9e44e4 --- /dev/null +++ b/episodes/c4_p005_e000/meta.json @@ -0,0 +1,32 @@ +{ + "source": "raw/c4_p005/magicsim/0", + "fps": 25, + "frames": 1155, + "kept_ticks": "even", + "video_frames": { + "wrist": 1155, + "env": 1155 + }, + "joint_target_source": "joint_pos_target", + "fk_vs_recorded_eef_max_m": 0.0, + "curobo_joints": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "joint_order": [ + "shoulder_pan", + "shoulder_lift", + "elbow", + "wrist_1", + "wrist_2", + "wrist_3", + "finger_left", + "finger_right" + ], + "frames_note": "eef / actions in the robot base frame; camera_pose = local pose (wrist: in plate_gripper_base, env: env frame), pos + quat wxyz", + "dr_version": "v2" +} \ No newline at end of file diff --git a/episodes/c4_p005_e000/scene_snapshot.json b/episodes/c4_p005_e000/scene_snapshot.json new file mode 100644 index 0000000000000000000000000000000000000000..86d9e44e16b934403c8bd4c18cc72f0159e0d617 --- /dev/null +++ b/episodes/c4_p005_e000/scene_snapshot.json @@ -0,0 +1,1558 @@ +{ + "trajectory_id": 0, + "env_id": 3, + "run_id": "c4_p005", + "task_type": "BioPlateCell", + "success": true, + "timing": { + "fps": 50.0, + "sim_dt": 0.005, + "decimation": 4 + }, + "restore_interface": { + "scene": "scene_manager.reset_to(snapshot['scene'], env_ids=[env_id])", + "robots": "robot_manager.set_state({'robots': snapshot['robots']}, env_ids=[env_id])" + }, + "snapshot": { + "env_id": 3, + "scene": { + "objects": [ + {}, + {}, + {}, + { + "rac_cell": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/rac_cell.usd", + "pose": { + "pos": [ + 0.0, + 0.0, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "physics_material": { + "static_friction": 0.6, + "dynamic_friction": 0.5, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "robot_mount": [ + { + "asset": "Cube", + "pose": { + "pos": [ + 0.0, + 0.0, + 0.9075 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": "color", + "value": [ + 0.55, + 0.56, + 0.58 + ], + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": { + "size": [ + 0.2, + 0.2, + 0.015 + ] + } + }, + "type_specific": {} + } + ], + "plate_rack": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/plate_hotel.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 0.9 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "physics_material": { + "static_friction": 0.6, + "dynamic_friction": 0.5, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "hotel_plate": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_96_white/plate_96_white.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 0.9605 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_48_clear/plate_48_clear.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.0285 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/pcr_96_blue/pcr_96_blue.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.0965 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_96_clear/plate_96_clear.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.1645 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_24_clear/plate_24_clear.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.2325 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "a4s_sealer": [ + { + "asset": "$MAGICSIM_ASSETS/Articulated/A4SSealer/Object.usd", + "pose": { + "pos": [ + 0.4612903594970703, + 0.12853145599365234, + 0.8999999761581421 + ], + "ori": [ + -0.6984633207321167, + 0.0, + 0.0, + 0.7156458497047424 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "articulation", + "solver_position_iteration_count": 16.0, + "solver_velocity_iteration_count": 1.0, + "enabled_self_collisions": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "joint_position": [ + 7.22897870036876e-13 + ], + "joint_velocity": [ + 0.0 + ], + "linear_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "angular_velocity": [ + 0.0, + 0.0, + 0.0 + ] + } + } + ], + "conveyor": [ + { + "asset": "Cube", + "pose": { + "pos": [ + 0.15, + 0.45, + 0.9 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "conveyor", + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9 + }, + "ratio": 1.0 + }, + "primitive_params": { + "size": [ + 2.4, + 0.076, + 0.03 + ] + }, + "conveyor": { + "speed": 0.17257009218082922, + "direction": [ + 1.0, + 0.0, + 0.0 + ], + "enabled": true, + "drive": "surface_velocity", + "lines": null, + "station_line": null, + "riders": [ + "carrier" + ], + "stations": { + "pick": { + "position": -0.2566981538536733, + "slow_distance": 0.03, + "slow_speed": 0.03 + } + }, + "rails": { + "height": 0.01, + "thickness": 0.01, + "gap": 0.001, + "friction": 0.05 + }, + "legs": 0.87, + "loop": { + "radius": 0.35, + "side": "left", + "curve_extra_width": 0.0, + "segments": 18, + "curve_rails": "both" + }, + "snap_distance": 0.1, + "junction_snap": 0.02, + "collision_approximation": "auto", + "plate_mass": 1.0, + "lift_drop": 0.004, + "accel": 0.0, + "decel": 0.0, + "drive_damping": 1000000.0, + "drive_max_force": 1000000000.0 + } + }, + "type_specific": { + "controller": { + "state": "at_station", + "speed": 0.17257009218082922, + "holds": [], + "station": "pick", + "rider": "carrier_1", + "arrived": true, + "applied_speed": 0.0 + } + } + } + ], + "carrier": [ + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + -0.10622119903564453, + 0.4499998092651367, + 0.8999999761581421 + ], + "ori": [ + 1.0, + -9.390381805474135e-10, + -7.66545715791267e-10, + 4.95478957418527e-07 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -1.713273967141049e-10, + 8.255874872631352e-10, + 0.0 + ], + "angular_velocity": [ + -1.0401826955330762e-07, + -2.9951266355965345e-08, + -7.613734531730643e-09 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + 0.7106075286865234, + 1.1499996185302734, + 0.8999999761581421 + ], + "ori": [ + -1.2112926015106495e-05, + 9.643240650447638e-10, + 3.517701907540527e-09, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -1.318512410364292e-09, + -2.0544099754715717e-10, + 7.450580596923828e-09 + ], + "angular_velocity": [ + 8.855096211846103e-09, + -1.292001172714663e-07, + -6.287804499294225e-09 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + -1.3677997589111328, + 0.9439382553100586, + 0.8999999761581421 + ], + "ori": [ + -0.5408692359924316, + -6.713987588113923e-09, + -7.352874309418667e-09, + 0.8411067724227905 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 1.6900392196816938e-10, + -2.8555893760717765e-10, + 0.0 + ], + "angular_velocity": [ + 2.6894547033862182e-08, + 5.11351316845321e-09, + -9.351914798116923e-10 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + 1.5008831024169922, + 0.48769378662109375, + 0.8999999761581421 + ], + "ori": [ + 0.9754648208618164, + 6.737103319665039e-09, + 2.5252116842011674e-08, + 0.2201554924249649 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 4.083507143537446e-10, + -8.296824893783139e-10, + 0.0 + ], + "angular_velocity": [ + 4.370238571027585e-08, + 2.7319090989408323e-08, + 2.5327704378241833e-09 + ] + } + } + ], + "plate": [ + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_48_clear/Object.usd", + "pose": { + "pos": [ + -0.11570453643798828, + 0.46150875091552734, + 0.9179999828338623 + ], + "ori": [ + 0.9996669292449951, + 1.3720737879197031e-09, + -1.5439346467971404e-09, + -0.02580980211496353 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -2.0950118084783753e-08, + -1.6563175719852552e-08, + 9.313225746154785e-08 + ], + "angular_velocity": [ + 7.626263140991796e-07, + -1.4662111880170414e-06, + 5.6784660529274333e-08 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_384_white/Object.usd", + "pose": { + "pos": [ + 0.721796989440918, + 1.1451854705810547, + 0.9180000424385071 + ], + "ori": [ + 0.07420369982719421, + 1.5494630023482614e-09, + 2.674938937019533e-09, + 0.9972431063652039 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 4.292330935129485e-09, + 4.3125343296424035e-09, + -5.234032869338989e-06 + ], + "angular_velocity": [ + -8.571126954848296e-07, + 2.0576446786435554e-06, + -8.926042482926277e-08 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_96_clear/Object.usd", + "pose": { + "pos": [ + -1.3698577880859375, + 0.9409561157226562, + 0.9180000424385071 + ], + "ori": [ + -0.5350279211997986, + -6.239751382253189e-09, + -6.9063874619246235e-09, + 0.8448344469070435 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -1.7847057165454316e-11, + 1.2094086621061706e-08, + -5.4389238357543945e-06 + ], + "angular_velocity": [ + -1.178767206511111e-06, + 8.946584273417102e-08, + -4.682261689481493e-09 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/reservoir_12ch/Object.usd", + "pose": { + "pos": [ + 1.5003442764282227, + 0.48320960998535156, + 0.9179999828338623 + ], + "ori": [ + 0.9879891276359558, + 9.493181352127067e-09, + 3.125439818063569e-08, + 0.15452393889427185 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -7.549780889348767e-08, + -5.133804492629679e-08, + -1.0468065738677979e-06 + ], + "angular_velocity": [ + 7.342273988797388e-07, + -1.896959815894661e-06, + 1.51743407172944e-07 + ] + } + } + ], + "deco_hub_west": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/hub_e.usd", + "pose": { + "pos": [ + -3.36, + 0.0, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_hub_east": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/hub_d.usd", + "pose": { + "pos": [ + 3.36, + 0.0, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_hub_back": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/hub_a.usd", + "pose": { + "pos": [ + -3.0, + -2.1, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_bench_east": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/bench_c.usd", + "pose": { + "pos": [ + 2.6, + -2.5, + 0.0 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_bench_gap": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/bench_b.usd", + "pose": { + "pos": [ + -0.1, + -2.9, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ] + } + ], + "devices": { + "hub": [ + null, + null, + null, + { + "t": 1.879999999999982, + "step": 376, + "counter": 0, + "devices": { + "a4s_sealer_1": { + "mode": "auto", + "units": { + "drawer": { + "state": "at_out", + "active": null, + "target": 0.0, + "goal_name": "out", + "profile": null, + "q_start": null, + "reversing": false, + "blocked_for": 0.0, + "settled_for": 0.0, + "last_q": 7.22897870036876e-13 + }, + "heater": { + "state": "ready", + "active": null, + "duration": 0.0, + "t_start": null, + "elapsed": 0.0 + } + }, + "queues": {}, + "program": null, + "sensors": { + "plate_present": { + "occupants": [], + "pending": {} + } + }, + "interlocks": {} + }, + "conveyor_1": { + "mode": "auto", + "units": { + "belt": { + "state": "at_station", + "active": null, + "controller": { + "speed": 0.17257009218082922, + "holds": [], + "station": "pick", + "rider": "carrier_1", + "arrived": true, + "settle_count": 304, + "released": { + "pick": [] + }, + "last_pos": { + "carrier_1": [ + -0.256221204996109, + -1.7881393432617188e-07, + 0.0 + ], + "carrier_2": [ + 0.560607522726059, + 0.6999996304512024, + 0.0 + ], + "carrier_3": [ + -1.5177997648715973, + 0.49393826723098755, + 0.0 + ], + "carrier_4": [ + 1.3508830964565277, + 0.037693798542022705, + 0.0 + ] + }, + "command": 0.0 + }, + "belt": { + "target_speed": 0.0, + "command_speed": 0.0 + }, + "seen": { + "state": "at_station", + "station": "pick", + "rider": "carrier_1", + "arrived": true + } + } + }, + "queues": {}, + "program": null, + "sensors": {}, + "interlocks": {} + } + }, + "zones": {}, + "labware": { + "plate_1": { + "sealed": false + }, + "plate_2": { + "sealed": false + }, + "plate_3": { + "sealed": false + }, + "plate_4": { + "sealed": false + } + }, + "rules": {}, + "records": [], + "bus": { + "seq": 3, + "queue": [] + } + } + ], + "drives": [ + null, + null, + null, + {} + ] + }, + "artifacts": [ + {}, + {}, + {}, + { + "ceiling": { + "type": "rect", + "pose": { + "pos": [ + -0.4251165812278262, + 0.1778669178361011, + 2.6492029748454704 + ], + "ori": [ + -9.326074400478138, + 4.4440496126156255, + -9.643450800041265 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "color_temperature": 3655.947817607463, + "color": [ + 0.9403499372469026, + 0.8856098214474043, + 0.8801757820199203 + ], + "intensity": 6323.6819754444805, + "width": 1.49991232902339, + "height": 0.9942760768302323 + } + }, + "key": { + "type": "disk", + "pose": { + "pos": [ + 0.9233360326907358, + -0.7661715930714074, + 1.706839368829622 + ], + "ori": [ + -23.527258078902626, + 31.544341137612662, + -1.3839739038514693 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "color_temperature": 7247.450274214429, + "color": [ + 0.9093387030271096, + 0.8242353339216023, + 0.9752955936343266 + ], + "intensity": 4093.6646769588333, + "radius": 0.25097241772058154 + } + } + } + ], + "background": { + "type": "dome", + "pose": { + "pos": null, + "ori": null, + "scale": null + }, + "dr": { + "intensity": 1506.5120303012825, + "texture": null, + "color": [ + 0.92, + 0.94, + 0.96 + ] + } + } + }, + "robots": { + "UR5e": { + "root_pose": [ + [ + 11.0, + -11.0, + 0.9150000214576721, + 1.0, + 0.0, + 0.0, + 0.0 + ], + [ + 11.0, + 11.0, + 0.9150000214576721, + 1.0, + 0.0, + 0.0, + 0.0 + ], + [ + -11.0, + -11.0, + 0.9150000214576721, + 1.0, + 0.0, + 0.0, + 0.0 + ], + [ + -11.0, + 11.0, + 0.9150000214576721, + 1.0, + 0.0, + 0.0, + 0.0 + ] + ], + "root_vel": [ + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + ], + "joint_pos": [ + [ + 0.9140999913215637, + -1.7194000482559204, + 2.0905001163482666, + -1.9419000148773193, + -1.5707999467849731, + 2.4848999977111816, + 0.017999999225139618, + 0.017999999225139618 + ], + [ + 0.9140999913215637, + -1.7194000482559204, + 2.0905001163482666, + -1.9419000148773193, + -1.5707999467849731, + 2.4848999977111816, + 0.017999999225139618, + 0.017999999225139618 + ], + [ + 0.9140999913215637, + -1.7194000482559204, + 2.0905001163482666, + -1.9419000148773193, + -1.5707999467849731, + 2.4848999977111816, + 0.017999999225139618, + 0.017999999225139618 + ], + [ + 0.9140999913215637, + -1.7194000482559204, + 2.0905001163482666, + -1.9419000148773193, + -1.5707999467849731, + 2.4848999977111816, + 0.017999999225139618, + 0.017999999225139618 + ] + ], + "joint_vel": [ + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + ] + } + }, + "cameras": { + "cameras": { + "camera0": [ + [ + 0.047820523381233215, + -0.00024288316490128636, + -0.03166510537266731, + -0.2758684754371643, + 0.6442147493362427, + 0.6589156985282898, + -0.2733387053012848 + ], + [ + 0.049600280821323395, + -0.003265440696850419, + -0.030099494382739067, + -0.28816699981689453, + 0.6388682126998901, + 0.6512487530708313, + -0.2910020649433136 + ], + [ + 0.0486767552793026, + 0.00016671787307132035, + -0.029085300862789154, + -0.2692999839782715, + 0.6592050194740295, + 0.6494443416595459, + -0.26673635840415955 + ], + [ + 0.0473674014210701, + 0.003466842696070671, + -0.03190753236413002, + -0.2778996527194977, + 0.6574578881263733, + 0.6354081034660339, + -0.2945801019668579 + ] + ], + "camera1": [ + [ + 0.04620630666613579, + 0.5695286989212036, + 1.9702941179275513, + 0.03934749960899353, + 0.018188023939728737, + 0.2584480047225952, + 0.9650521278381348 + ], + [ + 0.050085414201021194, + 0.5942978262901306, + 1.948786973953247, + 0.03434796631336212, + 0.015196963213384151, + 0.2876150608062744, + 0.9570093154907227 + ], + [ + 0.04559464752674103, + 0.5840745568275452, + 1.949146032333374, + 0.03730398416519165, + 0.005057400558143854, + 0.2741798162460327, + 0.9609413146972656 + ], + [ + 0.07204993814229965, + 0.5755515694618225, + 1.941467046737671, + 0.05699848756194115, + 0.00555310258641839, + 0.2857838571071625, + 0.9565813541412354 + ] + ] + } + } + } +} \ No newline at end of file diff --git a/episodes/c4_p005_e000/wrist.mp4 b/episodes/c4_p005_e000/wrist.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..4713e077e34187143f17a8193d1b89aeb3f4c08c --- /dev/null +++ b/episodes/c4_p005_e000/wrist.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:aeb9c75a12273a02a0d9385ccbf9d51faa986f2e2b04dc3ebb0a77be646db8d9 +size 6962593 diff --git a/episodes/c4_p005_e001/data.npz b/episodes/c4_p005_e001/data.npz new file mode 100644 index 0000000000000000000000000000000000000000..cc83219c4538bd361459b16e6cb45728b9b8e46f --- /dev/null +++ b/episodes/c4_p005_e001/data.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:50faff8f5c52f3ec8799e48da5e9bcafaa14537c03e59e33845b5160567eb3f6 +size 189549 diff --git a/episodes/c4_p005_e001/device_events.jsonl b/episodes/c4_p005_e001/device_events.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..b42ae05e2a87c6ad90ed25b8498c87c3d199b6cf --- /dev/null +++ b/episodes/c4_p005_e001/device_events.jsonl @@ -0,0 +1,36 @@ +{"env_id": 1, "seq": 1, "step": 141, "t": 0.705, "topic": "conveyor_1.belt.station.pick.captured", "source": "conveyor_1.belt", "data": {"rider": "carrier_2"}, "cause": null} +{"env_id": 1, "seq": 2, "step": 141, "t": 0.705, "topic": "conveyor_1.belt.state.changed", "source": "conveyor_1.belt", "data": {"from": "running", "to": "at_station"}, "cause": null} +{"env_id": 1, "seq": 3, "step": 146, "t": 0.73, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_2"}, "cause": null} +{"env_id": 1, "seq": 4, "step": 1072, "t": 5.36, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_2"}, "cause": null} +{"env_id": 1, "seq": 5, "step": 6099, "t": 30.495, "topic": "a4s_sealer_1.plate_present.present", "source": "a4s_sealer_1.plate_present", "data": {"object": "plate_2"}, "cause": null} +{"env_id": 1, "seq": 6, "step": 6712, "t": 33.56, "topic": "a4s_sealer_1.command.started", "source": "a4s_sealer_1", "data": {"command_id": "task-1-1", "name": "seal", "source": "task"}, "cause": "task-1-1"} +{"env_id": 1, "seq": 7, "step": 6712, "t": 33.56, "topic": "a4s_sealer_1.seal.started", "source": "a4s_sealer_1", "data": {"dwell": 2.203831511533845}, "cause": "task-1-1"} +{"env_id": 1, "seq": 8, "step": 6712, "t": 33.56, "topic": "a4s_sealer_1.drawer.command.started", "source": "a4s_sealer_1.drawer", "data": {"command_id": "program-1-2", "name": "close", "source": "program:seal"}, "cause": "program-1-2"} +{"env_id": 1, "seq": 9, "step": 6712, "t": 33.56, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "at_out", "to": "moving"}, "cause": null} +{"env_id": 1, "seq": 10, "step": 6712, "t": 33.56, "topic": "a4s_sealer_1.drawer.moving", "source": "a4s_sealer_1.drawer", "data": {"target": 0.3, "goal": "in"}, "cause": "program-1-2"} +{"env_id": 1, "seq": 11, "step": 7131, "t": 35.655, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "moving", "to": "at_in"}, "cause": null} +{"env_id": 1, "seq": 12, "step": 7131, "t": 35.655, "topic": "a4s_sealer_1.drawer.reached", "source": "a4s_sealer_1.drawer", "data": {"position": "in", "q": 0.30000001192092896}, "cause": "program-1-2"} +{"env_id": 1, "seq": 13, "step": 7131, "t": 35.655, "topic": "a4s_sealer_1.drawer.at_in", "source": "a4s_sealer_1.drawer", "data": {"q": 0.30000001192092896}, "cause": "program-1-2"} +{"env_id": 1, "seq": 14, "step": 7131, "t": 35.655, "topic": "a4s_sealer_1.drawer.command.succeeded", "source": "a4s_sealer_1.drawer", "data": {"command_id": "program-1-2", "name": "close", "source": "program:seal", "result": {"position": "in"}}, "cause": "program-1-2"} +{"env_id": 1, "seq": 15, "step": 7131, "t": 35.655, "topic": "labware.plate_2.changed", "source": "labware.plate_2", "data": {"key": "sealed", "value": true}, "cause": "task-1-1"} +{"env_id": 1, "seq": 16, "step": 7131, "t": 35.655, "topic": "a4s_sealer_1.sealed", "source": "a4s_sealer_1", "data": {"plate": "plate_2"}, "cause": "task-1-1"} +{"env_id": 1, "seq": 17, "step": 7131, "t": 35.655, "topic": "a4s_sealer_1.heater.command.started", "source": "a4s_sealer_1.heater", "data": {"command_id": "program-1-3", "name": "run", "source": "program:seal"}, "cause": "program-1-3"} +{"env_id": 1, "seq": 18, "step": 7131, "t": 35.655, "topic": "a4s_sealer_1.heater.state.changed", "source": "a4s_sealer_1.heater", "data": {"from": "ready", "to": "running"}, "cause": null} +{"env_id": 1, "seq": 19, "step": 7131, "t": 35.655, "topic": "a4s_sealer_1.heater.started", "source": "a4s_sealer_1.heater", "data": {"duration": 2.203831511533845}, "cause": "program-1-3"} +{"env_id": 1, "seq": 20, "step": 7572, "t": 37.86, "topic": "a4s_sealer_1.heater.state.changed", "source": "a4s_sealer_1.heater", "data": {"from": "running", "to": "ready"}, "cause": null} +{"env_id": 1, "seq": 21, "step": 7572, "t": 37.86, "topic": "a4s_sealer_1.heater.finished", "source": "a4s_sealer_1.heater", "data": {"elapsed": 2.205000000001128}, "cause": "program-1-3"} +{"env_id": 1, "seq": 22, "step": 7572, "t": 37.86, "topic": "a4s_sealer_1.heater.command.succeeded", "source": "a4s_sealer_1.heater", "data": {"command_id": "program-1-3", "name": "run", "source": "program:seal", "result": {"elapsed": 2.205000000001128}}, "cause": "program-1-3"} +{"env_id": 1, "seq": 23, "step": 7572, "t": 37.86, "topic": "a4s_sealer_1.drawer.command.started", "source": "a4s_sealer_1.drawer", "data": {"command_id": "program-1-4", "name": "open", "source": "program:seal"}, "cause": "program-1-4"} +{"env_id": 1, "seq": 24, "step": 7572, "t": 37.86, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "at_in", "to": "moving"}, "cause": null} +{"env_id": 1, "seq": 25, "step": 7572, "t": 37.86, "topic": "a4s_sealer_1.drawer.moving", "source": "a4s_sealer_1.drawer", "data": {"target": 0.0, "goal": "out"}, "cause": "program-1-4"} +{"env_id": 1, "seq": 26, "step": 7992, "t": 39.96, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "moving", "to": "at_out"}, "cause": null} +{"env_id": 1, "seq": 27, "step": 7992, "t": 39.96, "topic": "a4s_sealer_1.drawer.reached", "source": "a4s_sealer_1.drawer", "data": {"position": "out", "q": 4.2178029957540275e-08}, "cause": "program-1-4"} +{"env_id": 1, "seq": 28, "step": 7992, "t": 39.96, "topic": "a4s_sealer_1.drawer.at_out", "source": "a4s_sealer_1.drawer", "data": {"q": 4.2178029957540275e-08}, "cause": "program-1-4"} +{"env_id": 1, "seq": 29, "step": 7992, "t": 39.96, "topic": "a4s_sealer_1.drawer.command.succeeded", "source": "a4s_sealer_1.drawer", "data": {"command_id": "program-1-4", "name": "open", "source": "program:seal", "result": {"position": "out"}}, "cause": "program-1-4"} +{"env_id": 1, "seq": 30, "step": 7992, "t": 39.96, "topic": "a4s_sealer_1.seal.finished", "source": "a4s_sealer_1", "data": {}, "cause": "task-1-1"} +{"env_id": 1, "seq": 31, "step": 7992, "t": 39.96, "topic": "a4s_sealer_1.command.succeeded", "source": "a4s_sealer_1", "data": {"command_id": "task-1-1", "name": "seal", "source": "task"}, "cause": "task-1-1"} +{"env_id": 1, "seq": 32, "step": 8571, "t": 42.855, "topic": "a4s_sealer_1.plate_present.absent", "source": "a4s_sealer_1.plate_present", "data": {"object": "plate_2"}, "cause": null} +{"env_id": 1, "seq": 33, "step": 10328, "t": 51.64, "topic": "conveyor_1.belt.command.started", "source": "conveyor_1.belt", "data": {"command_id": "task-1-5", "name": "release", "source": "task"}, "cause": "task-1-5"} +{"env_id": 1, "seq": 34, "step": 10328, "t": 51.64, "topic": "conveyor_1.belt.station.pick.released", "source": "conveyor_1.belt", "data": {"rider": "carrier_2"}, "cause": "task-1-5"} +{"env_id": 1, "seq": 35, "step": 10328, "t": 51.64, "topic": "conveyor_1.belt.state.changed", "source": "conveyor_1.belt", "data": {"from": "at_station", "to": "running"}, "cause": null} +{"env_id": 1, "seq": 36, "step": 10328, "t": 51.64, "topic": "conveyor_1.belt.command.succeeded", "source": "conveyor_1.belt", "data": {"command_id": "task-1-5", "name": "release", "source": "task", "result": {"state": "running"}}, "cause": "task-1-5"} diff --git a/episodes/c4_p005_e001/env.mp4 b/episodes/c4_p005_e001/env.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..d781aaac480155d7305d21a02c1726d9066bae71 --- /dev/null +++ b/episodes/c4_p005_e001/env.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:28a0c9c0d8c4a66c4b568db34e5eabd784ae304c87ef2a06fb1a2b7c6df64e31 +size 1212194 diff --git a/episodes/c4_p005_e001/meta.json b/episodes/c4_p005_e001/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..23b1a9315eef2d60502a79fa152c82cef18e4de4 --- /dev/null +++ b/episodes/c4_p005_e001/meta.json @@ -0,0 +1,32 @@ +{ + "source": "raw/c4_p005/magicsim/1", + "fps": 25, + "frames": 1215, + "kept_ticks": "even", + "video_frames": { + "wrist": 1215, + "env": 1215 + }, + "joint_target_source": "joint_pos_target", + "fk_vs_recorded_eef_max_m": 0.0, + "curobo_joints": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "joint_order": [ + "shoulder_pan", + "shoulder_lift", + "elbow", + "wrist_1", + "wrist_2", + "wrist_3", + "finger_left", + "finger_right" + ], + "frames_note": "eef / actions in the robot base frame; camera_pose = local pose (wrist: in plate_gripper_base, env: env frame), pos + quat wxyz", + "dr_version": "v2" +} \ No newline at end of file diff --git a/episodes/c4_p005_e001/scene_snapshot.json b/episodes/c4_p005_e001/scene_snapshot.json new file mode 100644 index 0000000000000000000000000000000000000000..d8b8972085c5babc539363927c086a084e518835 --- /dev/null +++ b/episodes/c4_p005_e001/scene_snapshot.json @@ -0,0 +1,1558 @@ +{ + "trajectory_id": 1, + "env_id": 1, + "run_id": "c4_p005", + "task_type": "BioPlateCell", + "success": true, + "timing": { + "fps": 50.0, + "sim_dt": 0.005, + "decimation": 4 + }, + "restore_interface": { + "scene": "scene_manager.reset_to(snapshot['scene'], env_ids=[env_id])", + "robots": "robot_manager.set_state({'robots': snapshot['robots']}, env_ids=[env_id])" + }, + "snapshot": { + "env_id": 1, + "scene": { + "objects": [ + {}, + { + "rac_cell": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/rac_cell.usd", + "pose": { + "pos": [ + 0.0, + 0.0, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "physics_material": { + "static_friction": 0.6, + "dynamic_friction": 0.5, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "robot_mount": [ + { + "asset": "Cube", + "pose": { + "pos": [ + 0.0, + 0.0, + 0.9075 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": "color", + "value": [ + 0.55, + 0.56, + 0.58 + ], + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": { + "size": [ + 0.2, + 0.2, + 0.015 + ] + } + }, + "type_specific": {} + } + ], + "plate_rack": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/plate_hotel.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 0.9 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "physics_material": { + "static_friction": 0.6, + "dynamic_friction": 0.5, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "hotel_plate": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/deep_well_96_2ml/deep_well_96_2ml.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 0.9605 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_12_clear/plate_12_clear.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.0285 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/deep_well_96_2ml/deep_well_96_2ml.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.0965 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_96_white/plate_96_white.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.1645 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_96_black/plate_96_black.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.2325 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "a4s_sealer": [ + { + "asset": "$MAGICSIM_ASSETS/Articulated/A4SSealer/Object.usd", + "pose": { + "pos": [ + 0.5280046463012695, + 0.10087203979492188, + 0.8999999761581421 + ], + "ori": [ + -0.6990718245506287, + 0.0, + 0.0, + 0.7150514721870422 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "articulation", + "solver_position_iteration_count": 16.0, + "solver_velocity_iteration_count": 1.0, + "enabled_self_collisions": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "joint_position": [ + 5.4217333747552665e-12 + ], + "joint_velocity": [ + 0.0 + ], + "linear_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "angular_velocity": [ + 0.0, + 0.0, + 0.0 + ] + } + } + ], + "conveyor": [ + { + "asset": "Cube", + "pose": { + "pos": [ + 0.15, + 0.45, + 0.9 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "conveyor", + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9 + }, + "ratio": 1.0 + }, + "primitive_params": { + "size": [ + 2.4, + 0.076, + 0.03 + ] + }, + "conveyor": { + "speed": 0.2533741899895981, + "direction": [ + 1.0, + 0.0, + 0.0 + ], + "enabled": true, + "drive": "surface_velocity", + "lines": null, + "station_line": null, + "riders": [ + "carrier" + ], + "stations": { + "pick": { + "position": -0.23821209267938434, + "slow_distance": 0.03, + "slow_speed": 0.03 + } + }, + "rails": { + "height": 0.01, + "thickness": 0.01, + "gap": 0.001, + "friction": 0.05 + }, + "legs": 0.87, + "loop": { + "radius": 0.35, + "side": "left", + "curve_extra_width": 0.0, + "segments": 18, + "curve_rails": "both" + }, + "snap_distance": 0.1, + "junction_snap": 0.02, + "collision_approximation": "auto", + "plate_mass": 1.0, + "lift_drop": 0.004, + "accel": 0.0, + "decel": 0.0, + "drive_damping": 1000000.0, + "drive_max_force": 1000000000.0 + } + }, + "type_specific": { + "controller": { + "state": "at_station", + "speed": 0.2533741899895981, + "holds": [], + "station": "pick", + "rider": "carrier_2", + "arrived": true, + "applied_speed": 0.0 + } + } + } + ], + "carrier": [ + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + 0.8098945617675781, + 1.1527290344238281, + 0.8999999761581421 + ], + "ori": [ + -0.00940562505275011, + 1.631983792549363e-07, + -4.8315744294313845e-08, + 0.9999558329582214 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 1.3471442343870876e-06, + 1.1522900678073711e-07, + -4.447996616363525e-06 + ], + "angular_velocity": [ + 2.312055767106358e-05, + 0.00011190115037607029, + -2.8802373890357558e-06 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + -0.08820056915283203, + 0.4474916458129883, + 0.8999999761581421 + ], + "ori": [ + 0.9999549984931946, + -1.8438964244360534e-10, + 1.616592526509919e-09, + 0.009488721378147602 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -1.1762493201672442e-09, + -3.099532186467968e-09, + 1.1175870895385742e-08 + ], + "angular_velocity": [ + 1.0329576127787732e-07, + -7.519545874856703e-08, + -3.936185422048766e-08 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + 1.5403108596801758, + 0.5100936889648438, + 0.8999999761581421 + ], + "ori": [ + 0.9603579640388489, + 3.2387131199129726e-08, + -7.516594280332356e-08, + 0.27876973152160645 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 9.444439674766159e-11, + -6.297411481170911e-10, + 0.0 + ], + "angular_velocity": [ + 2.4027185574482246e-08, + 2.986775271551778e-09, + -2.216503869334474e-09 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + -1.3923025131225586, + 0.7399406433105469, + 0.8999999761581421 + ], + "ori": [ + -0.7602065801620483, + 4.20990602378879e-08, + -9.794453248446189e-09, + 0.6496813893318176 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -4.894587277703977e-07, + -9.860157490493293e-08, + 1.862645149230957e-07 + ], + "angular_velocity": [ + -1.1619033557508374e-06, + -5.506252819031943e-06, + -6.0285574363661e-06 + ] + } + } + ], + "plate": [ + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_12_clear/Object.usd", + "pose": { + "pos": [ + 0.818634033203125, + 1.1649599075317383, + 0.9179999828338623 + ], + "ori": [ + -0.0640033483505249, + 1.5281057130778208e-07, + -4.6738747982999485e-08, + 0.9979496598243713 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 3.0176272503013024e-06, + -2.744528444509342e-07, + -5.125999450683594e-06 + ], + "angular_velocity": [ + 2.435763417452108e-05, + 0.00011248797818552703, + -2.3839324967411812e-06 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_96_white/Object.usd", + "pose": { + "pos": [ + -0.10269546508789062, + 0.44038867950439453, + 0.9180000424385071 + ], + "ori": [ + 0.9952020645141602, + 1.665873133882556e-10, + 3.0835722863997717e-09, + 0.09784094989299774 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -4.612140003246168e-08, + -4.3447265341001184e-08, + -5.301088094711304e-06 + ], + "angular_velocity": [ + 1.1705410543072503e-06, + -1.8000756654146244e-06, + 5.3460475157862675e-08 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/pcr_384_red/Object.usd", + "pose": { + "pos": [ + 1.5461187362670898, + 0.5222206115722656, + 0.9179999828338623 + ], + "ori": [ + 0.9533759355545044, + 3.0837000508654455e-08, + -7.60890088713495e-08, + 0.3017854690551758 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -1.619620881854189e-09, + -3.0350659763200838e-09, + -5.27501106262207e-06 + ], + "angular_velocity": [ + 6.99326619724161e-07, + -3.782473925184604e-07, + 1.2013231298624305e-08 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/deep_well_96_1ml/Object.usd", + "pose": { + "pos": [ + -1.403946876525879, + 0.7527294158935547, + 0.9180000424385071 + ], + "ori": [ + -0.8222083449363708, + 3.3164485557790613e-07, + -6.575977522516041e-07, + 0.5691867470741272 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -5.817060809931718e-06, + 8.281862392323092e-06, + -1.0292977094650269e-05 + ], + "angular_velocity": [ + 2.7580455935094506e-05, + -0.0003024877514690161, + 2.215000131400302e-05 + ] + } + } + ], + "deco_hub_west": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/hub_a.usd", + "pose": { + "pos": [ + -3.36, + 0.0, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_hub_east": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/hub_c.usd", + "pose": { + "pos": [ + 3.36, + 0.0, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_hub_back": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/hub_d.usd", + "pose": { + "pos": [ + -3.0, + -2.1, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_bench_east": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/bench_c.usd", + "pose": { + "pos": [ + 2.6, + -2.5, + 0.0 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_bench_gap": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/bench_b.usd", + "pose": { + "pos": [ + -0.1, + -2.9, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ] + }, + {}, + {} + ], + "devices": { + "hub": [ + null, + { + "t": 3.2199999999999536, + "step": 644, + "counter": 0, + "devices": { + "a4s_sealer_1": { + "mode": "auto", + "units": { + "drawer": { + "state": "at_out", + "active": null, + "target": 0.0, + "goal_name": "out", + "profile": null, + "q_start": null, + "reversing": false, + "blocked_for": 0.0, + "settled_for": 0.0, + "last_q": 5.4217333747552665e-12 + }, + "heater": { + "state": "ready", + "active": null, + "duration": 0.0, + "t_start": null, + "elapsed": 0.0 + } + }, + "queues": {}, + "program": null, + "sensors": { + "plate_present": { + "occupants": [], + "pending": {} + } + }, + "interlocks": {} + }, + "conveyor_1": { + "mode": "auto", + "units": { + "belt": { + "state": "at_station", + "active": null, + "controller": { + "speed": 0.2533741899895981, + "holds": [], + "station": "pick", + "rider": "carrier_2", + "arrived": true, + "settle_count": 502, + "released": { + "pick": [] + }, + "last_pos": { + "carrier_1": [ + 0.6598945558071136, + 0.7027290463447571, + 0.0 + ], + "carrier_2": [ + -0.2382005751132965, + -0.0025083422660827637, + 0.0 + ], + "carrier_3": [ + 1.3903108537197113, + 0.060093700885772705, + 0.0 + ], + "carrier_4": [ + -1.542302519083023, + 0.28994065523147583, + 0.0 + ] + }, + "command": 0.0 + }, + "belt": { + "target_speed": 0.0, + "command_speed": 0.0 + }, + "seen": { + "state": "at_station", + "station": "pick", + "rider": "carrier_2", + "arrived": true + } + } + }, + "queues": {}, + "program": null, + "sensors": {}, + "interlocks": {} + } + }, + "zones": {}, + "labware": { + "plate_1": { + "sealed": false + }, + "plate_2": { + "sealed": false + }, + "plate_3": { + "sealed": false + }, + "plate_4": { + "sealed": false + } + }, + "rules": {}, + "records": [], + "bus": { + "seq": 3, + "queue": [] + } + }, + null, + null + ], + "drives": [ + null, + {}, + null, + null + ] + }, + "artifacts": [ + {}, + { + "ceiling": { + "type": "rect", + "pose": { + "pos": [ + 0.5235021846413804, + -0.002590917250372804, + 2.718246342128867 + ], + "ori": [ + -1.317098861595598, + 0.6328870236831925, + -5.663736034596933 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "color_temperature": 6417.584643530403, + "color": [ + 0.9424291637272157, + 0.9329544165860936, + 0.7859426245578599 + ], + "intensity": 14251.470661873636, + "width": 1.5907903766452935, + "height": 1.3359515416012617 + } + }, + "key": { + "type": "disk", + "pose": { + "pos": [ + 0.902801205319339, + -0.3425629692645319, + 2.1797731847070927 + ], + "ori": [ + 39.39768278316984, + -4.632451065336355, + -7.30710899494504 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "color_temperature": 6003.379521270777, + "color": [ + 0.9019981657899541, + 0.8996015273443431, + 0.9974804873207656 + ], + "intensity": 7895.965174137602, + "radius": 0.44799389721939853 + } + } + }, + {}, + {} + ], + "background": { + "type": "dome", + "pose": { + "pos": null, + "ori": null, + "scale": null + }, + "dr": { + "intensity": 1506.5120303012825, + "texture": null, + "color": [ + 0.92, + 0.94, + 0.96 + ] + } + } + }, + "robots": { + "UR5e": { + "root_pose": [ + [ + 11.0, + -11.0, + 0.9150000214576721, + 1.0, + 0.0, + 0.0, + 0.0 + ], + [ + 11.0, + 11.0, + 0.9150000214576721, + 1.0, + 0.0, + 0.0, + 0.0 + ], + [ + -11.0, + -11.0, + 0.9150000214576721, + 1.0, + 0.0, + 0.0, + 0.0 + ], + [ + -11.0, + 11.0, + 0.9150000214576721, + 1.0, + 0.0, + 0.0, + 0.0 + ] + ], + "root_vel": [ + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + ], + "joint_pos": [ + [ + 0.9141025543212891, + -1.719397783279419, + 2.0904994010925293, + -1.9419012069702148, + -1.5707999467849731, + 2.484901189804077, + 0.01799999736249447, + 0.018000001087784767 + ], + [ + 0.9141010642051697, + -1.719397783279419, + 2.09049916267395, + -1.9419004917144775, + -1.5707999467849731, + 2.4849002361297607, + 0.018000001087784767, + 0.01799999736249447 + ], + [ + 0.9141020774841309, + -1.7193984985351562, + 2.0904996395111084, + -1.9419007301330566, + -1.5707999467849731, + 2.48490047454834, + 0.017999999225139618, + 0.017999999225139618 + ], + [ + 1.2202423810958862, + -1.4904121160507202, + 2.185027837753296, + -2.265373945236206, + -1.5707963705062866, + 2.8426408767700195, + 0.018000051379203796, + 0.017999950796365738 + ] + ], + "joint_vel": [ + [ + -2.442258073222979e-38, + 2.97718246224232e-38, + 2.7947636702340584e-38, + 4.5719288343206525e-37, + -5.715706756220798e-37, + -7.685524002637048e-38, + 2.5990400942532688e-08, + -2.5990388508034812e-08 + ], + [ + 2.3021862405469203e-38, + -1.9620815744257298e-38, + 1.2895017518022117e-38, + -5.7362235594005475e-37, + 5.7705246553141675e-37, + -2.980420941466089e-36, + -2.5990388508034812e-08, + 2.5990388508034812e-08 + ], + [ + 3.4059653444273863e-06, + 1.6559171568675257e-12, + 1.6014273240827492e-12, + -3.405976030990132e-06, + -3.405978077353211e-06, + 6.793507271486698e-13, + 2.2319928023872837e-13, + 4.8580097464310384e-14 + ], + [ + -0.00010643788118613884, + 0.014872986823320389, + 0.009970316663384438, + -0.023661315441131592, + -8.354938472621143e-06, + 2.001422217290383e-05, + -6.574549388460582e-06, + 6.524479886138579e-06 + ] + ] + } + }, + "cameras": { + "cameras": { + "camera0": [ + [ + 0.04833901301026344, + -0.0010611407924443483, + -0.03282172232866287, + -0.27739787101745605, + 0.6440975666046143, + 0.6583095192909241, + -0.2735275626182556 + ], + [ + 0.04955952614545822, + -0.0015208693221211433, + -0.029162250459194183, + -0.2935042083263397, + 0.6424248218536377, + 0.6485756635665894, + -0.2837167978286743 + ], + [ + 0.04767879471182823, + 0.0005170502699911594, + -0.02791806124150753, + -0.2742142975330353, + 0.6548471450805664, + 0.6514086723327637, + -0.2676723003387451 + ], + [ + 0.04620947688817978, + 0.0020776803139597178, + -0.032128628343343735, + -0.2770119309425354, + 0.656829297542572, + 0.6353881359100342, + -0.2968527376651764 + ] + ], + "camera1": [ + [ + 0.04620630666613579, + 0.5695286989212036, + 1.9702941179275513, + 0.03934749960899353, + 0.018188023939728737, + 0.2584480047225952, + 0.9650521278381348 + ], + [ + 0.050085414201021194, + 0.5942978262901306, + 1.948786973953247, + 0.03434796631336212, + 0.015196963213384151, + 0.2876150608062744, + 0.9570093154907227 + ], + [ + 0.04559464752674103, + 0.5840745568275452, + 1.949146032333374, + 0.03730398416519165, + 0.005057400558143854, + 0.2741798162460327, + 0.9609413146972656 + ], + [ + 0.07204993814229965, + 0.5755515694618225, + 1.941467046737671, + 0.05699848756194115, + 0.00555310258641839, + 0.2857838571071625, + 0.9565813541412354 + ] + ] + } + } + } +} \ No newline at end of file diff --git a/episodes/c4_p005_e001/wrist.mp4 b/episodes/c4_p005_e001/wrist.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..eb0e06c3d42714403f3f24f8c6aeb101d0ad6c61 --- /dev/null +++ b/episodes/c4_p005_e001/wrist.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:1981c67bac8c77cfebd3b6016f5a756cd441a9d094af710d95224345ad476f72 +size 6682677 diff --git a/episodes/c4_p005_e002/data.npz b/episodes/c4_p005_e002/data.npz new file mode 100644 index 0000000000000000000000000000000000000000..1e6b137b9ca5888424808fc2931f575daa9dc3e6 --- /dev/null +++ b/episodes/c4_p005_e002/data.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:2bd5a24c9e7eca4fb9d95b403ae47d2bd3a80952b9f6fa15b213c8d7b5f9ee61 +size 191182 diff --git a/episodes/c4_p005_e002/device_events.jsonl b/episodes/c4_p005_e002/device_events.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..6c25143a4f88178f10366f85c2cf431040169859 --- /dev/null +++ b/episodes/c4_p005_e002/device_events.jsonl @@ -0,0 +1,36 @@ +{"env_id": 2, "seq": 1, "step": 127, "t": 0.635, "topic": "conveyor_1.belt.station.pick.captured", "source": "conveyor_1.belt", "data": {"rider": "carrier_3"}, "cause": null} +{"env_id": 2, "seq": 2, "step": 127, "t": 0.635, "topic": "conveyor_1.belt.state.changed", "source": "conveyor_1.belt", "data": {"from": "running", "to": "at_station"}, "cause": null} +{"env_id": 2, "seq": 3, "step": 132, "t": 0.66, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_3"}, "cause": null} +{"env_id": 2, "seq": 4, "step": 1937, "t": 9.685, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_3"}, "cause": null} +{"env_id": 2, "seq": 5, "step": 6475, "t": 32.375, "topic": "a4s_sealer_1.plate_present.present", "source": "a4s_sealer_1.plate_present", "data": {"object": "plate_3"}, "cause": null} +{"env_id": 2, "seq": 6, "step": 7088, "t": 35.44, "topic": "a4s_sealer_1.command.started", "source": "a4s_sealer_1", "data": {"command_id": "task-2-1", "name": "seal", "source": "task"}, "cause": "task-2-1"} +{"env_id": 2, "seq": 7, "step": 7088, "t": 35.44, "topic": "a4s_sealer_1.seal.started", "source": "a4s_sealer_1", "data": {"dwell": 4.5294865592421845}, "cause": "task-2-1"} +{"env_id": 2, "seq": 8, "step": 7088, "t": 35.44, "topic": "a4s_sealer_1.drawer.command.started", "source": "a4s_sealer_1.drawer", "data": {"command_id": "program-2-2", "name": "close", "source": "program:seal"}, "cause": "program-2-2"} +{"env_id": 2, "seq": 9, "step": 7088, "t": 35.44, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "at_out", "to": "moving"}, "cause": null} +{"env_id": 2, "seq": 10, "step": 7088, "t": 35.44, "topic": "a4s_sealer_1.drawer.moving", "source": "a4s_sealer_1.drawer", "data": {"target": 0.3, "goal": "in"}, "cause": "program-2-2"} +{"env_id": 2, "seq": 11, "step": 7507, "t": 37.535, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "moving", "to": "at_in"}, "cause": null} +{"env_id": 2, "seq": 12, "step": 7507, "t": 37.535, "topic": "a4s_sealer_1.drawer.reached", "source": "a4s_sealer_1.drawer", "data": {"position": "in", "q": 0.30000001192092896}, "cause": "program-2-2"} +{"env_id": 2, "seq": 13, "step": 7507, "t": 37.535, "topic": "a4s_sealer_1.drawer.at_in", "source": "a4s_sealer_1.drawer", "data": {"q": 0.30000001192092896}, "cause": "program-2-2"} +{"env_id": 2, "seq": 14, "step": 7507, "t": 37.535, "topic": "a4s_sealer_1.drawer.command.succeeded", "source": "a4s_sealer_1.drawer", "data": {"command_id": "program-2-2", "name": "close", "source": "program:seal", "result": {"position": "in"}}, "cause": "program-2-2"} +{"env_id": 2, "seq": 15, "step": 7507, "t": 37.535, "topic": "labware.plate_3.changed", "source": "labware.plate_3", "data": {"key": "sealed", "value": true}, "cause": "task-2-1"} +{"env_id": 2, "seq": 16, "step": 7507, "t": 37.535, "topic": "a4s_sealer_1.sealed", "source": "a4s_sealer_1", "data": {"plate": "plate_3"}, "cause": "task-2-1"} +{"env_id": 2, "seq": 17, "step": 7507, "t": 37.535, "topic": "a4s_sealer_1.heater.command.started", "source": "a4s_sealer_1.heater", "data": {"command_id": "program-2-3", "name": "run", "source": "program:seal"}, "cause": "program-2-3"} +{"env_id": 2, "seq": 18, "step": 7507, "t": 37.535, "topic": "a4s_sealer_1.heater.state.changed", "source": "a4s_sealer_1.heater", "data": {"from": "ready", "to": "running"}, "cause": null} +{"env_id": 2, "seq": 19, "step": 7507, "t": 37.535, "topic": "a4s_sealer_1.heater.started", "source": "a4s_sealer_1.heater", "data": {"duration": 4.5294865592421845}, "cause": "program-2-3"} +{"env_id": 2, "seq": 20, "step": 8413, "t": 42.065, "topic": "a4s_sealer_1.heater.state.changed", "source": "a4s_sealer_1.heater", "data": {"from": "running", "to": "ready"}, "cause": null} +{"env_id": 2, "seq": 21, "step": 8413, "t": 42.065, "topic": "a4s_sealer_1.heater.finished", "source": "a4s_sealer_1.heater", "data": {"elapsed": 4.5300000000023175}, "cause": "program-2-3"} +{"env_id": 2, "seq": 22, "step": 8413, "t": 42.065, "topic": "a4s_sealer_1.heater.command.succeeded", "source": "a4s_sealer_1.heater", "data": {"command_id": "program-2-3", "name": "run", "source": "program:seal", "result": {"elapsed": 4.5300000000023175}}, "cause": "program-2-3"} +{"env_id": 2, "seq": 23, "step": 8413, "t": 42.065, "topic": "a4s_sealer_1.drawer.command.started", "source": "a4s_sealer_1.drawer", "data": {"command_id": "program-2-4", "name": "open", "source": "program:seal"}, "cause": "program-2-4"} +{"env_id": 2, "seq": 24, "step": 8413, "t": 42.065, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "at_in", "to": "moving"}, "cause": null} +{"env_id": 2, "seq": 25, "step": 8413, "t": 42.065, "topic": "a4s_sealer_1.drawer.moving", "source": "a4s_sealer_1.drawer", "data": {"target": 0.0, "goal": "out"}, "cause": "program-2-4"} +{"env_id": 2, "seq": 26, "step": 8833, "t": 44.165, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "moving", "to": "at_out"}, "cause": null} +{"env_id": 2, "seq": 27, "step": 8833, "t": 44.165, "topic": "a4s_sealer_1.drawer.reached", "source": "a4s_sealer_1.drawer", "data": {"position": "out", "q": 1.9237245130199199e-10}, "cause": "program-2-4"} +{"env_id": 2, "seq": 28, "step": 8833, "t": 44.165, "topic": "a4s_sealer_1.drawer.at_out", "source": "a4s_sealer_1.drawer", "data": {"q": 1.9237245130199199e-10}, "cause": "program-2-4"} +{"env_id": 2, "seq": 29, "step": 8833, "t": 44.165, "topic": "a4s_sealer_1.drawer.command.succeeded", "source": "a4s_sealer_1.drawer", "data": {"command_id": "program-2-4", "name": "open", "source": "program:seal", "result": {"position": "out"}}, "cause": "program-2-4"} +{"env_id": 2, "seq": 30, "step": 8833, "t": 44.165, "topic": "a4s_sealer_1.seal.finished", "source": "a4s_sealer_1", "data": {}, "cause": "task-2-1"} +{"env_id": 2, "seq": 31, "step": 8833, "t": 44.165, "topic": "a4s_sealer_1.command.succeeded", "source": "a4s_sealer_1", "data": {"command_id": "task-2-1", "name": "seal", "source": "task"}, "cause": "task-2-1"} +{"env_id": 2, "seq": 32, "step": 9416, "t": 47.08, "topic": "a4s_sealer_1.plate_present.absent", "source": "a4s_sealer_1.plate_present", "data": {"object": "plate_3"}, "cause": null} +{"env_id": 2, "seq": 33, "step": 11160, "t": 55.8, "topic": "conveyor_1.belt.command.started", "source": "conveyor_1.belt", "data": {"command_id": "task-2-5", "name": "release", "source": "task"}, "cause": "task-2-5"} +{"env_id": 2, "seq": 34, "step": 11160, "t": 55.8, "topic": "conveyor_1.belt.station.pick.released", "source": "conveyor_1.belt", "data": {"rider": "carrier_3"}, "cause": "task-2-5"} +{"env_id": 2, "seq": 35, "step": 11160, "t": 55.8, "topic": "conveyor_1.belt.state.changed", "source": "conveyor_1.belt", "data": {"from": "at_station", "to": "running"}, "cause": null} +{"env_id": 2, "seq": 36, "step": 11160, "t": 55.8, "topic": "conveyor_1.belt.command.succeeded", "source": "conveyor_1.belt", "data": {"command_id": "task-2-5", "name": "release", "source": "task", "result": {"state": "running"}}, "cause": "task-2-5"} diff --git a/episodes/c4_p005_e002/env.mp4 b/episodes/c4_p005_e002/env.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..7a53d0c1921f6810bd1fad8f3d2baf745e149777 --- /dev/null +++ b/episodes/c4_p005_e002/env.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:2426108be7bf16700f371c350682bb0520f6a4a342bd42f2058e36f270eef590 +size 1192001 diff --git a/episodes/c4_p005_e002/meta.json b/episodes/c4_p005_e002/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..755382129ab58eb9215ac5c2fa454fb37b7a2e5f --- /dev/null +++ b/episodes/c4_p005_e002/meta.json @@ -0,0 +1,32 @@ +{ + "source": "raw/c4_p005/magicsim/2", + "fps": 25, + "frames": 1216, + "kept_ticks": "even", + "video_frames": { + "wrist": 1216, + "env": 1216 + }, + "joint_target_source": "joint_pos_target", + "fk_vs_recorded_eef_max_m": 0.0, + "curobo_joints": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "joint_order": [ + "shoulder_pan", + "shoulder_lift", + "elbow", + "wrist_1", + "wrist_2", + "wrist_3", + "finger_left", + "finger_right" + ], + "frames_note": "eef / actions in the robot base frame; camera_pose = local pose (wrist: in plate_gripper_base, env: env frame), pos + quat wxyz", + "dr_version": "v2" +} \ No newline at end of file diff --git a/episodes/c4_p005_e002/scene_snapshot.json b/episodes/c4_p005_e002/scene_snapshot.json new file mode 100644 index 0000000000000000000000000000000000000000..1d8fa9e323a0ea6b3553853ec1a1ca6469e750ef --- /dev/null +++ b/episodes/c4_p005_e002/scene_snapshot.json @@ -0,0 +1,1558 @@ +{ + "trajectory_id": 2, + "env_id": 2, + "run_id": "c4_p005", + "task_type": "BioPlateCell", + "success": true, + "timing": { + "fps": 50.0, + "sim_dt": 0.005, + "decimation": 4 + }, + "restore_interface": { + "scene": "scene_manager.reset_to(snapshot['scene'], env_ids=[env_id])", + "robots": "robot_manager.set_state({'robots': snapshot['robots']}, env_ids=[env_id])" + }, + "snapshot": { + "env_id": 2, + "scene": { + "objects": [ + {}, + {}, + { + "rac_cell": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/rac_cell.usd", + "pose": { + "pos": [ + 0.0, + 0.0, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "physics_material": { + "static_friction": 0.6, + "dynamic_friction": 0.5, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "robot_mount": [ + { + "asset": "Cube", + "pose": { + "pos": [ + 0.0, + 0.0, + 0.9075 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": "color", + "value": [ + 0.55, + 0.56, + 0.58 + ], + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": { + "size": [ + 0.2, + 0.2, + 0.015 + ] + } + }, + "type_specific": {} + } + ], + "plate_rack": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/plate_hotel.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 0.9 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "physics_material": { + "static_friction": 0.6, + "dynamic_friction": 0.5, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "hotel_plate": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/deep_well_96_2ml/deep_well_96_2ml.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 0.9605 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_6_clear/plate_6_clear.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.0285 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/deep_well_24_10ml/deep_well_24_10ml.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.0965 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_6_clear/plate_6_clear.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.1645 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_6_clear/plate_6_clear.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.2325 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "a4s_sealer": [ + { + "asset": "$MAGICSIM_ASSETS/Articulated/A4SSealer/Object.usd", + "pose": { + "pos": [ + 0.4743375778198242, + 0.07537841796875, + 0.8999999761581421 + ], + "ori": [ + 0.7076832056045532, + 0.0, + 0.0, + -0.7065299153327942 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "articulation", + "solver_position_iteration_count": 16.0, + "solver_velocity_iteration_count": 1.0, + "enabled_self_collisions": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "joint_position": [ + 3.61448935018438e-12 + ], + "joint_velocity": [ + 0.0 + ], + "linear_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "angular_velocity": [ + 0.0, + 0.0, + 0.0 + ] + } + } + ], + "conveyor": [ + { + "asset": "Cube", + "pose": { + "pos": [ + 0.15, + 0.45, + 0.9 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "conveyor", + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9 + }, + "ratio": 1.0 + }, + "primitive_params": { + "size": [ + 2.4, + 0.076, + 0.03 + ] + }, + "conveyor": { + "speed": 0.1522632857994542, + "direction": [ + 1.0, + 0.0, + 0.0 + ], + "enabled": true, + "drive": "surface_velocity", + "lines": null, + "station_line": null, + "riders": [ + "carrier" + ], + "stations": { + "pick": { + "position": -0.23341957669460087, + "slow_distance": 0.03, + "slow_speed": 0.03 + } + }, + "rails": { + "height": 0.01, + "thickness": 0.01, + "gap": 0.001, + "friction": 0.05 + }, + "legs": 0.87, + "loop": { + "radius": 0.35, + "side": "left", + "curve_extra_width": 0.0, + "segments": 18, + "curve_rails": "both" + }, + "snap_distance": 0.1, + "junction_snap": 0.02, + "collision_approximation": "auto", + "plate_mass": 1.0, + "lift_drop": 0.004, + "accel": 0.0, + "decel": 0.0, + "drive_damping": 1000000.0, + "drive_max_force": 1000000000.0 + } + }, + "type_specific": { + "controller": { + "state": "at_station", + "speed": 0.1522632857994542, + "holds": [], + "station": "pick", + "rider": "carrier_3", + "arrived": true, + "applied_speed": 0.0 + } + } + } + ], + "carrier": [ + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + 0.13133621215820312, + 1.149998664855957, + 0.8999999761581421 + ], + "ori": [ + 1.5156733752519358e-05, + -4.4484776973163775e-10, + 4.5589616526342525e-09, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -2.0829160618518472e-10, + -1.3391767694770351e-09, + 0.0 + ], + "angular_velocity": [ + 1.1129819910138394e-07, + -7.839414450927507e-09, + -2.3715958086256705e-09 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + -1.2929019927978516, + 1.0480804443359375, + 0.8999999761581421 + ], + "ori": [ + -0.37794557213783264, + -2.2240870478640318e-08, + -2.199351811782435e-09, + 0.9258278012275696 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 3.4386076208647864e-08, + -2.5646457402217493e-08, + 8.568167686462402e-08 + ], + "angular_velocity": [ + 2.6491916287341155e-06, + 2.691676172617008e-06, + -3.9982900545965094e-08 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + -0.08356189727783203, + 0.45000171661376953, + 0.8999999761581421 + ], + "ori": [ + 1.0, + 3.221005684395095e-09, + -4.229437355895982e-10, + 1.788463669072371e-05 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 9.958717184233024e-10, + 4.1839037789870304e-10, + 1.1175870895385742e-08 + ], + "angular_velocity": [ + -8.24167933899389e-09, + 9.202779693850971e-08, + -1.0697498886713674e-08 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + 1.6895980834960938, + 0.880767822265625, + 0.8999999761581421 + ], + "ori": [ + 0.620315670967102, + -8.300431630914318e-08, + -5.890662180263462e-08, + 0.7843523621559143 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -5.508206868398702e-08, + -1.485174472293238e-08, + 1.6391277313232422e-07 + ], + "angular_velocity": [ + 1.810958792702877e-06, + 1.3794083315588068e-06, + 8.945446552388603e-07 + ] + } + } + ], + "plate": [ + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_24_clear/Object.usd", + "pose": { + "pos": [ + 0.1312427520751953, + 1.1436586380004883, + 0.9179999828338623 + ], + "ori": [ + -0.06800141930580139, + 1.8787471578463055e-09, + 5.818738380014565e-09, + 0.9976852536201477 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 2.7791347889660756e-08, + 1.554593787034264e-08, + 8.568167686462402e-08 + ], + "angular_velocity": [ + -8.276333005596825e-07, + 1.4990781664891983e-06, + 1.0092283986296025e-07 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_384_black/Object.usd", + "pose": { + "pos": [ + -1.2959327697753906, + 1.0489311218261719, + 0.9180000424385071 + ], + "ori": [ + -0.3355054259300232, + -2.0435986414213403e-07, + 2.746497784755775e-07, + 0.9420382976531982 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 7.709421879553702e-06, + 1.1651526392597589e-06, + -6.224960088729858e-06 + ], + "angular_velocity": [ + 8.382276428164914e-05, + 0.00014603933959733695, + 4.4551929022418335e-05 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_1536_black/Object.usd", + "pose": { + "pos": [ + -0.09778118133544922, + 0.45187950134277344, + 0.9180000424385071 + ], + "ori": [ + 0.9995929002761841, + 1.8894299458338537e-09, + 8.852432675787725e-12, + -0.028533821925520897 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -8.356151326438521e-10, + 9.999670425031582e-09, + -5.159527063369751e-06 + ], + "angular_velocity": [ + 7.128508059395244e-07, + -1.8598560700411326e-06, + -6.278324349295872e-08 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/deep_well_24_10ml/Object.usd", + "pose": { + "pos": [ + 1.696650505065918, + 0.8820476531982422, + 0.9179999828338623 + ], + "ori": [ + 0.5493149757385254, + 1.551073864902719e-07, + -7.441269644914428e-08, + 0.8356153964996338 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 3.557959644240327e-06, + 4.80054632134852e-06, + -6.932765245437622e-06 + ], + "angular_velocity": [ + -7.552609895356e-05, + 0.00021570805984083563, + -1.2522928955149837e-05 + ] + } + } + ], + "deco_hub_west": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/hub_c.usd", + "pose": { + "pos": [ + -3.36, + 0.0, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_hub_east": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/hub_a.usd", + "pose": { + "pos": [ + 3.36, + 0.0, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_hub_back": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/hub_e.usd", + "pose": { + "pos": [ + -3.0, + -2.1, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_bench_east": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/bench_a.usd", + "pose": { + "pos": [ + 2.6, + -2.5, + 0.0 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_bench_gap": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/bench_b.usd", + "pose": { + "pos": [ + -0.1, + -2.9, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ] + }, + {} + ], + "devices": { + "hub": [ + null, + null, + { + "t": 7.439999999999864, + "step": 1488, + "counter": 0, + "devices": { + "a4s_sealer_1": { + "mode": "auto", + "units": { + "drawer": { + "state": "at_out", + "active": null, + "target": 0.0, + "goal_name": "out", + "profile": null, + "q_start": null, + "reversing": false, + "blocked_for": 0.0, + "settled_for": 0.0, + "last_q": 3.61448935018438e-12 + }, + "heater": { + "state": "ready", + "active": null, + "duration": 0.0, + "t_start": null, + "elapsed": 0.0 + } + }, + "queues": {}, + "program": null, + "sensors": { + "plate_present": { + "occupants": [], + "pending": {} + } + }, + "interlocks": {} + }, + "conveyor_1": { + "mode": "auto", + "units": { + "belt": { + "state": "at_station", + "active": null, + "controller": { + "speed": 0.1522632857994542, + "holds": [], + "station": "pick", + "rider": "carrier_3", + "arrived": true, + "settle_count": 1360, + "released": { + "pick": [] + }, + "last_pos": { + "carrier_1": [ + -0.018663793802261353, + 0.699998676776886, + 0.0 + ], + "carrier_2": [ + -1.442901998758316, + 0.5980804562568665, + 0.0 + ], + "carrier_3": [ + -0.2335619032382965, + 1.7285346984863281e-06, + 0.0 + ], + "carrier_4": [ + 1.5395980775356293, + 0.43076783418655396, + 0.0 + ] + }, + "command": 0.0 + }, + "belt": { + "target_speed": 0.0, + "command_speed": 0.0 + }, + "seen": { + "state": "at_station", + "station": "pick", + "rider": "carrier_3", + "arrived": true + } + } + }, + "queues": {}, + "program": null, + "sensors": {}, + "interlocks": {} + } + }, + "zones": {}, + "labware": { + "plate_1": { + "sealed": false + }, + "plate_2": { + "sealed": false + }, + "plate_3": { + "sealed": false + }, + "plate_4": { + "sealed": false + } + }, + "rules": {}, + "records": [], + "bus": { + "seq": 3, + "queue": [] + } + }, + null + ], + "drives": [ + null, + null, + {}, + null + ] + }, + "artifacts": [ + {}, + {}, + { + "ceiling": { + "type": "rect", + "pose": { + "pos": [ + 0.32692784147471887, + 0.2153172236193709, + 3.1877760196429983 + ], + "ori": [ + 6.972056592045771, + -2.6384599908327537, + -11.604119530172007 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "color_temperature": 6938.353492475862, + "color": [ + 0.9622002665814983, + 0.8836968982159673, + 0.9973731611516999 + ], + "intensity": 6559.04608418958, + "width": 1.575520870891235, + "height": 1.218401879917364 + } + }, + "key": { + "type": "sphere", + "pose": { + "pos": [ + -1.5730983654688562, + -0.43621712719882666, + 1.6135186276383533 + ], + "ori": [ + -30.82604721558682, + -27.245401144915995, + -35.88538221688452 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "color_temperature": 5033.852673385911, + "color": [ + 0.8062621855190907, + 0.9748927534769224, + 0.8128347104746251 + ], + "intensity": 1919.8654250896936, + "radius": 0.23845815821422484 + } + } + }, + {} + ], + "background": { + "type": "dome", + "pose": { + "pos": null, + "ori": null, + "scale": null + }, + "dr": { + "intensity": 1506.5120303012825, + "texture": null, + "color": [ + 0.92, + 0.94, + 0.96 + ] + } + } + }, + "robots": { + "UR5e": { + "root_pose": [ + [ + 11.0, + -11.0, + 0.9150000214576721, + 1.0, + 0.0, + 0.0, + 0.0 + ], + [ + 11.0, + 11.0, + 0.9150000214576721, + 1.0, + 0.0, + 0.0, + 0.0 + ], + [ + -11.0, + -11.0, + 0.9150000214576721, + 1.0, + 0.0, + 0.0, + 0.0 + ], + [ + -11.0, + 11.0, + 0.9150000214576721, + 1.0, + 0.0, + 0.0, + 0.0 + ] + ], + "root_vel": [ + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + ], + "joint_pos": [ + [ + 0.9141119122505188, + -1.7193934917449951, + 2.0904970169067383, + -1.9419018030166626, + -1.5707999467849731, + 2.4849064350128174, + 0.017999999225139618, + 0.017999999225139618 + ], + [ + 1.208640456199646, + -1.5067455768585205, + 2.110860824584961, + -2.1749267578125, + -1.5707908868789673, + 2.5834765434265137, + 0.007632014341652393, + 0.006950593553483486 + ], + [ + 0.9141020774841309, + -1.7193984985351562, + 2.0904996395111084, + -1.9419007301330566, + -1.5707999467849731, + 2.48490047454834, + 0.017999999225139618, + 0.017999999225139618 + ], + [ + 1.2203923463821411, + -1.5447063446044922, + 2.1425764560699463, + -2.168651819229126, + -1.5707963705062866, + 2.8428452014923096, + 0.007681331597268581, + 0.007082922384142876 + ] + ], + "joint_vel": [ + [ + 2.4431411715151965e-38, + 0.0, + 0.0, + -5.575588120176031e-37, + 3.763895746655613e-37, + 1.8651843079549045e-37, + 2.7494316649131506e-38, + -1.1178709400994624e-37 + ], + [ + 0.0001747095084283501, + -0.00648844288662076, + -0.005491328425705433, + 0.011081045493483543, + 0.00015060402802191675, + 0.0004019926709588617, + -0.008677447214722633, + 0.0003001191944349557 + ], + [ + 3.4059653444273863e-06, + 1.6395448367012566e-12, + 1.6225861800001073e-12, + -3.405976030990132e-06, + -3.405978077353211e-06, + 7.640451856263941e-13, + 1.2232943336683982e-13, + 6.28073304085805e-14 + ], + [ + 8.018078369786963e-05, + -9.831119314185344e-06, + -0.0003507729561533779, + -8.976330718724057e-05, + 7.405739597743377e-05, + 0.00034303791471756995, + -0.0075163389556109905, + 0.00027823817799799144 + ] + ] + } + }, + "cameras": { + "cameras": { + "camera0": [ + [ + 0.0486869253218174, + 0.001693856087513268, + -0.03274098411202431, + -0.2755427062511444, + 0.6465681195259094, + 0.6600441932678223, + -0.26526883244514465 + ], + [ + 0.04797438532114029, + -0.0015967180952429771, + -0.03253323584794998, + -0.2911888659000397, + 0.6464241147041321, + 0.6439561247825623, + -0.2875159978866577 + ], + [ + 0.047668810933828354, + 0.0005735410377383232, + -0.03202911466360092, + -0.2706749141216278, + 0.6557473540306091, + 0.6515679955482483, + -0.2686813473701477 + ], + [ + 0.04996161907911301, + 0.0015019330894574523, + -0.03440737724304199, + -0.2760644853115082, + 0.6563566327095032, + 0.6381412148475647, + -0.2928483486175537 + ] + ], + "camera1": [ + [ + 0.04620630666613579, + 0.5695286989212036, + 1.9702941179275513, + 0.03934749960899353, + 0.018188023939728737, + 0.2584480047225952, + 0.9650521278381348 + ], + [ + 0.050085414201021194, + 0.5942978262901306, + 1.948786973953247, + 0.03434796631336212, + 0.015196963213384151, + 0.2876150608062744, + 0.9570093154907227 + ], + [ + 0.04559464752674103, + 0.5840745568275452, + 1.949146032333374, + 0.03730398416519165, + 0.005057400558143854, + 0.2741798162460327, + 0.9609413146972656 + ], + [ + 0.07204993814229965, + 0.5755515694618225, + 1.941467046737671, + 0.05699848756194115, + 0.00555310258641839, + 0.2857838571071625, + 0.9565813541412354 + ] + ] + } + } + } +} \ No newline at end of file diff --git a/episodes/c4_p005_e002/wrist.mp4 b/episodes/c4_p005_e002/wrist.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..11e67ef73f665dc87994065e014af555175289d0 --- /dev/null +++ b/episodes/c4_p005_e002/wrist.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:0b92acdc7c87bb0dc58af78087e6210685db4ce599db98122ee3e0f5dd26d40e +size 6389343 diff --git a/episodes/c4_p005_e003/data.npz b/episodes/c4_p005_e003/data.npz new file mode 100644 index 0000000000000000000000000000000000000000..bf20c7e68fa9856f3c8b273d83d25b4f8ba566e1 --- /dev/null +++ b/episodes/c4_p005_e003/data.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:f85c8eb5dc82d2d1951897b3ffb03ee86b438ab2dc179660fe403bdd948d28fb +size 189123 diff --git a/episodes/c4_p005_e003/device_events.jsonl b/episodes/c4_p005_e003/device_events.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..af0dd2e54e99e184955db869e68b1ef28adc6fcf --- /dev/null +++ b/episodes/c4_p005_e003/device_events.jsonl @@ -0,0 +1,35 @@ +{"env_id": 0, "seq": 1, "step": 100, "t": 0.5, "topic": "conveyor_1.belt.station.pick.captured", "source": "conveyor_1.belt", "data": {"rider": "carrier_2"}, "cause": null} +{"env_id": 0, "seq": 2, "step": 100, "t": 0.5, "topic": "conveyor_1.belt.state.changed", "source": "conveyor_1.belt", "data": {"from": "running", "to": "at_station"}, "cause": null} +{"env_id": 0, "seq": 3, "step": 105, "t": 0.525, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_2"}, "cause": null} +{"env_id": 0, "seq": 4, "step": 6907, "t": 34.535, "topic": "a4s_sealer_1.plate_present.present", "source": "a4s_sealer_1.plate_present", "data": {"object": "plate_2"}, "cause": null} +{"env_id": 0, "seq": 5, "step": 7520, "t": 37.6, "topic": "a4s_sealer_1.command.started", "source": "a4s_sealer_1", "data": {"command_id": "task-0-1", "name": "seal", "source": "task"}, "cause": "task-0-1"} +{"env_id": 0, "seq": 6, "step": 7520, "t": 37.6, "topic": "a4s_sealer_1.seal.started", "source": "a4s_sealer_1", "data": {"dwell": 3.7388900752937015}, "cause": "task-0-1"} +{"env_id": 0, "seq": 7, "step": 7520, "t": 37.6, "topic": "a4s_sealer_1.drawer.command.started", "source": "a4s_sealer_1.drawer", "data": {"command_id": "program-0-2", "name": "close", "source": "program:seal"}, "cause": "program-0-2"} +{"env_id": 0, "seq": 8, "step": 7520, "t": 37.6, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "at_out", "to": "moving"}, "cause": null} +{"env_id": 0, "seq": 9, "step": 7520, "t": 37.6, "topic": "a4s_sealer_1.drawer.moving", "source": "a4s_sealer_1.drawer", "data": {"target": 0.3, "goal": "in"}, "cause": "program-0-2"} +{"env_id": 0, "seq": 10, "step": 7939, "t": 39.695, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "moving", "to": "at_in"}, "cause": null} +{"env_id": 0, "seq": 11, "step": 7939, "t": 39.695, "topic": "a4s_sealer_1.drawer.reached", "source": "a4s_sealer_1.drawer", "data": {"position": "in", "q": 0.30000001192092896}, "cause": "program-0-2"} +{"env_id": 0, "seq": 12, "step": 7939, "t": 39.695, "topic": "a4s_sealer_1.drawer.at_in", "source": "a4s_sealer_1.drawer", "data": {"q": 0.30000001192092896}, "cause": "program-0-2"} +{"env_id": 0, "seq": 13, "step": 7939, "t": 39.695, "topic": "a4s_sealer_1.drawer.command.succeeded", "source": "a4s_sealer_1.drawer", "data": {"command_id": "program-0-2", "name": "close", "source": "program:seal", "result": {"position": "in"}}, "cause": "program-0-2"} +{"env_id": 0, "seq": 14, "step": 7939, "t": 39.695, "topic": "labware.plate_2.changed", "source": "labware.plate_2", "data": {"key": "sealed", "value": true}, "cause": "task-0-1"} +{"env_id": 0, "seq": 15, "step": 7939, "t": 39.695, "topic": "a4s_sealer_1.sealed", "source": "a4s_sealer_1", "data": {"plate": "plate_2"}, "cause": "task-0-1"} +{"env_id": 0, "seq": 16, "step": 7939, "t": 39.695, "topic": "a4s_sealer_1.heater.command.started", "source": "a4s_sealer_1.heater", "data": {"command_id": "program-0-3", "name": "run", "source": "program:seal"}, "cause": "program-0-3"} +{"env_id": 0, "seq": 17, "step": 7939, "t": 39.695, "topic": "a4s_sealer_1.heater.state.changed", "source": "a4s_sealer_1.heater", "data": {"from": "ready", "to": "running"}, "cause": null} +{"env_id": 0, "seq": 18, "step": 7939, "t": 39.695, "topic": "a4s_sealer_1.heater.started", "source": "a4s_sealer_1.heater", "data": {"duration": 3.7388900752937015}, "cause": "program-0-3"} +{"env_id": 0, "seq": 19, "step": 8687, "t": 43.435, "topic": "a4s_sealer_1.heater.state.changed", "source": "a4s_sealer_1.heater", "data": {"from": "running", "to": "ready"}, "cause": null} +{"env_id": 0, "seq": 20, "step": 8687, "t": 43.435, "topic": "a4s_sealer_1.heater.finished", "source": "a4s_sealer_1.heater", "data": {"elapsed": 3.7400000000019133}, "cause": "program-0-3"} +{"env_id": 0, "seq": 21, "step": 8687, "t": 43.435, "topic": "a4s_sealer_1.heater.command.succeeded", "source": "a4s_sealer_1.heater", "data": {"command_id": "program-0-3", "name": "run", "source": "program:seal", "result": {"elapsed": 3.7400000000019133}}, "cause": "program-0-3"} +{"env_id": 0, "seq": 22, "step": 8687, "t": 43.435, "topic": "a4s_sealer_1.drawer.command.started", "source": "a4s_sealer_1.drawer", "data": {"command_id": "program-0-4", "name": "open", "source": "program:seal"}, "cause": "program-0-4"} +{"env_id": 0, "seq": 23, "step": 8687, "t": 43.435, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "at_in", "to": "moving"}, "cause": null} +{"env_id": 0, "seq": 24, "step": 8687, "t": 43.435, "topic": "a4s_sealer_1.drawer.moving", "source": "a4s_sealer_1.drawer", "data": {"target": 0.0, "goal": "out"}, "cause": "program-0-4"} +{"env_id": 0, "seq": 25, "step": 9107, "t": 45.535, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "moving", "to": "at_out"}, "cause": null} +{"env_id": 0, "seq": 26, "step": 9107, "t": 45.535, "topic": "a4s_sealer_1.drawer.reached", "source": "a4s_sealer_1.drawer", "data": {"position": "out", "q": 0.0}, "cause": "program-0-4"} +{"env_id": 0, "seq": 27, "step": 9107, "t": 45.535, "topic": "a4s_sealer_1.drawer.at_out", "source": "a4s_sealer_1.drawer", "data": {"q": 0.0}, "cause": "program-0-4"} +{"env_id": 0, "seq": 28, "step": 9107, "t": 45.535, "topic": "a4s_sealer_1.drawer.command.succeeded", "source": "a4s_sealer_1.drawer", "data": {"command_id": "program-0-4", "name": "open", "source": "program:seal", "result": {"position": "out"}}, "cause": "program-0-4"} +{"env_id": 0, "seq": 29, "step": 9107, "t": 45.535, "topic": "a4s_sealer_1.seal.finished", "source": "a4s_sealer_1", "data": {}, "cause": "task-0-1"} +{"env_id": 0, "seq": 30, "step": 9107, "t": 45.535, "topic": "a4s_sealer_1.command.succeeded", "source": "a4s_sealer_1", "data": {"command_id": "task-0-1", "name": "seal", "source": "task"}, "cause": "task-0-1"} +{"env_id": 0, "seq": 31, "step": 9687, "t": 48.435, "topic": "a4s_sealer_1.plate_present.absent", "source": "a4s_sealer_1.plate_present", "data": {"object": "plate_2"}, "cause": null} +{"env_id": 0, "seq": 32, "step": 11396, "t": 56.98, "topic": "conveyor_1.belt.command.started", "source": "conveyor_1.belt", "data": {"command_id": "task-0-5", "name": "release", "source": "task"}, "cause": "task-0-5"} +{"env_id": 0, "seq": 33, "step": 11396, "t": 56.98, "topic": "conveyor_1.belt.station.pick.released", "source": "conveyor_1.belt", "data": {"rider": "carrier_2"}, "cause": "task-0-5"} +{"env_id": 0, "seq": 34, "step": 11396, "t": 56.98, "topic": "conveyor_1.belt.state.changed", "source": "conveyor_1.belt", "data": {"from": "at_station", "to": "running"}, "cause": null} +{"env_id": 0, "seq": 35, "step": 11396, "t": 56.98, "topic": "conveyor_1.belt.command.succeeded", "source": "conveyor_1.belt", "data": {"command_id": "task-0-5", "name": "release", "source": "task", "result": {"state": "running"}}, "cause": "task-0-5"} diff --git a/episodes/c4_p005_e003/env.mp4 b/episodes/c4_p005_e003/env.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..deb070d2d9ec3075e24ec3c56e99950bd96994cc --- /dev/null +++ b/episodes/c4_p005_e003/env.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:b2514f0f4074f99d5205b1c2bd9cc60840837e2ccc4ff3f0aacb073dd6feafcf +size 1166196 diff --git a/episodes/c4_p005_e003/meta.json b/episodes/c4_p005_e003/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..35b82d82c8d4ae3ee4d806919ef77b23dd707f1d --- /dev/null +++ b/episodes/c4_p005_e003/meta.json @@ -0,0 +1,32 @@ +{ + "source": "raw/c4_p005/magicsim/3", + "fps": 25, + "frames": 1215, + "kept_ticks": "even", + "video_frames": { + "wrist": 1215, + "env": 1215 + }, + "joint_target_source": "joint_pos_target", + "fk_vs_recorded_eef_max_m": 0.0, + "curobo_joints": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "joint_order": [ + "shoulder_pan", + "shoulder_lift", + "elbow", + "wrist_1", + "wrist_2", + "wrist_3", + "finger_left", + "finger_right" + ], + "frames_note": "eef / actions in the robot base frame; camera_pose = local pose (wrist: in plate_gripper_base, env: env frame), pos + quat wxyz", + "dr_version": "v2" +} \ No newline at end of file diff --git a/episodes/c4_p005_e003/scene_snapshot.json b/episodes/c4_p005_e003/scene_snapshot.json new file mode 100644 index 0000000000000000000000000000000000000000..9528c20a09856993dedd6732263f2924aa8aaaa1 --- /dev/null +++ b/episodes/c4_p005_e003/scene_snapshot.json @@ -0,0 +1,1558 @@ +{ + "trajectory_id": 3, + "env_id": 0, + "run_id": "c4_p005", + "task_type": "BioPlateCell", + "success": true, + "timing": { + "fps": 50.0, + "sim_dt": 0.005, + "decimation": 4 + }, + "restore_interface": { + "scene": "scene_manager.reset_to(snapshot['scene'], env_ids=[env_id])", + "robots": "robot_manager.set_state({'robots': snapshot['robots']}, env_ids=[env_id])" + }, + "snapshot": { + "env_id": 0, + "scene": { + "objects": [ + { + "rac_cell": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/rac_cell.usd", + "pose": { + "pos": [ + 0.0, + 0.0, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "physics_material": { + "static_friction": 0.6, + "dynamic_friction": 0.5, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "robot_mount": [ + { + "asset": "Cube", + "pose": { + "pos": [ + 0.0, + 0.0, + 0.9075 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": "color", + "value": [ + 0.55, + 0.56, + 0.58 + ], + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": { + "size": [ + 0.2, + 0.2, + 0.015 + ] + } + }, + "type_specific": {} + } + ], + "plate_rack": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/plate_hotel.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 0.9 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "physics_material": { + "static_friction": 0.6, + "dynamic_friction": 0.5, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "hotel_plate": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/deep_well_24_10ml/deep_well_24_10ml.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 0.9605 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_24_clear/plate_24_clear.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.0285 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/deep_well_96_2ml/deep_well_96_2ml.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.0965 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/deep_well_24_10ml/deep_well_24_10ml.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.1645 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/deep_well_96_2ml/deep_well_96_2ml.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.2325 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "a4s_sealer": [ + { + "asset": "$MAGICSIM_ASSETS/Articulated/A4SSealer/Object.usd", + "pose": { + "pos": [ + 0.49127864837646484, + 0.06891345977783203, + 0.8999999761581421 + ], + "ori": [ + -0.6909530162811279, + 0.0, + 0.0, + 0.7228996753692627 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "articulation", + "solver_position_iteration_count": 16.0, + "solver_velocity_iteration_count": 1.0, + "enabled_self_collisions": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "joint_position": [ + 7.22897870036876e-13 + ], + "joint_velocity": [ + 0.0 + ], + "linear_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "angular_velocity": [ + 0.0, + 0.0, + 0.0 + ] + } + } + ], + "conveyor": [ + { + "asset": "Cube", + "pose": { + "pos": [ + 0.15, + 0.45, + 0.9 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "conveyor", + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9 + }, + "ratio": 1.0 + }, + "primitive_params": { + "size": [ + 2.4, + 0.076, + 0.03 + ] + }, + "conveyor": { + "speed": 0.16780464425716848, + "direction": [ + 1.0, + 0.0, + 0.0 + ], + "enabled": true, + "drive": "surface_velocity", + "lines": null, + "station_line": null, + "riders": [ + "carrier" + ], + "stations": { + "pick": { + "position": -0.0892859453167992, + "slow_distance": 0.03, + "slow_speed": 0.03 + } + }, + "rails": { + "height": 0.01, + "thickness": 0.01, + "gap": 0.001, + "friction": 0.05 + }, + "legs": 0.87, + "loop": { + "radius": 0.35, + "side": "left", + "curve_extra_width": 0.0, + "segments": 18, + "curve_rails": "both" + }, + "snap_distance": 0.1, + "junction_snap": 0.02, + "collision_approximation": "auto", + "plate_mass": 1.0, + "lift_drop": 0.004, + "accel": 0.0, + "decel": 0.0, + "drive_damping": 1000000.0, + "drive_max_force": 1000000000.0 + } + }, + "type_specific": { + "controller": { + "state": "at_station", + "speed": 0.16780464425716848, + "holds": [], + "station": "pick", + "rider": "carrier_2", + "arrived": true, + "applied_speed": 0.0 + } + } + } + ], + "carrier": [ + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + 1.415492057800293, + 0.45947265625, + 0.8999999761581421 + ], + "ori": [ + 0.9956472516059875, + 8.775870696808852e-08, + 1.8148031699638523e-07, + 0.09320255368947983 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 4.477350046272477e-09, + 1.0514150661222743e-09, + 3.3527612686157227e-08 + ], + "angular_velocity": [ + 9.462466721288365e-08, + 4.088852278982813e-07, + -1.472326438545224e-08 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + 0.06032371520996094, + 0.4499979019165039, + 0.8999999761581421 + ], + "ori": [ + 1.0, + -2.060359660660538e-09, + -3.079665189531511e-09, + -3.4702297853073105e-06 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -3.6653302615263783e-10, + 1.2720777764485547e-09, + 3.725290298461914e-09 + ], + "angular_velocity": [ + -1.1532713983797294e-07, + -4.389919894265404e-08, + -5.467347019560975e-09 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + 0.1236276626586914, + 1.1500005722045898, + 0.8999999761581421 + ], + "ori": [ + -9.331612091045827e-06, + 1.832609441976274e-08, + 2.852340585945967e-09, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 2.6065749558767948e-09, + 3.664133885195042e-08, + -3.725290298461914e-09 + ], + "angular_velocity": [ + -1.19298169920512e-06, + -5.3470692762402905e-08, + 5.004349645787443e-07 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + -1.3980340957641602, + 0.7738618850708008, + 0.8999999761581421 + ], + "ori": [ + -0.7330374121665955, + 4.263212716182352e-08, + 5.538491265610901e-08, + 0.6801884174346924 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 1.2484633771236986e-08, + 2.1262412275291354e-08, + -8.195638656616211e-08 + ], + "angular_velocity": [ + -2.6680245355237275e-06, + 2.5632988354118424e-07, + -8.963977649045773e-08 + ] + } + } + ], + "plate": [ + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_6_clear/Object.usd", + "pose": { + "pos": [ + 1.4067459106445312, + 0.46192169189453125, + 0.9180000424385071 + ], + "ori": [ + 0.9847952127456665, + 1.0852940590666549e-07, + 1.7351740666526894e-07, + 0.1737196147441864 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 4.7819611381783034e-08, + -2.889832018126981e-08, + 3.986060619354248e-07 + ], + "angular_velocity": [ + 5.083801170258084e-06, + -2.192567080783192e-06, + -4.056884961300966e-07 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_96_black/Object.usd", + "pose": { + "pos": [ + 0.055489540100097656, + 0.44933605194091797, + 0.9180000424385071 + ], + "ori": [ + 0.998482882976532, + -1.36944700024344e-09, + -1.6572871963660418e-09, + -0.05506347492337227 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -1.0909084302568317e-08, + 1.0080457357730666e-08, + -5.327165126800537e-06 + ], + "angular_velocity": [ + 8.660355774736672e-07, + -5.914545226914925e-07, + 9.481888696427632e-08 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/pcr_96_blue/Object.usd", + "pose": { + "pos": [ + 0.11967658996582031, + 1.143798828125, + 0.9180000424385071 + ], + "ori": [ + 0.08329479396343231, + 4.022518851343193e-08, + -1.498906385677401e-07, + 0.9965249300003052 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -8.301708476210479e-07, + 3.538862983987201e-06, + -6.582587957382202e-06 + ], + "angular_velocity": [ + 2.3307489755097777e-05, + -1.6379422049794812e-06, + -2.792267332552001e-05 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/deep_well_96_2ml/Object.usd", + "pose": { + "pos": [ + -1.3911619186401367, + 0.7669334411621094, + 0.9179999828338623 + ], + "ori": [ + -0.7500128746032715, + 6.499167284346186e-07, + 2.114910557793337e-07, + 0.6614232063293457 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -9.05245997273596e-07, + -4.98124700243352e-06, + -8.482486009597778e-06 + ], + "angular_velocity": [ + -7.800771709298715e-05, + 9.471256635151803e-05, + -5.8954603446181864e-05 + ] + } + } + ], + "deco_hub_west": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/hub_d.usd", + "pose": { + "pos": [ + -3.36, + 0.0, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_hub_east": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/hub_e.usd", + "pose": { + "pos": [ + 3.36, + 0.0, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_hub_back": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/hub_b.usd", + "pose": { + "pos": [ + -3.0, + -2.1, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_bench_east": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/bench_a.usd", + "pose": { + "pos": [ + 2.6, + -2.5, + 0.0 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_bench_gap": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/bench_b.usd", + "pose": { + "pos": [ + -0.1, + -2.9, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ] + }, + {}, + {}, + {} + ], + "devices": { + "hub": [ + { + "t": 8.659999999999954, + "step": 1732, + "counter": 0, + "devices": { + "a4s_sealer_1": { + "mode": "auto", + "units": { + "drawer": { + "state": "at_out", + "active": null, + "target": 0.0, + "goal_name": "out", + "profile": null, + "q_start": null, + "reversing": false, + "blocked_for": 0.0, + "settled_for": 0.0, + "last_q": 7.22897870036876e-13 + }, + "heater": { + "state": "ready", + "active": null, + "duration": 0.0, + "t_start": null, + "elapsed": 0.0 + } + }, + "queues": {}, + "program": null, + "sensors": { + "plate_present": { + "occupants": [], + "pending": {} + } + }, + "interlocks": {} + }, + "conveyor_1": { + "mode": "auto", + "units": { + "belt": { + "state": "at_station", + "active": null, + "controller": { + "speed": 0.16780464425716848, + "holds": [], + "station": "pick", + "rider": "carrier_2", + "arrived": true, + "settle_count": 1631, + "released": { + "pick": [] + }, + "last_pos": { + "carrier_1": [ + 1.2654920518398285, + 0.009472668170928955, + 0.0 + ], + "carrier_2": [ + -0.08967629075050354, + -2.086162567138672e-06, + 0.0 + ], + "carrier_3": [ + -0.02637234330177307, + 0.7000005841255188, + 0.0 + ], + "carrier_4": [ + -1.5480341017246246, + 0.32386189699172974, + 0.0 + ] + }, + "command": 0.0 + }, + "belt": { + "target_speed": 0.0, + "command_speed": 0.0 + }, + "seen": { + "state": "at_station", + "station": "pick", + "rider": "carrier_2", + "arrived": true + } + } + }, + "queues": {}, + "program": null, + "sensors": {}, + "interlocks": {} + } + }, + "zones": {}, + "labware": { + "plate_1": { + "sealed": false + }, + "plate_2": { + "sealed": false + }, + "plate_3": { + "sealed": false + }, + "plate_4": { + "sealed": false + } + }, + "rules": {}, + "records": [], + "bus": { + "seq": 3, + "queue": [] + } + }, + null, + null, + null + ], + "drives": [ + {}, + null, + null, + null + ] + }, + "artifacts": [ + { + "ceiling": { + "type": "rect", + "pose": { + "pos": [ + 0.7219550799855566, + -0.10025545270126485, + 3.118528934067446 + ], + "ori": [ + -1.8015216659512987, + 1.5760017121410534, + -20.65862790711103 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "color_temperature": 6920.880860880297, + "color": [ + 0.8468857930181914, + 0.8016882547306062, + 0.9086710074249866 + ], + "intensity": 6121.708935139099, + "width": 1.8968698270628803, + "height": 0.9602687486467683 + } + }, + "key": { + "type": "sphere", + "pose": { + "pos": [ + 1.113774520647175, + 0.05596605169452795, + 2.6481217457600366 + ], + "ori": [ + 14.94539747174369, + -25.746411481109366, + 18.01388889522954 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "color_temperature": 6086.289884150448, + "color": [ + 0.9405134605554543, + 0.8786105547552919, + 0.7521696169999241 + ], + "intensity": 4817.723606795864, + "radius": 0.19572212808551587 + } + } + }, + {}, + {}, + {} + ], + "background": { + "type": "dome", + "pose": { + "pos": null, + "ori": null, + "scale": null + }, + "dr": { + "intensity": 1506.5120303012825, + "texture": null, + "color": [ + 0.92, + 0.94, + 0.96 + ] + } + } + }, + "robots": { + "UR5e": { + "root_pose": [ + [ + 11.0, + -11.0, + 0.9150000214576721, + 1.0, + 0.0, + 0.0, + 0.0 + ], + [ + 11.0, + 11.0, + 0.9150000214576721, + 1.0, + 0.0, + 0.0, + 0.0 + ], + [ + -11.0, + -11.0, + 0.9150000214576721, + 1.0, + 0.0, + 0.0, + 0.0 + ], + [ + -11.0, + 11.0, + 0.9150000214576721, + 1.0, + 0.0, + 0.0, + 0.0 + ] + ], + "root_vel": [ + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + ], + "joint_pos": [ + [ + 0.9141120910644531, + -1.7193931341171265, + 2.0904970169067383, + -1.9419019222259521, + -1.5707999467849731, + 2.4849064350128174, + 0.017999999225139618, + 0.017999999225139618 + ], + [ + 1.2086524963378906, + -1.5112223625183105, + 2.107208728790283, + -2.166776180267334, + -1.5707927942276, + 2.5834882259368896, + 0.0076331025920808315, + 0.006951120216399431 + ], + [ + 1.1727153062820435, + -1.5241256952285767, + 2.1993494033813477, + -2.2459824085235596, + -1.5707966089248657, + 2.8005549907684326, + 0.018000047653913498, + 0.017999952659010887 + ], + [ + 1.3113837242126465, + -1.6132032871246338, + 2.198220729827881, + -2.1558234691619873, + -1.5707335472106934, + 2.9292585849761963, + 0.007676396984606981, + 0.007089770864695311 + ] + ], + "joint_vel": [ + [ + -2.50470553798715e-38, + 1.672835915028437e-38, + 0.0, + 4.659723209915285e-37, + 0.0, + 2.782657864011144e-36, + -1.2933007279909349e-37, + 5.191963271596366e-38 + ], + [ + 0.0001079736539395526, + -5.151227924216073e-06, + -0.0002938321849796921, + -1.7153603039332666e-05, + 0.0001563918631291017, + 0.00040287640877068043, + -0.008683165535330772, + 0.00030568119836971164 + ], + [ + -0.00010762829333543777, + 0.014440661296248436, + 0.010257350280880928, + -0.02356865257024765, + -8.067423550528474e-06, + 2.004083762585651e-05, + -6.180046511872206e-06, + 6.129835583124077e-06 + ], + [ + 0.03560413792729378, + -0.027060622349381447, + 0.020971054211258888, + 0.0047478266060352325, + 0.00015476462431252003, + 0.03292785584926605, + -0.007497845217585564, + 0.0004465895181056112 + ] + ] + } + }, + "cameras": { + "cameras": { + "camera0": [ + [ + 0.05067146569490433, + -0.0007279699784703553, + -0.03404012694954872, + -0.27919334173202515, + 0.6429234743118286, + 0.6590690612792969, + -0.27263250946998596 + ], + [ + 0.046154268085956573, + -0.0014017715584486723, + -0.031003916636109352, + -0.28792911767959595, + 0.6454203128814697, + 0.6468169689178467, + -0.28663089871406555 + ], + [ + 0.04726727679371834, + 0.0006725738057866693, + -0.027915241196751595, + -0.27050018310546875, + 0.6592236161231995, + 0.6461979746818542, + -0.2732801139354706 + ], + [ + 0.04718473553657532, + 0.0030498674605041742, + -0.03329429775476456, + -0.27332401275634766, + 0.6554189324378967, + 0.6399479508399963, + -0.2935756742954254 + ] + ], + "camera1": [ + [ + 0.04620630666613579, + 0.5695286989212036, + 1.9702941179275513, + 0.03934749960899353, + 0.018188023939728737, + 0.2584480047225952, + 0.9650521278381348 + ], + [ + 0.050085414201021194, + 0.5942978262901306, + 1.948786973953247, + 0.03434796631336212, + 0.015196963213384151, + 0.2876150608062744, + 0.9570093154907227 + ], + [ + 0.04559464752674103, + 0.5840745568275452, + 1.949146032333374, + 0.03730398416519165, + 0.005057400558143854, + 0.2741798162460327, + 0.9609413146972656 + ], + [ + 0.07204993814229965, + 0.5755515694618225, + 1.941467046737671, + 0.05699848756194115, + 0.00555310258641839, + 0.2857838571071625, + 0.9565813541412354 + ] + ] + } + } + } +} \ No newline at end of file diff --git a/episodes/c4_p005_e003/wrist.mp4 b/episodes/c4_p005_e003/wrist.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..743ede2369bde0a5eb9453d3e7e2ba1073a00474 --- /dev/null +++ b/episodes/c4_p005_e003/wrist.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:c2b67643588bb340bb7239aa646296aa75f9f7b300f5647fa66349d814bf258d +size 6085273 diff --git a/episodes/c5_p004_e020/data.npz b/episodes/c5_p004_e020/data.npz new file mode 100644 index 0000000000000000000000000000000000000000..6cf2c96ea178322f0f5afa0e23a4fc8969527d76 --- /dev/null +++ b/episodes/c5_p004_e020/data.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:3a3c3d8569865e32477b2b2f4d7e23023f925d97dc3b8c8535e1cdc6b61a1089 +size 184615 diff --git a/episodes/c5_p004_e020/device_events.jsonl b/episodes/c5_p004_e020/device_events.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..869bf414b4b4699cb03d6c1dfcbc2d7c936cfd00 --- /dev/null +++ b/episodes/c5_p004_e020/device_events.jsonl @@ -0,0 +1,35 @@ +{"env_id": 2, "seq": 1, "step": 69, "t": 0.345, "topic": "conveyor_1.belt.station.pick.captured", "source": "conveyor_1.belt", "data": {"rider": "carrier_1"}, "cause": null} +{"env_id": 2, "seq": 2, "step": 69, "t": 0.345, "topic": "conveyor_1.belt.state.changed", "source": "conveyor_1.belt", "data": {"from": "running", "to": "at_station"}, "cause": null} +{"env_id": 2, "seq": 3, "step": 74, "t": 0.37, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_1"}, "cause": null} +{"env_id": 2, "seq": 4, "step": 6155, "t": 30.775, "topic": "a4s_sealer_1.plate_present.present", "source": "a4s_sealer_1.plate_present", "data": {"object": "plate_1"}, "cause": null} +{"env_id": 2, "seq": 5, "step": 6768, "t": 33.84, "topic": "a4s_sealer_1.command.started", "source": "a4s_sealer_1", "data": {"command_id": "task-2-1", "name": "seal", "source": "task"}, "cause": "task-2-1"} +{"env_id": 2, "seq": 6, "step": 6768, "t": 33.84, "topic": "a4s_sealer_1.seal.started", "source": "a4s_sealer_1", "data": {"dwell": 2.660501901799127}, "cause": "task-2-1"} +{"env_id": 2, "seq": 7, "step": 6768, "t": 33.84, "topic": "a4s_sealer_1.drawer.command.started", "source": "a4s_sealer_1.drawer", "data": {"command_id": "program-2-2", "name": "close", "source": "program:seal"}, "cause": "program-2-2"} +{"env_id": 2, "seq": 8, "step": 6768, "t": 33.84, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "at_out", "to": "moving"}, "cause": null} +{"env_id": 2, "seq": 9, "step": 6768, "t": 33.84, "topic": "a4s_sealer_1.drawer.moving", "source": "a4s_sealer_1.drawer", "data": {"target": 0.3, "goal": "in"}, "cause": "program-2-2"} +{"env_id": 2, "seq": 10, "step": 7187, "t": 35.935, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "moving", "to": "at_in"}, "cause": null} +{"env_id": 2, "seq": 11, "step": 7187, "t": 35.935, "topic": "a4s_sealer_1.drawer.reached", "source": "a4s_sealer_1.drawer", "data": {"position": "in", "q": 0.30000001192092896}, "cause": "program-2-2"} +{"env_id": 2, "seq": 12, "step": 7187, "t": 35.935, "topic": "a4s_sealer_1.drawer.at_in", "source": "a4s_sealer_1.drawer", "data": {"q": 0.30000001192092896}, "cause": "program-2-2"} +{"env_id": 2, "seq": 13, "step": 7187, "t": 35.935, "topic": "a4s_sealer_1.drawer.command.succeeded", "source": "a4s_sealer_1.drawer", "data": {"command_id": "program-2-2", "name": "close", "source": "program:seal", "result": {"position": "in"}}, "cause": "program-2-2"} +{"env_id": 2, "seq": 14, "step": 7187, "t": 35.935, "topic": "labware.plate_1.changed", "source": "labware.plate_1", "data": {"key": "sealed", "value": true}, "cause": "task-2-1"} +{"env_id": 2, "seq": 15, "step": 7187, "t": 35.935, "topic": "a4s_sealer_1.sealed", "source": "a4s_sealer_1", "data": {"plate": "plate_1"}, "cause": "task-2-1"} +{"env_id": 2, "seq": 16, "step": 7187, "t": 35.935, "topic": "a4s_sealer_1.heater.command.started", "source": "a4s_sealer_1.heater", "data": {"command_id": "program-2-3", "name": "run", "source": "program:seal"}, "cause": "program-2-3"} +{"env_id": 2, "seq": 17, "step": 7187, "t": 35.935, "topic": "a4s_sealer_1.heater.state.changed", "source": "a4s_sealer_1.heater", "data": {"from": "ready", "to": "running"}, "cause": null} +{"env_id": 2, "seq": 18, "step": 7187, "t": 35.935, "topic": "a4s_sealer_1.heater.started", "source": "a4s_sealer_1.heater", "data": {"duration": 2.660501901799127}, "cause": "program-2-3"} +{"env_id": 2, "seq": 19, "step": 7720, "t": 38.6, "topic": "a4s_sealer_1.heater.state.changed", "source": "a4s_sealer_1.heater", "data": {"from": "running", "to": "ready"}, "cause": null} +{"env_id": 2, "seq": 20, "step": 7720, "t": 38.6, "topic": "a4s_sealer_1.heater.finished", "source": "a4s_sealer_1.heater", "data": {"elapsed": 2.6650000000013634}, "cause": "program-2-3"} +{"env_id": 2, "seq": 21, "step": 7720, "t": 38.6, "topic": "a4s_sealer_1.heater.command.succeeded", "source": "a4s_sealer_1.heater", "data": {"command_id": "program-2-3", "name": "run", "source": "program:seal", "result": {"elapsed": 2.6650000000013634}}, "cause": "program-2-3"} +{"env_id": 2, "seq": 22, "step": 7720, "t": 38.6, "topic": "a4s_sealer_1.drawer.command.started", "source": "a4s_sealer_1.drawer", "data": {"command_id": "program-2-4", "name": "open", "source": "program:seal"}, "cause": "program-2-4"} +{"env_id": 2, "seq": 23, "step": 7720, "t": 38.6, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "at_in", "to": "moving"}, "cause": null} +{"env_id": 2, "seq": 24, "step": 7720, "t": 38.6, "topic": "a4s_sealer_1.drawer.moving", "source": "a4s_sealer_1.drawer", "data": {"target": 0.0, "goal": "out"}, "cause": "program-2-4"} +{"env_id": 2, "seq": 25, "step": 8140, "t": 40.7, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "moving", "to": "at_out"}, "cause": null} +{"env_id": 2, "seq": 26, "step": 8140, "t": 40.7, "topic": "a4s_sealer_1.drawer.reached", "source": "a4s_sealer_1.drawer", "data": {"position": "out", "q": 0.0}, "cause": "program-2-4"} +{"env_id": 2, "seq": 27, "step": 8140, "t": 40.7, "topic": "a4s_sealer_1.drawer.at_out", "source": "a4s_sealer_1.drawer", "data": {"q": 0.0}, "cause": "program-2-4"} +{"env_id": 2, "seq": 28, "step": 8140, "t": 40.7, "topic": "a4s_sealer_1.drawer.command.succeeded", "source": "a4s_sealer_1.drawer", "data": {"command_id": "program-2-4", "name": "open", "source": "program:seal", "result": {"position": "out"}}, "cause": "program-2-4"} +{"env_id": 2, "seq": 29, "step": 8140, "t": 40.7, "topic": "a4s_sealer_1.seal.finished", "source": "a4s_sealer_1", "data": {}, "cause": "task-2-1"} +{"env_id": 2, "seq": 30, "step": 8140, "t": 40.7, "topic": "a4s_sealer_1.command.succeeded", "source": "a4s_sealer_1", "data": {"command_id": "task-2-1", "name": "seal", "source": "task"}, "cause": "task-2-1"} +{"env_id": 2, "seq": 31, "step": 8719, "t": 43.595, "topic": "a4s_sealer_1.plate_present.absent", "source": "a4s_sealer_1.plate_present", "data": {"object": "plate_1"}, "cause": null} +{"env_id": 2, "seq": 32, "step": 10400, "t": 52.0, "topic": "conveyor_1.belt.command.started", "source": "conveyor_1.belt", "data": {"command_id": "task-2-5", "name": "release", "source": "task"}, "cause": "task-2-5"} +{"env_id": 2, "seq": 33, "step": 10400, "t": 52.0, "topic": "conveyor_1.belt.station.pick.released", "source": "conveyor_1.belt", "data": {"rider": "carrier_1"}, "cause": "task-2-5"} +{"env_id": 2, "seq": 34, "step": 10400, "t": 52.0, "topic": "conveyor_1.belt.state.changed", "source": "conveyor_1.belt", "data": {"from": "at_station", "to": "running"}, "cause": null} +{"env_id": 2, "seq": 35, "step": 10400, "t": 52.0, "topic": "conveyor_1.belt.command.succeeded", "source": "conveyor_1.belt", "data": {"command_id": "task-2-5", "name": "release", "source": "task", "result": {"state": "running"}}, "cause": "task-2-5"} diff --git a/episodes/c5_p004_e020/env.mp4 b/episodes/c5_p004_e020/env.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..cec570f4505917e0a7c00f38080faffa398a6954 --- /dev/null +++ b/episodes/c5_p004_e020/env.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:b2d32eb99271c32196238aef4ce526cf539e6abb74a3b288296e22df0e868d62 +size 1257744 diff --git a/episodes/c5_p004_e020/meta.json b/episodes/c5_p004_e020/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..852fc0d357109c90f4bb440ab090512ee535b018 --- /dev/null +++ b/episodes/c5_p004_e020/meta.json @@ -0,0 +1,32 @@ +{ + "source": "raw/c5_p004/magicsim/20", + "fps": 25, + "frames": 1221, + "kept_ticks": "even", + "video_frames": { + "wrist": 1221, + "env": 1221 + }, + "joint_target_source": "joint_pos_target", + "fk_vs_recorded_eef_max_m": 0.0, + "curobo_joints": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "joint_order": [ + "shoulder_pan", + "shoulder_lift", + "elbow", + "wrist_1", + "wrist_2", + "wrist_3", + "finger_left", + "finger_right" + ], + "frames_note": "eef / actions in the robot base frame; camera_pose = local pose (wrist: in plate_gripper_base, env: env frame), pos + quat wxyz", + "dr_version": "v2" +} \ No newline at end of file diff --git a/episodes/c5_p004_e020/scene_snapshot.json b/episodes/c5_p004_e020/scene_snapshot.json new file mode 100644 index 0000000000000000000000000000000000000000..4b3da47d0fc2a9444f1786f30f3a699b0acdae3f --- /dev/null +++ b/episodes/c5_p004_e020/scene_snapshot.json @@ -0,0 +1,1558 @@ +{ + "trajectory_id": 20, + "env_id": 2, + "run_id": "c5_p004", + "task_type": "BioPlateCell", + "success": true, + "timing": { + "fps": 50.0, + "sim_dt": 0.005, + "decimation": 4 + }, + "restore_interface": { + "scene": "scene_manager.reset_to(snapshot['scene'], env_ids=[env_id])", + "robots": "robot_manager.set_state({'robots': snapshot['robots']}, env_ids=[env_id])" + }, + "snapshot": { + "env_id": 2, + "scene": { + "objects": [ + {}, + {}, + { + "rac_cell": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/rac_cell.usd", + "pose": { + "pos": [ + 0.0, + 0.0, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "physics_material": { + "static_friction": 0.6, + "dynamic_friction": 0.5, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "robot_mount": [ + { + "asset": "Cube", + "pose": { + "pos": [ + 0.0, + 0.0, + 0.9075 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": "color", + "value": [ + 0.55, + 0.56, + 0.58 + ], + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": { + "size": [ + 0.2, + 0.2, + 0.015 + ] + } + }, + "type_specific": {} + } + ], + "plate_rack": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/plate_hotel.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 0.9 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "physics_material": { + "static_friction": 0.6, + "dynamic_friction": 0.5, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "hotel_plate": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_24_clear/plate_24_clear.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 0.9605 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_96_white/plate_96_white.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.0285 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_384_white/plate_384_white.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.0965 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/pcr_96_blue/pcr_96_blue.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.1645 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_96_white/plate_96_white.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.2325 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "a4s_sealer": [ + { + "asset": "$MAGICSIM_ASSETS/Articulated/A4SSealer/Object.usd", + "pose": { + "pos": [ + 0.46412086486816406, + 0.06696701049804688, + 0.8999999761581421 + ], + "ori": [ + -0.6916671991348267, + 0.0, + 0.0, + 0.7222163677215576 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "articulation", + "solver_position_iteration_count": 16.0, + "solver_velocity_iteration_count": 1.0, + "enabled_self_collisions": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "joint_position": [ + 4.373416125774687e-12 + ], + "joint_velocity": [ + 0.0 + ], + "linear_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "angular_velocity": [ + 0.0, + 0.0, + 0.0 + ] + } + } + ], + "conveyor": [ + { + "asset": "Cube", + "pose": { + "pos": [ + 0.15, + 0.45, + 0.9 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "conveyor", + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9 + }, + "ratio": 1.0 + }, + "primitive_params": { + "size": [ + 2.4, + 0.076, + 0.03 + ] + }, + "conveyor": { + "speed": 0.2048185462941906, + "direction": [ + 1.0, + 0.0, + 0.0 + ], + "enabled": true, + "drive": "surface_velocity", + "lines": null, + "station_line": null, + "riders": [ + "carrier" + ], + "stations": { + "pick": { + "position": -0.014450125214914511, + "slow_distance": 0.03, + "slow_speed": 0.03 + } + }, + "rails": { + "height": 0.01, + "thickness": 0.01, + "gap": 0.001, + "friction": 0.05 + }, + "legs": 0.87, + "loop": { + "radius": 0.35, + "side": "left", + "curve_extra_width": 0.0, + "segments": 18, + "curve_rails": "both" + }, + "snap_distance": 0.1, + "junction_snap": 0.02, + "collision_approximation": "auto", + "plate_mass": 1.0, + "lift_drop": 0.004, + "accel": 0.0, + "decel": 0.0, + "drive_damping": 1000000.0, + "drive_max_force": 1000000000.0 + } + }, + "type_specific": { + "controller": { + "state": "at_station", + "speed": 0.2048185462941906, + "holds": [], + "station": "pick", + "rider": "carrier_1", + "arrived": true, + "applied_speed": 0.0 + } + } + } + ], + "carrier": [ + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + 0.135833740234375, + 0.45000171661376953, + 0.8999999761581421 + ], + "ori": [ + 1.0, + -6.378903516512935e-10, + -8.727795708374231e-10, + -1.353417792415712e-05 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -7.75447372980409e-10, + 5.30203436710508e-10, + 3.725290298461914e-09 + ], + "angular_velocity": [ + 3.6512972201308e-08, + -6.991428591618387e-08, + 5.281081794095144e-09 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + -1.331212043762207, + 0.5939817428588867, + 0.8999999761581421 + ], + "ori": [ + -0.8900705575942993, + 1.2766216173076828e-07, + 8.599042899959386e-08, + 0.4558226764202118 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 7.537995783124529e-10, + -3.738062637204109e-10, + 3.725290298461914e-09 + ], + "angular_velocity": [ + -2.1509727332613693e-10, + 9.573778925187071e-08, + 1.443981556548124e-08 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + 1.5524187088012695, + 1.0842037200927734, + 0.8999999761581421 + ], + "ori": [ + 0.30526241660118103, + 5.444347195293631e-09, + -3.2256878057523863e-08, + 0.9522683024406433 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 1.3738976623045573e-09, + 1.9148040930616617e-09, + 3.725290298461914e-09 + ], + "angular_velocity": [ + -1.3701287571166176e-07, + 1.0393356575377766e-07, + -6.95351953794443e-09 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + -0.1578044891357422, + 1.150003433227539, + 0.8999999761581421 + ], + "ori": [ + 1.5002567124611232e-05, + -1.9572056475514188e-10, + 2.0086330376756223e-09, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -1.2868195398141324e-09, + -3.142313520498874e-09, + 3.725290298461914e-09 + ], + "angular_velocity": [ + 2.5426984961995913e-07, + -5.983393691622041e-08, + -9.428378078268906e-09 + ] + } + } + ], + "plate": [ + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_24_clear/Object.usd", + "pose": { + "pos": [ + 0.1304922103881836, + 0.4424724578857422, + 0.9179999828338623 + ], + "ori": [ + 0.9966133832931519, + -2.532683507361355e-10, + 7.007558977534245e-10, + -0.08222995698451996 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -2.5093175537449497e-08, + 2.7015978787403583e-08, + 8.940696716308594e-08 + ], + "angular_velocity": [ + -7.649475719517795e-07, + -1.5570951745758066e-06, + 1.3063339565633214e-07 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_384_black/Object.usd", + "pose": { + "pos": [ + -1.3289766311645508, + 0.6037712097167969, + 0.9180000424385071 + ], + "ori": [ + -0.8422742486000061, + 1.1730911353424744e-07, + 9.779894583061832e-08, + 0.5390493273735046 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 1.2076620592438303e-08, + 6.371038097086057e-08, + -5.748122930526733e-06 + ], + "angular_velocity": [ + -7.46839759813156e-07, + -4.372945170416642e-07, + 5.051684297541215e-07 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_1536_black/Object.usd", + "pose": { + "pos": [ + 1.555222511291504, + 1.0804567337036133, + 0.9180000424385071 + ], + "ori": [ + 0.3215866684913635, + 1.0546248319087681e-08, + -2.3972951623818517e-08, + 0.9468801617622375 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -7.488608844141709e-09, + 4.0398543887931737e-07, + -5.219131708145142e-06 + ], + "angular_velocity": [ + -2.691333065740764e-06, + 2.3786633391864598e-06, + -2.500331902410835e-06 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/deep_well_24_10ml/Object.usd", + "pose": { + "pos": [ + -0.15377235412597656, + 1.147974967956543, + 0.9179999828338623 + ], + "ori": [ + -0.08094659447669983, + -5.910901212935471e-10, + 2.455656566979769e-09, + 0.9967185258865356 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 5.0073854396259776e-08, + 1.7757850301336475e-08, + -1.2926757335662842e-06 + ], + "angular_velocity": [ + -1.5843778555790777e-06, + 2.2410736164601985e-06, + 9.429942338101682e-08 + ] + } + } + ], + "deco_hub_west": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/hub_c.usd", + "pose": { + "pos": [ + -3.36, + 0.0, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_hub_east": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/hub_a.usd", + "pose": { + "pos": [ + 3.36, + 0.0, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_hub_back": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/hub_e.usd", + "pose": { + "pos": [ + -3.0, + -2.1, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_bench_east": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/bench_a.usd", + "pose": { + "pos": [ + 2.6, + -2.5, + 0.0 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_bench_gap": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/bench_b.usd", + "pose": { + "pos": [ + -0.1, + -2.9, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ] + }, + {} + ], + "devices": { + "hub": [ + null, + null, + { + "t": 3.3599999999999506, + "step": 672, + "counter": 0, + "devices": { + "a4s_sealer_1": { + "mode": "auto", + "units": { + "drawer": { + "state": "at_out", + "active": null, + "target": 0.0, + "goal_name": "out", + "profile": null, + "q_start": null, + "reversing": false, + "blocked_for": 0.0, + "settled_for": 0.0, + "last_q": 4.373416125774687e-12 + }, + "heater": { + "state": "ready", + "active": null, + "duration": 0.0, + "t_start": null, + "elapsed": 0.0 + } + }, + "queues": {}, + "program": null, + "sensors": { + "plate_present": { + "occupants": [], + "pending": {} + } + }, + "interlocks": {} + }, + "conveyor_1": { + "mode": "auto", + "units": { + "belt": { + "state": "at_station", + "active": null, + "controller": { + "speed": 0.2048185462941906, + "holds": [], + "station": "pick", + "rider": "carrier_1", + "arrived": true, + "settle_count": 602, + "released": { + "pick": [] + }, + "last_pos": { + "carrier_1": [ + -0.014166265726089478, + 1.7285346984863281e-06, + 0.0 + ], + "carrier_2": [ + -1.4812120497226715, + 0.14398175477981567, + 0.0 + ], + "carrier_3": [ + 1.402418702840805, + 0.6342037320137024, + 0.0 + ], + "carrier_4": [ + -0.30780449509620667, + 0.700003445148468, + 0.0 + ] + }, + "command": 0.0 + }, + "belt": { + "target_speed": 0.0, + "command_speed": 0.0 + }, + "seen": { + "state": "at_station", + "station": "pick", + "rider": "carrier_1", + "arrived": true + } + } + }, + "queues": {}, + "program": null, + "sensors": {}, + "interlocks": {} + } + }, + "zones": {}, + "labware": { + "plate_1": { + "sealed": false + }, + "plate_2": { + "sealed": false + }, + "plate_3": { + "sealed": false + }, + "plate_4": { + "sealed": false + } + }, + "rules": {}, + "records": [], + "bus": { + "seq": 3, + "queue": [] + } + }, + null + ], + "drives": [ + null, + null, + {}, + null + ] + }, + "artifacts": [ + {}, + {}, + { + "ceiling": { + "type": "rect", + "pose": { + "pos": [ + 0.543623276753595, + 0.43626710466370255, + 2.9933069949950237 + ], + "ori": [ + -5.301688252709143, + 8.680330500956988, + -16.059645997141303 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "color_temperature": 4544.799284799292, + "color": [ + 0.824885011349241, + 0.8070804699220941, + 0.9418632971703731 + ], + "intensity": 11802.57521526271, + "width": 2.270592229184879, + "height": 1.4440612339530234 + } + }, + "key": { + "type": "sphere", + "pose": { + "pos": [ + 0.3038418722852654, + 0.6646216851236466, + 2.069277117503665 + ], + "ori": [ + -12.650970314142846, + 13.605856661164907, + 20.09891837743922 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "color_temperature": 7120.556726980184, + "color": [ + 0.8402029958240769, + 0.8338269452355138, + 0.8688077696994432 + ], + "intensity": 6823.279029203878, + "radius": 0.20851427865859595 + } + } + }, + {} + ], + "background": { + "type": "dome", + "pose": { + "pos": null, + "ori": null, + "scale": null + }, + "dr": { + "intensity": 677.2870281919636, + "texture": null, + "color": [ + 0.92, + 0.94, + 0.96 + ] + } + } + }, + "robots": { + "UR5e": { + "root_pose": [ + [ + 11.0, + -11.0, + 0.9150000214576721, + 1.0, + 0.0, + 0.0, + 0.0 + ], + [ + 11.0, + 11.0, + 0.9150000214576721, + 1.0, + 0.0, + 0.0, + 0.0 + ], + [ + -11.0, + -11.0, + 0.9150000214576721, + 1.0, + 0.0, + 0.0, + 0.0 + ], + [ + -11.0, + 11.0, + 0.9150000214576721, + 1.0, + 0.0, + 0.0, + 0.0 + ] + ], + "root_vel": [ + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + ], + "joint_pos": [ + [ + -0.2369356006383896, + -2.1342735290527344, + 2.3964240550994873, + -1.8330425024032593, + -1.5709751844406128, + 4.444414138793945, + 0.007451539859175682, + 0.007351371925324202 + ], + [ + 1.5699435472488403, + -1.3476383686065674, + 2.2294366359710693, + -2.452394962310791, + -1.570705771446228, + 6.249092102050781, + 0.0075824386440217495, + 0.007068015169352293 + ], + [ + 0.91410231590271, + -1.7193981409072876, + 2.090498924255371, + -1.9418997764587402, + -1.5707999467849731, + 2.4849002361297607, + 0.017999999225139618, + 0.017999999225139618 + ], + [ + -0.040659189224243164, + -1.9202899932861328, + 2.5396649837493896, + -2.190136671066284, + -1.5708017349243164, + 4.708232879638672, + 0.01799999363720417, + 0.018000004813075066 + ] + ], + "joint_vel": [ + [ + 0.03647342696785927, + 0.014327982440590858, + -0.0010401743929833174, + -0.006807201076298952, + 0.005171169992536306, + 0.02454870194196701, + -0.00816035084426403, + 0.00014481134712696075 + ], + [ + -0.00021557662694249302, + 0.01893199048936367, + 0.007386285811662674, + -0.02548464946448803, + 3.057271533180028e-05, + -0.0014272391563281417, + -0.00661458820104599, + 0.00021967261272948235 + ], + [ + 2.1906679660291763e-38, + -2.0834668118203242e-38, + 1.4531543547762355e-38, + -6.5754412551945484e-37, + 4.686601683915315e-37, + 2.8628453637597096e-37, + -2.322573731904382e-38, + 0.0 + ], + [ + -0.00011956806702073663, + 0.01696518249809742, + 0.015009446069598198, + -0.03102455660700798, + 2.3946915916894795e-06, + -4.070677459822036e-05, + 1.2911581279695383e-06, + -1.2910777513752691e-06 + ] + ] + } + }, + "cameras": { + "cameras": { + "camera0": [ + [ + 0.050882820039987564, + -0.0009397995308972895, + -0.028940968215465546, + -0.26971083879470825, + 0.6520865559577942, + 0.6545360684394836, + -0.2713331878185272 + ], + [ + 0.048862747848033905, + -0.0006191029096953571, + -0.03307969868183136, + -0.2973494231700897, + 0.6320315599441528, + 0.663192868232727, + -0.2688765823841095 + ], + [ + 0.05121641606092453, + 0.0009217406623065472, + -0.0328509658575058, + -0.2731698155403137, + 0.6534867286682129, + 0.6494444608688354, + -0.27668604254722595 + ], + [ + 0.050411395728588104, + -0.00031356001272797585, + -0.03169654682278633, + -0.28285855054855347, + 0.6561229228973389, + 0.6445704102516174, + -0.27207130193710327 + ] + ], + "camera1": [ + [ + 0.053518734872341156, + 0.5582495927810669, + 1.9437448978424072, + 0.027255630120635033, + 0.019349144771695137, + 0.25785690546035767, + 0.9656047821044922 + ], + [ + 0.04058210179209709, + 0.5986666679382324, + 1.9451279640197754, + 0.038541022688150406, + 0.014319934882223606, + 0.2793988287448883, + 0.9592944383621216 + ], + [ + 0.033233173191547394, + 0.5913195013999939, + 1.9415115118026733, + 0.034378379583358765, + 0.018136069178581238, + 0.2699944078922272, + 0.9620770215988159 + ], + [ + 0.0728650689125061, + 0.593884289264679, + 1.9690680503845215, + 0.046824101358652115, + 0.01026864629238844, + 0.2800646722316742, + 0.9587835073471069 + ] + ] + } + } + } +} \ No newline at end of file diff --git a/episodes/c5_p004_e020/wrist.mp4 b/episodes/c5_p004_e020/wrist.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..9ef4c3e290185fe72de2c4129e9b86851bb843a8 --- /dev/null +++ b/episodes/c5_p004_e020/wrist.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:8ab20ac48d80d2416bee656a6ffcf23c7ecdd6c7fc6c8754a174e52f2d158712 +size 6796874 diff --git a/episodes/c5_p004_e021/data.npz b/episodes/c5_p004_e021/data.npz new file mode 100644 index 0000000000000000000000000000000000000000..39918d63a98773c356a2ff35330086851d02ecd3 --- /dev/null +++ b/episodes/c5_p004_e021/data.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:6771578a9c0def7842894b5a4fa3583fe4809faa271a9a3f04232b17042fa1c9 +size 204771 diff --git a/episodes/c5_p004_e021/device_events.jsonl b/episodes/c5_p004_e021/device_events.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..e1cb7ba8fb9ffaad09fcba09135a7435ac5072d3 --- /dev/null +++ b/episodes/c5_p004_e021/device_events.jsonl @@ -0,0 +1,35 @@ +{"env_id": 1, "seq": 1, "step": 82, "t": 0.41, "topic": "conveyor_1.belt.station.pick.captured", "source": "conveyor_1.belt", "data": {"rider": "carrier_4"}, "cause": null} +{"env_id": 1, "seq": 2, "step": 82, "t": 0.41, "topic": "conveyor_1.belt.state.changed", "source": "conveyor_1.belt", "data": {"from": "running", "to": "at_station"}, "cause": null} +{"env_id": 1, "seq": 3, "step": 87, "t": 0.435, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_4"}, "cause": null} +{"env_id": 1, "seq": 4, "step": 6007, "t": 30.035, "topic": "a4s_sealer_1.plate_present.present", "source": "a4s_sealer_1.plate_present", "data": {"object": "plate_4"}, "cause": null} +{"env_id": 1, "seq": 5, "step": 6620, "t": 33.1, "topic": "a4s_sealer_1.command.started", "source": "a4s_sealer_1", "data": {"command_id": "task-1-1", "name": "seal", "source": "task"}, "cause": "task-1-1"} +{"env_id": 1, "seq": 6, "step": 6620, "t": 33.1, "topic": "a4s_sealer_1.seal.started", "source": "a4s_sealer_1", "data": {"dwell": 2.1385594424345333}, "cause": "task-1-1"} +{"env_id": 1, "seq": 7, "step": 6620, "t": 33.1, "topic": "a4s_sealer_1.drawer.command.started", "source": "a4s_sealer_1.drawer", "data": {"command_id": "program-1-2", "name": "close", "source": "program:seal"}, "cause": "program-1-2"} +{"env_id": 1, "seq": 8, "step": 6620, "t": 33.1, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "at_out", "to": "moving"}, "cause": null} +{"env_id": 1, "seq": 9, "step": 6620, "t": 33.1, "topic": "a4s_sealer_1.drawer.moving", "source": "a4s_sealer_1.drawer", "data": {"target": 0.3, "goal": "in"}, "cause": "program-1-2"} +{"env_id": 1, "seq": 10, "step": 7039, "t": 35.195, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "moving", "to": "at_in"}, "cause": null} +{"env_id": 1, "seq": 11, "step": 7039, "t": 35.195, "topic": "a4s_sealer_1.drawer.reached", "source": "a4s_sealer_1.drawer", "data": {"position": "in", "q": 0.2999999225139618}, "cause": "program-1-2"} +{"env_id": 1, "seq": 12, "step": 7039, "t": 35.195, "topic": "a4s_sealer_1.drawer.at_in", "source": "a4s_sealer_1.drawer", "data": {"q": 0.2999999225139618}, "cause": "program-1-2"} +{"env_id": 1, "seq": 13, "step": 7039, "t": 35.195, "topic": "a4s_sealer_1.drawer.command.succeeded", "source": "a4s_sealer_1.drawer", "data": {"command_id": "program-1-2", "name": "close", "source": "program:seal", "result": {"position": "in"}}, "cause": "program-1-2"} +{"env_id": 1, "seq": 14, "step": 7039, "t": 35.195, "topic": "labware.plate_4.changed", "source": "labware.plate_4", "data": {"key": "sealed", "value": true}, "cause": "task-1-1"} +{"env_id": 1, "seq": 15, "step": 7039, "t": 35.195, "topic": "a4s_sealer_1.sealed", "source": "a4s_sealer_1", "data": {"plate": "plate_4"}, "cause": "task-1-1"} +{"env_id": 1, "seq": 16, "step": 7039, "t": 35.195, "topic": "a4s_sealer_1.heater.command.started", "source": "a4s_sealer_1.heater", "data": {"command_id": "program-1-3", "name": "run", "source": "program:seal"}, "cause": "program-1-3"} +{"env_id": 1, "seq": 17, "step": 7039, "t": 35.195, "topic": "a4s_sealer_1.heater.state.changed", "source": "a4s_sealer_1.heater", "data": {"from": "ready", "to": "running"}, "cause": null} +{"env_id": 1, "seq": 18, "step": 7039, "t": 35.195, "topic": "a4s_sealer_1.heater.started", "source": "a4s_sealer_1.heater", "data": {"duration": 2.1385594424345333}, "cause": "program-1-3"} +{"env_id": 1, "seq": 19, "step": 7467, "t": 37.335, "topic": "a4s_sealer_1.heater.state.changed", "source": "a4s_sealer_1.heater", "data": {"from": "running", "to": "ready"}, "cause": null} +{"env_id": 1, "seq": 20, "step": 7467, "t": 37.335, "topic": "a4s_sealer_1.heater.finished", "source": "a4s_sealer_1.heater", "data": {"elapsed": 2.140000000001095}, "cause": "program-1-3"} +{"env_id": 1, "seq": 21, "step": 7467, "t": 37.335, "topic": "a4s_sealer_1.heater.command.succeeded", "source": "a4s_sealer_1.heater", "data": {"command_id": "program-1-3", "name": "run", "source": "program:seal", "result": {"elapsed": 2.140000000001095}}, "cause": "program-1-3"} +{"env_id": 1, "seq": 22, "step": 7467, "t": 37.335, "topic": "a4s_sealer_1.drawer.command.started", "source": "a4s_sealer_1.drawer", "data": {"command_id": "program-1-4", "name": "open", "source": "program:seal"}, "cause": "program-1-4"} +{"env_id": 1, "seq": 23, "step": 7467, "t": 37.335, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "at_in", "to": "moving"}, "cause": null} +{"env_id": 1, "seq": 24, "step": 7467, "t": 37.335, "topic": "a4s_sealer_1.drawer.moving", "source": "a4s_sealer_1.drawer", "data": {"target": 0.0, "goal": "out"}, "cause": "program-1-4"} +{"env_id": 1, "seq": 25, "step": 7886, "t": 39.43, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "moving", "to": "at_out"}, "cause": null} +{"env_id": 1, "seq": 26, "step": 7886, "t": 39.43, "topic": "a4s_sealer_1.drawer.reached", "source": "a4s_sealer_1.drawer", "data": {"position": "out", "q": 1.206620359184285e-09}, "cause": "program-1-4"} +{"env_id": 1, "seq": 27, "step": 7886, "t": 39.43, "topic": "a4s_sealer_1.drawer.at_out", "source": "a4s_sealer_1.drawer", "data": {"q": 1.206620359184285e-09}, "cause": "program-1-4"} +{"env_id": 1, "seq": 28, "step": 7886, "t": 39.43, "topic": "a4s_sealer_1.drawer.command.succeeded", "source": "a4s_sealer_1.drawer", "data": {"command_id": "program-1-4", "name": "open", "source": "program:seal", "result": {"position": "out"}}, "cause": "program-1-4"} +{"env_id": 1, "seq": 29, "step": 7886, "t": 39.43, "topic": "a4s_sealer_1.seal.finished", "source": "a4s_sealer_1", "data": {}, "cause": "task-1-1"} +{"env_id": 1, "seq": 30, "step": 7886, "t": 39.43, "topic": "a4s_sealer_1.command.succeeded", "source": "a4s_sealer_1", "data": {"command_id": "task-1-1", "name": "seal", "source": "task"}, "cause": "task-1-1"} +{"env_id": 1, "seq": 31, "step": 8467, "t": 42.335, "topic": "a4s_sealer_1.plate_present.absent", "source": "a4s_sealer_1.plate_present", "data": {"object": "plate_4"}, "cause": null} +{"env_id": 1, "seq": 32, "step": 10708, "t": 53.54, "topic": "conveyor_1.belt.command.started", "source": "conveyor_1.belt", "data": {"command_id": "task-1-5", "name": "release", "source": "task"}, "cause": "task-1-5"} +{"env_id": 1, "seq": 33, "step": 10708, "t": 53.54, "topic": "conveyor_1.belt.station.pick.released", "source": "conveyor_1.belt", "data": {"rider": "carrier_4"}, "cause": "task-1-5"} +{"env_id": 1, "seq": 34, "step": 10708, "t": 53.54, "topic": "conveyor_1.belt.state.changed", "source": "conveyor_1.belt", "data": {"from": "at_station", "to": "running"}, "cause": null} +{"env_id": 1, "seq": 35, "step": 10708, "t": 53.54, "topic": "conveyor_1.belt.command.succeeded", "source": "conveyor_1.belt", "data": {"command_id": "task-1-5", "name": "release", "source": "task", "result": {"state": "running"}}, "cause": "task-1-5"} diff --git a/episodes/c5_p004_e021/env.mp4 b/episodes/c5_p004_e021/env.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..4997d9fe19b2c096a65955e4a3ae05eb374002ab --- /dev/null +++ b/episodes/c5_p004_e021/env.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:a85b999d074b5f8efaf7171a5cde9f5abb19f72668eb11beb4c03849f4630ebd +size 1329534 diff --git a/episodes/c5_p004_e021/meta.json b/episodes/c5_p004_e021/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..d3aa809a7d1d0b6cb7b2a764793c5979878e42bd --- /dev/null +++ b/episodes/c5_p004_e021/meta.json @@ -0,0 +1,32 @@ +{ + "source": "raw/c5_p004/magicsim/21", + "fps": 25, + "frames": 1266, + "kept_ticks": "even", + "video_frames": { + "wrist": 1266, + "env": 1266 + }, + "joint_target_source": "joint_pos_target", + "fk_vs_recorded_eef_max_m": 0.0, + "curobo_joints": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "joint_order": [ + "shoulder_pan", + "shoulder_lift", + "elbow", + "wrist_1", + "wrist_2", + "wrist_3", + "finger_left", + "finger_right" + ], + "frames_note": "eef / actions in the robot base frame; camera_pose = local pose (wrist: in plate_gripper_base, env: env frame), pos + quat wxyz", + "dr_version": "v2" +} \ No newline at end of file diff --git a/episodes/c5_p004_e021/scene_snapshot.json b/episodes/c5_p004_e021/scene_snapshot.json new file mode 100644 index 0000000000000000000000000000000000000000..0bfb4dddb514407b18a483085890673c9ccf13c0 --- /dev/null +++ b/episodes/c5_p004_e021/scene_snapshot.json @@ -0,0 +1,1558 @@ +{ + "trajectory_id": 21, + "env_id": 1, + "run_id": "c5_p004", + "task_type": "BioPlateCell", + "success": true, + "timing": { + "fps": 50.0, + "sim_dt": 0.005, + "decimation": 4 + }, + "restore_interface": { + "scene": "scene_manager.reset_to(snapshot['scene'], env_ids=[env_id])", + "robots": "robot_manager.set_state({'robots': snapshot['robots']}, env_ids=[env_id])" + }, + "snapshot": { + "env_id": 1, + "scene": { + "objects": [ + {}, + { + "rac_cell": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/rac_cell.usd", + "pose": { + "pos": [ + 0.0, + 0.0, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "physics_material": { + "static_friction": 0.6, + "dynamic_friction": 0.5, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "robot_mount": [ + { + "asset": "Cube", + "pose": { + "pos": [ + 0.0, + 0.0, + 0.9075 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": "color", + "value": [ + 0.55, + 0.56, + 0.58 + ], + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": { + "size": [ + 0.2, + 0.2, + 0.015 + ] + } + }, + "type_specific": {} + } + ], + "plate_rack": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/plate_hotel.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 0.9 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "physics_material": { + "static_friction": 0.6, + "dynamic_friction": 0.5, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "hotel_plate": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_384_white/plate_384_white.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 0.9605 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/pcr_384_red/pcr_384_red.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.0285 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/pcr_96_blue/pcr_96_blue.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.0965 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_24_clear/plate_24_clear.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.1645 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/deep_well_96_2ml/deep_well_96_2ml.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.2325 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "a4s_sealer": [ + { + "asset": "$MAGICSIM_ASSETS/Articulated/A4SSealer/Object.usd", + "pose": { + "pos": [ + 0.5256032943725586, + 0.08841419219970703, + 0.8999999761581421 + ], + "ori": [ + 0.7292097806930542, + 0.0, + 0.0, + -0.6842902302742004 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "articulation", + "solver_position_iteration_count": 16.0, + "solver_velocity_iteration_count": 1.0, + "enabled_self_collisions": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "joint_position": [ + 6.728330999988819e-13 + ], + "joint_velocity": [ + 0.0 + ], + "linear_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "angular_velocity": [ + 0.0, + 0.0, + 0.0 + ] + } + } + ], + "conveyor": [ + { + "asset": "Cube", + "pose": { + "pos": [ + 0.15, + 0.45, + 0.9 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "conveyor", + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9 + }, + "ratio": 1.0 + }, + "primitive_params": { + "size": [ + 2.4, + 0.076, + 0.03 + ] + }, + "conveyor": { + "speed": 0.2592014448979524, + "direction": [ + 1.0, + 0.0, + 0.0 + ], + "enabled": true, + "drive": "surface_velocity", + "lines": null, + "station_line": null, + "riders": [ + "carrier" + ], + "stations": { + "pick": { + "position": -0.1931119094295388, + "slow_distance": 0.03, + "slow_speed": 0.03 + } + }, + "rails": { + "height": 0.01, + "thickness": 0.01, + "gap": 0.001, + "friction": 0.05 + }, + "legs": 0.87, + "loop": { + "radius": 0.35, + "side": "left", + "curve_extra_width": 0.0, + "segments": 18, + "curve_rails": "both" + }, + "snap_distance": 0.1, + "junction_snap": 0.02, + "collision_approximation": "auto", + "plate_mass": 1.0, + "lift_drop": 0.004, + "accel": 0.0, + "decel": 0.0, + "drive_damping": 1000000.0, + "drive_max_force": 1000000000.0 + } + }, + "type_specific": { + "controller": { + "state": "at_station", + "speed": 0.2592014448979524, + "holds": [], + "station": "pick", + "rider": "carrier_4", + "arrived": true, + "applied_speed": 0.0 + } + } + } + ], + "carrier": [ + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + 0.5622882843017578, + 1.1499977111816406, + 0.8999999761581421 + ], + "ori": [ + 5.741291897720657e-05, + -4.696289190864178e-11, + 6.168385802141074e-10, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -2.2341843930462346e-09, + -2.364693774126181e-09, + 1.4901161193847656e-08 + ], + "angular_velocity": [ + 1.4764546563128533e-07, + -2.070859892455701e-07, + -1.9110871107841376e-08 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + -1.028397560119629, + 1.1497173309326172, + 0.8999999761581421 + ], + "ori": [ + -0.00373722892254591, + -8.143339158550589e-08, + -2.4228379302826397e-08, + 0.9999930262565613 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -4.295046540647718e-10, + 3.5216631832923895e-09, + 0.0 + ], + "angular_velocity": [ + -7.888450426207783e-08, + -3.171383156086449e-09, + 2.1012159123756646e-08 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + 1.377767562866211, + 0.45290565490722656, + 0.8999999761581421 + ], + "ori": [ + 0.9994288086891174, + 1.2473874377860739e-08, + -4.056578006839118e-08, + 0.03379443660378456 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 6.110631445288561e-11, + 1.2613107780445887e-10, + 0.0 + ], + "angular_velocity": [ + -1.4598661834952509e-08, + 4.6435868483740705e-09, + 5.629110511051749e-10 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + -0.04303550720214844, + 0.45000457763671875, + 0.8999999761581421 + ], + "ori": [ + 1.0, + 8.723520794617912e-10, + -3.762013270347531e-12, + 1.148673709394643e-05 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 2.2513746422703207e-10, + 1.0777663206340549e-09, + 3.725290298461914e-09 + ], + "angular_velocity": [ + -7.127211887336671e-08, + -1.5175700696090644e-09, + -4.261231367763685e-10 + ] + } + } + ], + "plate": [ + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_12_clear/Object.usd", + "pose": { + "pos": [ + 0.5565471649169922, + 1.1570854187011719, + 0.9179999828338623 + ], + "ori": [ + 0.08947528153657913, + -5.213006137871901e-10, + 1.2474800081818671e-09, + 0.9959890246391296 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 1.67610600954049e-08, + -2.5232836264876823e-08, + 1.564621925354004e-07 + ], + "angular_velocity": [ + 7.703744699938397e-07, + 1.8409434687782777e-06, + 2.402033594250952e-08 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_96_white/Object.usd", + "pose": { + "pos": [ + -1.023564338684082, + 1.1475095748901367, + 0.9180000424385071 + ], + "ori": [ + 0.0662648007273674, + -7.8491623867194e-08, + -3.231151168847646e-08, + 0.9978021383285522 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 1.287469508781669e-08, + 4.534858888405324e-08, + -5.152076482772827e-06 + ], + "angular_velocity": [ + -2.6798129511007573e-06, + 1.514609493824537e-06, + 5.966329297280026e-08 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/pcr_384_red/Object.usd", + "pose": { + "pos": [ + 1.3774938583374023, + 0.4456291198730469, + 0.9179999828338623 + ], + "ori": [ + 0.9979103207588196, + 1.3420160094312905e-08, + -4.040727930032517e-08, + 0.0646149143576622 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -1.1959752299617321e-08, + -6.466598367893539e-10, + -5.617737770080566e-06 + ], + "angular_velocity": [ + -1.8125317069461744e-07, + -1.6101855635497486e-06, + 3.798240300056932e-08 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/deep_well_96_1ml/Object.usd", + "pose": { + "pos": [ + -0.03814697265625, + 0.461669921875, + 0.9179999828338623 + ], + "ori": [ + 0.9954109191894531, + 5.631112465209753e-09, + -4.045123347395929e-09, + -0.0956927016377449 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -5.751265774733838e-08, + -4.544743248402483e-08, + 1.6763806343078613e-07 + ], + "angular_velocity": [ + 1.6968435829767259e-06, + -3.0152818908391055e-06, + 1.7532654439378348e-08 + ] + } + } + ], + "deco_hub_west": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/hub_a.usd", + "pose": { + "pos": [ + -3.36, + 0.0, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_hub_east": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/hub_c.usd", + "pose": { + "pos": [ + 3.36, + 0.0, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_hub_back": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/hub_d.usd", + "pose": { + "pos": [ + -3.0, + -2.1, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_bench_east": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/bench_c.usd", + "pose": { + "pos": [ + 2.6, + -2.5, + 0.0 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_bench_gap": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/bench_b.usd", + "pose": { + "pos": [ + -0.1, + -2.9, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ] + }, + {}, + {} + ], + "devices": { + "hub": [ + null, + { + "t": 3.059999999999957, + "step": 612, + "counter": 0, + "devices": { + "a4s_sealer_1": { + "mode": "auto", + "units": { + "drawer": { + "state": "at_out", + "active": null, + "target": 0.0, + "goal_name": "out", + "profile": null, + "q_start": null, + "reversing": false, + "blocked_for": 0.0, + "settled_for": 0.0, + "last_q": 6.728330999988819e-13 + }, + "heater": { + "state": "ready", + "active": null, + "duration": 0.0, + "t_start": null, + "elapsed": 0.0 + } + }, + "queues": {}, + "program": null, + "sensors": { + "plate_present": { + "occupants": [], + "pending": {} + } + }, + "interlocks": {} + }, + "conveyor_1": { + "mode": "auto", + "units": { + "belt": { + "state": "at_station", + "active": null, + "controller": { + "speed": 0.2592014448979524, + "holds": [], + "station": "pick", + "rider": "carrier_4", + "arrived": true, + "settle_count": 529, + "released": { + "pick": [] + }, + "last_pos": { + "carrier_1": [ + 0.41228827834129333, + 0.6999977231025696, + 0.0 + ], + "carrier_2": [ + -1.1783975660800934, + 0.6997173428535461, + 0.0 + ], + "carrier_3": [ + 1.2277675569057465, + 0.0029056668281555176, + 0.0 + ], + "carrier_4": [ + -0.19303551316261292, + 4.589557647705078e-06, + 0.0 + ] + }, + "command": 0.0 + }, + "belt": { + "target_speed": 0.0, + "command_speed": 0.0 + }, + "seen": { + "state": "at_station", + "station": "pick", + "rider": "carrier_4", + "arrived": true + } + } + }, + "queues": {}, + "program": null, + "sensors": {}, + "interlocks": {} + } + }, + "zones": {}, + "labware": { + "plate_1": { + "sealed": false + }, + "plate_2": { + "sealed": false + }, + "plate_3": { + "sealed": false + }, + "plate_4": { + "sealed": false + } + }, + "rules": {}, + "records": [], + "bus": { + "seq": 3, + "queue": [] + } + }, + null, + null + ], + "drives": [ + null, + {}, + null, + null + ] + }, + "artifacts": [ + {}, + { + "ceiling": { + "type": "rect", + "pose": { + "pos": [ + -0.5160906779864118, + -0.01900737949167891, + 2.8786919365315202 + ], + "ori": [ + -11.389720268112612, + 3.9098843515722095, + -16.078438270091652 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "color_temperature": 6466.358710480283, + "color": [ + 0.8418687650295005, + 0.8212824512606016, + 0.9162230559124592 + ], + "intensity": 9606.746692008372, + "width": 1.719004095905221, + "height": 1.2053096754047483 + } + }, + "key": { + "type": "sphere", + "pose": { + "pos": [ + 0.11376345877782712, + -0.23689848330818497, + 2.152256668722605 + ], + "ori": [ + 15.812924385497666, + -17.735106836252115, + -14.035185580083311 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "color_temperature": 4707.262522149042, + "color": [ + 0.8473660130317267, + 0.766665894714634, + 0.8015637664654494 + ], + "intensity": 9743.152509998417, + "radius": 0.17500878140186982 + } + } + }, + {}, + {} + ], + "background": { + "type": "dome", + "pose": { + "pos": null, + "ori": null, + "scale": null + }, + "dr": { + "intensity": 606.2487558480263, + "texture": null, + "color": [ + 0.92, + 0.94, + 0.96 + ] + } + } + }, + "robots": { + "UR5e": { + "root_pose": [ + [ + 11.0, + -11.0, + 0.9150000214576721, + 1.0, + 0.0, + 0.0, + 0.0 + ], + [ + 11.0, + 11.0, + 0.9150000214576721, + 1.0, + 0.0, + 0.0, + 0.0 + ], + [ + -11.0, + -11.0, + 0.9150000214576721, + 1.0, + 0.0, + 0.0, + 0.0 + ], + [ + -11.0, + 11.0, + 0.9150000214576721, + 1.0, + 0.0, + 0.0, + 0.0 + ] + ], + "root_vel": [ + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + ], + "joint_pos": [ + [ + 0.9140999913215637, + -1.7194000482559204, + 2.0905001163482666, + -1.9419000148773193, + -1.5707999467849731, + 2.4848999977111816, + 0.017999999225139618, + 0.017999999225139618 + ], + [ + 0.914100706577301, + -1.7193981409072876, + 2.090498924255371, + -1.9419000148773193, + -1.5707999467849731, + 2.4848999977111816, + 0.017999999225139618, + 0.017999999225139618 + ], + [ + 0.7304129600524902, + -1.4436416625976562, + 2.0314013957977295, + -2.1585633754730225, + -1.5707741975784302, + 2.4659454822540283, + 0.007644798140972853, + 0.006935375276952982 + ], + [ + 1.224370002746582, + -1.5968984365463257, + 2.191800117492676, + -2.1641204357147217, + -1.5703892707824707, + 5.940823078155518, + 0.007977190427482128, + 0.006765100173652172 + ] + ], + "joint_vel": [ + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + [ + 2.1748459050684848e-38, + -2.1523431536791247e-38, + -1.8302561029525299e-38, + -3.3283017827086123e-37, + 5.753322987989379e-37, + 3.3372021579307407e-37, + 3.079939678631259e-38, + -3.447786130710381e-38 + ], + [ + 0.0001069153004209511, + -1.5355075447587296e-05, + -0.00019294695812277496, + 0.00035227122134529054, + -0.00027708246489055455, + -0.0010623779380694032, + -0.00897381454706192, + 0.00031748670153319836 + ], + [ + 0.05201403424143791, + 0.018413027748465538, + -0.011633488349616528, + -0.014151697978377342, + -9.81712801149115e-05, + 0.05771324411034584, + -0.006998025346547365, + 0.0001958335196832195 + ] + ] + } + }, + "cameras": { + "cameras": { + "camera0": [ + [ + 0.04771961644291878, + -0.00032699332223273814, + -0.03064444474875927, + -0.27880939841270447, + 0.6462607383728027, + 0.6533428430557251, + -0.278846800327301 + ], + [ + 0.046649497002363205, + -0.003994171041995287, + -0.030347425490617752, + -0.2854122221469879, + 0.6502425074577332, + 0.6482290029525757, + -0.2748158276081085 + ], + [ + 0.05265973135828972, + 0.0029737490694969893, + -0.030368460342288017, + -0.27446794509887695, + 0.650079607963562, + 0.6522426605224609, + -0.27684536576271057 + ], + [ + 0.04791584983468056, + -0.0026296605356037617, + -0.0332619734108448, + -0.2812477648258209, + 0.6539897322654724, + 0.6466602087020874, + -0.27391186356544495 + ] + ], + "camera1": [ + [ + 0.07103428244590759, + 0.5582457780838013, + 1.9492818117141724, + 0.03065478801727295, + 0.01242429856210947, + 0.26725688576698303, + 0.9630574584007263 + ], + [ + 0.03685193881392479, + 0.5903816819190979, + 1.9571601152420044, + 0.02934284135699272, + 0.006310430821031332, + 0.26281243562698364, + 0.9643800258636475 + ], + [ + 0.033233173191547394, + 0.5913195013999939, + 1.9415115118026733, + 0.034378379583358765, + 0.018136069178581238, + 0.2699944078922272, + 0.9620770215988159 + ], + [ + 0.0728650689125061, + 0.593884289264679, + 1.9690680503845215, + 0.046824101358652115, + 0.01026864629238844, + 0.2800646722316742, + 0.9587835073471069 + ] + ] + } + } + } +} \ No newline at end of file diff --git a/episodes/c5_p004_e021/wrist.mp4 b/episodes/c5_p004_e021/wrist.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..4f6c2c2a8c7f0cf46b58be002e98d8cea4e34d0a --- /dev/null +++ b/episodes/c5_p004_e021/wrist.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:b99da6bae889ba4289f15eabaffe1529845b8c6f06e38376fc508499b6346648 +size 7343141 diff --git a/episodes/c5_p004_e022/data.npz b/episodes/c5_p004_e022/data.npz new file mode 100644 index 0000000000000000000000000000000000000000..8713876b99d5201c4c11bf1e05a75c0a7c18b62a --- /dev/null +++ b/episodes/c5_p004_e022/data.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:680589989ddda2740b7732da7f2b99ecd06e60970f6b4c24440a2c44cb380639 +size 183470 diff --git a/episodes/c5_p004_e022/device_events.jsonl b/episodes/c5_p004_e022/device_events.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..7d5b86066f165219e902c61e85fbbccbee27bfc4 --- /dev/null +++ b/episodes/c5_p004_e022/device_events.jsonl @@ -0,0 +1,35 @@ +{"env_id": 0, "seq": 1, "step": 77, "t": 0.385, "topic": "conveyor_1.belt.station.pick.captured", "source": "conveyor_1.belt", "data": {"rider": "carrier_1"}, "cause": null} +{"env_id": 0, "seq": 2, "step": 77, "t": 0.385, "topic": "conveyor_1.belt.state.changed", "source": "conveyor_1.belt", "data": {"from": "running", "to": "at_station"}, "cause": null} +{"env_id": 0, "seq": 3, "step": 82, "t": 0.41, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_1"}, "cause": null} +{"env_id": 0, "seq": 4, "step": 6387, "t": 31.935, "topic": "a4s_sealer_1.plate_present.present", "source": "a4s_sealer_1.plate_present", "data": {"object": "plate_1"}, "cause": null} +{"env_id": 0, "seq": 5, "step": 7000, "t": 35.0, "topic": "a4s_sealer_1.command.started", "source": "a4s_sealer_1", "data": {"command_id": "task-0-1", "name": "seal", "source": "task"}, "cause": "task-0-1"} +{"env_id": 0, "seq": 6, "step": 7000, "t": 35.0, "topic": "a4s_sealer_1.seal.started", "source": "a4s_sealer_1", "data": {"dwell": 2.4285111701531332}, "cause": "task-0-1"} +{"env_id": 0, "seq": 7, "step": 7000, "t": 35.0, "topic": "a4s_sealer_1.drawer.command.started", "source": "a4s_sealer_1.drawer", "data": {"command_id": "program-0-2", "name": "close", "source": "program:seal"}, "cause": "program-0-2"} +{"env_id": 0, "seq": 8, "step": 7000, "t": 35.0, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "at_out", "to": "moving"}, "cause": null} +{"env_id": 0, "seq": 9, "step": 7000, "t": 35.0, "topic": "a4s_sealer_1.drawer.moving", "source": "a4s_sealer_1.drawer", "data": {"target": 0.3, "goal": "in"}, "cause": "program-0-2"} +{"env_id": 0, "seq": 10, "step": 7419, "t": 37.095, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "moving", "to": "at_in"}, "cause": null} +{"env_id": 0, "seq": 11, "step": 7419, "t": 37.095, "topic": "a4s_sealer_1.drawer.reached", "source": "a4s_sealer_1.drawer", "data": {"position": "in", "q": 0.30000001192092896}, "cause": "program-0-2"} +{"env_id": 0, "seq": 12, "step": 7419, "t": 37.095, "topic": "a4s_sealer_1.drawer.at_in", "source": "a4s_sealer_1.drawer", "data": {"q": 0.30000001192092896}, "cause": "program-0-2"} +{"env_id": 0, "seq": 13, "step": 7419, "t": 37.095, "topic": "a4s_sealer_1.drawer.command.succeeded", "source": "a4s_sealer_1.drawer", "data": {"command_id": "program-0-2", "name": "close", "source": "program:seal", "result": {"position": "in"}}, "cause": "program-0-2"} +{"env_id": 0, "seq": 14, "step": 7419, "t": 37.095, "topic": "labware.plate_1.changed", "source": "labware.plate_1", "data": {"key": "sealed", "value": true}, "cause": "task-0-1"} +{"env_id": 0, "seq": 15, "step": 7419, "t": 37.095, "topic": "a4s_sealer_1.sealed", "source": "a4s_sealer_1", "data": {"plate": "plate_1"}, "cause": "task-0-1"} +{"env_id": 0, "seq": 16, "step": 7419, "t": 37.095, "topic": "a4s_sealer_1.heater.command.started", "source": "a4s_sealer_1.heater", "data": {"command_id": "program-0-3", "name": "run", "source": "program:seal"}, "cause": "program-0-3"} +{"env_id": 0, "seq": 17, "step": 7419, "t": 37.095, "topic": "a4s_sealer_1.heater.state.changed", "source": "a4s_sealer_1.heater", "data": {"from": "ready", "to": "running"}, "cause": null} +{"env_id": 0, "seq": 18, "step": 7419, "t": 37.095, "topic": "a4s_sealer_1.heater.started", "source": "a4s_sealer_1.heater", "data": {"duration": 2.4285111701531332}, "cause": "program-0-3"} +{"env_id": 0, "seq": 19, "step": 7905, "t": 39.525, "topic": "a4s_sealer_1.heater.state.changed", "source": "a4s_sealer_1.heater", "data": {"from": "running", "to": "ready"}, "cause": null} +{"env_id": 0, "seq": 20, "step": 7905, "t": 39.525, "topic": "a4s_sealer_1.heater.finished", "source": "a4s_sealer_1.heater", "data": {"elapsed": 2.430000000001243}, "cause": "program-0-3"} +{"env_id": 0, "seq": 21, "step": 7905, "t": 39.525, "topic": "a4s_sealer_1.heater.command.succeeded", "source": "a4s_sealer_1.heater", "data": {"command_id": "program-0-3", "name": "run", "source": "program:seal", "result": {"elapsed": 2.430000000001243}}, "cause": "program-0-3"} +{"env_id": 0, "seq": 22, "step": 7905, "t": 39.525, "topic": "a4s_sealer_1.drawer.command.started", "source": "a4s_sealer_1.drawer", "data": {"command_id": "program-0-4", "name": "open", "source": "program:seal"}, "cause": "program-0-4"} +{"env_id": 0, "seq": 23, "step": 7905, "t": 39.525, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "at_in", "to": "moving"}, "cause": null} +{"env_id": 0, "seq": 24, "step": 7905, "t": 39.525, "topic": "a4s_sealer_1.drawer.moving", "source": "a4s_sealer_1.drawer", "data": {"target": 0.0, "goal": "out"}, "cause": "program-0-4"} +{"env_id": 0, "seq": 25, "step": 8325, "t": 41.625, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "moving", "to": "at_out"}, "cause": null} +{"env_id": 0, "seq": 26, "step": 8325, "t": 41.625, "topic": "a4s_sealer_1.drawer.reached", "source": "a4s_sealer_1.drawer", "data": {"position": "out", "q": 6.898026594370776e-09}, "cause": "program-0-4"} +{"env_id": 0, "seq": 27, "step": 8325, "t": 41.625, "topic": "a4s_sealer_1.drawer.at_out", "source": "a4s_sealer_1.drawer", "data": {"q": 6.898026594370776e-09}, "cause": "program-0-4"} +{"env_id": 0, "seq": 28, "step": 8325, "t": 41.625, "topic": "a4s_sealer_1.drawer.command.succeeded", "source": "a4s_sealer_1.drawer", "data": {"command_id": "program-0-4", "name": "open", "source": "program:seal", "result": {"position": "out"}}, "cause": "program-0-4"} +{"env_id": 0, "seq": 29, "step": 8325, "t": 41.625, "topic": "a4s_sealer_1.seal.finished", "source": "a4s_sealer_1", "data": {}, "cause": "task-0-1"} +{"env_id": 0, "seq": 30, "step": 8325, "t": 41.625, "topic": "a4s_sealer_1.command.succeeded", "source": "a4s_sealer_1", "data": {"command_id": "task-0-1", "name": "seal", "source": "task"}, "cause": "task-0-1"} +{"env_id": 0, "seq": 31, "step": 8907, "t": 44.535, "topic": "a4s_sealer_1.plate_present.absent", "source": "a4s_sealer_1.plate_present", "data": {"object": "plate_1"}, "cause": null} +{"env_id": 0, "seq": 32, "step": 10592, "t": 52.96, "topic": "conveyor_1.belt.command.started", "source": "conveyor_1.belt", "data": {"command_id": "task-0-5", "name": "release", "source": "task"}, "cause": "task-0-5"} +{"env_id": 0, "seq": 33, "step": 10592, "t": 52.96, "topic": "conveyor_1.belt.station.pick.released", "source": "conveyor_1.belt", "data": {"rider": "carrier_1"}, "cause": "task-0-5"} +{"env_id": 0, "seq": 34, "step": 10592, "t": 52.96, "topic": "conveyor_1.belt.state.changed", "source": "conveyor_1.belt", "data": {"from": "at_station", "to": "running"}, "cause": null} +{"env_id": 0, "seq": 35, "step": 10592, "t": 52.96, "topic": "conveyor_1.belt.command.succeeded", "source": "conveyor_1.belt", "data": {"command_id": "task-0-5", "name": "release", "source": "task", "result": {"state": "running"}}, "cause": "task-0-5"} diff --git a/episodes/c5_p004_e022/env.mp4 b/episodes/c5_p004_e022/env.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..748bf0d32b37395203d968187c61f1363951c7b9 --- /dev/null +++ b/episodes/c5_p004_e022/env.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:d6e4c60f580105527c8632cfb6dcf881a9adceef0b3c48395bfc051a4ac820bd +size 1328460 diff --git a/episodes/c5_p004_e022/meta.json b/episodes/c5_p004_e022/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..8296afef0250409bdd5a57b96db44370740124a1 --- /dev/null +++ b/episodes/c5_p004_e022/meta.json @@ -0,0 +1,32 @@ +{ + "source": "raw/c5_p004/magicsim/22", + "fps": 25, + "frames": 1171, + "kept_ticks": "even", + "video_frames": { + "wrist": 1171, + "env": 1171 + }, + "joint_target_source": "joint_pos_target", + "fk_vs_recorded_eef_max_m": 0.0, + "curobo_joints": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "joint_order": [ + "shoulder_pan", + "shoulder_lift", + "elbow", + "wrist_1", + "wrist_2", + "wrist_3", + "finger_left", + "finger_right" + ], + "frames_note": "eef / actions in the robot base frame; camera_pose = local pose (wrist: in plate_gripper_base, env: env frame), pos + quat wxyz", + "dr_version": "v2" +} \ No newline at end of file diff --git a/episodes/c5_p004_e022/scene_snapshot.json b/episodes/c5_p004_e022/scene_snapshot.json new file mode 100644 index 0000000000000000000000000000000000000000..ced2be9d39b5b33977cf7551f26d33affd43b76b --- /dev/null +++ b/episodes/c5_p004_e022/scene_snapshot.json @@ -0,0 +1,1558 @@ +{ + "trajectory_id": 22, + "env_id": 0, + "run_id": "c5_p004", + "task_type": "BioPlateCell", + "success": true, + "timing": { + "fps": 50.0, + "sim_dt": 0.005, + "decimation": 4 + }, + "restore_interface": { + "scene": "scene_manager.reset_to(snapshot['scene'], env_ids=[env_id])", + "robots": "robot_manager.set_state({'robots': snapshot['robots']}, env_ids=[env_id])" + }, + "snapshot": { + "env_id": 0, + "scene": { + "objects": [ + { + "rac_cell": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/rac_cell.usd", + "pose": { + "pos": [ + 0.0, + 0.0, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "physics_material": { + "static_friction": 0.6, + "dynamic_friction": 0.5, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "robot_mount": [ + { + "asset": "Cube", + "pose": { + "pos": [ + 0.0, + 0.0, + 0.9075 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": "color", + "value": [ + 0.55, + 0.56, + 0.58 + ], + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": { + "size": [ + 0.2, + 0.2, + 0.015 + ] + } + }, + "type_specific": {} + } + ], + "plate_rack": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/plate_hotel.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 0.9 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "physics_material": { + "static_friction": 0.6, + "dynamic_friction": 0.5, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "hotel_plate": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_12_clear/plate_12_clear.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 0.9605 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_96_white/plate_96_white.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.0285 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_96_black/plate_96_black.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.0965 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_96_clear/plate_96_clear.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.1645 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_384_white/plate_384_white.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.2325 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "a4s_sealer": [ + { + "asset": "$MAGICSIM_ASSETS/Articulated/A4SSealer/Object.usd", + "pose": { + "pos": [ + 0.48097991943359375, + 0.1065673828125, + 0.8999999761581421 + ], + "ori": [ + 0.726047158241272, + 0.0, + 0.0, + -0.687644898891449 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "articulation", + "solver_position_iteration_count": 16.0, + "solver_velocity_iteration_count": 1.0, + "enabled_self_collisions": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "joint_position": [ + 0.0 + ], + "joint_velocity": [ + 0.0 + ], + "linear_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "angular_velocity": [ + 0.0, + 0.0, + 0.0 + ] + } + } + ], + "conveyor": [ + { + "asset": "Cube", + "pose": { + "pos": [ + 0.15, + 0.45, + 0.9 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "conveyor", + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9 + }, + "ratio": 1.0 + }, + "primitive_params": { + "size": [ + 2.4, + 0.076, + 0.03 + ] + }, + "conveyor": { + "speed": 0.2849957797320991, + "direction": [ + 1.0, + 0.0, + 0.0 + ], + "enabled": true, + "drive": "surface_velocity", + "lines": null, + "station_line": null, + "riders": [ + "carrier" + ], + "stations": { + "pick": { + "position": -0.021282128303324488, + "slow_distance": 0.03, + "slow_speed": 0.03 + } + }, + "rails": { + "height": 0.01, + "thickness": 0.01, + "gap": 0.001, + "friction": 0.05 + }, + "legs": 0.87, + "loop": { + "radius": 0.35, + "side": "left", + "curve_extra_width": 0.0, + "segments": 18, + "curve_rails": "both" + }, + "snap_distance": 0.1, + "junction_snap": 0.02, + "collision_approximation": "auto", + "plate_mass": 1.0, + "lift_drop": 0.004, + "accel": 0.0, + "decel": 0.0, + "drive_damping": 1000000.0, + "drive_max_force": 1000000000.0 + } + }, + "type_specific": { + "controller": { + "state": "at_station", + "speed": 0.2849957797320991, + "holds": [], + "station": "pick", + "rider": "carrier_1", + "arrived": true, + "applied_speed": 0.0 + } + } + } + ], + "carrier": [ + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + 0.1286296844482422, + 0.4499959945678711, + 0.8999999761581421 + ], + "ori": [ + 1.0, + 4.02358901752109e-09, + 3.5995489922058255e-10, + -1.5800489563844167e-05 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 8.40674196922464e-11, + -3.1651697929291345e-10, + 0.0 + ], + "angular_velocity": [ + 1.9205245394005033e-08, + -1.0825488061527722e-08, + -4.8849644329607145e-09 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + 0.17562103271484375, + 1.1499977111816406, + 0.8999999761581421 + ], + "ori": [ + 2.4394747015321627e-05, + -9.123030803026566e-11, + -2.1852264442401292e-09, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 1.7555623621490213e-11, + -1.3850434132933742e-09, + 0.0 + ], + "angular_velocity": [ + 5.983292794553563e-08, + 5.8081255360775685e-09, + 4.443356793615294e-09 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + -1.2820329666137695, + 1.057943344116211, + 0.8999999761581421 + ], + "ori": [ + -0.3487469255924225, + -4.7938915059830833e-08, + -4.685717414076862e-08, + 0.9372169971466064 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -5.821631177127529e-09, + -1.5925540886030376e-09, + 3.3527612686157227e-08 + ], + "angular_velocity": [ + 2.386724702319043e-07, + -2.907523253270483e-07, + 4.541535503221894e-08 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + 1.5773963928222656, + 0.5380573272705078, + 0.8999999761581421 + ], + "ori": [ + 0.9401818513870239, + -3.369263623653751e-08, + -6.83377310295441e-09, + 0.3406732678413391 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 1.7894394854778284e-09, + -6.2759415442315e-09, + 1.4901161193847656e-08 + ], + "angular_velocity": [ + 1.894232042332078e-07, + 3.1336576000740024e-08, + -7.606522700598362e-08 + ] + } + } + ], + "plate": [ + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_6_clear/Object.usd", + "pose": { + "pos": [ + 0.11730480194091797, + 0.46161651611328125, + 0.9179999828338623 + ], + "ori": [ + 0.9984859228134155, + 4.327053826358451e-09, + -5.583218332105844e-10, + 0.05500843748450279 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -1.9226673586558718e-08, + -2.6069660208349887e-08, + 1.1175870895385742e-07 + ], + "angular_velocity": [ + 1.4879472018947126e-06, + -1.5025644870547694e-06, + 2.4518813646068338e-08 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_96_black/Object.usd", + "pose": { + "pos": [ + 0.16810226440429688, + 1.1575660705566406, + 0.9180000424385071 + ], + "ori": [ + -0.10103000700473785, + -3.5324282388060624e-10, + -2.901143103528625e-09, + 0.9948834180831909 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 1.93788434188491e-08, + -1.4299256889671597e-08, + -5.133450031280518e-06 + ], + "angular_velocity": [ + -9.692790570170473e-08, + 1.2632144716917537e-06, + 1.389433776921578e-07 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/pcr_96_blue/Object.usd", + "pose": { + "pos": [ + -1.2782068252563477, + 1.0726394653320312, + 0.9179999828338623 + ], + "ori": [ + -0.3533989191055298, + -4.436003209207229e-08, + -6.099688931726632e-08, + 0.9354727268218994 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -2.616602159832837e-06, + -9.641793212722405e-07, + -4.4442713260650635e-06 + ], + "angular_velocity": [ + 2.7515598048921674e-06, + 2.1917519916314632e-05, + -1.8813614587998018e-05 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/deep_well_96_2ml/Object.usd", + "pose": { + "pos": [ + 1.589442253112793, + 0.5334014892578125, + 0.9179999828338623 + ], + "ori": [ + 0.9703142642974854, + -3.4944644511369916e-08, + -9.939021161642358e-09, + 0.24184781312942505 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -8.11676841294684e-08, + -6.680028263872373e-08, + -1.084059476852417e-06 + ], + "angular_velocity": [ + 1.795459070308425e-06, + -2.6175221137236804e-06, + -2.0602661265911593e-07 + ] + } + } + ], + "deco_hub_west": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/hub_d.usd", + "pose": { + "pos": [ + -3.36, + 0.0, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_hub_east": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/hub_e.usd", + "pose": { + "pos": [ + 3.36, + 0.0, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_hub_back": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/hub_b.usd", + "pose": { + "pos": [ + -3.0, + -2.1, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_bench_east": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/bench_a.usd", + "pose": { + "pos": [ + 2.6, + -2.5, + 0.0 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_bench_gap": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/bench_b.usd", + "pose": { + "pos": [ + -0.1, + -2.9, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ] + }, + {}, + {}, + {} + ], + "devices": { + "hub": [ + { + "t": 6.259999999999889, + "step": 1252, + "counter": 0, + "devices": { + "a4s_sealer_1": { + "mode": "auto", + "units": { + "drawer": { + "state": "at_out", + "active": null, + "target": 0.0, + "goal_name": "out", + "profile": null, + "q_start": null, + "reversing": false, + "blocked_for": 0.0, + "settled_for": 0.0, + "last_q": 0.0 + }, + "heater": { + "state": "ready", + "active": null, + "duration": 0.0, + "t_start": null, + "elapsed": 0.0 + } + }, + "queues": {}, + "program": null, + "sensors": { + "plate_present": { + "occupants": [], + "pending": {} + } + }, + "interlocks": {} + }, + "conveyor_1": { + "mode": "auto", + "units": { + "belt": { + "state": "at_station", + "active": null, + "controller": { + "speed": 0.2849957797320991, + "holds": [], + "station": "pick", + "rider": "carrier_1", + "arrived": true, + "settle_count": 1174, + "released": { + "pick": [] + }, + "last_pos": { + "carrier_1": [ + -0.02137032151222229, + -3.993511199951172e-06, + 0.0 + ], + "carrier_2": [ + 0.025621026754379272, + 0.6999977231025696, + 0.0 + ], + "carrier_3": [ + -1.432032972574234, + 0.6079433560371399, + 0.0 + ], + "carrier_4": [ + 1.4273963868618011, + 0.08805733919143677, + 0.0 + ] + }, + "command": 0.0 + }, + "belt": { + "target_speed": 0.0, + "command_speed": 0.0 + }, + "seen": { + "state": "at_station", + "station": "pick", + "rider": "carrier_1", + "arrived": true + } + } + }, + "queues": {}, + "program": null, + "sensors": {}, + "interlocks": {} + } + }, + "zones": {}, + "labware": { + "plate_1": { + "sealed": false + }, + "plate_2": { + "sealed": false + }, + "plate_3": { + "sealed": false + }, + "plate_4": { + "sealed": false + } + }, + "rules": {}, + "records": [], + "bus": { + "seq": 3, + "queue": [] + } + }, + null, + null, + null + ], + "drives": [ + {}, + null, + null, + null + ] + }, + "artifacts": [ + { + "ceiling": { + "type": "rect", + "pose": { + "pos": [ + 0.32401677283696984, + 0.5430009253216441, + 2.959140630055724 + ], + "ori": [ + -2.038391771638153, + -14.290881879834993, + 1.2445519234788556 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "color_temperature": 3327.190017103454, + "color": [ + 0.9629527903214493, + 0.9816103220257267, + 0.9924263997721646 + ], + "intensity": 6634.903657555682, + "width": 2.582199062140228, + "height": 1.535334361558072 + } + }, + "key": { + "type": "sphere", + "pose": { + "pos": [ + -0.693053817564349, + 0.6574692217863853, + 1.65475271716901 + ], + "ori": [ + -4.243890828922829, + -10.153044718527092, + -16.333236454579925 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "color_temperature": 6104.498181295436, + "color": [ + 0.7583718004570563, + 0.7876065393317007, + 0.9069485961820765 + ], + "intensity": 9006.2663649956, + "radius": 0.1485862365193229 + } + } + }, + {}, + {}, + {} + ], + "background": { + "type": "dome", + "pose": { + "pos": null, + "ori": null, + "scale": null + }, + "dr": { + "intensity": 606.2487558480263, + "texture": null, + "color": [ + 0.92, + 0.94, + 0.96 + ] + } + } + }, + "robots": { + "UR5e": { + "root_pose": [ + [ + 11.0, + -11.0, + 0.9150000214576721, + 1.0, + 0.0, + 0.0, + 0.0 + ], + [ + 11.0, + 11.0, + 0.9150000214576721, + 1.0, + 0.0, + 0.0, + 0.0 + ], + [ + -11.0, + -11.0, + 0.9150000214576721, + 1.0, + 0.0, + 0.0, + 0.0 + ], + [ + -11.0, + 11.0, + 0.9150000214576721, + 1.0, + 0.0, + 0.0, + 0.0 + ] + ], + "root_vel": [ + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + ], + "joint_pos": [ + [ + 0.9141027331352234, + -1.7193981409072876, + 2.0904994010925293, + -1.9418998956680298, + -1.5707999467849731, + 2.484900712966919, + 0.01799999549984932, + 0.018000002950429916 + ], + [ + 1.0431216955184937, + -1.5658363103866577, + 2.164686441421509, + -2.168999195098877, + -1.5708065032958984, + 2.8055202960968018, + 0.007181258872151375, + 0.00784369558095932 + ], + [ + 2.8010380268096924, + -1.5339477062225342, + 2.1523895263671875, + -2.1884725093841553, + -1.5691118240356445, + 4.373332977294922, + 0.01800001971423626, + 0.017999978736042976 + ], + [ + 0.9140999913215637, + -1.7194000482559204, + 2.0905001163482666, + -1.9419000148773193, + -1.5707999467849731, + 2.4848999977111816, + 0.017999999225139618, + 0.017999999225139618 + ] + ], + "joint_vel": [ + [ + 5.1089459702780005e-06, + 6.811893399572e-06, + -6.8119588831905276e-06, + -3.3903069696257504e-15, + 3.640523212750102e-14, + 1.02224229515252e-12, + 5.198061714395408e-08, + -5.198064556566351e-08 + ], + [ + 0.0003114947467111051, + -0.0005214933189563453, + -0.0019519978668540716, + 0.000722061435226351, + -0.00033520092256367207, + -0.0013265010202303529, + -0.0055963825434446335, + 0.0002624429762363434 + ], + [ + -0.00402599573135376, + -0.013142397627234459, + 0.013378015719354153, + -0.0004391396651044488, + -8.67701237439178e-06, + -0.004114596638828516, + -1.974603264898178e-06, + 1.9746469206438633e-06 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + ] + } + }, + "cameras": { + "cameras": { + "camera0": [ + [ + 0.04979338496923447, + 0.0013390806270763278, + -0.031548842787742615, + -0.2748677730560303, + 0.6448144912719727, + 0.6543480753898621, + -0.2837086617946625 + ], + [ + 0.04848450422286987, + -0.003935262095183134, + -0.028487322852015495, + -0.2745514512062073, + 0.6538215279579163, + 0.6523793339729309, + -0.26746976375579834 + ], + [ + 0.05265862122178078, + 0.0012218351475894451, + -0.03259360417723656, + -0.2728221118450165, + 0.6536799669265747, + 0.6488170027732849, + -0.2780415713787079 + ], + [ + 0.05293424054980278, + -0.004423417150974274, + -0.028533389791846275, + -0.2944556772708893, + 0.6383217573165894, + 0.6513195633888245, + -0.28569918870925903 + ] + ], + "camera1": [ + [ + 0.07103428244590759, + 0.5582457780838013, + 1.9492818117141724, + 0.03065478801727295, + 0.01242429856210947, + 0.26725688576698303, + 0.9630574584007263 + ], + [ + 0.03685193881392479, + 0.5903816819190979, + 1.9571601152420044, + 0.02934284135699272, + 0.006310430821031332, + 0.26281243562698364, + 0.9643800258636475 + ], + [ + 0.033233173191547394, + 0.5913195013999939, + 1.9415115118026733, + 0.034378379583358765, + 0.018136069178581238, + 0.2699944078922272, + 0.9620770215988159 + ], + [ + 0.07151870429515839, + 0.5788511037826538, + 1.9577586650848389, + 0.05580925941467285, + 0.02070547081530094, + 0.2779150903224945, + 0.9587595462799072 + ] + ] + } + } + } +} \ No newline at end of file diff --git a/episodes/c5_p004_e022/wrist.mp4 b/episodes/c5_p004_e022/wrist.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..77fe504f5935f04509d61b63bbfb5b89b6c66caa --- /dev/null +++ b/episodes/c5_p004_e022/wrist.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:7104e2c557d241eedaa41e367a92a5f67d523bbc7a8e181bae6c7d6a5146c59e +size 6430054 diff --git a/episodes/c5_p004_e023/data.npz b/episodes/c5_p004_e023/data.npz new file mode 100644 index 0000000000000000000000000000000000000000..f0343904276587eeb894d51f3a0f44a32be30667 --- /dev/null +++ b/episodes/c5_p004_e023/data.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:f2b64e98de1b10835c07be01919c25ccae18391eae5448d24f1a136b39f3fbf5 +size 190892 diff --git a/episodes/c5_p004_e023/device_events.jsonl b/episodes/c5_p004_e023/device_events.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..89f82a2339653d3fe33d6de23e8adbe7676f2e74 --- /dev/null +++ b/episodes/c5_p004_e023/device_events.jsonl @@ -0,0 +1,35 @@ +{"env_id": 3, "seq": 1, "step": 131, "t": 0.655, "topic": "conveyor_1.belt.station.pick.captured", "source": "conveyor_1.belt", "data": {"rider": "carrier_3"}, "cause": null} +{"env_id": 3, "seq": 2, "step": 131, "t": 0.655, "topic": "conveyor_1.belt.state.changed", "source": "conveyor_1.belt", "data": {"from": "running", "to": "at_station"}, "cause": null} +{"env_id": 3, "seq": 3, "step": 136, "t": 0.68, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_3"}, "cause": null} +{"env_id": 3, "seq": 4, "step": 6755, "t": 33.775, "topic": "a4s_sealer_1.plate_present.present", "source": "a4s_sealer_1.plate_present", "data": {"object": "plate_3"}, "cause": null} +{"env_id": 3, "seq": 5, "step": 7368, "t": 36.84, "topic": "a4s_sealer_1.command.started", "source": "a4s_sealer_1", "data": {"command_id": "task-3-1", "name": "seal", "source": "task"}, "cause": "task-3-1"} +{"env_id": 3, "seq": 6, "step": 7368, "t": 36.84, "topic": "a4s_sealer_1.seal.started", "source": "a4s_sealer_1", "data": {"dwell": 3.488287709509775}, "cause": "task-3-1"} +{"env_id": 3, "seq": 7, "step": 7368, "t": 36.84, "topic": "a4s_sealer_1.drawer.command.started", "source": "a4s_sealer_1.drawer", "data": {"command_id": "program-3-2", "name": "close", "source": "program:seal"}, "cause": "program-3-2"} +{"env_id": 3, "seq": 8, "step": 7368, "t": 36.84, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "at_out", "to": "moving"}, "cause": null} +{"env_id": 3, "seq": 9, "step": 7368, "t": 36.84, "topic": "a4s_sealer_1.drawer.moving", "source": "a4s_sealer_1.drawer", "data": {"target": 0.3, "goal": "in"}, "cause": "program-3-2"} +{"env_id": 3, "seq": 10, "step": 7787, "t": 38.935, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "moving", "to": "at_in"}, "cause": null} +{"env_id": 3, "seq": 11, "step": 7787, "t": 38.935, "topic": "a4s_sealer_1.drawer.reached", "source": "a4s_sealer_1.drawer", "data": {"position": "in", "q": 0.30000001192092896}, "cause": "program-3-2"} +{"env_id": 3, "seq": 12, "step": 7787, "t": 38.935, "topic": "a4s_sealer_1.drawer.at_in", "source": "a4s_sealer_1.drawer", "data": {"q": 0.30000001192092896}, "cause": "program-3-2"} +{"env_id": 3, "seq": 13, "step": 7787, "t": 38.935, "topic": "a4s_sealer_1.drawer.command.succeeded", "source": "a4s_sealer_1.drawer", "data": {"command_id": "program-3-2", "name": "close", "source": "program:seal", "result": {"position": "in"}}, "cause": "program-3-2"} +{"env_id": 3, "seq": 14, "step": 7787, "t": 38.935, "topic": "labware.plate_3.changed", "source": "labware.plate_3", "data": {"key": "sealed", "value": true}, "cause": "task-3-1"} +{"env_id": 3, "seq": 15, "step": 7787, "t": 38.935, "topic": "a4s_sealer_1.sealed", "source": "a4s_sealer_1", "data": {"plate": "plate_3"}, "cause": "task-3-1"} +{"env_id": 3, "seq": 16, "step": 7787, "t": 38.935, "topic": "a4s_sealer_1.heater.command.started", "source": "a4s_sealer_1.heater", "data": {"command_id": "program-3-3", "name": "run", "source": "program:seal"}, "cause": "program-3-3"} +{"env_id": 3, "seq": 17, "step": 7787, "t": 38.935, "topic": "a4s_sealer_1.heater.state.changed", "source": "a4s_sealer_1.heater", "data": {"from": "ready", "to": "running"}, "cause": null} +{"env_id": 3, "seq": 18, "step": 7787, "t": 38.935, "topic": "a4s_sealer_1.heater.started", "source": "a4s_sealer_1.heater", "data": {"duration": 3.488287709509775}, "cause": "program-3-3"} +{"env_id": 3, "seq": 19, "step": 8485, "t": 42.425, "topic": "a4s_sealer_1.heater.state.changed", "source": "a4s_sealer_1.heater", "data": {"from": "running", "to": "ready"}, "cause": null} +{"env_id": 3, "seq": 20, "step": 8485, "t": 42.425, "topic": "a4s_sealer_1.heater.finished", "source": "a4s_sealer_1.heater", "data": {"elapsed": 3.4900000000017855}, "cause": "program-3-3"} +{"env_id": 3, "seq": 21, "step": 8485, "t": 42.425, "topic": "a4s_sealer_1.heater.command.succeeded", "source": "a4s_sealer_1.heater", "data": {"command_id": "program-3-3", "name": "run", "source": "program:seal", "result": {"elapsed": 3.4900000000017855}}, "cause": "program-3-3"} +{"env_id": 3, "seq": 22, "step": 8485, "t": 42.425, "topic": "a4s_sealer_1.drawer.command.started", "source": "a4s_sealer_1.drawer", "data": {"command_id": "program-3-4", "name": "open", "source": "program:seal"}, "cause": "program-3-4"} +{"env_id": 3, "seq": 23, "step": 8485, "t": 42.425, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "at_in", "to": "moving"}, "cause": null} +{"env_id": 3, "seq": 24, "step": 8485, "t": 42.425, "topic": "a4s_sealer_1.drawer.moving", "source": "a4s_sealer_1.drawer", "data": {"target": 0.0, "goal": "out"}, "cause": "program-3-4"} +{"env_id": 3, "seq": 25, "step": 8905, "t": 44.525, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "moving", "to": "at_out"}, "cause": null} +{"env_id": 3, "seq": 26, "step": 8905, "t": 44.525, "topic": "a4s_sealer_1.drawer.reached", "source": "a4s_sealer_1.drawer", "data": {"position": "out", "q": 1.470359611843719e-09}, "cause": "program-3-4"} +{"env_id": 3, "seq": 27, "step": 8905, "t": 44.525, "topic": "a4s_sealer_1.drawer.at_out", "source": "a4s_sealer_1.drawer", "data": {"q": 1.470359611843719e-09}, "cause": "program-3-4"} +{"env_id": 3, "seq": 28, "step": 8905, "t": 44.525, "topic": "a4s_sealer_1.drawer.command.succeeded", "source": "a4s_sealer_1.drawer", "data": {"command_id": "program-3-4", "name": "open", "source": "program:seal", "result": {"position": "out"}}, "cause": "program-3-4"} +{"env_id": 3, "seq": 29, "step": 8905, "t": 44.525, "topic": "a4s_sealer_1.seal.finished", "source": "a4s_sealer_1", "data": {}, "cause": "task-3-1"} +{"env_id": 3, "seq": 30, "step": 8905, "t": 44.525, "topic": "a4s_sealer_1.command.succeeded", "source": "a4s_sealer_1", "data": {"command_id": "task-3-1", "name": "seal", "source": "task"}, "cause": "task-3-1"} +{"env_id": 3, "seq": 31, "step": 9487, "t": 47.435, "topic": "a4s_sealer_1.plate_present.absent", "source": "a4s_sealer_1.plate_present", "data": {"object": "plate_3"}, "cause": null} +{"env_id": 3, "seq": 32, "step": 11264, "t": 56.32, "topic": "conveyor_1.belt.command.started", "source": "conveyor_1.belt", "data": {"command_id": "task-3-5", "name": "release", "source": "task"}, "cause": "task-3-5"} +{"env_id": 3, "seq": 33, "step": 11264, "t": 56.32, "topic": "conveyor_1.belt.station.pick.released", "source": "conveyor_1.belt", "data": {"rider": "carrier_3"}, "cause": "task-3-5"} +{"env_id": 3, "seq": 34, "step": 11264, "t": 56.32, "topic": "conveyor_1.belt.state.changed", "source": "conveyor_1.belt", "data": {"from": "at_station", "to": "running"}, "cause": null} +{"env_id": 3, "seq": 35, "step": 11264, "t": 56.32, "topic": "conveyor_1.belt.command.succeeded", "source": "conveyor_1.belt", "data": {"command_id": "task-3-5", "name": "release", "source": "task", "result": {"state": "running"}}, "cause": "task-3-5"} diff --git a/episodes/c5_p004_e023/env.mp4 b/episodes/c5_p004_e023/env.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..3a2a74a45dca26873d5a7c642670280094567a2f --- /dev/null +++ b/episodes/c5_p004_e023/env.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:d4cc0484fdf5f60cc98ee7096712aa4c294ccfb8f965d7bbe87ed9e9d4d92e5c +size 1284171 diff --git a/episodes/c5_p004_e023/meta.json b/episodes/c5_p004_e023/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..9bd391b1bcc69723c50e98d03d4c4b954a5ac39c --- /dev/null +++ b/episodes/c5_p004_e023/meta.json @@ -0,0 +1,32 @@ +{ + "source": "raw/c5_p004/magicsim/23", + "fps": 25, + "frames": 1215, + "kept_ticks": "even", + "video_frames": { + "wrist": 1215, + "env": 1215 + }, + "joint_target_source": "joint_pos_target", + "fk_vs_recorded_eef_max_m": 0.0, + "curobo_joints": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "joint_order": [ + "shoulder_pan", + "shoulder_lift", + "elbow", + "wrist_1", + "wrist_2", + "wrist_3", + "finger_left", + "finger_right" + ], + "frames_note": "eef / actions in the robot base frame; camera_pose = local pose (wrist: in plate_gripper_base, env: env frame), pos + quat wxyz", + "dr_version": "v2" +} \ No newline at end of file diff --git a/episodes/c5_p004_e023/scene_snapshot.json b/episodes/c5_p004_e023/scene_snapshot.json new file mode 100644 index 0000000000000000000000000000000000000000..e93dd2a4c22be0ac12f22964c1e4bfb1fcd2b408 --- /dev/null +++ b/episodes/c5_p004_e023/scene_snapshot.json @@ -0,0 +1,1558 @@ +{ + "trajectory_id": 23, + "env_id": 3, + "run_id": "c5_p004", + "task_type": "BioPlateCell", + "success": true, + "timing": { + "fps": 50.0, + "sim_dt": 0.005, + "decimation": 4 + }, + "restore_interface": { + "scene": "scene_manager.reset_to(snapshot['scene'], env_ids=[env_id])", + "robots": "robot_manager.set_state({'robots': snapshot['robots']}, env_ids=[env_id])" + }, + "snapshot": { + "env_id": 3, + "scene": { + "objects": [ + {}, + {}, + {}, + { + "rac_cell": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/rac_cell.usd", + "pose": { + "pos": [ + 0.0, + 0.0, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "physics_material": { + "static_friction": 0.6, + "dynamic_friction": 0.5, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "robot_mount": [ + { + "asset": "Cube", + "pose": { + "pos": [ + 0.0, + 0.0, + 0.9075 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": "color", + "value": [ + 0.55, + 0.56, + 0.58 + ], + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": { + "size": [ + 0.2, + 0.2, + 0.015 + ] + } + }, + "type_specific": {} + } + ], + "plate_rack": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/plate_hotel.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 0.9 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "physics_material": { + "static_friction": 0.6, + "dynamic_friction": 0.5, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "hotel_plate": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_24_clear/plate_24_clear.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 0.9605 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_12_clear/plate_12_clear.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.0285 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_96_clear/plate_96_clear.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.0965 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_96_black/plate_96_black.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.1645 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/deep_well_96_2ml/deep_well_96_2ml.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.2325 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "a4s_sealer": [ + { + "asset": "$MAGICSIM_ASSETS/Articulated/A4SSealer/Object.usd", + "pose": { + "pos": [ + 0.5063915252685547, + 0.09279727935791016, + 0.8999999761581421 + ], + "ori": [ + -0.6866933703422546, + 0.0, + 0.0, + 0.7269471883773804 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "articulation", + "solver_position_iteration_count": 16.0, + "solver_velocity_iteration_count": 1.0, + "enabled_self_collisions": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "joint_position": [ + 0.0 + ], + "joint_velocity": [ + 0.0 + ], + "linear_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "angular_velocity": [ + 0.0, + 0.0, + 0.0 + ] + } + } + ], + "conveyor": [ + { + "asset": "Cube", + "pose": { + "pos": [ + 0.15, + 0.45, + 0.9 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "conveyor", + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9 + }, + "ratio": 1.0 + }, + "primitive_params": { + "size": [ + 2.4, + 0.076, + 0.03 + ] + }, + "conveyor": { + "speed": 0.2617317257461941, + "direction": [ + 1.0, + 0.0, + 0.0 + ], + "enabled": true, + "drive": "surface_velocity", + "lines": null, + "station_line": null, + "riders": [ + "carrier" + ], + "stations": { + "pick": { + "position": -0.24109237564166708, + "slow_distance": 0.03, + "slow_speed": 0.03 + } + }, + "rails": { + "height": 0.01, + "thickness": 0.01, + "gap": 0.001, + "friction": 0.05 + }, + "legs": 0.87, + "loop": { + "radius": 0.35, + "side": "left", + "curve_extra_width": 0.0, + "segments": 18, + "curve_rails": "both" + }, + "snap_distance": 0.1, + "junction_snap": 0.02, + "collision_approximation": "auto", + "plate_mass": 1.0, + "lift_drop": 0.004, + "accel": 0.0, + "decel": 0.0, + "drive_damping": 1000000.0, + "drive_max_force": 1000000000.0 + } + }, + "type_specific": { + "controller": { + "state": "at_station", + "speed": 0.2617317257461941, + "holds": [], + "station": "pick", + "rider": "carrier_3", + "arrived": true, + "applied_speed": 0.0 + } + } + } + ], + "carrier": [ + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + -1.3599910736083984, + 0.9563703536987305, + 0.8999999761581421 + ], + "ori": [ + -0.516012966632843, + -1.1326447690862551e-07, + -1.8714112570705765e-07, + 0.8565808534622192 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -2.5497817190967e-09, + -8.910656656979654e-10, + 3.725290298461914e-09 + ], + "angular_velocity": [ + 1.0498804670078243e-07, + -1.2522404801984521e-07, + 2.216495431639487e-08 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + 0.5932865142822266, + 1.1525211334228516, + 0.8999999761581421 + ], + "ori": [ + -0.01125046145170927, + 5.661822566338515e-09, + -2.079001415467019e-09, + 0.9999366998672485 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 1.4945467086135977e-10, + -4.41330572087395e-09, + 0.0 + ], + "angular_velocity": [ + 9.197283645789867e-08, + -1.3424578781950913e-08, + 3.665694947585507e-08 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + -0.09084606170654297, + 0.44750499725341797, + 0.8999999761581421 + ], + "ori": [ + 0.9999293088912964, + -2.656836386449868e-07, + -8.583709387721683e-08, + 0.011890311725437641 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 2.0022369540129148e-08, + -1.8535669710217917e-07, + 8.568167686462402e-08 + ], + "angular_velocity": [ + 4.1537932702340186e-06, + -1.1532165444805287e-06, + -2.762212261586683e-06 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + 1.6951408386230469, + 0.7596778869628906, + 0.8999999761581421 + ], + "ori": [ + 0.7540231347084045, + 1.5160180666384804e-08, + -5.2085713520000354e-08, + 0.6568478941917419 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -3.528743963698844e-11, + 8.236525905758185e-10, + 0.0 + ], + "angular_velocity": [ + -6.655771045416259e-08, + -6.983698597196053e-08, + 1.0776816772306574e-08 + ] + } + } + ], + "plate": [ + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_48_clear/Object.usd", + "pose": { + "pos": [ + -1.367361068725586, + 0.9535493850708008, + 0.9179999828338623 + ], + "ori": [ + -0.4880346953868866, + -1.0680999196210905e-07, + -1.916518783673382e-07, + 0.8728241920471191 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -9.023291624998819e-08, + 1.862556686660355e-08, + 1.2665987014770508e-07 + ], + "angular_velocity": [ + -2.124280399584677e-06, + -3.547415303728485e-07, + -4.5238971324579325e-07 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_384_white/Object.usd", + "pose": { + "pos": [ + 0.5878229141235352, + 1.1446237564086914, + 0.9180000424385071 + ], + "ori": [ + 0.0772957131266594, + 5.908546096833334e-09, + -2.0236190501066176e-09, + 0.9970082640647888 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 2.809421317806482e-08, + -1.6233880018035052e-08, + -5.278736352920532e-06 + ], + "angular_velocity": [ + -3.1188673688120616e-07, + 2.2233041363506345e-06, + 2.0027711400416592e-07 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_96_clear/Object.usd", + "pose": { + "pos": [ + -0.08117961883544922, + 0.4543333053588867, + 0.9180000424385071 + ], + "ori": [ + 0.998257040977478, + -6.234168381524796e-07, + -9.26641519072291e-09, + 0.05901637673377991 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 1.5432218560818e-06, + -5.734186743211467e-06, + -5.632638931274414e-06 + ], + "angular_velocity": [ + -3.0595801945310086e-05, + 4.832073500438128e-06, + -4.449946209206246e-05 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/reservoir_12ch/Object.usd", + "pose": { + "pos": [ + 1.699570655822754, + 0.746978759765625, + 0.9179999828338623 + ], + "ori": [ + 0.7576442956924438, + 2.1329874755338096e-08, + -5.352075760356456e-08, + 0.6526677012443542 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -7.0600325585701285e-09, + -3.746749754895973e-08, + -2.902001142501831e-06 + ], + "angular_velocity": [ + 1.4655803397545242e-06, + 1.030224510145672e-07, + 8.001909890253955e-08 + ] + } + } + ], + "deco_hub_west": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/hub_e.usd", + "pose": { + "pos": [ + -3.36, + 0.0, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_hub_east": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/hub_d.usd", + "pose": { + "pos": [ + 3.36, + 0.0, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_hub_back": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/hub_a.usd", + "pose": { + "pos": [ + -3.0, + -2.1, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_bench_east": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/bench_c.usd", + "pose": { + "pos": [ + 2.6, + -2.5, + 0.0 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_bench_gap": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/bench_b.usd", + "pose": { + "pos": [ + -0.1, + -2.9, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ] + } + ], + "devices": { + "hub": [ + null, + null, + null, + { + "t": 7.879999999999854, + "step": 1576, + "counter": 0, + "devices": { + "a4s_sealer_1": { + "mode": "auto", + "units": { + "drawer": { + "state": "at_out", + "active": null, + "target": 0.0, + "goal_name": "out", + "profile": null, + "q_start": null, + "reversing": false, + "blocked_for": 0.0, + "settled_for": 0.0, + "last_q": 0.0 + }, + "heater": { + "state": "ready", + "active": null, + "duration": 0.0, + "t_start": null, + "elapsed": 0.0 + } + }, + "queues": {}, + "program": null, + "sensors": { + "plate_present": { + "occupants": [], + "pending": {} + } + }, + "interlocks": {} + }, + "conveyor_1": { + "mode": "auto", + "units": { + "belt": { + "state": "at_station", + "active": null, + "controller": { + "speed": 0.2617317257461941, + "holds": [], + "station": "pick", + "rider": "carrier_3", + "arrived": true, + "settle_count": 1444, + "released": { + "pick": [] + }, + "last_pos": { + "carrier_1": [ + -1.509991079568863, + 0.5063703656196594, + 0.0 + ], + "carrier_2": [ + 0.4432865083217621, + 0.7025211453437805, + 0.0 + ], + "carrier_3": [ + -0.24084606766700745, + -0.002494990825653076, + 0.0 + ], + "carrier_4": [ + 1.5451408326625824, + 0.3096778988838196, + 0.0 + ] + }, + "command": 0.0 + }, + "belt": { + "target_speed": 0.0, + "command_speed": 0.0 + }, + "seen": { + "state": "at_station", + "station": "pick", + "rider": "carrier_3", + "arrived": true + } + } + }, + "queues": {}, + "program": null, + "sensors": {}, + "interlocks": {} + } + }, + "zones": {}, + "labware": { + "plate_1": { + "sealed": false + }, + "plate_2": { + "sealed": false + }, + "plate_3": { + "sealed": false + }, + "plate_4": { + "sealed": false + } + }, + "rules": {}, + "records": [], + "bus": { + "seq": 3, + "queue": [] + } + } + ], + "drives": [ + null, + null, + null, + {} + ] + }, + "artifacts": [ + {}, + {}, + {}, + { + "ceiling": { + "type": "rect", + "pose": { + "pos": [ + -0.24959219386997422, + 0.09488048030253105, + 2.6300773987044312 + ], + "ori": [ + 1.4372449879101517, + -14.970280727180905, + -1.089254129430671 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "color_temperature": 5304.144440714941, + "color": [ + 0.9877371604062469, + 0.9828121167378793, + 0.870884950769708 + ], + "intensity": 8369.593245339214, + "width": 2.238838580672076, + "height": 1.2968223633022595 + } + }, + "key": { + "type": "sphere", + "pose": { + "pos": [ + 1.7374282613381613, + 0.8718260072100537, + 2.541145781297754 + ], + "ori": [ + -3.189849804648958, + 3.000620737273337, + -30.203659847895715 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "color_temperature": 4680.247008749291, + "color": [ + 0.8134724674242376, + 0.8617458995002856, + 0.9871861059112568 + ], + "intensity": 8394.428134787653, + "radius": 0.1386964306184305 + } + } + } + ], + "background": { + "type": "dome", + "pose": { + "pos": null, + "ori": null, + "scale": null + }, + "dr": { + "intensity": 606.2487558480263, + "texture": null, + "color": [ + 0.92, + 0.94, + 0.96 + ] + } + } + }, + "robots": { + "UR5e": { + "root_pose": [ + [ + 11.0, + -11.0, + 0.9150000214576721, + 1.0, + 0.0, + 0.0, + 0.0 + ], + [ + 11.0, + 11.0, + 0.9150000214576721, + 1.0, + 0.0, + 0.0, + 0.0 + ], + [ + -11.0, + -11.0, + 0.9150000214576721, + 1.0, + 0.0, + 0.0, + 0.0 + ], + [ + -11.0, + 11.0, + 0.9150000214576721, + 1.0, + 0.0, + 0.0, + 0.0 + ] + ], + "root_vel": [ + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + ], + "joint_pos": [ + [ + 0.8455983996391296, + -1.3595385551452637, + 1.9155969619750977, + -2.1268515586853027, + -1.5708097219467163, + 2.307523012161255, + 0.007713018916547298, + 0.007056859787553549 + ], + [ + 2.7500767707824707, + -1.683214783668518, + 2.293372631072998, + -2.181325912475586, + -1.570569396018982, + 4.3215250968933105, + 0.01800001971423626, + 0.017999978736042976 + ], + [ + 2.804304838180542, + -1.517059326171875, + 2.1446175575256348, + -2.1983354091644287, + -1.5707597732543945, + 4.375848293304443, + 0.0077005368657410145, + 0.0069725592620670795 + ], + [ + 0.9141009449958801, + -1.719397783279419, + 2.09049916267395, + -1.941900372505188, + -1.5707999467849731, + 2.48490047454834, + 0.017999999225139618, + 0.017999999225139618 + ] + ], + "joint_vel": [ + [ + 0.015007887035608292, + -0.011008511297404766, + 0.0014689437812194228, + 0.008083336055278778, + 0.0008708123350515962, + 0.01728915050625801, + -0.008250425569713116, + 0.00023256937856785953 + ], + [ + -0.007906358689069748, + -0.02204056829214096, + 0.018582873046398163, + 0.0031805671751499176, + -5.907788363401778e-06, + -0.008038426749408245, + -3.4161389521614183e-06, + 3.416122808630462e-06 + ], + [ + -0.00015795427316334099, + 2.954471347038634e-05, + -0.00017202751769218594, + -0.00045685263467021286, + -0.0016297935508191586, + 0.0037929355166852474, + -0.009383698925375938, + 0.0004269516502972692 + ], + [ + 2.8777208195817804e-38, + 0.0, + -1.2222584831737353e-38, + -6.656621502037568e-37, + 3.3492974936515296e-37, + 2.002628593906477e-37, + -3.104664188735806e-38, + -4.380697780737699e-38 + ] + ] + } + }, + "cameras": { + "cameras": { + "camera0": [ + [ + 0.050712697207927704, + 0.0006270998856052756, + -0.030378367751836777, + -0.2720033526420593, + 0.6530241370201111, + 0.6495246887207031, + -0.2787315547466278 + ], + [ + 0.047025375068187714, + -0.0017655764240771532, + -0.02891746163368225, + -0.28016436100006104, + 0.651716947555542, + 0.6517533659934998, + -0.268310546875 + ], + [ + 0.05164976418018341, + 0.001432385528460145, + -0.03343156352639198, + -0.26999151706695557, + 0.6493039727210999, + 0.6542580127716064, + -0.27830812335014343 + ], + [ + 0.051964376121759415, + -0.0006413735682144761, + -0.027347587049007416, + -0.28987908363342285, + 0.6355509757995605, + 0.6538917422294617, + -0.29063841700553894 + ] + ], + "camera1": [ + [ + 0.07103428244590759, + 0.5582457780838013, + 1.9492818117141724, + 0.03065478801727295, + 0.01242429856210947, + 0.26725688576698303, + 0.9630574584007263 + ], + [ + 0.03685193881392479, + 0.5903816819190979, + 1.9571601152420044, + 0.02934284135699272, + 0.006310430821031332, + 0.26281243562698364, + 0.9643800258636475 + ], + [ + 0.033233173191547394, + 0.5913195013999939, + 1.9415115118026733, + 0.034378379583358765, + 0.018136069178581238, + 0.2699944078922272, + 0.9620770215988159 + ], + [ + 0.07151870429515839, + 0.5788511037826538, + 1.9577586650848389, + 0.05580925941467285, + 0.02070547081530094, + 0.2779150903224945, + 0.9587595462799072 + ] + ] + } + } + } +} \ No newline at end of file diff --git a/episodes/c5_p004_e023/wrist.mp4 b/episodes/c5_p004_e023/wrist.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..8c311be596b9638c9196f6ddf85f7adce149b932 --- /dev/null +++ b/episodes/c5_p004_e023/wrist.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:6ca7faa30ac7e5bc3a93154cfe28a263e6dafc4098472c6b8eeec2c7a241cc6b +size 7209095 diff --git a/episodes/c7_p005_e000/data.npz b/episodes/c7_p005_e000/data.npz new file mode 100644 index 0000000000000000000000000000000000000000..33459baced587f096485cacd8dba342c2791def7 --- /dev/null +++ b/episodes/c7_p005_e000/data.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:c341f1e06ce873d316e4cea13043670c1f8749c3d040355189c19a81c02ceace +size 189357 diff --git a/episodes/c7_p005_e000/device_events.jsonl b/episodes/c7_p005_e000/device_events.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..32446780cda15c132e651c4c8536a4d05379ff8f --- /dev/null +++ b/episodes/c7_p005_e000/device_events.jsonl @@ -0,0 +1,35 @@ +{"env_id": 3, "seq": 1, "step": 137, "t": 0.685, "topic": "conveyor_1.belt.station.pick.captured", "source": "conveyor_1.belt", "data": {"rider": "carrier_4"}, "cause": null} +{"env_id": 3, "seq": 2, "step": 137, "t": 0.685, "topic": "conveyor_1.belt.state.changed", "source": "conveyor_1.belt", "data": {"from": "running", "to": "at_station"}, "cause": null} +{"env_id": 3, "seq": 3, "step": 142, "t": 0.71, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_4"}, "cause": null} +{"env_id": 3, "seq": 4, "step": 5666, "t": 28.33, "topic": "a4s_sealer_1.plate_present.present", "source": "a4s_sealer_1.plate_present", "data": {"object": "plate_4"}, "cause": null} +{"env_id": 3, "seq": 5, "step": 6280, "t": 31.4, "topic": "a4s_sealer_1.command.started", "source": "a4s_sealer_1", "data": {"command_id": "task-3-1", "name": "seal", "source": "task"}, "cause": "task-3-1"} +{"env_id": 3, "seq": 6, "step": 6280, "t": 31.4, "topic": "a4s_sealer_1.seal.started", "source": "a4s_sealer_1", "data": {"dwell": 4.286947297037287}, "cause": "task-3-1"} +{"env_id": 3, "seq": 7, "step": 6280, "t": 31.4, "topic": "a4s_sealer_1.drawer.command.started", "source": "a4s_sealer_1.drawer", "data": {"command_id": "program-3-2", "name": "close", "source": "program:seal"}, "cause": "program-3-2"} +{"env_id": 3, "seq": 8, "step": 6280, "t": 31.4, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "at_out", "to": "moving"}, "cause": null} +{"env_id": 3, "seq": 9, "step": 6280, "t": 31.4, "topic": "a4s_sealer_1.drawer.moving", "source": "a4s_sealer_1.drawer", "data": {"target": 0.3, "goal": "in"}, "cause": "program-3-2"} +{"env_id": 3, "seq": 10, "step": 6699, "t": 33.495, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "moving", "to": "at_in"}, "cause": null} +{"env_id": 3, "seq": 11, "step": 6699, "t": 33.495, "topic": "a4s_sealer_1.drawer.reached", "source": "a4s_sealer_1.drawer", "data": {"position": "in", "q": 0.30000001192092896}, "cause": "program-3-2"} +{"env_id": 3, "seq": 12, "step": 6699, "t": 33.495, "topic": "a4s_sealer_1.drawer.at_in", "source": "a4s_sealer_1.drawer", "data": {"q": 0.30000001192092896}, "cause": "program-3-2"} +{"env_id": 3, "seq": 13, "step": 6699, "t": 33.495, "topic": "a4s_sealer_1.drawer.command.succeeded", "source": "a4s_sealer_1.drawer", "data": {"command_id": "program-3-2", "name": "close", "source": "program:seal", "result": {"position": "in"}}, "cause": "program-3-2"} +{"env_id": 3, "seq": 14, "step": 6699, "t": 33.495, "topic": "labware.plate_4.changed", "source": "labware.plate_4", "data": {"key": "sealed", "value": true}, "cause": "task-3-1"} +{"env_id": 3, "seq": 15, "step": 6699, "t": 33.495, "topic": "a4s_sealer_1.sealed", "source": "a4s_sealer_1", "data": {"plate": "plate_4"}, "cause": "task-3-1"} +{"env_id": 3, "seq": 16, "step": 6699, "t": 33.495, "topic": "a4s_sealer_1.heater.command.started", "source": "a4s_sealer_1.heater", "data": {"command_id": "program-3-3", "name": "run", "source": "program:seal"}, "cause": "program-3-3"} +{"env_id": 3, "seq": 17, "step": 6699, "t": 33.495, "topic": "a4s_sealer_1.heater.state.changed", "source": "a4s_sealer_1.heater", "data": {"from": "ready", "to": "running"}, "cause": null} +{"env_id": 3, "seq": 18, "step": 6699, "t": 33.495, "topic": "a4s_sealer_1.heater.started", "source": "a4s_sealer_1.heater", "data": {"duration": 4.286947297037287}, "cause": "program-3-3"} +{"env_id": 3, "seq": 19, "step": 7557, "t": 37.785, "topic": "a4s_sealer_1.heater.state.changed", "source": "a4s_sealer_1.heater", "data": {"from": "running", "to": "ready"}, "cause": null} +{"env_id": 3, "seq": 20, "step": 7557, "t": 37.785, "topic": "a4s_sealer_1.heater.finished", "source": "a4s_sealer_1.heater", "data": {"elapsed": 4.290000000002195}, "cause": "program-3-3"} +{"env_id": 3, "seq": 21, "step": 7557, "t": 37.785, "topic": "a4s_sealer_1.heater.command.succeeded", "source": "a4s_sealer_1.heater", "data": {"command_id": "program-3-3", "name": "run", "source": "program:seal", "result": {"elapsed": 4.290000000002195}}, "cause": "program-3-3"} +{"env_id": 3, "seq": 22, "step": 7557, "t": 37.785, "topic": "a4s_sealer_1.drawer.command.started", "source": "a4s_sealer_1.drawer", "data": {"command_id": "program-3-4", "name": "open", "source": "program:seal"}, "cause": "program-3-4"} +{"env_id": 3, "seq": 23, "step": 7557, "t": 37.785, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "at_in", "to": "moving"}, "cause": null} +{"env_id": 3, "seq": 24, "step": 7557, "t": 37.785, "topic": "a4s_sealer_1.drawer.moving", "source": "a4s_sealer_1.drawer", "data": {"target": 0.0, "goal": "out"}, "cause": "program-3-4"} +{"env_id": 3, "seq": 25, "step": 7977, "t": 39.885, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "moving", "to": "at_out"}, "cause": null} +{"env_id": 3, "seq": 26, "step": 7977, "t": 39.885, "topic": "a4s_sealer_1.drawer.reached", "source": "a4s_sealer_1.drawer", "data": {"position": "out", "q": 0.0}, "cause": "program-3-4"} +{"env_id": 3, "seq": 27, "step": 7977, "t": 39.885, "topic": "a4s_sealer_1.drawer.at_out", "source": "a4s_sealer_1.drawer", "data": {"q": 0.0}, "cause": "program-3-4"} +{"env_id": 3, "seq": 28, "step": 7977, "t": 39.885, "topic": "a4s_sealer_1.drawer.command.succeeded", "source": "a4s_sealer_1.drawer", "data": {"command_id": "program-3-4", "name": "open", "source": "program:seal", "result": {"position": "out"}}, "cause": "program-3-4"} +{"env_id": 3, "seq": 29, "step": 7977, "t": 39.885, "topic": "a4s_sealer_1.seal.finished", "source": "a4s_sealer_1", "data": {}, "cause": "task-3-1"} +{"env_id": 3, "seq": 30, "step": 7977, "t": 39.885, "topic": "a4s_sealer_1.command.succeeded", "source": "a4s_sealer_1", "data": {"command_id": "task-3-1", "name": "seal", "source": "task"}, "cause": "task-3-1"} +{"env_id": 3, "seq": 31, "step": 8557, "t": 42.785, "topic": "a4s_sealer_1.plate_present.absent", "source": "a4s_sealer_1.plate_present", "data": {"object": "plate_4"}, "cause": null} +{"env_id": 3, "seq": 32, "step": 10296, "t": 51.48, "topic": "conveyor_1.belt.command.started", "source": "conveyor_1.belt", "data": {"command_id": "task-3-5", "name": "release", "source": "task"}, "cause": "task-3-5"} +{"env_id": 3, "seq": 33, "step": 10296, "t": 51.48, "topic": "conveyor_1.belt.station.pick.released", "source": "conveyor_1.belt", "data": {"rider": "carrier_4"}, "cause": "task-3-5"} +{"env_id": 3, "seq": 34, "step": 10296, "t": 51.48, "topic": "conveyor_1.belt.state.changed", "source": "conveyor_1.belt", "data": {"from": "at_station", "to": "running"}, "cause": null} +{"env_id": 3, "seq": 35, "step": 10296, "t": 51.48, "topic": "conveyor_1.belt.command.succeeded", "source": "conveyor_1.belt", "data": {"command_id": "task-3-5", "name": "release", "source": "task", "result": {"state": "running"}}, "cause": "task-3-5"} diff --git a/episodes/c7_p005_e000/env.mp4 b/episodes/c7_p005_e000/env.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..0b316e6181e5dd946c81d75c1a6a50da63b0a602 --- /dev/null +++ b/episodes/c7_p005_e000/env.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:d1cfe869ffad32e6dc5bf98505dbc1dca17fee21a31c5c55112e307d4d1e2dea +size 1278639 diff --git a/episodes/c7_p005_e000/meta.json b/episodes/c7_p005_e000/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..a2ac90be9ccc3d2cab6127e7b9e118800b0648b7 --- /dev/null +++ b/episodes/c7_p005_e000/meta.json @@ -0,0 +1,32 @@ +{ + "source": "raw/c7_p005/magicsim/0", + "fps": 25, + "frames": 1240, + "kept_ticks": "even", + "video_frames": { + "wrist": 1240, + "env": 1240 + }, + "joint_target_source": "joint_pos_target", + "fk_vs_recorded_eef_max_m": 0.0, + "curobo_joints": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "joint_order": [ + "shoulder_pan", + "shoulder_lift", + "elbow", + "wrist_1", + "wrist_2", + "wrist_3", + "finger_left", + "finger_right" + ], + "frames_note": "eef / actions in the robot base frame; camera_pose = local pose (wrist: in plate_gripper_base, env: env frame), pos + quat wxyz", + "dr_version": "v2" +} \ No newline at end of file diff --git a/episodes/c7_p005_e000/scene_snapshot.json b/episodes/c7_p005_e000/scene_snapshot.json new file mode 100644 index 0000000000000000000000000000000000000000..9c3271c4882dd8d1cc85555e8ae88b173e22e811 --- /dev/null +++ b/episodes/c7_p005_e000/scene_snapshot.json @@ -0,0 +1,1558 @@ +{ + "trajectory_id": 0, + "env_id": 3, + "run_id": "c7_p005", + "task_type": "BioPlateCell", + "success": true, + "timing": { + "fps": 50.0, + "sim_dt": 0.005, + "decimation": 4 + }, + "restore_interface": { + "scene": "scene_manager.reset_to(snapshot['scene'], env_ids=[env_id])", + "robots": "robot_manager.set_state({'robots': snapshot['robots']}, env_ids=[env_id])" + }, + "snapshot": { + "env_id": 3, + "scene": { + "objects": [ + {}, + {}, + {}, + { + "rac_cell": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/rac_cell.usd", + "pose": { + "pos": [ + 0.0, + 0.0, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "physics_material": { + "static_friction": 0.6, + "dynamic_friction": 0.5, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "robot_mount": [ + { + "asset": "Cube", + "pose": { + "pos": [ + 0.0, + 0.0, + 0.9075 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": "color", + "value": [ + 0.55, + 0.56, + 0.58 + ], + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": { + "size": [ + 0.2, + 0.2, + 0.015 + ] + } + }, + "type_specific": {} + } + ], + "plate_rack": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/plate_hotel.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 0.9 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "physics_material": { + "static_friction": 0.6, + "dynamic_friction": 0.5, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "hotel_plate": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_24_clear/plate_24_clear.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 0.9605 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_96_white/plate_96_white.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.0285 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/pcr_384_red/pcr_384_red.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.0965 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_6_clear/plate_6_clear.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.1645 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_48_clear/plate_48_clear.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.2325 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "a4s_sealer": [ + { + "asset": "$MAGICSIM_ASSETS/Articulated/A4SSealer/Object.usd", + "pose": { + "pos": [ + 0.4677009582519531, + 0.06300163269042969, + 0.8999999761581421 + ], + "ori": [ + -0.7026026248931885, + 0.0, + 0.0, + 0.7115824222564697 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "articulation", + "solver_position_iteration_count": 16.0, + "solver_velocity_iteration_count": 1.0, + "enabled_self_collisions": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "joint_position": [ + 3.2530388972829005e-12 + ], + "joint_velocity": [ + 0.0 + ], + "linear_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "angular_velocity": [ + 0.0, + 0.0, + 0.0 + ] + } + } + ], + "conveyor": [ + { + "asset": "Cube", + "pose": { + "pos": [ + 0.15, + 0.45, + 0.9 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "conveyor", + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9 + }, + "ratio": 1.0 + }, + "primitive_params": { + "size": [ + 2.4, + 0.076, + 0.03 + ] + }, + "conveyor": { + "speed": 0.2650703041225846, + "direction": [ + 1.0, + 0.0, + 0.0 + ], + "enabled": true, + "drive": "surface_velocity", + "lines": null, + "station_line": null, + "riders": [ + "carrier" + ], + "stations": { + "pick": { + "position": -0.24899252791505272, + "slow_distance": 0.03, + "slow_speed": 0.03 + } + }, + "rails": { + "height": 0.01, + "thickness": 0.01, + "gap": 0.001, + "friction": 0.05 + }, + "legs": 0.87, + "loop": { + "radius": 0.35, + "side": "left", + "curve_extra_width": 0.0, + "segments": 18, + "curve_rails": "both" + }, + "snap_distance": 0.1, + "junction_snap": 0.02, + "collision_approximation": "auto", + "plate_mass": 1.0, + "lift_drop": 0.004, + "accel": 0.0, + "decel": 0.0, + "drive_damping": 1000000.0, + "drive_max_force": 1000000000.0 + } + }, + "type_specific": { + "controller": { + "state": "at_station", + "speed": 0.2650703041225846, + "holds": [], + "station": "pick", + "rider": "carrier_4", + "arrived": true, + "applied_speed": 0.0 + } + } + } + ], + "carrier": [ + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + -1.349869728088379, + 0.9749069213867188, + 0.8999999761581421 + ], + "ori": [ + -0.4910474419593811, + 6.094899163144873e-08, + -3.05216154572463e-08, + 0.8711327910423279 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 2.335681648091281e-09, + 7.256792944332346e-10, + 1.4901161193847656e-08 + ], + "angular_velocity": [ + -6.487474024652329e-08, + 2.1083621959405718e-07, + -2.8367921345306968e-09 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + 0.7074985504150391, + 1.152669906616211, + 0.8999999761581421 + ], + "ori": [ + -0.010120036080479622, + 2.256214381990418e-10, + 4.809197484689776e-10, + 0.9999488592147827 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 1.2379790526040324e-09, + 2.777009733279101e-10, + -3.725290298461914e-09 + ], + "angular_velocity": [ + -5.630370480957936e-08, + 8.814049579086713e-08, + -8.754141411770888e-09 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + 1.6746559143066406, + 0.9246587753295898, + 0.8999999761581421 + ], + "ori": [ + 0.5741850733757019, + 1.7431394105926756e-09, + -2.7695392645910033e-08, + 0.8187255263328552 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 9.866845118722267e-10, + -1.2526490955622194e-09, + 1.1175870895385742e-08 + ], + "angular_velocity": [ + 1.2581571695591265e-07, + 8.760001435348386e-08, + 1.506896829539528e-10 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + -0.0985727310180664, + 0.44748687744140625, + 0.8999999761581421 + ], + "ori": [ + 0.9999399781227112, + 4.591733215875138e-08, + -6.021423359925393e-10, + 0.01096442248672247 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 9.448116884414048e-07, + -4.44686520495452e-07, + -2.8945505619049072e-06 + ], + "angular_velocity": [ + 3.1269286409951746e-05, + 7.522509258706123e-05, + -3.328929665258329e-08 + ] + } + } + ], + "plate": [ + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_48_clear/Object.usd", + "pose": { + "pos": [ + -1.344548225402832, + 0.9872550964355469, + 0.9179999828338623 + ], + "ori": [ + -0.5376905798912048, + 5.758610299722022e-08, + -3.4425170269969385e-08, + 0.8431422114372253 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 8.531697659464044e-08, + 3.749702415234424e-08, + 1.7136335372924805e-07 + ], + "angular_velocity": [ + -3.0637522741017165e-06, + 1.1697418358380673e-06, + 3.0106352255643287e-07 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_384_white/Object.usd", + "pose": { + "pos": [ + 0.7098627090454102, + 1.1620206832885742, + 0.9180000424385071 + ], + "ori": [ + 0.07730166614055634, + 7.71122332654528e-10, + -2.625560047153641e-10, + 0.9970077872276306 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 2.574071622518659e-08, + 1.3903713735885503e-08, + -5.234032869338989e-06 + ], + "angular_velocity": [ + 1.8065460949401313e-07, + 1.7311583633272676e-06, + -4.9099174503908216e-08 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_96_clear/Object.usd", + "pose": { + "pos": [ + 1.6742477416992188, + 0.9229221343994141, + 0.9180000424385071 + ], + "ori": [ + 0.6214993000030518, + 2.6647251072375866e-09, + -2.7782014910826547e-08, + 0.7834148406982422 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 1.2163575924262204e-08, + -6.091961779475241e-08, + -5.446374416351318e-06 + ], + "angular_velocity": [ + 2.314700850547524e-06, + 1.4719022374265478e-06, + 1.8767394749374944e-07 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/reservoir_12ch/Object.usd", + "pose": { + "pos": [ + -0.09170150756835938, + 0.4464569091796875, + 0.9179999232292175 + ], + "ori": [ + 0.9959397315979004, + 6.733681061632524e-07, + -4.2343020822954713e-07, + 0.09002351760864258 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 6.406270131265046e-06, + 6.657091944362037e-06, + -1.2196600437164307e-05 + ], + "angular_velocity": [ + 4.960247315466404e-05, + 0.0001896309113362804, + 2.4888493499020115e-05 + ] + } + } + ], + "deco_hub_west": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/hub_e.usd", + "pose": { + "pos": [ + -3.36, + 0.0, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_hub_east": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/hub_d.usd", + "pose": { + "pos": [ + 3.36, + 0.0, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_hub_back": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/hub_a.usd", + "pose": { + "pos": [ + -3.0, + -2.1, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_bench_east": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/bench_c.usd", + "pose": { + "pos": [ + 2.6, + -2.5, + 0.0 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_bench_gap": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/bench_b.usd", + "pose": { + "pos": [ + -0.1, + -2.9, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ] + } + ], + "devices": { + "hub": [ + null, + null, + null, + { + "t": 2.0399999999999787, + "step": 408, + "counter": 0, + "devices": { + "a4s_sealer_1": { + "mode": "auto", + "units": { + "drawer": { + "state": "at_out", + "active": null, + "target": 0.0, + "goal_name": "out", + "profile": null, + "q_start": null, + "reversing": false, + "blocked_for": 0.0, + "settled_for": 0.0, + "last_q": 3.2530388972829005e-12 + }, + "heater": { + "state": "ready", + "active": null, + "duration": 0.0, + "t_start": null, + "elapsed": 0.0 + } + }, + "queues": {}, + "program": null, + "sensors": { + "plate_present": { + "occupants": [], + "pending": {} + } + }, + "interlocks": {} + }, + "conveyor_1": { + "mode": "auto", + "units": { + "belt": { + "state": "at_station", + "active": null, + "controller": { + "speed": 0.2650703041225846, + "holds": [], + "station": "pick", + "rider": "carrier_4", + "arrived": true, + "settle_count": 270, + "released": { + "pick": [] + }, + "last_pos": { + "carrier_1": [ + -1.4998697340488434, + 0.5249069333076477, + 0.0 + ], + "carrier_2": [ + 0.5574985444545746, + 0.7026699185371399, + 0.0 + ], + "carrier_3": [ + 1.5246559083461761, + 0.4746587872505188, + 0.0 + ], + "carrier_4": [ + -0.24857273697853088, + -0.002513110637664795, + 0.0 + ] + }, + "command": 0.0 + }, + "belt": { + "target_speed": 0.0, + "command_speed": 0.0 + }, + "seen": { + "state": "at_station", + "station": "pick", + "rider": "carrier_4", + "arrived": true + } + } + }, + "queues": {}, + "program": null, + "sensors": {}, + "interlocks": {} + } + }, + "zones": {}, + "labware": { + "plate_1": { + "sealed": false + }, + "plate_2": { + "sealed": false + }, + "plate_3": { + "sealed": false + }, + "plate_4": { + "sealed": false + } + }, + "rules": {}, + "records": [], + "bus": { + "seq": 3, + "queue": [] + } + } + ], + "drives": [ + null, + null, + null, + {} + ] + }, + "artifacts": [ + {}, + {}, + {}, + { + "ceiling": { + "type": "rect", + "pose": { + "pos": [ + 0.8404682736397021, + -0.3791246496218227, + 2.9828869474089337 + ], + "ori": [ + -4.22639350961985, + -4.286721603322503, + -16.159526802829966 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "color_temperature": 5936.52188331298, + "color": [ + 0.8417992422554956, + 0.841522720429293, + 0.8185946033190648 + ], + "intensity": 6837.318449151604, + "width": 1.5347446575960495, + "height": 1.107916105154713 + } + }, + "key": { + "type": "disk", + "pose": { + "pos": [ + 1.7325997611747934, + -0.728888297500582, + 1.658614460278005 + ], + "ori": [ + -30.621241742517704, + -1.2163941609443896, + 38.88547186183841 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "color_temperature": 6058.113230448401, + "color": [ + 0.8788472549665014, + 0.949322253750867, + 0.8482913852929378 + ], + "intensity": 3237.746583210537, + "radius": 0.10466476579190834 + } + } + } + ], + "background": { + "type": "dome", + "pose": { + "pos": null, + "ori": null, + "scale": null + }, + "dr": { + "intensity": 859.0333663401909, + "texture": null, + "color": [ + 0.92, + 0.94, + 0.96 + ] + } + } + }, + "robots": { + "UR5e": { + "root_pose": [ + [ + 11.0, + -11.0, + 0.9150000214576721, + 1.0, + 0.0, + 0.0, + 0.0 + ], + [ + 11.0, + 11.0, + 0.9150000214576721, + 1.0, + 0.0, + 0.0, + 0.0 + ], + [ + -11.0, + -11.0, + 0.9150000214576721, + 1.0, + 0.0, + 0.0, + 0.0 + ], + [ + -11.0, + 11.0, + 0.9150000214576721, + 1.0, + 0.0, + 0.0, + 0.0 + ] + ], + "root_vel": [ + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + ], + "joint_pos": [ + [ + 0.9141025543212891, + -1.719397783279419, + 2.0904994010925293, + -1.9419012069702148, + -1.5707999467849731, + 2.484901189804077, + 0.01799999736249447, + 0.018000001087784767 + ], + [ + 0.9141010642051697, + -1.719397783279419, + 2.09049916267395, + -1.9419004917144775, + -1.5707999467849731, + 2.4849002361297607, + 0.018000001087784767, + 0.01799999736249447 + ], + [ + 1.0852766036987305, + -1.560407042503357, + 2.1549253463745117, + -2.1653037071228027, + -1.5707939863204956, + 2.6430752277374268, + 0.018000315874814987, + 0.01799968257546425 + ], + [ + 0.9141013622283936, + -1.7193995714187622, + 2.0905003547668457, + -1.9419008493423462, + -1.5707999467849731, + 2.48490047454834, + 0.01799999736249447, + 0.018000001087784767 + ] + ], + "joint_vel": [ + [ + -2.442258073222979e-38, + 2.97718246224232e-38, + 2.7947636702340584e-38, + 4.5719288343206525e-37, + -5.715706756220798e-37, + -7.685524002637048e-38, + 2.5990400942532688e-08, + -2.5990388508034812e-08 + ], + [ + 2.3021862405469203e-38, + -1.9620815744257298e-38, + 1.2895017518022117e-38, + -5.7362235594005475e-37, + 5.7705246553141675e-37, + -2.980420941466089e-36, + -2.5990388508034812e-08, + 2.5990388508034812e-08 + ], + [ + 0.006778477691113949, + 0.0064744106493890285, + 0.0026107325684279203, + -0.008689730428159237, + 5.1276783779030666e-06, + 0.006179105024784803, + 5.587663963524392e-06, + -5.586703082371969e-06 + ], + [ + -2.527969334572485e-38, + 1.5499014020516852e-38, + 3.8572760902926146e-38, + 5.210929902362941e-37, + -4.883688819832621e-38, + 4.337454158544144e-37, + 2.5990399166175848e-08, + -2.5990386731677972e-08 + ] + ] + } + }, + "cameras": { + "cameras": { + "camera0": [ + [ + 0.04928606376051903, + 0.0017899402882903814, + -0.02965378388762474, + -0.2704012095928192, + 0.6577498316764832, + 0.6434638500213623, + -0.28320056200027466 + ], + [ + 0.048550158739089966, + -0.002743684919551015, + -0.028860915452241898, + -0.287588894367218, + 0.6415745615959167, + 0.6493786573410034, + -0.2897965908050537 + ], + [ + 0.052972592413425446, + 0.0012620002962648869, + -0.03238612785935402, + -0.2761354446411133, + 0.6436347365379333, + 0.6546035408973694, + -0.2845659852027893 + ], + [ + 0.04904264211654663, + 0.0025755069218575954, + -0.030611438676714897, + -0.2719164788722992, + 0.6538690328598022, + 0.6461113095283508, + -0.28470486402511597 + ] + ], + "camera1": [ + [ + 0.06291063129901886, + 0.5813440680503845, + 1.9299241304397583, + 0.031568776816129684, + 0.02372092194855213, + 0.27646389603614807, + 0.9602127075195312 + ], + [ + 0.04356405884027481, + 0.5761547088623047, + 1.9405598640441895, + 0.02183312550187111, + 0.0056459601037204266, + 0.2837775647640228, + 0.9586248993873596 + ], + [ + 0.057791367173194885, + 0.6011362075805664, + 1.9705764055252075, + 0.049425143748521805, + -0.0012361574918031693, + 0.2650063633918762, + 0.9629783034324646 + ], + [ + 0.05471363291144371, + 0.5785902738571167, + 1.9282846450805664, + 0.056743647903203964, + 0.02456721104681492, + 0.27144715189933777, + 0.9604650139808655 + ] + ] + } + } + } +} \ No newline at end of file diff --git a/episodes/c7_p005_e000/wrist.mp4 b/episodes/c7_p005_e000/wrist.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..98b8c55d5609fbfb870646b120b4131dd47dae73 --- /dev/null +++ b/episodes/c7_p005_e000/wrist.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:da29ad379e1e68567fa28930292509e955a3c4b385b08a282714d2d587d31840 +size 6419490 diff --git a/episodes/c7_p005_e001/data.npz b/episodes/c7_p005_e001/data.npz new file mode 100644 index 0000000000000000000000000000000000000000..23a8ec12534e5534909e19ce718cc721b5133285 --- /dev/null +++ b/episodes/c7_p005_e001/data.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:0617c9894d317fd530b5fad23e15a45af391ea3eac9b96796b039a0044207941 +size 195049 diff --git a/episodes/c7_p005_e001/device_events.jsonl b/episodes/c7_p005_e001/device_events.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..87e0fb750b164e1571d027ae85c0376d17f1a01d --- /dev/null +++ b/episodes/c7_p005_e001/device_events.jsonl @@ -0,0 +1,36 @@ +{"env_id": 0, "seq": 1, "step": 72, "t": 0.36, "topic": "conveyor_1.belt.station.pick.captured", "source": "conveyor_1.belt", "data": {"rider": "carrier_4"}, "cause": null} +{"env_id": 0, "seq": 2, "step": 72, "t": 0.36, "topic": "conveyor_1.belt.state.changed", "source": "conveyor_1.belt", "data": {"from": "running", "to": "at_station"}, "cause": null} +{"env_id": 0, "seq": 3, "step": 77, "t": 0.385, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_4"}, "cause": null} +{"env_id": 0, "seq": 4, "step": 918, "t": 4.59, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_4"}, "cause": null} +{"env_id": 0, "seq": 5, "step": 5934, "t": 29.67, "topic": "a4s_sealer_1.plate_present.present", "source": "a4s_sealer_1.plate_present", "data": {"object": "plate_4"}, "cause": null} +{"env_id": 0, "seq": 6, "step": 6544, "t": 32.72, "topic": "a4s_sealer_1.command.started", "source": "a4s_sealer_1", "data": {"command_id": "task-0-1", "name": "seal", "source": "task"}, "cause": "task-0-1"} +{"env_id": 0, "seq": 7, "step": 6544, "t": 32.72, "topic": "a4s_sealer_1.seal.started", "source": "a4s_sealer_1", "data": {"dwell": 3.1834280194413553}, "cause": "task-0-1"} +{"env_id": 0, "seq": 8, "step": 6544, "t": 32.72, "topic": "a4s_sealer_1.drawer.command.started", "source": "a4s_sealer_1.drawer", "data": {"command_id": "program-0-2", "name": "close", "source": "program:seal"}, "cause": "program-0-2"} +{"env_id": 0, "seq": 9, "step": 6544, "t": 32.72, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "at_out", "to": "moving"}, "cause": null} +{"env_id": 0, "seq": 10, "step": 6544, "t": 32.72, "topic": "a4s_sealer_1.drawer.moving", "source": "a4s_sealer_1.drawer", "data": {"target": 0.3, "goal": "in"}, "cause": "program-0-2"} +{"env_id": 0, "seq": 11, "step": 6963, "t": 34.815, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "moving", "to": "at_in"}, "cause": null} +{"env_id": 0, "seq": 12, "step": 6963, "t": 34.815, "topic": "a4s_sealer_1.drawer.reached", "source": "a4s_sealer_1.drawer", "data": {"position": "in", "q": 0.30000001192092896}, "cause": "program-0-2"} +{"env_id": 0, "seq": 13, "step": 6963, "t": 34.815, "topic": "a4s_sealer_1.drawer.at_in", "source": "a4s_sealer_1.drawer", "data": {"q": 0.30000001192092896}, "cause": "program-0-2"} +{"env_id": 0, "seq": 14, "step": 6963, "t": 34.815, "topic": "a4s_sealer_1.drawer.command.succeeded", "source": "a4s_sealer_1.drawer", "data": {"command_id": "program-0-2", "name": "close", "source": "program:seal", "result": {"position": "in"}}, "cause": "program-0-2"} +{"env_id": 0, "seq": 15, "step": 6963, "t": 34.815, "topic": "labware.plate_4.changed", "source": "labware.plate_4", "data": {"key": "sealed", "value": true}, "cause": "task-0-1"} +{"env_id": 0, "seq": 16, "step": 6963, "t": 34.815, "topic": "a4s_sealer_1.sealed", "source": "a4s_sealer_1", "data": {"plate": "plate_4"}, "cause": "task-0-1"} +{"env_id": 0, "seq": 17, "step": 6963, "t": 34.815, "topic": "a4s_sealer_1.heater.command.started", "source": "a4s_sealer_1.heater", "data": {"command_id": "program-0-3", "name": "run", "source": "program:seal"}, "cause": "program-0-3"} +{"env_id": 0, "seq": 18, "step": 6963, "t": 34.815, "topic": "a4s_sealer_1.heater.state.changed", "source": "a4s_sealer_1.heater", "data": {"from": "ready", "to": "running"}, "cause": null} +{"env_id": 0, "seq": 19, "step": 6963, "t": 34.815, "topic": "a4s_sealer_1.heater.started", "source": "a4s_sealer_1.heater", "data": {"duration": 3.1834280194413553}, "cause": "program-0-3"} +{"env_id": 0, "seq": 20, "step": 7600, "t": 38.0, "topic": "a4s_sealer_1.heater.state.changed", "source": "a4s_sealer_1.heater", "data": {"from": "running", "to": "ready"}, "cause": null} +{"env_id": 0, "seq": 21, "step": 7600, "t": 38.0, "topic": "a4s_sealer_1.heater.finished", "source": "a4s_sealer_1.heater", "data": {"elapsed": 3.1850000000016294}, "cause": "program-0-3"} +{"env_id": 0, "seq": 22, "step": 7600, "t": 38.0, "topic": "a4s_sealer_1.heater.command.succeeded", "source": "a4s_sealer_1.heater", "data": {"command_id": "program-0-3", "name": "run", "source": "program:seal", "result": {"elapsed": 3.1850000000016294}}, "cause": "program-0-3"} +{"env_id": 0, "seq": 23, "step": 7600, "t": 38.0, "topic": "a4s_sealer_1.drawer.command.started", "source": "a4s_sealer_1.drawer", "data": {"command_id": "program-0-4", "name": "open", "source": "program:seal"}, "cause": "program-0-4"} +{"env_id": 0, "seq": 24, "step": 7600, "t": 38.0, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "at_in", "to": "moving"}, "cause": null} +{"env_id": 0, "seq": 25, "step": 7600, "t": 38.0, "topic": "a4s_sealer_1.drawer.moving", "source": "a4s_sealer_1.drawer", "data": {"target": 0.0, "goal": "out"}, "cause": "program-0-4"} +{"env_id": 0, "seq": 26, "step": 8020, "t": 40.1, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "moving", "to": "at_out"}, "cause": null} +{"env_id": 0, "seq": 27, "step": 8020, "t": 40.1, "topic": "a4s_sealer_1.drawer.reached", "source": "a4s_sealer_1.drawer", "data": {"position": "out", "q": 1.1176766456788556e-10}, "cause": "program-0-4"} +{"env_id": 0, "seq": 28, "step": 8020, "t": 40.1, "topic": "a4s_sealer_1.drawer.at_out", "source": "a4s_sealer_1.drawer", "data": {"q": 1.1176766456788556e-10}, "cause": "program-0-4"} +{"env_id": 0, "seq": 29, "step": 8020, "t": 40.1, "topic": "a4s_sealer_1.drawer.command.succeeded", "source": "a4s_sealer_1.drawer", "data": {"command_id": "program-0-4", "name": "open", "source": "program:seal", "result": {"position": "out"}}, "cause": "program-0-4"} +{"env_id": 0, "seq": 30, "step": 8020, "t": 40.1, "topic": "a4s_sealer_1.seal.finished", "source": "a4s_sealer_1", "data": {}, "cause": "task-0-1"} +{"env_id": 0, "seq": 31, "step": 8020, "t": 40.1, "topic": "a4s_sealer_1.command.succeeded", "source": "a4s_sealer_1", "data": {"command_id": "task-0-1", "name": "seal", "source": "task"}, "cause": "task-0-1"} +{"env_id": 0, "seq": 32, "step": 8599, "t": 42.995, "topic": "a4s_sealer_1.plate_present.absent", "source": "a4s_sealer_1.plate_present", "data": {"object": "plate_4"}, "cause": null} +{"env_id": 0, "seq": 33, "step": 10360, "t": 51.8, "topic": "conveyor_1.belt.command.started", "source": "conveyor_1.belt", "data": {"command_id": "task-0-5", "name": "release", "source": "task"}, "cause": "task-0-5"} +{"env_id": 0, "seq": 34, "step": 10360, "t": 51.8, "topic": "conveyor_1.belt.station.pick.released", "source": "conveyor_1.belt", "data": {"rider": "carrier_4"}, "cause": "task-0-5"} +{"env_id": 0, "seq": 35, "step": 10360, "t": 51.8, "topic": "conveyor_1.belt.state.changed", "source": "conveyor_1.belt", "data": {"from": "at_station", "to": "running"}, "cause": null} +{"env_id": 0, "seq": 36, "step": 10360, "t": 51.8, "topic": "conveyor_1.belt.command.succeeded", "source": "conveyor_1.belt", "data": {"command_id": "task-0-5", "name": "release", "source": "task", "result": {"state": "running"}}, "cause": "task-0-5"} diff --git a/episodes/c7_p005_e001/env.mp4 b/episodes/c7_p005_e001/env.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..c3365d3a1648e3f083817560653af8281b2062d1 --- /dev/null +++ b/episodes/c7_p005_e001/env.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:b4dd15aec50f7e1bab7fba9b404864f76e2646eb18a91136f8706f0d275cb94a +size 1321937 diff --git a/episodes/c7_p005_e001/meta.json b/episodes/c7_p005_e001/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..759495d8c0cf352b97c6001a9d3a6d8a72be0ae5 --- /dev/null +++ b/episodes/c7_p005_e001/meta.json @@ -0,0 +1,32 @@ +{ + "source": "raw/c7_p005/magicsim/1", + "fps": 25, + "frames": 1241, + "kept_ticks": "even", + "video_frames": { + "wrist": 1241, + "env": 1241 + }, + "joint_target_source": "joint_pos_target", + "fk_vs_recorded_eef_max_m": 0.0, + "curobo_joints": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "joint_order": [ + "shoulder_pan", + "shoulder_lift", + "elbow", + "wrist_1", + "wrist_2", + "wrist_3", + "finger_left", + "finger_right" + ], + "frames_note": "eef / actions in the robot base frame; camera_pose = local pose (wrist: in plate_gripper_base, env: env frame), pos + quat wxyz", + "dr_version": "v2" +} \ No newline at end of file diff --git a/episodes/c7_p005_e001/scene_snapshot.json b/episodes/c7_p005_e001/scene_snapshot.json new file mode 100644 index 0000000000000000000000000000000000000000..01df125d50987cf18bd4d222c1e1c3e1022637d9 --- /dev/null +++ b/episodes/c7_p005_e001/scene_snapshot.json @@ -0,0 +1,1558 @@ +{ + "trajectory_id": 1, + "env_id": 0, + "run_id": "c7_p005", + "task_type": "BioPlateCell", + "success": true, + "timing": { + "fps": 50.0, + "sim_dt": 0.005, + "decimation": 4 + }, + "restore_interface": { + "scene": "scene_manager.reset_to(snapshot['scene'], env_ids=[env_id])", + "robots": "robot_manager.set_state({'robots': snapshot['robots']}, env_ids=[env_id])" + }, + "snapshot": { + "env_id": 0, + "scene": { + "objects": [ + { + "rac_cell": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/rac_cell.usd", + "pose": { + "pos": [ + 0.0, + 0.0, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "physics_material": { + "static_friction": 0.6, + "dynamic_friction": 0.5, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "robot_mount": [ + { + "asset": "Cube", + "pose": { + "pos": [ + 0.0, + 0.0, + 0.9075 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": "color", + "value": [ + 0.55, + 0.56, + 0.58 + ], + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": { + "size": [ + 0.2, + 0.2, + 0.015 + ] + } + }, + "type_specific": {} + } + ], + "plate_rack": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/plate_hotel.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 0.9 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "physics_material": { + "static_friction": 0.6, + "dynamic_friction": 0.5, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "hotel_plate": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_48_clear/plate_48_clear.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 0.9605 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_48_clear/plate_48_clear.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.0285 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_12_clear/plate_12_clear.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.0965 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_96_clear/plate_96_clear.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.1645 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/pcr_384_red/pcr_384_red.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.2325 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "a4s_sealer": [ + { + "asset": "$MAGICSIM_ASSETS/Articulated/A4SSealer/Object.usd", + "pose": { + "pos": [ + 0.5033798217773438, + 0.09269237518310547, + 0.8999999761581421 + ], + "ori": [ + -0.7049903869628906, + 0.0, + 0.0, + 0.709216833114624 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "articulation", + "solver_position_iteration_count": 16.0, + "solver_velocity_iteration_count": 1.0, + "enabled_self_collisions": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "joint_position": [ + 1.8072430487889313e-12 + ], + "joint_velocity": [ + 0.0 + ], + "linear_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "angular_velocity": [ + 0.0, + 0.0, + 0.0 + ] + } + } + ], + "conveyor": [ + { + "asset": "Cube", + "pose": { + "pos": [ + 0.15, + 0.45, + 0.9 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "conveyor", + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9 + }, + "ratio": 1.0 + }, + "primitive_params": { + "size": [ + 2.4, + 0.076, + 0.03 + ] + }, + "conveyor": { + "speed": 0.1790255560106044, + "direction": [ + 1.0, + 0.0, + 0.0 + ], + "enabled": true, + "drive": "surface_velocity", + "lines": null, + "station_line": null, + "riders": [ + "carrier" + ], + "stations": { + "pick": { + "position": -0.22667940075448284, + "slow_distance": 0.03, + "slow_speed": 0.03 + } + }, + "rails": { + "height": 0.01, + "thickness": 0.01, + "gap": 0.001, + "friction": 0.05 + }, + "legs": 0.87, + "loop": { + "radius": 0.35, + "side": "left", + "curve_extra_width": 0.0, + "segments": 18, + "curve_rails": "both" + }, + "snap_distance": 0.1, + "junction_snap": 0.02, + "collision_approximation": "auto", + "plate_mass": 1.0, + "lift_drop": 0.004, + "accel": 0.0, + "decel": 0.0, + "drive_damping": 1000000.0, + "drive_max_force": 1000000000.0 + } + }, + "type_specific": { + "controller": { + "state": "at_station", + "speed": 0.1790255560106044, + "holds": [], + "station": "pick", + "rider": "carrier_4", + "arrived": true, + "applied_speed": 0.0 + } + } + } + ], + "carrier": [ + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + 0.2743539810180664, + 1.1500005722045898, + 0.8999999761581421 + ], + "ori": [ + -1.4378263585967943e-05, + -3.371088130865729e-10, + -1.7607086899573687e-09, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -1.107541391931477e-09, + -1.083707124038824e-09, + 1.4901161193847656e-08 + ], + "angular_velocity": [ + 4.654604168763399e-08, + -1.0450609266854372e-07, + -1.6458994167578567e-08 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + 1.686258316040039, + 0.7065219879150391, + 0.9000000357627869 + ], + "ori": [ + 0.7962636947631836, + -9.093959079109482e-07, + -8.616250397608383e-07, + 0.6049497127532959 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 4.484042165131541e-06, + -1.3532810498873005e-06, + -1.1142343282699585e-05 + ], + "angular_velocity": [ + 0.00011710958642652258, + 0.00040271462057717144, + -4.492032894631848e-05 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + -1.3954992294311523, + 0.7512102127075195, + 0.8999999761581421 + ], + "ori": [ + -0.7542141675949097, + 1.0076185930074644e-07, + 1.5549263210345998e-08, + 0.656628429889679 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -5.555493842734904e-10, + 6.953717601732023e-10, + 3.725290298461914e-09 + ], + "angular_velocity": [ + -5.1671619871740404e-08, + -8.233840276261617e-10, + -7.820826652960022e-09 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + -0.0760202407836914, + 0.45000553131103516, + 0.8999999761581421 + ], + "ori": [ + 1.0, + 5.4917457248393475e-09, + 3.6921190549321636e-09, + 1.9972909285570495e-05 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 2.949127608786739e-09, + 2.1349784162794094e-09, + 2.2351741790771484e-08 + ], + "angular_velocity": [ + -1.3675057175532856e-07, + 2.859165135760122e-07, + -1.90026323565462e-08 + ] + } + } + ], + "plate": [ + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_6_clear/Object.usd", + "pose": { + "pos": [ + 0.2772083282470703, + 1.153982162475586, + 0.9179999828338623 + ], + "ori": [ + 0.06307177990674973, + 1.9719881283464247e-09, + -2.875878868380255e-09, + 0.9980090260505676 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 1.4295856942680985e-08, + -1.4826705196924195e-08, + 1.601874828338623e-07 + ], + "angular_velocity": [ + 1.125700919146766e-07, + 1.8538264612288913e-06, + -2.8104945037910056e-09 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_96_black/Object.usd", + "pose": { + "pos": [ + 1.6733675003051758, + 0.7001609802246094, + 0.9179999828338623 + ], + "ori": [ + 0.737417995929718, + -7.310702585527906e-07, + -3.5398113595874747e-07, + 0.675436794757843 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 5.987906661175657e-06, + -3.013037712662481e-07, + -6.67572021484375e-06 + ], + "angular_velocity": [ + 0.00011011059541488066, + 0.0003617403854150325, + -3.073492189287208e-05 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/pcr_96_blue/Object.usd", + "pose": { + "pos": [ + -1.399369239807129, + 0.7437953948974609, + 0.9180000424385071 + ], + "ori": [ + -0.7009569406509399, + 9.91275115325152e-08, + 2.309301194713953e-08, + 0.7132036685943604 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 1.214347911115965e-08, + 5.863726215693532e-08, + -5.19677996635437e-06 + ], + "angular_velocity": [ + -2.571482127677882e-06, + -4.964974209542561e-07, + 2.440241360091022e-07 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/deep_well_96_2ml/Object.usd", + "pose": { + "pos": [ + -0.0744781494140625, + 0.45597267150878906, + 0.9179999828338623 + ], + "ori": [ + 0.9965053796768188, + 5.577537542933442e-09, + 2.9450535343755746e-09, + 0.08352961391210556 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -2.7276458425262717e-08, + -4.48751862336394e-08, + -1.0579824447631836e-06 + ], + "angular_velocity": [ + 2.6701427486841567e-06, + -2.0143165784247685e-06, + -8.23868973043318e-08 + ] + } + } + ], + "deco_hub_west": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/hub_d.usd", + "pose": { + "pos": [ + -3.36, + 0.0, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_hub_east": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/hub_e.usd", + "pose": { + "pos": [ + 3.36, + 0.0, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_hub_back": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/hub_b.usd", + "pose": { + "pos": [ + -3.0, + -2.1, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_bench_east": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/bench_a.usd", + "pose": { + "pos": [ + 2.6, + -2.5, + 0.0 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_bench_gap": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/bench_b.usd", + "pose": { + "pos": [ + -0.1, + -2.9, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ] + }, + {}, + {}, + {} + ], + "devices": { + "hub": [ + { + "t": 2.399999999999971, + "step": 480, + "counter": 0, + "devices": { + "a4s_sealer_1": { + "mode": "auto", + "units": { + "drawer": { + "state": "at_out", + "active": null, + "target": 0.0, + "goal_name": "out", + "profile": null, + "q_start": null, + "reversing": false, + "blocked_for": 0.0, + "settled_for": 0.0, + "last_q": 1.8072430487889313e-12 + }, + "heater": { + "state": "ready", + "active": null, + "duration": 0.0, + "t_start": null, + "elapsed": 0.0 + } + }, + "queues": {}, + "program": null, + "sensors": { + "plate_present": { + "occupants": [], + "pending": {} + } + }, + "interlocks": {} + }, + "conveyor_1": { + "mode": "auto", + "units": { + "belt": { + "state": "at_station", + "active": null, + "controller": { + "speed": 0.1790255560106044, + "holds": [], + "station": "pick", + "rider": "carrier_4", + "arrived": true, + "settle_count": 407, + "released": { + "pick": [] + }, + "last_pos": { + "carrier_1": [ + 0.12435397505760193, + 0.7000005841255188, + 0.0 + ], + "carrier_2": [ + 1.5362583100795746, + 0.256521999835968, + 0.0 + ], + "carrier_3": [ + -1.5454992353916168, + 0.3012102246284485, + 0.0 + ], + "carrier_4": [ + -0.22602024674415588, + 5.543231964111328e-06, + 0.0 + ] + }, + "command": 0.0 + }, + "belt": { + "target_speed": 0.0, + "command_speed": 0.0 + }, + "seen": { + "state": "at_station", + "station": "pick", + "rider": "carrier_4", + "arrived": true + } + } + }, + "queues": {}, + "program": null, + "sensors": {}, + "interlocks": {} + } + }, + "zones": {}, + "labware": { + "plate_1": { + "sealed": false + }, + "plate_2": { + "sealed": false + }, + "plate_3": { + "sealed": false + }, + "plate_4": { + "sealed": false + } + }, + "rules": {}, + "records": [], + "bus": { + "seq": 3, + "queue": [] + } + }, + null, + null, + null + ], + "drives": [ + {}, + null, + null, + null + ] + }, + "artifacts": [ + { + "ceiling": { + "type": "rect", + "pose": { + "pos": [ + 0.7997430486916767, + 0.5758916735699762, + 2.729450411208756 + ], + "ori": [ + 10.220782216245173, + 6.777590235598087, + 3.6123003115203076 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "color_temperature": 3229.296181307055, + "color": [ + 0.9343314323903846, + 0.8232360829008929, + 0.8981707178670995 + ], + "intensity": 7227.519838105212, + "width": 1.6211663452553418, + "height": 0.9472988550843178 + } + }, + "key": { + "type": "disk", + "pose": { + "pos": [ + 0.4078127469091499, + -0.8063962579844672, + 2.7313569048493287 + ], + "ori": [ + -2.52702589662821, + -8.347587532297325, + 21.055309714176566 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "color_temperature": 7287.246134655605, + "color": [ + 0.8663864229769843, + 0.8024260739502218, + 0.8303281541984511 + ], + "intensity": 3283.0953805035892, + "radius": 0.26838991525618716 + } + } + }, + {}, + {}, + {} + ], + "background": { + "type": "dome", + "pose": { + "pos": null, + "ori": null, + "scale": null + }, + "dr": { + "intensity": 859.0333663401909, + "texture": null, + "color": [ + 0.92, + 0.94, + 0.96 + ] + } + } + }, + "robots": { + "UR5e": { + "root_pose": [ + [ + 11.0, + -11.0, + 0.9150000214576721, + 1.0, + 0.0, + 0.0, + 0.0 + ], + [ + 11.0, + 11.0, + 0.9150000214576721, + 1.0, + 0.0, + 0.0, + 0.0 + ], + [ + -11.0, + -11.0, + 0.9150000214576721, + 1.0, + 0.0, + 0.0, + 0.0 + ], + [ + -11.0, + 11.0, + 0.9150000214576721, + 1.0, + 0.0, + 0.0, + 0.0 + ] + ], + "root_vel": [ + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + ], + "joint_pos": [ + [ + 0.9141025543212891, + -1.719397783279419, + 2.0904994010925293, + -1.9419012069702148, + -1.5707999467849731, + 2.484901189804077, + 0.01799999736249447, + 0.018000001087784767 + ], + [ + 0.9141010642051697, + -1.719397783279419, + 2.09049916267395, + -1.9419004917144775, + -1.5707999467849731, + 2.4849002361297607, + 0.018000001087784767, + 0.01799999736249447 + ], + [ + 1.0872247219085693, + -1.5103832483291626, + 2.193995237350464, + -2.2543647289276123, + -1.5707956552505493, + 2.6448795795440674, + 0.01800004579126835, + 0.017999954521656036 + ], + [ + 1.0050718784332275, + -1.6465208530426025, + 2.0919253826141357, + -2.016159772872925, + -1.5707972049713135, + 2.516050338745117, + 0.018001895397901535, + 0.01799817942082882 + ] + ], + "joint_vel": [ + [ + -2.442258073222979e-38, + 2.97718246224232e-38, + 2.7947636702340584e-38, + 4.5719288343206525e-37, + -5.715706756220798e-37, + -7.685524002637048e-38, + 2.5990400942532688e-08, + -2.5990388508034812e-08 + ], + [ + 2.3021862405469203e-38, + -1.9620815744257298e-38, + 1.2895017518022117e-38, + -5.7362235594005475e-37, + 5.7705246553141675e-37, + -2.980420941466089e-36, + -2.5990388508034812e-08, + 2.5990388508034812e-08 + ], + [ + -5.868886728421785e-05, + 0.014081326313316822, + 0.009805244393646717, + -0.02276892215013504, + -7.150896180974087e-06, + 6.092904368415475e-05, + -5.8893142522720154e-06, + 5.86500618737773e-06 + ], + [ + 0.034837786108255386, + 0.028438113629817963, + 0.001008426072075963, + -0.027959125116467476, + 6.309156015049666e-05, + 0.011753056198358536, + 5.89683695579879e-05, + -5.959337067906745e-05 + ] + ] + } + }, + "cameras": { + "cameras": { + "camera0": [ + [ + 0.048032332211732864, + 0.002858602674677968, + -0.031716231256723404, + -0.2673909068107605, + 0.659339964389801, + 0.6408864855766296, + -0.2881622016429901 + ], + [ + 0.0476752407848835, + -0.0027867122553288937, + -0.026965590193867683, + -0.28299763798713684, + 0.6383602023124695, + 0.6547215580940247, + -0.28939294815063477 + ], + [ + 0.054318007081747055, + 0.002815810963511467, + -0.030516160652041435, + -0.2797449231147766, + 0.6382721662521362, + 0.6575888991355896, + -0.28623121976852417 + ], + [ + 0.050231192260980606, + 0.0017351889982819557, + -0.033419299870729446, + -0.2682536244392395, + 0.6556589007377625, + 0.6482788920402527, + -0.2790805399417877 + ] + ], + "camera1": [ + [ + 0.06291063129901886, + 0.5813440680503845, + 1.9299241304397583, + 0.031568776816129684, + 0.02372092194855213, + 0.27646389603614807, + 0.9602127075195312 + ], + [ + 0.04356405884027481, + 0.5761547088623047, + 1.9405598640441895, + 0.02183312550187111, + 0.0056459601037204266, + 0.2837775647640228, + 0.9586248993873596 + ], + [ + 0.057791367173194885, + 0.6011362075805664, + 1.9705764055252075, + 0.049425143748521805, + -0.0012361574918031693, + 0.2650063633918762, + 0.9629783034324646 + ], + [ + 0.05471363291144371, + 0.5785902738571167, + 1.9282846450805664, + 0.056743647903203964, + 0.02456721104681492, + 0.27144715189933777, + 0.9604650139808655 + ] + ] + } + } + } +} \ No newline at end of file diff --git a/episodes/c7_p005_e001/wrist.mp4 b/episodes/c7_p005_e001/wrist.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..75174039564c3000d5617c758c5d995c4a44fa58 --- /dev/null +++ b/episodes/c7_p005_e001/wrist.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:44ed0745e686cee627d1a4e9fe7f0ee586aada26621abae329ea96334b02a0c0 +size 6989838 diff --git a/episodes/c7_p005_e002/data.npz b/episodes/c7_p005_e002/data.npz new file mode 100644 index 0000000000000000000000000000000000000000..73deb1032ca1a778077b7c47a6f0365d1511304d --- /dev/null +++ b/episodes/c7_p005_e002/data.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:fa14fa8ab17747c87654e7b99c004f1d7c08d3947ae2e961bc89e5decc25d529 +size 202402 diff --git a/episodes/c7_p005_e002/device_events.jsonl b/episodes/c7_p005_e002/device_events.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..9c0a2057f8deeae4d4f3fb4950f2d539d1d945eb --- /dev/null +++ b/episodes/c7_p005_e002/device_events.jsonl @@ -0,0 +1,39 @@ +{"env_id": 2, "seq": 1, "step": 107, "t": 0.535, "topic": "conveyor_1.belt.station.pick.captured", "source": "conveyor_1.belt", "data": {"rider": "carrier_4"}, "cause": null} +{"env_id": 2, "seq": 2, "step": 107, "t": 0.535, "topic": "conveyor_1.belt.state.changed", "source": "conveyor_1.belt", "data": {"from": "running", "to": "at_station"}, "cause": null} +{"env_id": 2, "seq": 3, "step": 112, "t": 0.56, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_4"}, "cause": null} +{"env_id": 2, "seq": 4, "step": 669, "t": 3.345, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_4"}, "cause": null} +{"env_id": 2, "seq": 5, "step": 682, "t": 3.41, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_4"}, "cause": null} +{"env_id": 2, "seq": 6, "step": 695, "t": 3.475, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_4"}, "cause": null} +{"env_id": 2, "seq": 7, "step": 753, "t": 3.765, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_4"}, "cause": null} +{"env_id": 2, "seq": 8, "step": 5323, "t": 26.615, "topic": "a4s_sealer_1.plate_present.present", "source": "a4s_sealer_1.plate_present", "data": {"object": "plate_4"}, "cause": null} +{"env_id": 2, "seq": 9, "step": 5936, "t": 29.68, "topic": "a4s_sealer_1.command.started", "source": "a4s_sealer_1", "data": {"command_id": "task-2-1", "name": "seal", "source": "task"}, "cause": "task-2-1"} +{"env_id": 2, "seq": 10, "step": 5936, "t": 29.68, "topic": "a4s_sealer_1.seal.started", "source": "a4s_sealer_1", "data": {"dwell": 4.381875094913305}, "cause": "task-2-1"} +{"env_id": 2, "seq": 11, "step": 5936, "t": 29.68, "topic": "a4s_sealer_1.drawer.command.started", "source": "a4s_sealer_1.drawer", "data": {"command_id": "program-2-2", "name": "close", "source": "program:seal"}, "cause": "program-2-2"} +{"env_id": 2, "seq": 12, "step": 5936, "t": 29.68, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "at_out", "to": "moving"}, "cause": null} +{"env_id": 2, "seq": 13, "step": 5936, "t": 29.68, "topic": "a4s_sealer_1.drawer.moving", "source": "a4s_sealer_1.drawer", "data": {"target": 0.3, "goal": "in"}, "cause": "program-2-2"} +{"env_id": 2, "seq": 14, "step": 6355, "t": 31.775, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "moving", "to": "at_in"}, "cause": null} +{"env_id": 2, "seq": 15, "step": 6355, "t": 31.775, "topic": "a4s_sealer_1.drawer.reached", "source": "a4s_sealer_1.drawer", "data": {"position": "in", "q": 0.30000001192092896}, "cause": "program-2-2"} +{"env_id": 2, "seq": 16, "step": 6355, "t": 31.775, "topic": "a4s_sealer_1.drawer.at_in", "source": "a4s_sealer_1.drawer", "data": {"q": 0.30000001192092896}, "cause": "program-2-2"} +{"env_id": 2, "seq": 17, "step": 6355, "t": 31.775, "topic": "a4s_sealer_1.drawer.command.succeeded", "source": "a4s_sealer_1.drawer", "data": {"command_id": "program-2-2", "name": "close", "source": "program:seal", "result": {"position": "in"}}, "cause": "program-2-2"} +{"env_id": 2, "seq": 18, "step": 6355, "t": 31.775, "topic": "labware.plate_4.changed", "source": "labware.plate_4", "data": {"key": "sealed", "value": true}, "cause": "task-2-1"} +{"env_id": 2, "seq": 19, "step": 6355, "t": 31.775, "topic": "a4s_sealer_1.sealed", "source": "a4s_sealer_1", "data": {"plate": "plate_4"}, "cause": "task-2-1"} +{"env_id": 2, "seq": 20, "step": 6355, "t": 31.775, "topic": "a4s_sealer_1.heater.command.started", "source": "a4s_sealer_1.heater", "data": {"command_id": "program-2-3", "name": "run", "source": "program:seal"}, "cause": "program-2-3"} +{"env_id": 2, "seq": 21, "step": 6355, "t": 31.775, "topic": "a4s_sealer_1.heater.state.changed", "source": "a4s_sealer_1.heater", "data": {"from": "ready", "to": "running"}, "cause": null} +{"env_id": 2, "seq": 22, "step": 6355, "t": 31.775, "topic": "a4s_sealer_1.heater.started", "source": "a4s_sealer_1.heater", "data": {"duration": 4.381875094913305}, "cause": "program-2-3"} +{"env_id": 2, "seq": 23, "step": 7232, "t": 36.16, "topic": "a4s_sealer_1.heater.state.changed", "source": "a4s_sealer_1.heater", "data": {"from": "running", "to": "ready"}, "cause": null} +{"env_id": 2, "seq": 24, "step": 7232, "t": 36.16, "topic": "a4s_sealer_1.heater.finished", "source": "a4s_sealer_1.heater", "data": {"elapsed": 4.3850000000020835}, "cause": "program-2-3"} +{"env_id": 2, "seq": 25, "step": 7232, "t": 36.16, "topic": "a4s_sealer_1.heater.command.succeeded", "source": "a4s_sealer_1.heater", "data": {"command_id": "program-2-3", "name": "run", "source": "program:seal", "result": {"elapsed": 4.3850000000020835}}, "cause": "program-2-3"} +{"env_id": 2, "seq": 26, "step": 7232, "t": 36.16, "topic": "a4s_sealer_1.drawer.command.started", "source": "a4s_sealer_1.drawer", "data": {"command_id": "program-2-4", "name": "open", "source": "program:seal"}, "cause": "program-2-4"} +{"env_id": 2, "seq": 27, "step": 7232, "t": 36.16, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "at_in", "to": "moving"}, "cause": null} +{"env_id": 2, "seq": 28, "step": 7232, "t": 36.16, "topic": "a4s_sealer_1.drawer.moving", "source": "a4s_sealer_1.drawer", "data": {"target": 0.0, "goal": "out"}, "cause": "program-2-4"} +{"env_id": 2, "seq": 29, "step": 7652, "t": 38.26, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "moving", "to": "at_out"}, "cause": null} +{"env_id": 2, "seq": 30, "step": 7652, "t": 38.26, "topic": "a4s_sealer_1.drawer.reached", "source": "a4s_sealer_1.drawer", "data": {"position": "out", "q": 0.0}, "cause": "program-2-4"} +{"env_id": 2, "seq": 31, "step": 7652, "t": 38.26, "topic": "a4s_sealer_1.drawer.at_out", "source": "a4s_sealer_1.drawer", "data": {"q": 0.0}, "cause": "program-2-4"} +{"env_id": 2, "seq": 32, "step": 7652, "t": 38.26, "topic": "a4s_sealer_1.drawer.command.succeeded", "source": "a4s_sealer_1.drawer", "data": {"command_id": "program-2-4", "name": "open", "source": "program:seal", "result": {"position": "out"}}, "cause": "program-2-4"} +{"env_id": 2, "seq": 33, "step": 7652, "t": 38.26, "topic": "a4s_sealer_1.seal.finished", "source": "a4s_sealer_1", "data": {}, "cause": "task-2-1"} +{"env_id": 2, "seq": 34, "step": 7652, "t": 38.26, "topic": "a4s_sealer_1.command.succeeded", "source": "a4s_sealer_1", "data": {"command_id": "task-2-1", "name": "seal", "source": "task"}, "cause": "task-2-1"} +{"env_id": 2, "seq": 35, "step": 8231, "t": 41.155, "topic": "a4s_sealer_1.plate_present.absent", "source": "a4s_sealer_1.plate_present", "data": {"object": "plate_4"}, "cause": null} +{"env_id": 2, "seq": 36, "step": 10488, "t": 52.44, "topic": "conveyor_1.belt.command.started", "source": "conveyor_1.belt", "data": {"command_id": "task-2-5", "name": "release", "source": "task"}, "cause": "task-2-5"} +{"env_id": 2, "seq": 37, "step": 10488, "t": 52.44, "topic": "conveyor_1.belt.station.pick.released", "source": "conveyor_1.belt", "data": {"rider": "carrier_4"}, "cause": "task-2-5"} +{"env_id": 2, "seq": 38, "step": 10488, "t": 52.44, "topic": "conveyor_1.belt.state.changed", "source": "conveyor_1.belt", "data": {"from": "at_station", "to": "running"}, "cause": null} +{"env_id": 2, "seq": 39, "step": 10488, "t": 52.44, "topic": "conveyor_1.belt.command.succeeded", "source": "conveyor_1.belt", "data": {"command_id": "task-2-5", "name": "release", "source": "task", "result": {"state": "running"}}, "cause": "task-2-5"} diff --git a/episodes/c7_p005_e002/env.mp4 b/episodes/c7_p005_e002/env.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..cba6a8ea129a409d4bfc6ba42fff1ebff304ba2f --- /dev/null +++ b/episodes/c7_p005_e002/env.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:87b898aa441311f9897d07d6ca85a680fa1b54cccb4b1830202a09ca75451b8a +size 1333425 diff --git a/episodes/c7_p005_e002/meta.json b/episodes/c7_p005_e002/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..774a8d56298e94dca720eb14a954fed32da0f81c --- /dev/null +++ b/episodes/c7_p005_e002/meta.json @@ -0,0 +1,32 @@ +{ + "source": "raw/c7_p005/magicsim/2", + "fps": 25, + "frames": 1284, + "kept_ticks": "even", + "video_frames": { + "wrist": 1284, + "env": 1284 + }, + "joint_target_source": "joint_pos_target", + "fk_vs_recorded_eef_max_m": 0.0, + "curobo_joints": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "joint_order": [ + "shoulder_pan", + "shoulder_lift", + "elbow", + "wrist_1", + "wrist_2", + "wrist_3", + "finger_left", + "finger_right" + ], + "frames_note": "eef / actions in the robot base frame; camera_pose = local pose (wrist: in plate_gripper_base, env: env frame), pos + quat wxyz", + "dr_version": "v2" +} \ No newline at end of file diff --git a/episodes/c7_p005_e002/scene_snapshot.json b/episodes/c7_p005_e002/scene_snapshot.json new file mode 100644 index 0000000000000000000000000000000000000000..1c94762b6bc5845ef1f9c068702b72e6252e37ac --- /dev/null +++ b/episodes/c7_p005_e002/scene_snapshot.json @@ -0,0 +1,1558 @@ +{ + "trajectory_id": 2, + "env_id": 2, + "run_id": "c7_p005", + "task_type": "BioPlateCell", + "success": true, + "timing": { + "fps": 50.0, + "sim_dt": 0.005, + "decimation": 4 + }, + "restore_interface": { + "scene": "scene_manager.reset_to(snapshot['scene'], env_ids=[env_id])", + "robots": "robot_manager.set_state({'robots': snapshot['robots']}, env_ids=[env_id])" + }, + "snapshot": { + "env_id": 2, + "scene": { + "objects": [ + {}, + {}, + { + "rac_cell": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/rac_cell.usd", + "pose": { + "pos": [ + 0.0, + 0.0, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "physics_material": { + "static_friction": 0.6, + "dynamic_friction": 0.5, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "robot_mount": [ + { + "asset": "Cube", + "pose": { + "pos": [ + 0.0, + 0.0, + 0.9075 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": "color", + "value": [ + 0.55, + 0.56, + 0.58 + ], + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": { + "size": [ + 0.2, + 0.2, + 0.015 + ] + } + }, + "type_specific": {} + } + ], + "plate_rack": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/plate_hotel.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 0.9 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "physics_material": { + "static_friction": 0.6, + "dynamic_friction": 0.5, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "hotel_plate": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_6_clear/plate_6_clear.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 0.9605 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_384_white/plate_384_white.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.0285 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_6_clear/plate_6_clear.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.0965 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_24_clear/plate_24_clear.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.1645 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/pcr_96_blue/pcr_96_blue.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.2325 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "a4s_sealer": [ + { + "asset": "$MAGICSIM_ASSETS/Articulated/A4SSealer/Object.usd", + "pose": { + "pos": [ + 0.5010499954223633, + 0.1187429428100586, + 0.8999999761581421 + ], + "ori": [ + 0.7160762548446655, + 0.0, + 0.0, + -0.6980220675468445 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "articulation", + "solver_position_iteration_count": 16.0, + "solver_velocity_iteration_count": 1.0, + "enabled_self_collisions": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "joint_position": [ + 2.168694043791497e-12 + ], + "joint_velocity": [ + 0.0 + ], + "linear_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "angular_velocity": [ + 0.0, + 0.0, + 0.0 + ] + } + } + ], + "conveyor": [ + { + "asset": "Cube", + "pose": { + "pos": [ + 0.15, + 0.45, + 0.9 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "conveyor", + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9 + }, + "ratio": 1.0 + }, + "primitive_params": { + "size": [ + 2.4, + 0.076, + 0.03 + ] + }, + "conveyor": { + "speed": 0.18666090618636474, + "direction": [ + 1.0, + 0.0, + 0.0 + ], + "enabled": true, + "drive": "surface_velocity", + "lines": null, + "station_line": null, + "riders": [ + "carrier" + ], + "stations": { + "pick": { + "position": -0.21406984924149153, + "slow_distance": 0.03, + "slow_speed": 0.03 + } + }, + "rails": { + "height": 0.01, + "thickness": 0.01, + "gap": 0.001, + "friction": 0.05 + }, + "legs": 0.87, + "loop": { + "radius": 0.35, + "side": "left", + "curve_extra_width": 0.0, + "segments": 18, + "curve_rails": "both" + }, + "snap_distance": 0.1, + "junction_snap": 0.02, + "collision_approximation": "auto", + "plate_mass": 1.0, + "lift_drop": 0.004, + "accel": 0.0, + "decel": 0.0, + "drive_damping": 1000000.0, + "drive_max_force": 1000000000.0 + } + }, + "type_specific": { + "controller": { + "state": "at_station", + "speed": 0.18666090618636474, + "holds": [], + "station": "pick", + "rider": "carrier_4", + "arrived": true, + "applied_speed": 0.0 + } + } + } + ], + "carrier": [ + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + -1.0289630889892578, + 1.1499061584472656, + 0.8999999761581421 + ], + "ori": [ + -0.001045397249981761, + 1.2386226266869471e-08, + 2.811802346514014e-09, + 0.999999463558197 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 1.8537495982684504e-09, + 6.569159882729991e-09, + 2.60770320892334e-08 + ], + "angular_velocity": [ + -2.153888090106193e-07, + 2.5209357090716367e-07, + -1.2555152473225917e-08 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + 0.7932472229003906, + 1.152740478515625, + 0.8999999761581421 + ], + "ori": [ + -0.010389675386250019, + 1.2368564505926827e-10, + 6.259743834391429e-10, + 0.9999460577964783 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -3.70108943492653e-10, + -1.1202794247822112e-09, + 0.0 + ], + "angular_velocity": [ + 1.465598415961722e-07, + -1.0524768612185653e-08, + -1.3868031167874051e-08 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + 1.6957626342773438, + 0.8365182876586914, + 0.8999999761581421 + ], + "ori": [ + 0.6702186465263367, + 2.258265752175248e-08, + 2.731296611102607e-08, + 0.7421637177467346 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -2.054101333470726e-10, + 2.8225077830512646e-10, + 3.725290298461914e-09 + ], + "angular_velocity": [ + -2.4056713954223596e-08, + -5.4269790439320786e-08, + 5.1179895876884984e-09 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + -0.06455039978027344, + 0.45000553131103516, + 0.8999999761581421 + ], + "ori": [ + 1.0, + 3.644221813203785e-09, + -3.5089042782487923e-09, + 5.775494719273411e-05 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 5.024388016749981e-09, + 3.7666096908139934e-09, + 3.725290298461914e-08 + ], + "angular_velocity": [ + -1.761255532528594e-07, + 4.662969104174408e-07, + -5.241063405492241e-08 + ] + } + } + ], + "plate": [ + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_24_clear/Object.usd", + "pose": { + "pos": [ + -1.041611671447754, + 1.1588659286499023, + 0.9179999828338623 + ], + "ori": [ + 0.0814351737499237, + 1.1262972776648894e-08, + 6.625811455052144e-09, + 0.9966787099838257 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 6.160515653164111e-08, + 3.5894242245149144e-08, + 2.3096799850463867e-07 + ], + "angular_velocity": [ + -9.448081073060166e-08, + 3.934130745619768e-06, + 9.32713017931519e-09 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_384_black/Object.usd", + "pose": { + "pos": [ + 0.7864437103271484, + 1.1538820266723633, + 0.9180000424385071 + ], + "ori": [ + -0.10777099430561066, + -8.216175656494684e-11, + 2.1791162208018022e-09, + 0.9941758513450623 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 2.31727117494529e-08, + -1.0543622863679047e-08, + -5.852431058883667e-06 + ], + "angular_velocity": [ + -4.530424462245719e-07, + 1.7185634533234406e-06, + 1.225567558549301e-07 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_1536_black/Object.usd", + "pose": { + "pos": [ + 1.683523178100586, + 0.8482208251953125, + 0.9180000424385071 + ], + "ori": [ + 0.6777231097221375, + 2.271703891665311e-08, + 2.9500808906846032e-08, + 0.7353172302246094 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -7.668747414868449e-09, + -1.030853624683914e-08, + -5.409121513366699e-06 + ], + "angular_velocity": [ + 1.3937201401859056e-06, + 8.781806855040486e-07, + 1.3413529131867108e-07 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/deep_well_24_10ml/Object.usd", + "pose": { + "pos": [ + -0.05877208709716797, + 0.44030284881591797, + 0.9179999828338623 + ], + "ori": [ + 0.999978244304657, + 1.4953563942654569e-09, + -4.195436886789139e-09, + 0.006603768561035395 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -2.970609536134816e-08, + 6.032681199030776e-08, + -1.2032687664031982e-06 + ], + "angular_velocity": [ + -1.5705627447459847e-06, + -2.1494458906090586e-06, + -7.632036869154035e-08 + ] + } + } + ], + "deco_hub_west": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/hub_c.usd", + "pose": { + "pos": [ + -3.36, + 0.0, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_hub_east": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/hub_a.usd", + "pose": { + "pos": [ + 3.36, + 0.0, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_hub_back": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/hub_e.usd", + "pose": { + "pos": [ + -3.0, + -2.1, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_bench_east": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/bench_a.usd", + "pose": { + "pos": [ + 2.6, + -2.5, + 0.0 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_bench_gap": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/bench_b.usd", + "pose": { + "pos": [ + -0.1, + -2.9, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ] + }, + {} + ], + "devices": { + "hub": [ + null, + null, + { + "t": 1.3199999999999938, + "step": 264, + "counter": 0, + "devices": { + "a4s_sealer_1": { + "mode": "auto", + "units": { + "drawer": { + "state": "at_out", + "active": null, + "target": 0.0, + "goal_name": "out", + "profile": null, + "q_start": null, + "reversing": false, + "blocked_for": 0.0, + "settled_for": 0.0, + "last_q": 2.168694043791497e-12 + }, + "heater": { + "state": "ready", + "active": null, + "duration": 0.0, + "t_start": null, + "elapsed": 0.0 + } + }, + "queues": {}, + "program": null, + "sensors": { + "plate_present": { + "occupants": [], + "pending": {} + } + }, + "interlocks": {} + }, + "conveyor_1": { + "mode": "auto", + "units": { + "belt": { + "state": "at_station", + "active": null, + "controller": { + "speed": 0.18666090618636474, + "holds": [], + "station": "pick", + "rider": "carrier_4", + "arrived": true, + "settle_count": 156, + "released": { + "pick": [] + }, + "last_pos": { + "carrier_1": [ + -1.1789630949497223, + 0.6999061703681946, + 0.0 + ], + "carrier_2": [ + 0.6432472169399261, + 0.702740490436554, + 0.0 + ], + "carrier_3": [ + 1.5457626283168793, + 0.38651829957962036, + 0.0 + ], + "carrier_4": [ + -0.21455040574073792, + 5.543231964111328e-06, + 0.0 + ] + }, + "command": 0.0 + }, + "belt": { + "target_speed": 0.0, + "command_speed": 0.0 + }, + "seen": { + "state": "at_station", + "station": "pick", + "rider": "carrier_4", + "arrived": true + } + } + }, + "queues": {}, + "program": null, + "sensors": {}, + "interlocks": {} + } + }, + "zones": {}, + "labware": { + "plate_1": { + "sealed": false + }, + "plate_2": { + "sealed": false + }, + "plate_3": { + "sealed": false + }, + "plate_4": { + "sealed": false + } + }, + "rules": {}, + "records": [], + "bus": { + "seq": 3, + "queue": [] + } + }, + null + ], + "drives": [ + null, + null, + {}, + null + ] + }, + "artifacts": [ + {}, + {}, + { + "ceiling": { + "type": "rect", + "pose": { + "pos": [ + -0.3294714437153154, + 0.48281330040195625, + 3.113850170100154 + ], + "ori": [ + 9.60594472647946, + -10.731127582802245, + -2.108230284936006 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "color_temperature": 4606.032729045065, + "color": [ + 0.8473156534785509, + 0.926835987601115, + 0.9945186789906217 + ], + "intensity": 6060.719482702606, + "width": 2.638391228356536, + "height": 1.4934724591964397 + } + }, + "key": { + "type": "disk", + "pose": { + "pos": [ + 0.6100111179395653, + -1.1780546322586445, + 1.6248042211374951 + ], + "ori": [ + -21.181110409334394, + -31.221338072771914, + 2.9305532327304107 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "color_temperature": 4128.772162824956, + "color": [ + 0.8942341794376959, + 0.9452005942839855, + 0.8812922319304879 + ], + "intensity": 8503.28247168023, + "radius": 0.20998850143627365 + } + } + }, + {} + ], + "background": { + "type": "dome", + "pose": { + "pos": null, + "ori": null, + "scale": null + }, + "dr": { + "intensity": 859.0333663401909, + "texture": null, + "color": [ + 0.92, + 0.94, + 0.96 + ] + } + } + }, + "robots": { + "UR5e": { + "root_pose": [ + [ + 11.0, + -11.0, + 0.9150000214576721, + 1.0, + 0.0, + 0.0, + 0.0 + ], + [ + 11.0, + 11.0, + 0.9150000214576721, + 1.0, + 0.0, + 0.0, + 0.0 + ], + [ + -11.0, + -11.0, + 0.9150000214576721, + 1.0, + 0.0, + 0.0, + 0.0 + ], + [ + -11.0, + 11.0, + 0.9150000214576721, + 1.0, + 0.0, + 0.0, + 0.0 + ] + ], + "root_vel": [ + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + ], + "joint_pos": [ + [ + 0.9140999913215637, + -1.7194000482559204, + 2.0905001163482666, + -1.9419000148773193, + -1.5707999467849731, + 2.4848999977111816, + 0.017999999225139618, + 0.017999999225139618 + ], + [ + 0.9140999913215637, + -1.7194000482559204, + 2.0905001163482666, + -1.9419000148773193, + -1.5707999467849731, + 2.4848999977111816, + 0.017999999225139618, + 0.017999999225139618 + ], + [ + 0.9140999913215637, + -1.7194000482559204, + 2.0905001163482666, + -1.9419000148773193, + -1.5707999467849731, + 2.4848999977111816, + 0.017999999225139618, + 0.017999999225139618 + ], + [ + 0.9140999913215637, + -1.7194000482559204, + 2.0905001163482666, + -1.9419000148773193, + -1.5707999467849731, + 2.4848999977111816, + 0.017999999225139618, + 0.017999999225139618 + ] + ], + "joint_vel": [ + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + ] + } + }, + "cameras": { + "cameras": { + "camera0": [ + [ + 0.0513811893761158, + 0.0024450828786939383, + -0.028220640495419502, + -0.2679762542247772, + 0.6560544967651367, + 0.645832359790802, + -0.28404533863067627 + ], + [ + 0.04774979501962662, + -0.002223390154540539, + -0.027316223829984665, + -0.28694212436676025, + 0.6428021192550659, + 0.6494873762130737, + -0.2874643802642822 + ], + [ + 0.05137889087200165, + 0.0002339817292522639, + -0.029458966106176376, + -0.27592721581459045, + 0.6426321864128113, + 0.6527658104896545, + -0.2911783754825592 + ], + [ + 0.04972217604517937, + 0.0027173440903425217, + -0.03167818859219551, + -0.2688595652580261, + 0.6563448309898376, + 0.6442081928253174, + -0.2862198054790497 + ] + ], + "camera1": [ + [ + 0.06291063129901886, + 0.5813440680503845, + 1.9299241304397583, + 0.031568776816129684, + 0.02372092194855213, + 0.27646389603614807, + 0.9602127075195312 + ], + [ + 0.04356405884027481, + 0.5761547088623047, + 1.9405598640441895, + 0.02183312550187111, + 0.0056459601037204266, + 0.2837775647640228, + 0.9586248993873596 + ], + [ + 0.057791367173194885, + 0.6011362075805664, + 1.9705764055252075, + 0.049425143748521805, + -0.0012361574918031693, + 0.2650063633918762, + 0.9629783034324646 + ], + [ + 0.05471363291144371, + 0.5785902738571167, + 1.9282846450805664, + 0.056743647903203964, + 0.02456721104681492, + 0.27144715189933777, + 0.9604650139808655 + ] + ] + } + } + } +} \ No newline at end of file diff --git a/episodes/c7_p005_e002/wrist.mp4 b/episodes/c7_p005_e002/wrist.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..599d6d0615f1d8022bca360138dfe7f122554328 --- /dev/null +++ b/episodes/c7_p005_e002/wrist.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:06e2aec5a68ba65896a1b72d2eee81f0efc31800a1078cf57550581936a06e42 +size 7455174 diff --git a/episodes/c7_p005_e003/data.npz b/episodes/c7_p005_e003/data.npz new file mode 100644 index 0000000000000000000000000000000000000000..d60b8500a714f1287b1091fdbc2bb7fe0ecf6eea --- /dev/null +++ b/episodes/c7_p005_e003/data.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:72e59a656e850bf3160a8d69e369bdb5434add69faea2838638dd802b2aa0c1b +size 192408 diff --git a/episodes/c7_p005_e003/device_events.jsonl b/episodes/c7_p005_e003/device_events.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..2e5178cb646a3b49d5c219196bf32aecbea0a1b3 --- /dev/null +++ b/episodes/c7_p005_e003/device_events.jsonl @@ -0,0 +1,35 @@ +{"env_id": 1, "seq": 1, "step": 94, "t": 0.47, "topic": "conveyor_1.belt.station.pick.captured", "source": "conveyor_1.belt", "data": {"rider": "carrier_4"}, "cause": null} +{"env_id": 1, "seq": 2, "step": 94, "t": 0.47, "topic": "conveyor_1.belt.state.changed", "source": "conveyor_1.belt", "data": {"from": "running", "to": "at_station"}, "cause": null} +{"env_id": 1, "seq": 3, "step": 99, "t": 0.495, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_4"}, "cause": null} +{"env_id": 1, "seq": 4, "step": 6407, "t": 32.035, "topic": "a4s_sealer_1.plate_present.present", "source": "a4s_sealer_1.plate_present", "data": {"object": "plate_4"}, "cause": null} +{"env_id": 1, "seq": 5, "step": 7020, "t": 35.1, "topic": "a4s_sealer_1.command.started", "source": "a4s_sealer_1", "data": {"command_id": "task-1-1", "name": "seal", "source": "task"}, "cause": "task-1-1"} +{"env_id": 1, "seq": 6, "step": 7020, "t": 35.1, "topic": "a4s_sealer_1.seal.started", "source": "a4s_sealer_1", "data": {"dwell": 4.542367518240184}, "cause": "task-1-1"} +{"env_id": 1, "seq": 7, "step": 7020, "t": 35.1, "topic": "a4s_sealer_1.drawer.command.started", "source": "a4s_sealer_1.drawer", "data": {"command_id": "program-1-2", "name": "close", "source": "program:seal"}, "cause": "program-1-2"} +{"env_id": 1, "seq": 8, "step": 7020, "t": 35.1, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "at_out", "to": "moving"}, "cause": null} +{"env_id": 1, "seq": 9, "step": 7020, "t": 35.1, "topic": "a4s_sealer_1.drawer.moving", "source": "a4s_sealer_1.drawer", "data": {"target": 0.3, "goal": "in"}, "cause": "program-1-2"} +{"env_id": 1, "seq": 10, "step": 7439, "t": 37.195, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "moving", "to": "at_in"}, "cause": null} +{"env_id": 1, "seq": 11, "step": 7439, "t": 37.195, "topic": "a4s_sealer_1.drawer.reached", "source": "a4s_sealer_1.drawer", "data": {"position": "in", "q": 0.30000001192092896}, "cause": "program-1-2"} +{"env_id": 1, "seq": 12, "step": 7439, "t": 37.195, "topic": "a4s_sealer_1.drawer.at_in", "source": "a4s_sealer_1.drawer", "data": {"q": 0.30000001192092896}, "cause": "program-1-2"} +{"env_id": 1, "seq": 13, "step": 7439, "t": 37.195, "topic": "a4s_sealer_1.drawer.command.succeeded", "source": "a4s_sealer_1.drawer", "data": {"command_id": "program-1-2", "name": "close", "source": "program:seal", "result": {"position": "in"}}, "cause": "program-1-2"} +{"env_id": 1, "seq": 14, "step": 7439, "t": 37.195, "topic": "labware.plate_4.changed", "source": "labware.plate_4", "data": {"key": "sealed", "value": true}, "cause": "task-1-1"} +{"env_id": 1, "seq": 15, "step": 7439, "t": 37.195, "topic": "a4s_sealer_1.sealed", "source": "a4s_sealer_1", "data": {"plate": "plate_4"}, "cause": "task-1-1"} +{"env_id": 1, "seq": 16, "step": 7439, "t": 37.195, "topic": "a4s_sealer_1.heater.command.started", "source": "a4s_sealer_1.heater", "data": {"command_id": "program-1-3", "name": "run", "source": "program:seal"}, "cause": "program-1-3"} +{"env_id": 1, "seq": 17, "step": 7439, "t": 37.195, "topic": "a4s_sealer_1.heater.state.changed", "source": "a4s_sealer_1.heater", "data": {"from": "ready", "to": "running"}, "cause": null} +{"env_id": 1, "seq": 18, "step": 7439, "t": 37.195, "topic": "a4s_sealer_1.heater.started", "source": "a4s_sealer_1.heater", "data": {"duration": 4.542367518240184}, "cause": "program-1-3"} +{"env_id": 1, "seq": 19, "step": 8348, "t": 41.74, "topic": "a4s_sealer_1.heater.state.changed", "source": "a4s_sealer_1.heater", "data": {"from": "running", "to": "ready"}, "cause": null} +{"env_id": 1, "seq": 20, "step": 8348, "t": 41.74, "topic": "a4s_sealer_1.heater.finished", "source": "a4s_sealer_1.heater", "data": {"elapsed": 4.545000000002325}, "cause": "program-1-3"} +{"env_id": 1, "seq": 21, "step": 8348, "t": 41.74, "topic": "a4s_sealer_1.heater.command.succeeded", "source": "a4s_sealer_1.heater", "data": {"command_id": "program-1-3", "name": "run", "source": "program:seal", "result": {"elapsed": 4.545000000002325}}, "cause": "program-1-3"} +{"env_id": 1, "seq": 22, "step": 8348, "t": 41.74, "topic": "a4s_sealer_1.drawer.command.started", "source": "a4s_sealer_1.drawer", "data": {"command_id": "program-1-4", "name": "open", "source": "program:seal"}, "cause": "program-1-4"} +{"env_id": 1, "seq": 23, "step": 8348, "t": 41.74, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "at_in", "to": "moving"}, "cause": null} +{"env_id": 1, "seq": 24, "step": 8348, "t": 41.74, "topic": "a4s_sealer_1.drawer.moving", "source": "a4s_sealer_1.drawer", "data": {"target": 0.0, "goal": "out"}, "cause": "program-1-4"} +{"env_id": 1, "seq": 25, "step": 8768, "t": 43.84, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "moving", "to": "at_out"}, "cause": null} +{"env_id": 1, "seq": 26, "step": 8768, "t": 43.84, "topic": "a4s_sealer_1.drawer.reached", "source": "a4s_sealer_1.drawer", "data": {"position": "out", "q": 0.0}, "cause": "program-1-4"} +{"env_id": 1, "seq": 27, "step": 8768, "t": 43.84, "topic": "a4s_sealer_1.drawer.at_out", "source": "a4s_sealer_1.drawer", "data": {"q": 0.0}, "cause": "program-1-4"} +{"env_id": 1, "seq": 28, "step": 8768, "t": 43.84, "topic": "a4s_sealer_1.drawer.command.succeeded", "source": "a4s_sealer_1.drawer", "data": {"command_id": "program-1-4", "name": "open", "source": "program:seal", "result": {"position": "out"}}, "cause": "program-1-4"} +{"env_id": 1, "seq": 29, "step": 8768, "t": 43.84, "topic": "a4s_sealer_1.seal.finished", "source": "a4s_sealer_1", "data": {}, "cause": "task-1-1"} +{"env_id": 1, "seq": 30, "step": 8768, "t": 43.84, "topic": "a4s_sealer_1.command.succeeded", "source": "a4s_sealer_1", "data": {"command_id": "task-1-1", "name": "seal", "source": "task"}, "cause": "task-1-1"} +{"env_id": 1, "seq": 31, "step": 9345, "t": 46.725, "topic": "a4s_sealer_1.plate_present.absent", "source": "a4s_sealer_1.plate_present", "data": {"object": "plate_4"}, "cause": null} +{"env_id": 1, "seq": 32, "step": 11068, "t": 55.34, "topic": "conveyor_1.belt.command.started", "source": "conveyor_1.belt", "data": {"command_id": "task-1-5", "name": "release", "source": "task"}, "cause": "task-1-5"} +{"env_id": 1, "seq": 33, "step": 11068, "t": 55.34, "topic": "conveyor_1.belt.station.pick.released", "source": "conveyor_1.belt", "data": {"rider": "carrier_4"}, "cause": "task-1-5"} +{"env_id": 1, "seq": 34, "step": 11068, "t": 55.34, "topic": "conveyor_1.belt.state.changed", "source": "conveyor_1.belt", "data": {"from": "at_station", "to": "running"}, "cause": null} +{"env_id": 1, "seq": 35, "step": 11068, "t": 55.34, "topic": "conveyor_1.belt.command.succeeded", "source": "conveyor_1.belt", "data": {"command_id": "task-1-5", "name": "release", "source": "task", "result": {"state": "running"}}, "cause": "task-1-5"} diff --git a/episodes/c7_p005_e003/env.mp4 b/episodes/c7_p005_e003/env.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..71e0184cf3d6ba71693a3a68dbc40445e2be12f3 --- /dev/null +++ b/episodes/c7_p005_e003/env.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:8b8497197c3e741129b66ccfc90919b40748b3b370059afa67203905350ab979 +size 1348695 diff --git a/episodes/c7_p005_e003/meta.json b/episodes/c7_p005_e003/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..7083d9f20dfa55686d9b50ed926d147e4d9f4cef --- /dev/null +++ b/episodes/c7_p005_e003/meta.json @@ -0,0 +1,32 @@ +{ + "source": "raw/c7_p005/magicsim/3", + "fps": 25, + "frames": 1256, + "kept_ticks": "even", + "video_frames": { + "wrist": 1256, + "env": 1256 + }, + "joint_target_source": "joint_pos_target", + "fk_vs_recorded_eef_max_m": 0.0, + "curobo_joints": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "joint_order": [ + "shoulder_pan", + "shoulder_lift", + "elbow", + "wrist_1", + "wrist_2", + "wrist_3", + "finger_left", + "finger_right" + ], + "frames_note": "eef / actions in the robot base frame; camera_pose = local pose (wrist: in plate_gripper_base, env: env frame), pos + quat wxyz", + "dr_version": "v2" +} \ No newline at end of file diff --git a/episodes/c7_p005_e003/scene_snapshot.json b/episodes/c7_p005_e003/scene_snapshot.json new file mode 100644 index 0000000000000000000000000000000000000000..64ab54721653e563b5511eb06072239d521d83d5 --- /dev/null +++ b/episodes/c7_p005_e003/scene_snapshot.json @@ -0,0 +1,1558 @@ +{ + "trajectory_id": 3, + "env_id": 1, + "run_id": "c7_p005", + "task_type": "BioPlateCell", + "success": true, + "timing": { + "fps": 50.0, + "sim_dt": 0.005, + "decimation": 4 + }, + "restore_interface": { + "scene": "scene_manager.reset_to(snapshot['scene'], env_ids=[env_id])", + "robots": "robot_manager.set_state({'robots': snapshot['robots']}, env_ids=[env_id])" + }, + "snapshot": { + "env_id": 1, + "scene": { + "objects": [ + {}, + { + "rac_cell": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/rac_cell.usd", + "pose": { + "pos": [ + 0.0, + 0.0, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "physics_material": { + "static_friction": 0.6, + "dynamic_friction": 0.5, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "robot_mount": [ + { + "asset": "Cube", + "pose": { + "pos": [ + 0.0, + 0.0, + 0.9075 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": "color", + "value": [ + 0.55, + 0.56, + 0.58 + ], + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": { + "size": [ + 0.2, + 0.2, + 0.015 + ] + } + }, + "type_specific": {} + } + ], + "plate_rack": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/plate_hotel.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 0.9 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "physics_material": { + "static_friction": 0.6, + "dynamic_friction": 0.5, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "hotel_plate": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_96_black/plate_96_black.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 0.9605 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_96_white/plate_96_white.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.0285 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_48_clear/plate_48_clear.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.0965 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_96_clear/plate_96_clear.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.1645 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_384_white/plate_384_white.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.2325 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "a4s_sealer": [ + { + "asset": "$MAGICSIM_ASSETS/Articulated/A4SSealer/Object.usd", + "pose": { + "pos": [ + 0.4787302017211914, + 0.07873058319091797, + 0.8999999761581421 + ], + "ori": [ + -0.6959326267242432, + 0.0, + 0.0, + 0.7181071043014526 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "articulation", + "solver_position_iteration_count": 16.0, + "solver_velocity_iteration_count": 1.0, + "enabled_self_collisions": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "joint_position": [ + 6.506081697693622e-12 + ], + "joint_velocity": [ + 0.0 + ], + "linear_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "angular_velocity": [ + 0.0, + 0.0, + 0.0 + ] + } + } + ], + "conveyor": [ + { + "asset": "Cube", + "pose": { + "pos": [ + 0.15, + 0.45, + 0.9 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "conveyor", + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9 + }, + "ratio": 1.0 + }, + "primitive_params": { + "size": [ + 2.4, + 0.076, + 0.03 + ] + }, + "conveyor": { + "speed": 0.2293242267863404, + "direction": [ + 1.0, + 0.0, + 0.0 + ], + "enabled": true, + "drive": "surface_velocity", + "lines": null, + "station_line": null, + "riders": [ + "carrier" + ], + "stations": { + "pick": { + "position": -0.08919410586635723, + "slow_distance": 0.03, + "slow_speed": 0.03 + } + }, + "rails": { + "height": 0.01, + "thickness": 0.01, + "gap": 0.001, + "friction": 0.05 + }, + "legs": 0.87, + "loop": { + "radius": 0.35, + "side": "left", + "curve_extra_width": 0.0, + "segments": 18, + "curve_rails": "both" + }, + "snap_distance": 0.1, + "junction_snap": 0.02, + "collision_approximation": "auto", + "plate_mass": 1.0, + "lift_drop": 0.004, + "accel": 0.0, + "decel": 0.0, + "drive_damping": 1000000.0, + "drive_max_force": 1000000000.0 + } + }, + "type_specific": { + "controller": { + "state": "at_station", + "speed": 0.2293242267863404, + "holds": [], + "station": "pick", + "rider": "carrier_4", + "arrived": true, + "applied_speed": 0.0 + } + } + } + ], + "carrier": [ + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + 1.650731086730957, + 0.9769535064697266, + 0.8999999761581421 + ], + "ori": [ + 0.4983593225479126, + -2.219380235146673e-08, + -8.843873189334772e-08, + 0.8669705986976624 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 1.0097735980707512e-09, + 7.580727157119327e-10, + 0.0 + ], + "angular_velocity": [ + -6.855222522972326e-08, + 7.580352345826213e-09, + -1.496266577305505e-08 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + -1.3970680236816406, + 0.7859926223754883, + 0.8999999761581421 + ], + "ori": [ + -0.7146248817443848, + -4.6275186349475916e-08, + -2.98166362711072e-08, + 0.6995078921318054 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 4.223499328048774e-11, + -1.569669949574859e-10, + 0.0 + ], + "angular_velocity": [ + 2.7259218882136338e-08, + -3.649181223863707e-08, + 5.7745235260142636e-09 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + -0.1858205795288086, + 1.1500005722045898, + 0.8999999761581421 + ], + "ori": [ + -4.148912921664305e-06, + -8.200258250212755e-09, + -3.797556491491605e-09, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 1.1429361901349466e-09, + 6.76884948092038e-09, + 7.450580596923828e-09 + ], + "angular_velocity": [ + -1.5228600602767983e-07, + 9.643855491958675e-09, + -6.086652604153642e-08 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + 0.060860633850097656, + 0.4499969482421875, + 0.8999999761581421 + ], + "ori": [ + 1.0, + -1.2574611352178522e-09, + 6.146218201052989e-09, + 4.329333478381159e-06 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 4.4220005435136045e-10, + 1.0160052799079722e-09, + 7.450580596923828e-09 + ], + "angular_velocity": [ + -4.124240149394609e-08, + 1.0368580660724547e-08, + 2.91245694228337e-10 + ] + } + } + ], + "plate": [ + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_12_clear/Object.usd", + "pose": { + "pos": [ + 1.66082763671875, + 0.9827384948730469, + 0.9179999828338623 + ], + "ori": [ + 0.500853955745697, + -2.6417385612376165e-08, + -9.346881313376798e-08, + 0.8655318021774292 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 2.353494465978656e-08, + -1.3618688399219536e-07, + 8.195638656616211e-08 + ], + "angular_velocity": [ + 1.6145720564963995e-06, + 1.711873210297199e-06, + 4.0953375446406426e-07 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_96_white/Object.usd", + "pose": { + "pos": [ + -1.3973360061645508, + 0.7979679107666016, + 0.9180000424385071 + ], + "ori": [ + -0.6450156569480896, + -4.2436482772245654e-08, + -3.513407875743724e-08, + 0.7641693949699402 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 1.991431730630211e-08, + 5.227856370026984e-09, + -5.241483449935913e-06 + ], + "angular_velocity": [ + -1.1165070645802189e-06, + 3.0107003112789243e-08, + 1.5599559333168145e-07 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/pcr_384_red/Object.usd", + "pose": { + "pos": [ + -0.1845235824584961, + 1.1443805694580078, + 0.9179999828338623 + ], + "ori": [ + -0.07349538803100586, + -8.779196036812209e-09, + -1.8063873730156388e-09, + 0.997295618057251 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 4.055975466599193e-08, + 7.324901218908053e-08, + -5.628913640975952e-06 + ], + "angular_velocity": [ + -1.5969637843227247e-06, + 1.8715313672146294e-06, + -1.1831955859520349e-08 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/deep_well_96_1ml/Object.usd", + "pose": { + "pos": [ + 0.05500316619873047, + 0.4544792175292969, + 0.9179999828338623 + ], + "ori": [ + 0.9979783296585083, + 7.279625235945275e-10, + 1.8456837169722462e-09, + 0.06355606764554977 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -5.170462813453014e-08, + -4.269379161314646e-08, + 1.601874828338623e-07 + ], + "angular_velocity": [ + 1.8853188521461561e-06, + -2.333575139346067e-06, + 1.1603758309775003e-07 + ] + } + } + ], + "deco_hub_west": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/hub_a.usd", + "pose": { + "pos": [ + -3.36, + 0.0, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_hub_east": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/hub_c.usd", + "pose": { + "pos": [ + 3.36, + 0.0, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_hub_back": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/hub_d.usd", + "pose": { + "pos": [ + -3.0, + -2.1, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_bench_east": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/bench_c.usd", + "pose": { + "pos": [ + 2.6, + -2.5, + 0.0 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_bench_gap": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/bench_b.usd", + "pose": { + "pos": [ + -0.1, + -2.9, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ] + }, + {}, + {} + ], + "devices": { + "hub": [ + null, + { + "t": 5.299999999999909, + "step": 1060, + "counter": 0, + "devices": { + "a4s_sealer_1": { + "mode": "auto", + "units": { + "drawer": { + "state": "at_out", + "active": null, + "target": 0.0, + "goal_name": "out", + "profile": null, + "q_start": null, + "reversing": false, + "blocked_for": 0.0, + "settled_for": 0.0, + "last_q": 6.506081697693622e-12 + }, + "heater": { + "state": "ready", + "active": null, + "duration": 0.0, + "t_start": null, + "elapsed": 0.0 + } + }, + "queues": {}, + "program": null, + "sensors": { + "plate_present": { + "occupants": [], + "pending": {} + } + }, + "interlocks": {} + }, + "conveyor_1": { + "mode": "auto", + "units": { + "belt": { + "state": "at_station", + "active": null, + "controller": { + "speed": 0.2293242267863404, + "holds": [], + "station": "pick", + "rider": "carrier_4", + "arrived": true, + "settle_count": 965, + "released": { + "pick": [] + }, + "last_pos": { + "carrier_1": [ + 1.5007310807704926, + 0.5269535183906555, + 0.0 + ], + "carrier_2": [ + -1.547068029642105, + 0.33599263429641724, + 0.0 + ], + "carrier_3": [ + -0.33582058548927307, + 0.7000005841255188, + 0.0 + ], + "carrier_4": [ + -0.08913937211036682, + -3.039836883544922e-06, + 0.0 + ] + }, + "command": 0.0 + }, + "belt": { + "target_speed": 0.0, + "command_speed": 0.0 + }, + "seen": { + "state": "at_station", + "station": "pick", + "rider": "carrier_4", + "arrived": true + } + } + }, + "queues": {}, + "program": null, + "sensors": {}, + "interlocks": {} + } + }, + "zones": {}, + "labware": { + "plate_1": { + "sealed": false + }, + "plate_2": { + "sealed": false + }, + "plate_3": { + "sealed": false + }, + "plate_4": { + "sealed": false + } + }, + "rules": {}, + "records": [], + "bus": { + "seq": 3, + "queue": [] + } + }, + null, + null + ], + "drives": [ + null, + {}, + null, + null + ] + }, + "artifacts": [ + {}, + { + "ceiling": { + "type": "rect", + "pose": { + "pos": [ + -0.5739970464988262, + -0.3757304460062477, + 3.179322839986911 + ], + "ori": [ + -5.568394157103203, + -13.263546904784235, + -18.060197388293606 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "color_temperature": 3734.882173059593, + "color": [ + 0.9124578314916894, + 0.8856617960831895, + 0.9637567029186667 + ], + "intensity": 7575.74129431849, + "width": 2.119653673353172, + "height": 1.229483824559551 + } + }, + "key": { + "type": "disk", + "pose": { + "pos": [ + 0.8099027717788645, + 1.0604131008888584, + 1.7858155472297867 + ], + "ori": [ + 35.30473236020126, + -13.31155316897074, + -9.734111947343624 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "color_temperature": 6078.082599817988, + "color": [ + 0.8642786856998006, + 0.9017653483537458, + 0.781484994207961 + ], + "intensity": 2134.9796798385837, + "radius": 0.21159463689047686 + } + } + }, + {}, + {} + ], + "background": { + "type": "dome", + "pose": { + "pos": null, + "ori": null, + "scale": null + }, + "dr": { + "intensity": 859.0333663401909, + "texture": null, + "color": [ + 0.92, + 0.94, + 0.96 + ] + } + } + }, + "robots": { + "UR5e": { + "root_pose": [ + [ + 11.0, + -11.0, + 0.9150000214576721, + 1.0, + 0.0, + 0.0, + 0.0 + ], + [ + 11.0, + 11.0, + 0.9150000214576721, + 1.0, + 0.0, + 0.0, + 0.0 + ], + [ + -11.0, + -11.0, + 0.9150000214576721, + 1.0, + 0.0, + 0.0, + 0.0 + ], + [ + -11.0, + 11.0, + 0.9150000214576721, + 1.0, + 0.0, + 0.0, + 0.0 + ] + ], + "root_vel": [ + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + ], + "joint_pos": [ + [ + 1.15966796875, + -1.2446807622909546, + 2.1923530101776123, + -2.518313407897949, + -1.5709290504455566, + 2.562656879425049, + 0.007765373680740595, + 0.0072404020465910435 + ], + [ + 0.9141010642051697, + -1.719397783279419, + 2.09049916267395, + -1.9419004917144775, + -1.5707999467849731, + 2.4849002361297607, + 0.018000001087784767, + 0.01799999736249447 + ], + [ + 1.0880169868469238, + -1.535224437713623, + 2.1740119457244873, + -2.2097015380859375, + -1.5707319974899292, + 2.645768880844116, + 0.007782109081745148, + 0.007266305387020111 + ], + [ + 1.1882587671279907, + -1.2833744287490845, + 2.2131569385528564, + -2.500542163848877, + -1.570823311805725, + 2.578672170639038, + 0.007746218703687191, + 0.0071867844089865685 + ] + ], + "joint_vel": [ + [ + -0.0013714712113142014, + -6.506856880150735e-05, + 5.254878487903625e-05, + -0.004857772495597601, + 0.0041529033333063126, + 0.013752601109445095, + -0.007884982042014599, + 0.0006024612230248749 + ], + [ + 2.3021862405469203e-38, + -1.9620815744257298e-38, + 1.2895017518022117e-38, + -5.7362235594005475e-37, + 5.7705246553141675e-37, + -2.980420941466089e-36, + -2.5990388508034812e-08, + 2.5990388508034812e-08 + ], + [ + 0.0002727642422541976, + -0.014551719650626183, + -0.010668081231415272, + 0.024251509457826614, + -0.0001873533910838887, + -0.0017981543205678463, + -0.006269287317991257, + 0.00026293573318980634 + ], + [ + 0.0002690862165763974, + -0.015005732886493206, + -0.005094585940241814, + 0.018472295254468918, + 0.00047787564108148217, + 0.001847526291385293, + -0.00685309199616313, + 0.0003318908275105059 + ] + ] + } + }, + "cameras": { + "cameras": { + "camera0": [ + [ + 0.05007673054933548, + 0.0025460640899837017, + -0.0290843416005373, + -0.2637827694416046, + 0.6580610871315002, + 0.6452187299728394, + -0.2847226560115814 + ], + [ + 0.04837099835276604, + -0.004873892292380333, + -0.02854464016854763, + -0.2825268805027008, + 0.6478011608123779, + 0.6480886340141296, + -0.28374868631362915 + ], + [ + 0.0482846163213253, + 0.00020204440806992352, + -0.03044545277953148, + -0.2811354994773865, + 0.6441970467567444, + 0.6527988314628601, + -0.28253617882728577 + ], + [ + 0.051793765276670456, + 0.002263332949951291, + -0.03197580948472023, + -0.26769107580184937, + 0.6545116901397705, + 0.6478378176689148, + -0.28330570459365845 + ] + ], + "camera1": [ + [ + 0.06291063129901886, + 0.5813440680503845, + 1.9299241304397583, + 0.031568776816129684, + 0.02372092194855213, + 0.27646389603614807, + 0.9602127075195312 + ], + [ + 0.04356405884027481, + 0.5761547088623047, + 1.9405598640441895, + 0.02183312550187111, + 0.0056459601037204266, + 0.2837775647640228, + 0.9586248993873596 + ], + [ + 0.057791367173194885, + 0.6011362075805664, + 1.9705764055252075, + 0.049425143748521805, + -0.0012361574918031693, + 0.2650063633918762, + 0.9629783034324646 + ], + [ + 0.05471363291144371, + 0.5785902738571167, + 1.9282846450805664, + 0.056743647903203964, + 0.02456721104681492, + 0.27144715189933777, + 0.9604650139808655 + ] + ] + } + } + } +} \ No newline at end of file diff --git a/episodes/c7_p005_e003/wrist.mp4 b/episodes/c7_p005_e003/wrist.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..5a49322b18c6c422cdfcf83b6e27a8769c20bb7f --- /dev/null +++ b/episodes/c7_p005_e003/wrist.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:8bb74b2330928b02977963840ace5a540d8e9a481a45aef3b518f2fbb5398df9 +size 6872738 diff --git a/episodes/c8_p005_e008/data.npz b/episodes/c8_p005_e008/data.npz new file mode 100644 index 0000000000000000000000000000000000000000..4a50db76ed6e1b05b3f994d8d1a98206ff1cf212 --- /dev/null +++ b/episodes/c8_p005_e008/data.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:88c561946c705e86dbc02d031757efec101c6d3b8ea887c893b13cb8d150d8c1 +size 188118 diff --git a/episodes/c8_p005_e008/device_events.jsonl b/episodes/c8_p005_e008/device_events.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..eef56dc2fe5ac84e7535bc1a6088ba6d3e371328 --- /dev/null +++ b/episodes/c8_p005_e008/device_events.jsonl @@ -0,0 +1,35 @@ +{"env_id": 3, "seq": 1, "step": 138, "t": 0.69, "topic": "conveyor_1.belt.station.pick.captured", "source": "conveyor_1.belt", "data": {"rider": "carrier_1"}, "cause": null} +{"env_id": 3, "seq": 2, "step": 138, "t": 0.69, "topic": "conveyor_1.belt.state.changed", "source": "conveyor_1.belt", "data": {"from": "running", "to": "at_station"}, "cause": null} +{"env_id": 3, "seq": 3, "step": 143, "t": 0.715, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_1"}, "cause": null} +{"env_id": 3, "seq": 4, "step": 6530, "t": 32.65, "topic": "a4s_sealer_1.plate_present.present", "source": "a4s_sealer_1.plate_present", "data": {"object": "plate_1"}, "cause": null} +{"env_id": 3, "seq": 5, "step": 7144, "t": 35.72, "topic": "a4s_sealer_1.command.started", "source": "a4s_sealer_1", "data": {"command_id": "task-3-1", "name": "seal", "source": "task"}, "cause": "task-3-1"} +{"env_id": 3, "seq": 6, "step": 7144, "t": 35.72, "topic": "a4s_sealer_1.seal.started", "source": "a4s_sealer_1", "data": {"dwell": 2.1102323727182934}, "cause": "task-3-1"} +{"env_id": 3, "seq": 7, "step": 7144, "t": 35.72, "topic": "a4s_sealer_1.drawer.command.started", "source": "a4s_sealer_1.drawer", "data": {"command_id": "program-3-2", "name": "close", "source": "program:seal"}, "cause": "program-3-2"} +{"env_id": 3, "seq": 8, "step": 7144, "t": 35.72, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "at_out", "to": "moving"}, "cause": null} +{"env_id": 3, "seq": 9, "step": 7144, "t": 35.72, "topic": "a4s_sealer_1.drawer.moving", "source": "a4s_sealer_1.drawer", "data": {"target": 0.3, "goal": "in"}, "cause": "program-3-2"} +{"env_id": 3, "seq": 10, "step": 7563, "t": 37.815, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "moving", "to": "at_in"}, "cause": null} +{"env_id": 3, "seq": 11, "step": 7563, "t": 37.815, "topic": "a4s_sealer_1.drawer.reached", "source": "a4s_sealer_1.drawer", "data": {"position": "in", "q": 0.30000001192092896}, "cause": "program-3-2"} +{"env_id": 3, "seq": 12, "step": 7563, "t": 37.815, "topic": "a4s_sealer_1.drawer.at_in", "source": "a4s_sealer_1.drawer", "data": {"q": 0.30000001192092896}, "cause": "program-3-2"} +{"env_id": 3, "seq": 13, "step": 7563, "t": 37.815, "topic": "a4s_sealer_1.drawer.command.succeeded", "source": "a4s_sealer_1.drawer", "data": {"command_id": "program-3-2", "name": "close", "source": "program:seal", "result": {"position": "in"}}, "cause": "program-3-2"} +{"env_id": 3, "seq": 14, "step": 7563, "t": 37.815, "topic": "labware.plate_1.changed", "source": "labware.plate_1", "data": {"key": "sealed", "value": true}, "cause": "task-3-1"} +{"env_id": 3, "seq": 15, "step": 7563, "t": 37.815, "topic": "a4s_sealer_1.sealed", "source": "a4s_sealer_1", "data": {"plate": "plate_1"}, "cause": "task-3-1"} +{"env_id": 3, "seq": 16, "step": 7563, "t": 37.815, "topic": "a4s_sealer_1.heater.command.started", "source": "a4s_sealer_1.heater", "data": {"command_id": "program-3-3", "name": "run", "source": "program:seal"}, "cause": "program-3-3"} +{"env_id": 3, "seq": 17, "step": 7563, "t": 37.815, "topic": "a4s_sealer_1.heater.state.changed", "source": "a4s_sealer_1.heater", "data": {"from": "ready", "to": "running"}, "cause": null} +{"env_id": 3, "seq": 18, "step": 7563, "t": 37.815, "topic": "a4s_sealer_1.heater.started", "source": "a4s_sealer_1.heater", "data": {"duration": 2.1102323727182934}, "cause": "program-3-3"} +{"env_id": 3, "seq": 19, "step": 7986, "t": 39.93, "topic": "a4s_sealer_1.heater.state.changed", "source": "a4s_sealer_1.heater", "data": {"from": "running", "to": "ready"}, "cause": null} +{"env_id": 3, "seq": 20, "step": 7986, "t": 39.93, "topic": "a4s_sealer_1.heater.finished", "source": "a4s_sealer_1.heater", "data": {"elapsed": 2.115000000001082}, "cause": "program-3-3"} +{"env_id": 3, "seq": 21, "step": 7986, "t": 39.93, "topic": "a4s_sealer_1.heater.command.succeeded", "source": "a4s_sealer_1.heater", "data": {"command_id": "program-3-3", "name": "run", "source": "program:seal", "result": {"elapsed": 2.115000000001082}}, "cause": "program-3-3"} +{"env_id": 3, "seq": 22, "step": 7986, "t": 39.93, "topic": "a4s_sealer_1.drawer.command.started", "source": "a4s_sealer_1.drawer", "data": {"command_id": "program-3-4", "name": "open", "source": "program:seal"}, "cause": "program-3-4"} +{"env_id": 3, "seq": 23, "step": 7986, "t": 39.93, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "at_in", "to": "moving"}, "cause": null} +{"env_id": 3, "seq": 24, "step": 7986, "t": 39.93, "topic": "a4s_sealer_1.drawer.moving", "source": "a4s_sealer_1.drawer", "data": {"target": 0.0, "goal": "out"}, "cause": "program-3-4"} +{"env_id": 3, "seq": 25, "step": 8406, "t": 42.03, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "moving", "to": "at_out"}, "cause": null} +{"env_id": 3, "seq": 26, "step": 8406, "t": 42.03, "topic": "a4s_sealer_1.drawer.reached", "source": "a4s_sealer_1.drawer", "data": {"position": "out", "q": 0.0}, "cause": "program-3-4"} +{"env_id": 3, "seq": 27, "step": 8406, "t": 42.03, "topic": "a4s_sealer_1.drawer.at_out", "source": "a4s_sealer_1.drawer", "data": {"q": 0.0}, "cause": "program-3-4"} +{"env_id": 3, "seq": 28, "step": 8406, "t": 42.03, "topic": "a4s_sealer_1.drawer.command.succeeded", "source": "a4s_sealer_1.drawer", "data": {"command_id": "program-3-4", "name": "open", "source": "program:seal", "result": {"position": "out"}}, "cause": "program-3-4"} +{"env_id": 3, "seq": 29, "step": 8406, "t": 42.03, "topic": "a4s_sealer_1.seal.finished", "source": "a4s_sealer_1", "data": {}, "cause": "task-3-1"} +{"env_id": 3, "seq": 30, "step": 8406, "t": 42.03, "topic": "a4s_sealer_1.command.succeeded", "source": "a4s_sealer_1", "data": {"command_id": "task-3-1", "name": "seal", "source": "task"}, "cause": "task-3-1"} +{"env_id": 3, "seq": 31, "step": 8988, "t": 44.94, "topic": "a4s_sealer_1.plate_present.absent", "source": "a4s_sealer_1.plate_present", "data": {"object": "plate_1"}, "cause": null} +{"env_id": 3, "seq": 32, "step": 10720, "t": 53.6, "topic": "conveyor_1.belt.command.started", "source": "conveyor_1.belt", "data": {"command_id": "task-3-5", "name": "release", "source": "task"}, "cause": "task-3-5"} +{"env_id": 3, "seq": 33, "step": 10720, "t": 53.6, "topic": "conveyor_1.belt.station.pick.released", "source": "conveyor_1.belt", "data": {"rider": "carrier_1"}, "cause": "task-3-5"} +{"env_id": 3, "seq": 34, "step": 10720, "t": 53.6, "topic": "conveyor_1.belt.state.changed", "source": "conveyor_1.belt", "data": {"from": "at_station", "to": "running"}, "cause": null} +{"env_id": 3, "seq": 35, "step": 10720, "t": 53.6, "topic": "conveyor_1.belt.command.succeeded", "source": "conveyor_1.belt", "data": {"command_id": "task-3-5", "name": "release", "source": "task", "result": {"state": "running"}}, "cause": "task-3-5"} diff --git a/episodes/c8_p005_e008/env.mp4 b/episodes/c8_p005_e008/env.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..fcb0af0d8479d0ced3f6da347e20214fca6cf2d9 --- /dev/null +++ b/episodes/c8_p005_e008/env.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:c70995ff6d6595a39fcaca46d0f02e731643225a59ca2e30a161c8579f4f164d +size 1278637 diff --git a/episodes/c8_p005_e008/meta.json b/episodes/c8_p005_e008/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..0c901788844fb1242ca7d1dff10424765db6c7a5 --- /dev/null +++ b/episodes/c8_p005_e008/meta.json @@ -0,0 +1,32 @@ +{ + "source": "raw/c8_p005/magicsim/8", + "fps": 25, + "frames": 1195, + "kept_ticks": "even", + "video_frames": { + "wrist": 1195, + "env": 1195 + }, + "joint_target_source": "joint_pos_target", + "fk_vs_recorded_eef_max_m": 0.0, + "curobo_joints": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "joint_order": [ + "shoulder_pan", + "shoulder_lift", + "elbow", + "wrist_1", + "wrist_2", + "wrist_3", + "finger_left", + "finger_right" + ], + "frames_note": "eef / actions in the robot base frame; camera_pose = local pose (wrist: in plate_gripper_base, env: env frame), pos + quat wxyz", + "dr_version": "v2" +} \ No newline at end of file diff --git a/episodes/c8_p005_e008/scene_snapshot.json b/episodes/c8_p005_e008/scene_snapshot.json new file mode 100644 index 0000000000000000000000000000000000000000..f68bff3dce0d3ca102b428ece883d92bfdb3da2c --- /dev/null +++ b/episodes/c8_p005_e008/scene_snapshot.json @@ -0,0 +1,1558 @@ +{ + "trajectory_id": 8, + "env_id": 3, + "run_id": "c8_p005", + "task_type": "BioPlateCell", + "success": true, + "timing": { + "fps": 50.0, + "sim_dt": 0.005, + "decimation": 4 + }, + "restore_interface": { + "scene": "scene_manager.reset_to(snapshot['scene'], env_ids=[env_id])", + "robots": "robot_manager.set_state({'robots': snapshot['robots']}, env_ids=[env_id])" + }, + "snapshot": { + "env_id": 3, + "scene": { + "objects": [ + {}, + {}, + {}, + { + "rac_cell": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/rac_cell.usd", + "pose": { + "pos": [ + 0.0, + 0.0, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "physics_material": { + "static_friction": 0.6, + "dynamic_friction": 0.5, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "robot_mount": [ + { + "asset": "Cube", + "pose": { + "pos": [ + 0.0, + 0.0, + 0.9075 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": "color", + "value": [ + 0.55, + 0.56, + 0.58 + ], + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": { + "size": [ + 0.2, + 0.2, + 0.015 + ] + } + }, + "type_specific": {} + } + ], + "plate_rack": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/plate_hotel.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 0.9 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "physics_material": { + "static_friction": 0.6, + "dynamic_friction": 0.5, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "hotel_plate": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_96_clear/plate_96_clear.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 0.9605 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_96_white/plate_96_white.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.0285 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_96_white/plate_96_white.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.0965 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_96_black/plate_96_black.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.1645 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_6_clear/plate_6_clear.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.2325 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "a4s_sealer": [ + { + "asset": "$MAGICSIM_ASSETS/Articulated/A4SSealer/Object.usd", + "pose": { + "pos": [ + 0.4940500259399414, + 0.12068843841552734, + 0.8999999761581421 + ], + "ori": [ + 0.7164275646209717, + 0.0, + 0.0, + -0.6976614594459534 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "articulation", + "solver_position_iteration_count": 16.0, + "solver_velocity_iteration_count": 1.0, + "enabled_self_collisions": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "joint_position": [ + 0.0 + ], + "joint_velocity": [ + 0.0 + ], + "linear_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "angular_velocity": [ + 0.0, + 0.0, + 0.0 + ] + } + } + ], + "conveyor": [ + { + "asset": "Cube", + "pose": { + "pos": [ + 0.15, + 0.45, + 0.9 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "conveyor", + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9 + }, + "ratio": 1.0 + }, + "primitive_params": { + "size": [ + 2.4, + 0.076, + 0.03 + ] + }, + "conveyor": { + "speed": 0.2521017489356282, + "direction": [ + 1.0, + 0.0, + 0.0 + ], + "enabled": true, + "drive": "surface_velocity", + "lines": null, + "station_line": null, + "riders": [ + "carrier" + ], + "stations": { + "pick": { + "position": -0.016648936642327916, + "slow_distance": 0.03, + "slow_speed": 0.03 + } + }, + "rails": { + "height": 0.01, + "thickness": 0.01, + "gap": 0.001, + "friction": 0.05 + }, + "legs": 0.87, + "loop": { + "radius": 0.35, + "side": "left", + "curve_extra_width": 0.0, + "segments": 18, + "curve_rails": "both" + }, + "snap_distance": 0.1, + "junction_snap": 0.02, + "collision_approximation": "auto", + "plate_mass": 1.0, + "lift_drop": 0.004, + "accel": 0.0, + "decel": 0.0, + "drive_damping": 1000000.0, + "drive_max_force": 1000000000.0 + } + }, + "type_specific": { + "controller": { + "state": "at_station", + "speed": 0.2521017489356282, + "holds": [], + "station": "pick", + "rider": "carrier_1", + "arrived": true, + "applied_speed": 0.0 + } + } + } + ], + "carrier": [ + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + 0.13341331481933594, + 0.4471588134765625, + 0.8999999761581421 + ], + "ori": [ + 0.9999619722366333, + -4.36982761087279e-09, + 4.364231642739469e-09, + 0.008728799410164356 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -2.9362308140434834e-08, + -4.4153807721158955e-08, + -8.568167686462402e-08 + ], + "angular_velocity": [ + 2.8854640277131693e-06, + -2.2238141355046537e-06, + -6.185835843552923e-08 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + -1.3516120910644531, + 0.9718313217163086, + 0.8999999761581421 + ], + "ori": [ + -0.49496984481811523, + -2.6922654328132012e-08, + -3.8123786794130865e-08, + 0.8689101934432983 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 8.520379402021661e-10, + -5.558405957728496e-10, + 3.725290298461914e-09 + ], + "angular_velocity": [ + 2.8113740668800347e-08, + 3.666537295998751e-08, + 1.1054004822597108e-08 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + 0.44139671325683594, + 1.1526365280151367, + 0.8999999761581421 + ], + "ori": [ + -0.008707854896783829, + -2.161943957190715e-10, + 1.3244574326165548e-09, + 0.9999621510505676 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 1.2735568155619603e-10, + 1.4676500015298188e-09, + 0.0 + ], + "angular_velocity": [ + -7.253382250382856e-08, + -9.418192448151785e-09, + -1.1418763712356395e-08 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + 1.6547727584838867, + 0.634033203125, + 0.8999999761581421 + ], + "ori": [ + 0.8642746210098267, + -3.5300928402648424e-08, + 3.7114070039478975e-08, + 0.5030202865600586 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -2.391935982615223e-09, + -1.59435353808135e-09, + 1.1175870895385742e-08 + ], + "angular_velocity": [ + 6.305938882178452e-09, + 6.659418261278915e-08, + -5.428878679936133e-08 + ] + } + } + ], + "plate": [ + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_48_clear/Object.usd", + "pose": { + "pos": [ + 0.13430118560791016, + 0.43741703033447266, + 0.9180000424385071 + ], + "ori": [ + 0.9959915280342102, + -3.4929723113918953e-08, + 1.2164269946879358e-07, + 0.08944813162088394 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -1.76273670149385e-06, + -5.054805114923511e-06, + -2.0526349544525146e-06 + ], + "angular_velocity": [ + 2.3446053091902286e-05, + -9.904919352266006e-06, + -4.437808911461616e-06 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_384_white/Object.usd", + "pose": { + "pos": [ + -1.3471393585205078, + 0.9715309143066406, + 0.9180000424385071 + ], + "ori": [ + -0.45552363991737366, + -2.4628821648775556e-08, + -4.062343350597075e-08, + 0.8902236819267273 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 2.7775218569559e-08, + 9.360398678381898e-09, + -5.867332220077515e-06 + ], + "angular_velocity": [ + -1.4214684824764845e-06, + 6.034838975210732e-07, + 1.3493816197751585e-07 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_96_clear/Object.usd", + "pose": { + "pos": [ + 0.4277019500732422, + 1.1418027877807617, + 0.9180000424385071 + ], + "ori": [ + -0.022163208574056625, + -9.195890160462739e-10, + 6.651522888034833e-09, + 0.9997543692588806 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 3.1440478664990223e-08, + 5.0914927385292685e-08, + -5.632638931274414e-06 + ], + "angular_velocity": [ + -2.5021040528372396e-06, + 1.7582133295945823e-06, + 4.084205329490942e-08 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/reservoir_12ch/Object.usd", + "pose": { + "pos": [ + 1.6534843444824219, + 0.6191616058349609, + 0.9179999828338623 + ], + "ori": [ + 0.8764225244522095, + -3.418150740230885e-08, + 3.52847777662646e-08, + 0.4815428555011749 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -4.112559182090081e-08, + -4.818366505787708e-08, + -9.648501873016357e-07 + ], + "angular_velocity": [ + 2.1796672626805957e-06, + -5.103895546199055e-07, + -1.565569789363508e-07 + ] + } + } + ], + "deco_hub_west": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/hub_e.usd", + "pose": { + "pos": [ + -3.36, + 0.0, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_hub_east": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/hub_d.usd", + "pose": { + "pos": [ + 3.36, + 0.0, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_hub_back": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/hub_a.usd", + "pose": { + "pos": [ + -3.0, + -2.1, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_bench_east": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/bench_c.usd", + "pose": { + "pos": [ + 2.6, + -2.5, + 0.0 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_bench_gap": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/bench_b.usd", + "pose": { + "pos": [ + -0.1, + -2.9, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ] + } + ], + "devices": { + "hub": [ + null, + null, + null, + { + "t": 5.959999999999895, + "step": 1192, + "counter": 0, + "devices": { + "a4s_sealer_1": { + "mode": "auto", + "units": { + "drawer": { + "state": "at_out", + "active": null, + "target": 0.0, + "goal_name": "out", + "profile": null, + "q_start": null, + "reversing": false, + "blocked_for": 0.0, + "settled_for": 0.0, + "last_q": 0.0 + }, + "heater": { + "state": "ready", + "active": null, + "duration": 0.0, + "t_start": null, + "elapsed": 0.0 + } + }, + "queues": {}, + "program": null, + "sensors": { + "plate_present": { + "occupants": [], + "pending": {} + } + }, + "interlocks": {} + }, + "conveyor_1": { + "mode": "auto", + "units": { + "belt": { + "state": "at_station", + "active": null, + "controller": { + "speed": 0.2521017489356282, + "holds": [], + "station": "pick", + "rider": "carrier_1", + "arrived": true, + "settle_count": 1053, + "released": { + "pick": [] + }, + "last_pos": { + "carrier_1": [ + -0.01658669114112854, + -0.002841174602508545, + 0.0 + ], + "carrier_2": [ + -1.5016120970249176, + 0.5218313336372375, + 0.0 + ], + "carrier_3": [ + 0.29139670729637146, + 0.7026365399360657, + 0.0 + ], + "carrier_4": [ + 1.5047727525234222, + 0.18403321504592896, + 0.0 + ] + }, + "command": 0.0 + }, + "belt": { + "target_speed": 0.0, + "command_speed": 0.0 + }, + "seen": { + "state": "at_station", + "station": "pick", + "rider": "carrier_1", + "arrived": true + } + } + }, + "queues": {}, + "program": null, + "sensors": {}, + "interlocks": {} + } + }, + "zones": {}, + "labware": { + "plate_1": { + "sealed": false + }, + "plate_2": { + "sealed": false + }, + "plate_3": { + "sealed": false + }, + "plate_4": { + "sealed": false + } + }, + "rules": {}, + "records": [], + "bus": { + "seq": 3, + "queue": [] + } + } + ], + "drives": [ + null, + null, + null, + {} + ] + }, + "artifacts": [ + {}, + {}, + {}, + { + "ceiling": { + "type": "rect", + "pose": { + "pos": [ + 0.18772069160624127, + 0.4795507387815636, + 3.1139402834400625 + ], + "ori": [ + 3.321623653901522, + -8.085509379650539, + 28.289540447600764 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "color_temperature": 3813.4382877403905, + "color": [ + 0.9704635821675753, + 0.9008389961216156, + 0.7848345934566642 + ], + "intensity": 11591.431928183607, + "width": 2.5688703470944256, + "height": 0.9769660403434631 + } + }, + "key": { + "type": "sphere", + "pose": { + "pos": [ + -0.31950027294986527, + 0.6676583901067243, + 1.9817068814353442 + ], + "ori": [ + -13.94122608862764, + 10.19415035454329, + 28.988020862546136 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "color_temperature": 3195.0139855504117, + "color": [ + 0.8240538712687454, + 0.7860324708212778, + 0.8715137071946135 + ], + "intensity": 5926.230935972101, + "radius": 0.23937802227565608 + } + } + } + ], + "background": { + "type": "dome", + "pose": { + "pos": null, + "ori": null, + "scale": null + }, + "dr": { + "intensity": 1257.166175302294, + "texture": null, + "color": [ + 0.92, + 0.94, + 0.96 + ] + } + } + }, + "robots": { + "UR5e": { + "root_pose": [ + [ + 11.0, + -11.0, + 0.9150000214576721, + 1.0, + 0.0, + 0.0, + 0.0 + ], + [ + 11.0, + 11.0, + 0.9150000214576721, + 1.0, + 0.0, + 0.0, + 0.0 + ], + [ + -11.0, + -11.0, + 0.9150000214576721, + 1.0, + 0.0, + 0.0, + 0.0 + ], + [ + -11.0, + 11.0, + 0.9150000214576721, + 1.0, + 0.0, + 0.0, + 0.0 + ] + ], + "root_vel": [ + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + ], + "joint_pos": [ + [ + 1.0879141092300415, + -1.294999122619629, + 2.2545723915100098, + -2.517529010772705, + -1.5726633071899414, + 2.660325765609741, + 0.017999986186623573, + 0.017999986186623573 + ], + [ + 0.9141018986701965, + -1.719398021697998, + 2.0904994010925293, + -1.941900610923767, + -1.5707999467849731, + 2.484900951385498, + 0.01799999736249447, + 0.018000001087784767 + ], + [ + 1.294579267501831, + -1.4394190311431885, + 2.220252513885498, + -2.3532180786132812, + -1.5705416202545166, + 6.023275852203369, + 0.0180000402033329, + 0.017999960109591484 + ], + [ + 0.9141026139259338, + -1.7193982601165771, + 2.0904994010925293, + -1.9419007301330566, + -1.5707999467849731, + 2.484900951385498, + 0.017999999225139618, + 0.017999999225139618 + ] + ], + "joint_vel": [ + [ + 1.0217891031061299e-05, + 6.811835646658437e-06, + 1.3623857739730738e-05, + -1.0701888160380424e-11, + -6.811953426222317e-06, + -1.3623907761939336e-05, + 1.8192727679888776e-07, + 1.8192677941897273e-07 + ], + [ + -2.5548849149558504e-38, + 2.9536232719407056e-38, + 2.9447031664361996e-38, + 6.970803828126907e-37, + -7.238009248705974e-37, + 2.5911396451364935e-37, + 2.5990374297180097e-08, + -2.5990399166175848e-08 + ], + [ + 0.00014883570838719606, + -0.017844131216406822, + -0.009272472932934761, + 0.025834793224930763, + -5.788516773463925e-06, + -1.4358457519847434e-05, + -8.451602298009675e-06, + 8.427989087067544e-06 + ], + [ + -2.3757563717418233e-38, + 1.5610994583397977e-38, + 0.0, + 4.369698372519889e-37, + 0.0, + 9.736406477318366e-37, + -4.16842460520669e-38, + 1.1739047178443574e-37 + ] + ] + } + }, + "cameras": { + "cameras": { + "camera0": [ + [ + 0.048310134559869766, + 0.0025119383353739977, + -0.029686186462640762, + -0.2864358425140381, + 0.639288067817688, + 0.651435375213623, + -0.29137125611305237 + ], + [ + 0.04800121858716011, + -0.004533718340098858, + -0.030569307506084442, + -0.2899186313152313, + 0.6533405184745789, + 0.6392154693603516, + -0.2837197482585907 + ], + [ + 0.05156656354665756, + 0.0009337729425169528, + -0.03279144689440727, + -0.27516716718673706, + 0.6510694622993469, + 0.6513509750366211, + -0.27592307329177856 + ], + [ + 0.050626687705516815, + 0.0013978254282847047, + -0.030276047065854073, + -0.29217106103897095, + 0.6387370228767395, + 0.6561858654022217, + -0.27581003308296204 + ] + ], + "camera1": [ + [ + 0.04384045675396919, + 0.5856753587722778, + 1.9421027898788452, + 0.04404471069574356, + -0.0048150550574064255, + 0.2743872404098511, + 0.9605979919433594 + ], + [ + 0.07043945789337158, + 0.5988618731498718, + 1.9363857507705688, + 0.051553476601839066, + 0.010251069441437721, + 0.257022500038147, + 0.9649749398231506 + ], + [ + 0.062522292137146, + 0.5657855868339539, + 1.9480878114700317, + 0.052663370966911316, + 0.007728830445557833, + 0.2835162878036499, + 0.9574890732765198 + ], + [ + 0.04767463728785515, + 0.5813131928443909, + 1.9717894792556763, + 0.03980465978384018, + 0.012481015175580978, + 0.27998828887939453, + 0.9590966701507568 + ] + ] + } + } + } +} \ No newline at end of file diff --git a/episodes/c8_p005_e008/wrist.mp4 b/episodes/c8_p005_e008/wrist.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..3f2dadd1019b593ed14fe776bba68afeaa86c3d7 --- /dev/null +++ b/episodes/c8_p005_e008/wrist.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:9e5b3d0a7cad630473f01ba9890ad74cf05047b1b9899a301bd3d8d5379e275c +size 6861929 diff --git a/episodes/c9_p007_e006/data.npz b/episodes/c9_p007_e006/data.npz new file mode 100644 index 0000000000000000000000000000000000000000..2d844b13d7d26c1e3c5cf08bf76b43deaff84efb --- /dev/null +++ b/episodes/c9_p007_e006/data.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:cb782f7ca99cefa28498f9a5480f0a028514c8662a48ebd6c9ce3db4cf028379 +size 187797 diff --git a/episodes/c9_p007_e006/device_events.jsonl b/episodes/c9_p007_e006/device_events.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..4d8db35eb9bc4998c003cfe95c2aed6fa087bed0 --- /dev/null +++ b/episodes/c9_p007_e006/device_events.jsonl @@ -0,0 +1,36 @@ +{"env_id": 2, "seq": 1, "step": 112, "t": 0.56, "topic": "conveyor_1.belt.station.pick.captured", "source": "conveyor_1.belt", "data": {"rider": "carrier_2"}, "cause": null} +{"env_id": 2, "seq": 2, "step": 112, "t": 0.56, "topic": "conveyor_1.belt.state.changed", "source": "conveyor_1.belt", "data": {"from": "running", "to": "at_station"}, "cause": null} +{"env_id": 2, "seq": 3, "step": 117, "t": 0.585, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_2"}, "cause": null} +{"env_id": 2, "seq": 4, "step": 2390, "t": 11.95, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_2"}, "cause": null} +{"env_id": 2, "seq": 5, "step": 6821, "t": 34.105, "topic": "a4s_sealer_1.plate_present.present", "source": "a4s_sealer_1.plate_present", "data": {"object": "plate_2"}, "cause": null} +{"env_id": 2, "seq": 6, "step": 7428, "t": 37.14, "topic": "a4s_sealer_1.command.started", "source": "a4s_sealer_1", "data": {"command_id": "task-2-1", "name": "seal", "source": "task"}, "cause": "task-2-1"} +{"env_id": 2, "seq": 7, "step": 7428, "t": 37.14, "topic": "a4s_sealer_1.seal.started", "source": "a4s_sealer_1", "data": {"dwell": 1.8213666966014586}, "cause": "task-2-1"} +{"env_id": 2, "seq": 8, "step": 7428, "t": 37.14, "topic": "a4s_sealer_1.drawer.command.started", "source": "a4s_sealer_1.drawer", "data": {"command_id": "program-2-2", "name": "close", "source": "program:seal"}, "cause": "program-2-2"} +{"env_id": 2, "seq": 9, "step": 7428, "t": 37.14, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "at_out", "to": "moving"}, "cause": null} +{"env_id": 2, "seq": 10, "step": 7428, "t": 37.14, "topic": "a4s_sealer_1.drawer.moving", "source": "a4s_sealer_1.drawer", "data": {"target": 0.3, "goal": "in"}, "cause": "program-2-2"} +{"env_id": 2, "seq": 11, "step": 7847, "t": 39.235, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "moving", "to": "at_in"}, "cause": null} +{"env_id": 2, "seq": 12, "step": 7847, "t": 39.235, "topic": "a4s_sealer_1.drawer.reached", "source": "a4s_sealer_1.drawer", "data": {"position": "in", "q": 0.30000001192092896}, "cause": "program-2-2"} +{"env_id": 2, "seq": 13, "step": 7847, "t": 39.235, "topic": "a4s_sealer_1.drawer.at_in", "source": "a4s_sealer_1.drawer", "data": {"q": 0.30000001192092896}, "cause": "program-2-2"} +{"env_id": 2, "seq": 14, "step": 7847, "t": 39.235, "topic": "a4s_sealer_1.drawer.command.succeeded", "source": "a4s_sealer_1.drawer", "data": {"command_id": "program-2-2", "name": "close", "source": "program:seal", "result": {"position": "in"}}, "cause": "program-2-2"} +{"env_id": 2, "seq": 15, "step": 7847, "t": 39.235, "topic": "labware.plate_2.changed", "source": "labware.plate_2", "data": {"key": "sealed", "value": true}, "cause": "task-2-1"} +{"env_id": 2, "seq": 16, "step": 7847, "t": 39.235, "topic": "a4s_sealer_1.sealed", "source": "a4s_sealer_1", "data": {"plate": "plate_2"}, "cause": "task-2-1"} +{"env_id": 2, "seq": 17, "step": 7847, "t": 39.235, "topic": "a4s_sealer_1.heater.command.started", "source": "a4s_sealer_1.heater", "data": {"command_id": "program-2-3", "name": "run", "source": "program:seal"}, "cause": "program-2-3"} +{"env_id": 2, "seq": 18, "step": 7847, "t": 39.235, "topic": "a4s_sealer_1.heater.state.changed", "source": "a4s_sealer_1.heater", "data": {"from": "ready", "to": "running"}, "cause": null} +{"env_id": 2, "seq": 19, "step": 7847, "t": 39.235, "topic": "a4s_sealer_1.heater.started", "source": "a4s_sealer_1.heater", "data": {"duration": 1.8213666966014586}, "cause": "program-2-3"} +{"env_id": 2, "seq": 20, "step": 8212, "t": 41.06, "topic": "a4s_sealer_1.heater.state.changed", "source": "a4s_sealer_1.heater", "data": {"from": "running", "to": "ready"}, "cause": null} +{"env_id": 2, "seq": 21, "step": 8212, "t": 41.06, "topic": "a4s_sealer_1.heater.finished", "source": "a4s_sealer_1.heater", "data": {"elapsed": 1.8250000000009337}, "cause": "program-2-3"} +{"env_id": 2, "seq": 22, "step": 8212, "t": 41.06, "topic": "a4s_sealer_1.heater.command.succeeded", "source": "a4s_sealer_1.heater", "data": {"command_id": "program-2-3", "name": "run", "source": "program:seal", "result": {"elapsed": 1.8250000000009337}}, "cause": "program-2-3"} +{"env_id": 2, "seq": 23, "step": 8212, "t": 41.06, "topic": "a4s_sealer_1.drawer.command.started", "source": "a4s_sealer_1.drawer", "data": {"command_id": "program-2-4", "name": "open", "source": "program:seal"}, "cause": "program-2-4"} +{"env_id": 2, "seq": 24, "step": 8212, "t": 41.06, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "at_in", "to": "moving"}, "cause": null} +{"env_id": 2, "seq": 25, "step": 8212, "t": 41.06, "topic": "a4s_sealer_1.drawer.moving", "source": "a4s_sealer_1.drawer", "data": {"target": 0.0, "goal": "out"}, "cause": "program-2-4"} +{"env_id": 2, "seq": 26, "step": 8632, "t": 43.16, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "moving", "to": "at_out"}, "cause": null} +{"env_id": 2, "seq": 27, "step": 8632, "t": 43.16, "topic": "a4s_sealer_1.drawer.reached", "source": "a4s_sealer_1.drawer", "data": {"position": "out", "q": 5.796745028430195e-11}, "cause": "program-2-4"} +{"env_id": 2, "seq": 28, "step": 8632, "t": 43.16, "topic": "a4s_sealer_1.drawer.at_out", "source": "a4s_sealer_1.drawer", "data": {"q": 5.796745028430195e-11}, "cause": "program-2-4"} +{"env_id": 2, "seq": 29, "step": 8632, "t": 43.16, "topic": "a4s_sealer_1.drawer.command.succeeded", "source": "a4s_sealer_1.drawer", "data": {"command_id": "program-2-4", "name": "open", "source": "program:seal", "result": {"position": "out"}}, "cause": "program-2-4"} +{"env_id": 2, "seq": 30, "step": 8632, "t": 43.16, "topic": "a4s_sealer_1.seal.finished", "source": "a4s_sealer_1", "data": {}, "cause": "task-2-1"} +{"env_id": 2, "seq": 31, "step": 8632, "t": 43.16, "topic": "a4s_sealer_1.command.succeeded", "source": "a4s_sealer_1", "data": {"command_id": "task-2-1", "name": "seal", "source": "task"}, "cause": "task-2-1"} +{"env_id": 2, "seq": 32, "step": 9207, "t": 46.035, "topic": "a4s_sealer_1.plate_present.absent", "source": "a4s_sealer_1.plate_present", "data": {"object": "plate_2"}, "cause": null} +{"env_id": 2, "seq": 33, "step": 10916, "t": 54.58, "topic": "conveyor_1.belt.command.started", "source": "conveyor_1.belt", "data": {"command_id": "task-2-5", "name": "release", "source": "task"}, "cause": "task-2-5"} +{"env_id": 2, "seq": 34, "step": 10916, "t": 54.58, "topic": "conveyor_1.belt.station.pick.released", "source": "conveyor_1.belt", "data": {"rider": "carrier_2"}, "cause": "task-2-5"} +{"env_id": 2, "seq": 35, "step": 10916, "t": 54.58, "topic": "conveyor_1.belt.state.changed", "source": "conveyor_1.belt", "data": {"from": "at_station", "to": "running"}, "cause": null} +{"env_id": 2, "seq": 36, "step": 10916, "t": 54.58, "topic": "conveyor_1.belt.command.succeeded", "source": "conveyor_1.belt", "data": {"command_id": "task-2-5", "name": "release", "source": "task", "result": {"state": "running"}}, "cause": "task-2-5"} diff --git a/episodes/c9_p007_e006/env.mp4 b/episodes/c9_p007_e006/env.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..8327042194c18069d2f2a9b128c6bde28c68ea8c --- /dev/null +++ b/episodes/c9_p007_e006/env.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:48943b590cacd6db11b8071bb60852f51a024258feffa25b90b60de827aa0b72 +size 1306498 diff --git a/episodes/c9_p007_e006/meta.json b/episodes/c9_p007_e006/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..36a8ce5eab1e177eb74306222ca3def349d8567c --- /dev/null +++ b/episodes/c9_p007_e006/meta.json @@ -0,0 +1,32 @@ +{ + "source": "raw/c9_p007/magicsim/6", + "fps": 25, + "frames": 1151, + "kept_ticks": "even", + "video_frames": { + "wrist": 1151, + "env": 1151 + }, + "joint_target_source": "joint_pos_target", + "fk_vs_recorded_eef_max_m": 0.0, + "curobo_joints": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "joint_order": [ + "shoulder_pan", + "shoulder_lift", + "elbow", + "wrist_1", + "wrist_2", + "wrist_3", + "finger_left", + "finger_right" + ], + "frames_note": "eef / actions in the robot base frame; camera_pose = local pose (wrist: in plate_gripper_base, env: env frame), pos + quat wxyz", + "dr_version": "v2" +} \ No newline at end of file diff --git a/episodes/c9_p007_e006/scene_snapshot.json b/episodes/c9_p007_e006/scene_snapshot.json new file mode 100644 index 0000000000000000000000000000000000000000..e6e705b65bba88dca1187db849aaf54cd1166f78 --- /dev/null +++ b/episodes/c9_p007_e006/scene_snapshot.json @@ -0,0 +1,1558 @@ +{ + "trajectory_id": 6, + "env_id": 2, + "run_id": "c9_p007", + "task_type": "BioPlateCell", + "success": true, + "timing": { + "fps": 50.0, + "sim_dt": 0.005, + "decimation": 4 + }, + "restore_interface": { + "scene": "scene_manager.reset_to(snapshot['scene'], env_ids=[env_id])", + "robots": "robot_manager.set_state({'robots': snapshot['robots']}, env_ids=[env_id])" + }, + "snapshot": { + "env_id": 2, + "scene": { + "objects": [ + {}, + {}, + { + "rac_cell": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/rac_cell.usd", + "pose": { + "pos": [ + 0.0, + 0.0, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "physics_material": { + "static_friction": 0.6, + "dynamic_friction": 0.5, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "robot_mount": [ + { + "asset": "Cube", + "pose": { + "pos": [ + 0.0, + 0.0, + 0.9075 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": "color", + "value": [ + 0.55, + 0.56, + 0.58 + ], + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": { + "size": [ + 0.2, + 0.2, + 0.015 + ] + } + }, + "type_specific": {} + } + ], + "plate_rack": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/plate_hotel.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 0.9 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "physics_material": { + "static_friction": 0.6, + "dynamic_friction": 0.5, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "hotel_plate": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_24_clear/plate_24_clear.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 0.9605 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/deep_well_96_2ml/deep_well_96_2ml.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.0285 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_6_clear/plate_6_clear.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.0965 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/pcr_384_red/pcr_384_red.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.1645 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_48_clear/plate_48_clear.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.2325 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "a4s_sealer": [ + { + "asset": "$MAGICSIM_ASSETS/Articulated/A4SSealer/Object.usd", + "pose": { + "pos": [ + 0.4984111785888672, + 0.10499954223632812, + 0.8999999761581421 + ], + "ori": [ + -0.6763609051704407, + 0.0, + 0.0, + 0.7365703582763672 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "articulation", + "solver_position_iteration_count": 16.0, + "solver_velocity_iteration_count": 1.0, + "enabled_self_collisions": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "joint_position": [ + 0.0 + ], + "joint_velocity": [ + 0.0 + ], + "linear_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "angular_velocity": [ + 0.0, + 0.0, + 0.0 + ] + } + } + ], + "conveyor": [ + { + "asset": "Cube", + "pose": { + "pos": [ + 0.15, + 0.45, + 0.9 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "conveyor", + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9 + }, + "ratio": 1.0 + }, + "primitive_params": { + "size": [ + 2.4, + 0.076, + 0.03 + ] + }, + "conveyor": { + "speed": 0.28279328599353354, + "direction": [ + 1.0, + 0.0, + 0.0 + ], + "enabled": true, + "drive": "surface_velocity", + "lines": null, + "station_line": null, + "riders": [ + "carrier" + ], + "stations": { + "pick": { + "position": -0.25402370301178984, + "slow_distance": 0.03, + "slow_speed": 0.03 + } + }, + "rails": { + "height": 0.01, + "thickness": 0.01, + "gap": 0.001, + "friction": 0.05 + }, + "legs": 0.87, + "loop": { + "radius": 0.35, + "side": "left", + "curve_extra_width": 0.0, + "segments": 18, + "curve_rails": "both" + }, + "snap_distance": 0.1, + "junction_snap": 0.02, + "collision_approximation": "auto", + "plate_mass": 1.0, + "lift_drop": 0.004, + "accel": 0.0, + "decel": 0.0, + "drive_damping": 1000000.0, + "drive_max_force": 1000000000.0 + } + }, + "type_specific": { + "controller": { + "state": "at_station", + "speed": 0.28279328599353354, + "holds": [], + "station": "pick", + "rider": "carrier_2", + "arrived": true, + "applied_speed": 0.0 + } + } + } + ], + "carrier": [ + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + 0.5311174392700195, + 1.1525640487670898, + 0.8999999761581421 + ], + "ori": [ + -0.008826503530144691, + 5.874144282103089e-09, + 5.398186786464976e-09, + 0.9999611377716064 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -1.14143050566895e-09, + -1.934277626958192e-09, + 1.1175870895385742e-08 + ], + "angular_velocity": [ + 1.5537261788267642e-07, + -1.1423416879097203e-07, + -7.165247062346225e-09 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + -0.10378742218017578, + 0.4473609924316406, + 0.8999999761581421 + ], + "ori": [ + 0.9999495148658752, + -1.1540252087272052e-09, + -2.3404353108325004e-11, + 0.010049980133771896 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -1.479837585804944e-09, + 8.411897289839487e-10, + 2.60770320892334e-08 + ], + "angular_velocity": [ + 1.2058073650678125e-08, + -2.602780853067088e-07, + 2.7254197121351353e-08 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + 1.4758062362670898, + 0.4768543243408203, + 0.8999999761581421 + ], + "ori": [ + 0.9845194220542908, + -4.507993089930551e-09, + 1.6903991095773563e-08, + 0.17527544498443604 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -4.846777423850313e-10, + -1.1442067293643277e-09, + 3.725290298461914e-09 + ], + "angular_velocity": [ + -9.727820327043446e-09, + -5.198120334171108e-08, + -1.3566986645230372e-08 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + -1.1962890625, + 1.114760398864746, + 0.8999999761581421 + ], + "ori": [ + -0.20657280087471008, + 1.0689720397749625e-07, + 3.0213687551849944e-08, + 0.9784312844276428 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -2.0041190929021013e-12, + -1.885757661135301e-10, + 0.0 + ], + "angular_velocity": [ + 1.4877890919251513e-08, + -5.111502332511009e-10, + -2.0761570240779292e-10 + ] + } + } + ], + "plate": [ + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_24_clear/Object.usd", + "pose": { + "pos": [ + 0.5227670669555664, + 1.1499137878417969, + 0.9179999828338623 + ], + "ori": [ + 0.018710995092988014, + 5.652437629066753e-09, + 4.540206877123865e-09, + 0.9998249411582947 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 1.4929518954431842e-08, + 5.04150943214654e-10, + 1.3783574104309082e-07 + ], + "angular_velocity": [ + -5.008963626096374e-07, + 1.890330167952925e-06, + -4.2576363767921066e-08 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_384_black/Object.usd", + "pose": { + "pos": [ + -0.09256172180175781, + 0.4350728988647461, + 0.9180000424385071 + ], + "ori": [ + 0.9974200129508972, + 3.799761338907359e-10, + -7.3407119272062e-10, + -0.07178651541471481 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -3.779489787802959e-08, + -9.516831767086842e-13, + -5.651265382766724e-06 + ], + "angular_velocity": [ + -6.79504580602952e-07, + -3.2903990359045565e-06, + 8.396619222139634e-08 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_1536_black/Object.usd", + "pose": { + "pos": [ + 1.4832983016967773, + 0.48697757720947266, + 0.9180000424385071 + ], + "ori": [ + 0.9965326189994812, + -7.483189179424699e-09, + 1.6257626356264154e-08, + 0.0832027718424797 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -1.1475624894785597e-08, + -2.7336085395290866e-08, + -5.602836608886719e-06 + ], + "angular_velocity": [ + 9.964583114197012e-07, + -1.248641297024733e-06, + -5.0228788239792266e-08 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/deep_well_24_10ml/Object.usd", + "pose": { + "pos": [ + -1.1895017623901367, + 1.1275568008422852, + 0.9179999828338623 + ], + "ori": [ + -0.10717818886041641, + 9.963757463538059e-08, + 4.2111089726404316e-08, + 0.994239866733551 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 1.9635143644336495e-07, + 1.0611488221456966e-07, + -1.9781291484832764e-06 + ], + "angular_velocity": [ + -1.495225660619326e-06, + 5.0887711040559225e-06, + 7.31694314026754e-08 + ] + } + } + ], + "deco_hub_west": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/hub_c.usd", + "pose": { + "pos": [ + -3.36, + 0.0, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_hub_east": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/hub_a.usd", + "pose": { + "pos": [ + 3.36, + 0.0, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_hub_back": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/hub_e.usd", + "pose": { + "pos": [ + -3.0, + -2.1, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_bench_east": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/bench_a.usd", + "pose": { + "pos": [ + 2.6, + -2.5, + 0.0 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_bench_gap": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/bench_b.usd", + "pose": { + "pos": [ + -0.1, + -2.9, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ] + }, + {} + ], + "devices": { + "hub": [ + null, + null, + { + "t": 8.69999999999996, + "step": 1740, + "counter": 0, + "devices": { + "a4s_sealer_1": { + "mode": "auto", + "units": { + "drawer": { + "state": "at_out", + "active": null, + "target": 0.0, + "goal_name": "out", + "profile": null, + "q_start": null, + "reversing": false, + "blocked_for": 0.0, + "settled_for": 0.0, + "last_q": 0.0 + }, + "heater": { + "state": "ready", + "active": null, + "duration": 0.0, + "t_start": null, + "elapsed": 0.0 + } + }, + "queues": {}, + "program": null, + "sensors": { + "plate_present": { + "occupants": [], + "pending": {} + } + }, + "interlocks": {} + }, + "conveyor_1": { + "mode": "auto", + "units": { + "belt": { + "state": "at_station", + "active": null, + "controller": { + "speed": 0.28279328599353354, + "holds": [], + "station": "pick", + "rider": "carrier_2", + "arrived": true, + "settle_count": 1627, + "released": { + "pick": [] + }, + "last_pos": { + "carrier_1": [ + 0.38111743330955505, + 0.7025640606880188, + 0.0 + ], + "carrier_2": [ + -0.25378742814064026, + -0.00263899564743042, + 0.0 + ], + "carrier_3": [ + 1.3258062303066254, + 0.026854336261749268, + 0.0 + ], + "carrier_4": [ + -1.3462890684604645, + 0.664760410785675, + 0.0 + ] + }, + "command": 0.0 + }, + "belt": { + "target_speed": 0.0, + "command_speed": 0.0 + }, + "seen": { + "state": "at_station", + "station": "pick", + "rider": "carrier_2", + "arrived": true + } + } + }, + "queues": {}, + "program": null, + "sensors": {}, + "interlocks": {} + } + }, + "zones": {}, + "labware": { + "plate_1": { + "sealed": false + }, + "plate_2": { + "sealed": false + }, + "plate_3": { + "sealed": false + }, + "plate_4": { + "sealed": false + } + }, + "rules": {}, + "records": [], + "bus": { + "seq": 3, + "queue": [] + } + }, + null + ], + "drives": [ + null, + null, + {}, + null + ] + }, + "artifacts": [ + {}, + {}, + { + "ceiling": { + "type": "rect", + "pose": { + "pos": [ + 0.7538738743099344, + 0.02919007070443258, + 2.861460280436451 + ], + "ori": [ + -9.035866074226243, + -13.417856845031075, + 6.668108692939043 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "color_temperature": 3958.0310257956676, + "color": [ + 0.9422128939126903, + 0.8337898456513677, + 0.8712306705933209 + ], + "intensity": 9687.488949564828, + "width": 2.0082093511365358, + "height": 0.9120605583134066 + } + }, + "key": { + "type": "disk", + "pose": { + "pos": [ + -0.9718858761623611, + 4.153998581912788e-05, + 2.6234162934764944 + ], + "ori": [ + -0.36738628484866354, + -8.591569458564507, + 18.995892974849788 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "color_temperature": 5398.061763188672, + "color": [ + 0.8618276331091042, + 0.9064975468562984, + 0.9770789341617786 + ], + "intensity": 8007.547276036936, + "radius": 0.2658134214908189 + } + } + }, + {} + ], + "background": { + "type": "dome", + "pose": { + "pos": null, + "ori": null, + "scale": null + }, + "dr": { + "intensity": 1428.887620207866, + "texture": null, + "color": [ + 0.92, + 0.94, + 0.96 + ] + } + } + }, + "robots": { + "UR5e": { + "root_pose": [ + [ + 11.0, + -11.0, + 0.9150000214576721, + 1.0, + 0.0, + 0.0, + 0.0 + ], + [ + 11.0, + 11.0, + 0.9150000214576721, + 1.0, + 0.0, + 0.0, + 0.0 + ], + [ + -11.0, + -11.0, + 0.9150000214576721, + 1.0, + 0.0, + 0.0, + 0.0 + ], + [ + -11.0, + 11.0, + 0.9150000214576721, + 1.0, + 0.0, + 0.0, + 0.0 + ] + ], + "root_vel": [ + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + ], + "joint_pos": [ + [ + 1.6690291166305542, + -1.9959408044815063, + 2.253199577331543, + -1.828003168106079, + -1.5707648992538452, + 3.158015012741089, + 0.00783886481076479, + 0.007181376684457064 + ], + [ + 2.655846357345581, + -1.9878054857254028, + 2.3057937622070312, + -1.8893011808395386, + -1.5712952613830566, + 4.220254421234131, + 0.007153926882892847, + 0.006529815029352903 + ], + [ + 0.9141026735305786, + -1.7193981409072876, + 2.0904994010925293, + -1.9419008493423462, + -1.5707999467849731, + 2.484900951385498, + 0.017999999225139618, + 0.017999999225139618 + ], + [ + 0.8301109671592712, + -1.4016286134719849, + 2.1601924896240234, + -2.329315662384033, + -1.5707964897155762, + 2.5276379585266113, + 0.018000047653913498, + 0.017999950796365738 + ] + ], + "joint_vel": [ + [ + 0.0657968819141388, + -0.0526832714676857, + 0.021421246230602264, + 0.02781437523663044, + 0.00017563963774591684, + 0.07369096577167511, + -0.007814712822437286, + 0.001705314265564084 + ], + [ + 0.01356114074587822, + 0.028893079608678818, + -0.015076836571097374, + -0.013494088314473629, + 0.0001277443370781839, + 0.013225644826889038, + -0.008372202515602112, + 6.909216608619317e-05 + ], + [ + 0.0, + 2.6849088771233144e-38, + 1.8091245221105116e-38, + 2.3835501695926436e-37, + -3.048832197969774e-37, + -8.566883227408382e-37, + -3.746548568498289e-38, + 8.199525324025862e-38 + ], + [ + -0.0001630588376428932, + 0.015844153240323067, + 0.008649179711937904, + -0.023265834897756577, + -7.783515684423037e-06, + 1.9998724383185618e-05, + -6.881032732053427e-06, + 6.882508387207054e-06 + ] + ] + } + }, + "cameras": { + "cameras": { + "camera0": [ + [ + 0.052673667669296265, + 0.0003907643840648234, + -0.029705725610256195, + -0.271068811416626, + 0.6548894643783569, + 0.6437590718269348, + -0.2884714603424072 + ], + [ + 0.053556036204099655, + 0.0018187116365879774, + -0.03063439577817917, + -0.28383108973503113, + 0.6485158205032349, + 0.6522612571716309, + -0.2709656357765198 + ], + [ + 0.0511634387075901, + 0.002557184547185898, + -0.030541259795427322, + -0.27779024839401245, + 0.6415922045707703, + 0.6594158411026001, + -0.27633821964263916 + ], + [ + 0.04728281497955322, + 0.000337474251864478, + -0.029655419290065765, + -0.2802092730998993, + 0.6505700349807739, + 0.6443952322006226, + -0.2880905568599701 + ] + ], + "camera1": [ + [ + 0.05622236058115959, + 0.5887578725814819, + 1.9275498390197754, + 0.0433630533516407, + 0.025621512904763222, + 0.2790853977203369, + 0.9589444994926453 + ], + [ + 0.07284227758646011, + 0.5680368542671204, + 1.9662245512008667, + 0.05129878968000412, + 0.015658337622880936, + 0.2627292275428772, + 0.9633777141571045 + ], + [ + 0.0456579215824604, + 0.5797617435455322, + 1.9624202251434326, + 0.05378241464495659, + -0.005217188037931919, + 0.2650880515575409, + 0.9627089500427246 + ], + [ + 0.0667676031589508, + 0.5707981586456299, + 1.9440476894378662, + 0.05096403509378433, + -0.004151706583797932, + 0.2755707800388336, + 0.9599198698997498 + ] + ] + } + } + } +} \ No newline at end of file diff --git a/episodes/c9_p007_e006/wrist.mp4 b/episodes/c9_p007_e006/wrist.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..a2853f398a230e3b06256a5f959a2fb99e583f0e --- /dev/null +++ b/episodes/c9_p007_e006/wrist.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:a32a093b91e98eee911580a2d5bd3dc8186524a2ef6ee645933e65e76b8eb465 +size 6274911 diff --git a/episodes/c9_p007_e007/data.npz b/episodes/c9_p007_e007/data.npz new file mode 100644 index 0000000000000000000000000000000000000000..2339e3307ba9061c267f04213a2a1536989e0df4 --- /dev/null +++ b/episodes/c9_p007_e007/data.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:134dc78e0fdfffd7f269d3751a03bc0a5406d44a1e7320857f31d44c5a697ed1 +size 186487 diff --git a/episodes/c9_p007_e007/device_events.jsonl b/episodes/c9_p007_e007/device_events.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..d16397f80a2d178a936c1d43153fc4cb905dcaad --- /dev/null +++ b/episodes/c9_p007_e007/device_events.jsonl @@ -0,0 +1,39 @@ +{"env_id": 3, "seq": 1, "step": 84, "t": 0.42, "topic": "conveyor_1.belt.station.pick.captured", "source": "conveyor_1.belt", "data": {"rider": "carrier_2"}, "cause": null} +{"env_id": 3, "seq": 2, "step": 84, "t": 0.42, "topic": "conveyor_1.belt.state.changed", "source": "conveyor_1.belt", "data": {"from": "running", "to": "at_station"}, "cause": null} +{"env_id": 3, "seq": 3, "step": 89, "t": 0.445, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_2"}, "cause": null} +{"env_id": 3, "seq": 4, "step": 1898, "t": 9.49, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_2"}, "cause": null} +{"env_id": 3, "seq": 5, "step": 1930, "t": 9.65, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_2"}, "cause": null} +{"env_id": 3, "seq": 6, "step": 1985, "t": 9.925, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_2"}, "cause": null} +{"env_id": 3, "seq": 7, "step": 2040, "t": 10.2, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_2"}, "cause": null} +{"env_id": 3, "seq": 8, "step": 6743, "t": 33.715, "topic": "a4s_sealer_1.plate_present.present", "source": "a4s_sealer_1.plate_present", "data": {"object": "plate_2"}, "cause": null} +{"env_id": 3, "seq": 9, "step": 7356, "t": 36.78, "topic": "a4s_sealer_1.command.started", "source": "a4s_sealer_1", "data": {"command_id": "task-3-1", "name": "seal", "source": "task"}, "cause": "task-3-1"} +{"env_id": 3, "seq": 10, "step": 7356, "t": 36.78, "topic": "a4s_sealer_1.seal.started", "source": "a4s_sealer_1", "data": {"dwell": 2.479722128131314}, "cause": "task-3-1"} +{"env_id": 3, "seq": 11, "step": 7356, "t": 36.78, "topic": "a4s_sealer_1.drawer.command.started", "source": "a4s_sealer_1.drawer", "data": {"command_id": "program-3-2", "name": "close", "source": "program:seal"}, "cause": "program-3-2"} +{"env_id": 3, "seq": 12, "step": 7356, "t": 36.78, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "at_out", "to": "moving"}, "cause": null} +{"env_id": 3, "seq": 13, "step": 7356, "t": 36.78, "topic": "a4s_sealer_1.drawer.moving", "source": "a4s_sealer_1.drawer", "data": {"target": 0.3, "goal": "in"}, "cause": "program-3-2"} +{"env_id": 3, "seq": 14, "step": 7775, "t": 38.875, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "moving", "to": "at_in"}, "cause": null} +{"env_id": 3, "seq": 15, "step": 7775, "t": 38.875, "topic": "a4s_sealer_1.drawer.reached", "source": "a4s_sealer_1.drawer", "data": {"position": "in", "q": 0.30000001192092896}, "cause": "program-3-2"} +{"env_id": 3, "seq": 16, "step": 7775, "t": 38.875, "topic": "a4s_sealer_1.drawer.at_in", "source": "a4s_sealer_1.drawer", "data": {"q": 0.30000001192092896}, "cause": "program-3-2"} +{"env_id": 3, "seq": 17, "step": 7775, "t": 38.875, "topic": "a4s_sealer_1.drawer.command.succeeded", "source": "a4s_sealer_1.drawer", "data": {"command_id": "program-3-2", "name": "close", "source": "program:seal", "result": {"position": "in"}}, "cause": "program-3-2"} +{"env_id": 3, "seq": 18, "step": 7775, "t": 38.875, "topic": "labware.plate_2.changed", "source": "labware.plate_2", "data": {"key": "sealed", "value": true}, "cause": "task-3-1"} +{"env_id": 3, "seq": 19, "step": 7775, "t": 38.875, "topic": "a4s_sealer_1.sealed", "source": "a4s_sealer_1", "data": {"plate": "plate_2"}, "cause": "task-3-1"} +{"env_id": 3, "seq": 20, "step": 7775, "t": 38.875, "topic": "a4s_sealer_1.heater.command.started", "source": "a4s_sealer_1.heater", "data": {"command_id": "program-3-3", "name": "run", "source": "program:seal"}, "cause": "program-3-3"} +{"env_id": 3, "seq": 21, "step": 7775, "t": 38.875, "topic": "a4s_sealer_1.heater.state.changed", "source": "a4s_sealer_1.heater", "data": {"from": "ready", "to": "running"}, "cause": null} +{"env_id": 3, "seq": 22, "step": 7775, "t": 38.875, "topic": "a4s_sealer_1.heater.started", "source": "a4s_sealer_1.heater", "data": {"duration": 2.479722128131314}, "cause": "program-3-3"} +{"env_id": 3, "seq": 23, "step": 8271, "t": 41.355, "topic": "a4s_sealer_1.heater.state.changed", "source": "a4s_sealer_1.heater", "data": {"from": "running", "to": "ready"}, "cause": null} +{"env_id": 3, "seq": 24, "step": 8271, "t": 41.355, "topic": "a4s_sealer_1.heater.finished", "source": "a4s_sealer_1.heater", "data": {"elapsed": 2.4800000000012687}, "cause": "program-3-3"} +{"env_id": 3, "seq": 25, "step": 8271, "t": 41.355, "topic": "a4s_sealer_1.heater.command.succeeded", "source": "a4s_sealer_1.heater", "data": {"command_id": "program-3-3", "name": "run", "source": "program:seal", "result": {"elapsed": 2.4800000000012687}}, "cause": "program-3-3"} +{"env_id": 3, "seq": 26, "step": 8271, "t": 41.355, "topic": "a4s_sealer_1.drawer.command.started", "source": "a4s_sealer_1.drawer", "data": {"command_id": "program-3-4", "name": "open", "source": "program:seal"}, "cause": "program-3-4"} +{"env_id": 3, "seq": 27, "step": 8271, "t": 41.355, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "at_in", "to": "moving"}, "cause": null} +{"env_id": 3, "seq": 28, "step": 8271, "t": 41.355, "topic": "a4s_sealer_1.drawer.moving", "source": "a4s_sealer_1.drawer", "data": {"target": 0.0, "goal": "out"}, "cause": "program-3-4"} +{"env_id": 3, "seq": 29, "step": 8691, "t": 43.455, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "moving", "to": "at_out"}, "cause": null} +{"env_id": 3, "seq": 30, "step": 8691, "t": 43.455, "topic": "a4s_sealer_1.drawer.reached", "source": "a4s_sealer_1.drawer", "data": {"position": "out", "q": 5.049866302897499e-09}, "cause": "program-3-4"} +{"env_id": 3, "seq": 31, "step": 8691, "t": 43.455, "topic": "a4s_sealer_1.drawer.at_out", "source": "a4s_sealer_1.drawer", "data": {"q": 5.049866302897499e-09}, "cause": "program-3-4"} +{"env_id": 3, "seq": 32, "step": 8691, "t": 43.455, "topic": "a4s_sealer_1.drawer.command.succeeded", "source": "a4s_sealer_1.drawer", "data": {"command_id": "program-3-4", "name": "open", "source": "program:seal", "result": {"position": "out"}}, "cause": "program-3-4"} +{"env_id": 3, "seq": 33, "step": 8691, "t": 43.455, "topic": "a4s_sealer_1.seal.finished", "source": "a4s_sealer_1", "data": {}, "cause": "task-3-1"} +{"env_id": 3, "seq": 34, "step": 8691, "t": 43.455, "topic": "a4s_sealer_1.command.succeeded", "source": "a4s_sealer_1", "data": {"command_id": "task-3-1", "name": "seal", "source": "task"}, "cause": "task-3-1"} +{"env_id": 3, "seq": 35, "step": 9272, "t": 46.36, "topic": "a4s_sealer_1.plate_present.absent", "source": "a4s_sealer_1.plate_present", "data": {"object": "plate_2"}, "cause": null} +{"env_id": 3, "seq": 36, "step": 10964, "t": 54.82, "topic": "conveyor_1.belt.command.started", "source": "conveyor_1.belt", "data": {"command_id": "task-3-5", "name": "release", "source": "task"}, "cause": "task-3-5"} +{"env_id": 3, "seq": 37, "step": 10964, "t": 54.82, "topic": "conveyor_1.belt.station.pick.released", "source": "conveyor_1.belt", "data": {"rider": "carrier_2"}, "cause": "task-3-5"} +{"env_id": 3, "seq": 38, "step": 10964, "t": 54.82, "topic": "conveyor_1.belt.state.changed", "source": "conveyor_1.belt", "data": {"from": "at_station", "to": "running"}, "cause": null} +{"env_id": 3, "seq": 39, "step": 10964, "t": 54.82, "topic": "conveyor_1.belt.command.succeeded", "source": "conveyor_1.belt", "data": {"command_id": "task-3-5", "name": "release", "source": "task", "result": {"state": "running"}}, "cause": "task-3-5"} diff --git a/episodes/c9_p007_e007/env.mp4 b/episodes/c9_p007_e007/env.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..a82164fa0e4bc20090fa99a35c77c4a366fd522d --- /dev/null +++ b/episodes/c9_p007_e007/env.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:296a94d771407a977ba8d42bbb7eb3c6cb1b7eac0720acb5b090a5136dd1e0a9 +size 1157801 diff --git a/episodes/c9_p007_e007/meta.json b/episodes/c9_p007_e007/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..45139d6527fc5e1dd1c18c5d744dc72647667dc1 --- /dev/null +++ b/episodes/c9_p007_e007/meta.json @@ -0,0 +1,32 @@ +{ + "source": "raw/c9_p007/magicsim/7", + "fps": 25, + "frames": 1191, + "kept_ticks": "even", + "video_frames": { + "wrist": 1191, + "env": 1191 + }, + "joint_target_source": "joint_pos_target", + "fk_vs_recorded_eef_max_m": 0.0, + "curobo_joints": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "joint_order": [ + "shoulder_pan", + "shoulder_lift", + "elbow", + "wrist_1", + "wrist_2", + "wrist_3", + "finger_left", + "finger_right" + ], + "frames_note": "eef / actions in the robot base frame; camera_pose = local pose (wrist: in plate_gripper_base, env: env frame), pos + quat wxyz", + "dr_version": "v2" +} \ No newline at end of file diff --git a/episodes/c9_p007_e007/scene_snapshot.json b/episodes/c9_p007_e007/scene_snapshot.json new file mode 100644 index 0000000000000000000000000000000000000000..71280af4fa86ab8bc21d034972483fbf9d5a33cb --- /dev/null +++ b/episodes/c9_p007_e007/scene_snapshot.json @@ -0,0 +1,1558 @@ +{ + "trajectory_id": 7, + "env_id": 3, + "run_id": "c9_p007", + "task_type": "BioPlateCell", + "success": true, + "timing": { + "fps": 50.0, + "sim_dt": 0.005, + "decimation": 4 + }, + "restore_interface": { + "scene": "scene_manager.reset_to(snapshot['scene'], env_ids=[env_id])", + "robots": "robot_manager.set_state({'robots': snapshot['robots']}, env_ids=[env_id])" + }, + "snapshot": { + "env_id": 3, + "scene": { + "objects": [ + {}, + {}, + {}, + { + "rac_cell": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/rac_cell.usd", + "pose": { + "pos": [ + 0.0, + 0.0, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "physics_material": { + "static_friction": 0.6, + "dynamic_friction": 0.5, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "robot_mount": [ + { + "asset": "Cube", + "pose": { + "pos": [ + 0.0, + 0.0, + 0.9075 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": "color", + "value": [ + 0.55, + 0.56, + 0.58 + ], + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": { + "size": [ + 0.2, + 0.2, + 0.015 + ] + } + }, + "type_specific": {} + } + ], + "plate_rack": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/plate_hotel.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 0.9 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "physics_material": { + "static_friction": 0.6, + "dynamic_friction": 0.5, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "hotel_plate": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_6_clear/plate_6_clear.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 0.9605 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_96_white/plate_96_white.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.0285 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_96_white/plate_96_white.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.0965 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_384_white/plate_384_white.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.1645 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_96_black/plate_96_black.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.2325 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "a4s_sealer": [ + { + "asset": "$MAGICSIM_ASSETS/Articulated/A4SSealer/Object.usd", + "pose": { + "pos": [ + 0.5116128921508789, + 0.08402252197265625, + 0.8999999761581421 + ], + "ori": [ + -0.7064942717552185, + 0.0, + 0.0, + 0.7077187895774841 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "articulation", + "solver_position_iteration_count": 16.0, + "solver_velocity_iteration_count": 1.0, + "enabled_self_collisions": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "joint_position": [ + 3.3641644157922368e-12 + ], + "joint_velocity": [ + 0.0 + ], + "linear_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "angular_velocity": [ + 0.0, + 0.0, + 0.0 + ] + } + } + ], + "conveyor": [ + { + "asset": "Cube", + "pose": { + "pos": [ + 0.15, + 0.45, + 0.9 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "conveyor", + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9 + }, + "ratio": 1.0 + }, + "primitive_params": { + "size": [ + 2.4, + 0.076, + 0.03 + ] + }, + "conveyor": { + "speed": 0.17882298729395113, + "direction": [ + 1.0, + 0.0, + 0.0 + ], + "enabled": true, + "drive": "surface_velocity", + "lines": null, + "station_line": null, + "riders": [ + "carrier" + ], + "stations": { + "pick": { + "position": -0.08185094441342974, + "slow_distance": 0.03, + "slow_speed": 0.03 + } + }, + "rails": { + "height": 0.01, + "thickness": 0.01, + "gap": 0.001, + "friction": 0.05 + }, + "legs": 0.87, + "loop": { + "radius": 0.35, + "side": "left", + "curve_extra_width": 0.0, + "segments": 18, + "curve_rails": "both" + }, + "snap_distance": 0.1, + "junction_snap": 0.02, + "collision_approximation": "auto", + "plate_mass": 1.0, + "lift_drop": 0.004, + "accel": 0.0, + "decel": 0.0, + "drive_damping": 1000000.0, + "drive_max_force": 1000000000.0 + } + }, + "type_specific": { + "controller": { + "state": "at_station", + "speed": 0.17882298729395113, + "holds": [], + "station": "pick", + "rider": "carrier_2", + "arrived": true, + "applied_speed": 0.0 + } + } + } + ], + "carrier": [ + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + 1.5123214721679688, + 0.49352264404296875, + 0.8999999761581421 + ], + "ori": [ + 0.9711726903915405, + -3.945807680594271e-09, + -7.12469656605208e-08, + 0.23837749660015106 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -1.2334289145599087e-10, + -2.3742594557063512e-09, + 0.0 + ], + "angular_velocity": [ + 3.6814256532125e-08, + 1.4231673617359775e-09, + -2.6179186818353628e-08 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + 0.06804275512695312, + 0.4499969482421875, + 0.8999999761581421 + ], + "ori": [ + 1.0, + 4.776405937434447e-10, + -4.621976135155137e-10, + 3.85516177630052e-05 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 1.8313817129467225e-09, + 2.183749403528168e-09, + 1.1175870895385742e-08 + ], + "angular_velocity": [ + -9.715772364415898e-08, + 1.6247105349975755e-07, + -2.9706257009820547e-08 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + -1.393479347229004, + 0.8617897033691406, + 0.8999999761581421 + ], + "ori": [ + -0.6407506465911865, + 8.344710700214364e-09, + 9.350880958436392e-09, + 0.7677491307258606 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -2.5198673703208385e-10, + 4.711476209173782e-10, + 3.725290298461914e-09 + ], + "angular_velocity": [ + -2.9988882488396484e-08, + 1.488444745234574e-08, + -7.753826025691524e-09 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + 0.24718379974365234, + 1.1499977111816406, + 0.8999999761581421 + ], + "ori": [ + -5.144298847881146e-05, + -8.462093248340352e-09, + -2.2550539213739285e-09, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 2.742963634005946e-10, + -1.2295351403679433e-09, + 3.725290298461914e-09 + ], + "angular_velocity": [ + 1.0760898305761657e-07, + 4.352076743430189e-08, + -6.066144919714134e-09 + ] + } + } + ], + "plate": [ + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_48_clear/Object.usd", + "pose": { + "pos": [ + 1.5126447677612305, + 0.5070657730102539, + 0.9179999828338623 + ], + "ori": [ + 0.979659914970398, + -3.6997720442855098e-09, + -7.08149983097428e-08, + 0.2006651908159256 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -4.1463906086391944e-08, + -7.710789873272006e-08, + 1.341104507446289e-07 + ], + "angular_velocity": [ + 2.7358375973562943e-06, + -1.6027805713747512e-06, + 3.674012560850315e-08 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_384_white/Object.usd", + "pose": { + "pos": [ + 0.07043266296386719, + 0.4440317153930664, + 0.9180000424385071 + ], + "ori": [ + 0.9979811906814575, + 5.700716565470998e-10, + -1.7493775317234395e-09, + -0.06351151317358017 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -6.075606684419199e-09, + 2.3647547919836143e-08, + -4.872679710388184e-06 + ], + "angular_velocity": [ + -5.359976853469561e-07, + -1.7483586134403595e-06, + -1.9378589399821067e-08 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_96_clear/Object.usd", + "pose": { + "pos": [ + -1.398733139038086, + 0.8556680679321289, + 0.9180000424385071 + ], + "ori": [ + -0.7002962231636047, + 9.079205831596937e-09, + 7.034087978752268e-09, + 0.7138524651527405 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -3.838642292919303e-09, + 2.3399259418965812e-08, + -5.342066287994385e-06 + ], + "angular_velocity": [ + -1.268650748897926e-06, + -4.096243060303095e-07, + 2.2743147809478614e-08 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/reservoir_12ch/Object.usd", + "pose": { + "pos": [ + 0.2559499740600586, + 1.1441755294799805, + 0.9179999828338623 + ], + "ori": [ + 0.014716138131916523, + -2.792920561489609e-09, + -3.9240419802411e-09, + 0.9998917579650879 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 3.8551625891614094e-08, + 1.2707213059570677e-08, + -1.7657876014709473e-06 + ], + "angular_velocity": [ + -7.067272349559062e-07, + 1.5442151379829738e-06, + 6.562046195313087e-08 + ] + } + } + ], + "deco_hub_west": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/hub_e.usd", + "pose": { + "pos": [ + -3.36, + 0.0, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_hub_east": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/hub_d.usd", + "pose": { + "pos": [ + 3.36, + 0.0, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_hub_back": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/hub_a.usd", + "pose": { + "pos": [ + -3.0, + -2.1, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_bench_east": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/bench_c.usd", + "pose": { + "pos": [ + 2.6, + -2.5, + 0.0 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_bench_gap": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/bench_b.usd", + "pose": { + "pos": [ + -0.1, + -2.9, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ] + } + ], + "devices": { + "hub": [ + null, + null, + null, + { + "t": 7.419999999999864, + "step": 1484, + "counter": 0, + "devices": { + "a4s_sealer_1": { + "mode": "auto", + "units": { + "drawer": { + "state": "at_out", + "active": null, + "target": 0.0, + "goal_name": "out", + "profile": null, + "q_start": null, + "reversing": false, + "blocked_for": 0.0, + "settled_for": 0.0, + "last_q": 3.3641644157922368e-12 + }, + "heater": { + "state": "ready", + "active": null, + "duration": 0.0, + "t_start": null, + "elapsed": 0.0 + } + }, + "queues": {}, + "program": null, + "sensors": { + "plate_present": { + "occupants": [], + "pending": {} + } + }, + "interlocks": {} + }, + "conveyor_1": { + "mode": "auto", + "units": { + "belt": { + "state": "at_station", + "active": null, + "controller": { + "speed": 0.17882298729395113, + "holds": [], + "station": "pick", + "rider": "carrier_2", + "arrived": true, + "settle_count": 1399, + "released": { + "pick": [] + }, + "last_pos": { + "carrier_1": [ + 1.3623214662075043, + 0.043522655963897705, + 0.0 + ], + "carrier_2": [ + -0.08195725083351135, + -3.039836883544922e-06, + 0.0 + ], + "carrier_3": [ + -1.5434793531894684, + 0.4117897152900696, + 0.0 + ], + "carrier_4": [ + 0.09718379378318787, + 0.6999977231025696, + 0.0 + ] + }, + "command": 0.0 + }, + "belt": { + "target_speed": 0.0, + "command_speed": 0.0 + }, + "seen": { + "state": "at_station", + "station": "pick", + "rider": "carrier_2", + "arrived": true + } + } + }, + "queues": {}, + "program": null, + "sensors": {}, + "interlocks": {} + } + }, + "zones": {}, + "labware": { + "plate_1": { + "sealed": false + }, + "plate_2": { + "sealed": false + }, + "plate_3": { + "sealed": false + }, + "plate_4": { + "sealed": false + } + }, + "rules": {}, + "records": [], + "bus": { + "seq": 3, + "queue": [] + } + } + ], + "drives": [ + null, + null, + null, + {} + ] + }, + "artifacts": [ + {}, + {}, + {}, + { + "ceiling": { + "type": "rect", + "pose": { + "pos": [ + -0.23616520381291906, + 0.39300842740830133, + 3.142522447238431 + ], + "ori": [ + -9.767479553828068, + 11.194447783362314, + 13.882135832005254 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "color_temperature": 4954.0827363681665, + "color": [ + 0.9160556185346538, + 0.9855567877802046, + 0.8961827610453358 + ], + "intensity": 13658.297479777399, + "width": 2.2555247943170187, + "height": 1.8180292785087449 + } + }, + "key": { + "type": "sphere", + "pose": { + "pos": [ + 0.697533234880408, + -0.6803919406814701, + 2.028229473736027 + ], + "ori": [ + -1.6747180886122095, + 30.40951042077471, + -4.740461951747207 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "color_temperature": 4902.669441687309, + "color": [ + 0.9041058925604697, + 0.8055255382622512, + 0.9863945926558607 + ], + "intensity": 3032.165051120801, + "radius": 0.21896150621535743 + } + } + } + ], + "background": { + "type": "dome", + "pose": { + "pos": null, + "ori": null, + "scale": null + }, + "dr": { + "intensity": 1428.887620207866, + "texture": null, + "color": [ + 0.92, + 0.94, + 0.96 + ] + } + } + }, + "robots": { + "UR5e": { + "root_pose": [ + [ + 11.0, + -11.0, + 0.9150000214576721, + 1.0, + 0.0, + 0.0, + 0.0 + ], + [ + 11.0, + 11.0, + 0.9150000214576721, + 1.0, + 0.0, + 0.0, + 0.0 + ], + [ + -11.0, + -11.0, + 0.9150000214576721, + 1.0, + 0.0, + 0.0, + 0.0 + ], + [ + -11.0, + 11.0, + 0.9150000214576721, + 1.0, + 0.0, + 0.0, + 0.0 + ] + ], + "root_vel": [ + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + ], + "joint_pos": [ + [ + 0.9368390440940857, + -1.4200903177261353, + 2.0033910274505615, + -2.1541552543640137, + -1.5714166164398193, + 2.3319942951202393, + 0.006775571033358574, + 0.00855577178299427 + ], + [ + 2.2900543212890625, + -2.488037586212158, + 2.4666836261749268, + -1.5488152503967285, + -1.5706958770751953, + 3.8549599647521973, + 0.00711039500311017, + 0.0073939599096775055 + ], + [ + 0.9141026735305786, + -1.7193981409072876, + 2.0904994010925293, + -1.9419008493423462, + -1.5707999467849731, + 2.484900951385498, + 0.017999999225139618, + 0.017999999225139618 + ], + [ + 0.9141035079956055, + -1.7193964719772339, + 2.090498447418213, + -1.941900372505188, + -1.5707999467849731, + 2.4849019050598145, + 0.01799999736249447, + 0.018000001087784767 + ] + ], + "joint_vel": [ + [ + 0.002762042684480548, + 0.0019094913732260466, + 0.0027519376017153263, + -0.003032687585800886, + 0.012006066739559174, + 0.03352716192603111, + -0.004632238764315844, + 0.0005783180240541697 + ], + [ + 0.01691930741071701, + -0.012150920927524567, + 0.0035744779743254185, + 0.0063490974716842175, + 0.0016540366923436522, + 0.009757671505212784, + -0.00215794425457716, + -0.0005142894224263728 + ], + [ + 0.0, + 2.6849088771233144e-38, + 1.8091245221105116e-38, + 2.3835501695926436e-37, + -3.048832197969774e-37, + -8.566883227408382e-37, + -3.746548568498289e-38, + 8.199525324025862e-38 + ], + [ + 2.6028250169785596e-38, + -3.034037064575678e-38, + -2.1714223927902928e-38, + -4.430683330102814e-37, + 7.445025649229854e-37, + -2.9133799979150855e-37, + 2.599039028439165e-08, + -2.5990388508034812e-08 + ] + ] + } + }, + "cameras": { + "cameras": { + "camera0": [ + [ + 0.052758630365133286, + -0.001760681509040296, + -0.027687881141901016, + -0.27332136034965515, + 0.6529199481010437, + 0.6465207934379578, + -0.28460821509361267 + ], + [ + 0.05423429235816002, + 0.000710071122739464, + -0.030100395902991295, + -0.2813190817832947, + 0.645895779132843, + 0.6557796597480774, + -0.27135077118873596 + ], + [ + 0.05024019256234169, + 0.0045370617881417274, + -0.030246959999203682, + -0.27638816833496094, + 0.6375318765640259, + 0.6613895297050476, + -0.2823590338230133 + ], + [ + 0.050567492842674255, + 0.0019391726236790419, + -0.028502438217401505, + -0.27827733755111694, + 0.6572052240371704, + 0.6388446688652039, + -0.28726381063461304 + ] + ], + "camera1": [ + [ + 0.05622236058115959, + 0.5887578725814819, + 1.9275498390197754, + 0.0433630533516407, + 0.025621512904763222, + 0.2790853977203369, + 0.9589444994926453 + ], + [ + 0.07284227758646011, + 0.5680368542671204, + 1.9662245512008667, + 0.05129878968000412, + 0.015658337622880936, + 0.2627292275428772, + 0.9633777141571045 + ], + [ + 0.0456579215824604, + 0.5797617435455322, + 1.9624202251434326, + 0.05378241464495659, + -0.005217188037931919, + 0.2650880515575409, + 0.9627089500427246 + ], + [ + 0.0667676031589508, + 0.5707981586456299, + 1.9440476894378662, + 0.05096403509378433, + -0.004151706583797932, + 0.2755707800388336, + 0.9599198698997498 + ] + ] + } + } + } +} \ No newline at end of file diff --git a/episodes/c9_p007_e007/wrist.mp4 b/episodes/c9_p007_e007/wrist.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..b1147dd005b478831078f24137cdc345c2ee385b --- /dev/null +++ b/episodes/c9_p007_e007/wrist.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:a72e98eb07e4e17001696bd593671d0f391493f0996c33005850e22018ccda05 +size 6327116 diff --git a/index/episodes.csv b/index/episodes.csv index 46525dc7bff047ad252e18d2be594c6fb964b0cb..faf95e832fd6ea36fa5970dbb7f5890d4f92f301 100644 --- a/index/episodes.csv +++ b/index/episodes.csv @@ -1525,3 +1525,30 @@ c8_p005_e006,2,True,0.12996196746826172,0.45000267028808594,0.002622622211352225 c8_p005_e007,0,True,-0.054434776306152344,0.4500007629394531,0.00516866620870344,-0.009800539128598188,0.4729583349183031,pcr_96_blue,0.46468257904052734,0.11106586456298828,-93.20486904541943,0.17153407727943093,1257.166175302294,rect,0.25919940349925163,0.5833565372264076,2.977786567218134,8070.598024145327,3615.6671542154663,sphere,-0.7918084840968896,0.6713619152849146,2.449602514386288,5322.5023932719305,5251.141967669599,0.049198996275663376,0.0012474829563871026,-0.029718836769461632,-0.2881353497505188,0.6392084360122681,0.6538046002388,-0.2844821512699127,0.04384045675396919,0.5856753587722778,1.9421027898788452,0.04404471069574356,-0.0048150550574064255,0.2743872404098511,0.9605979919433594,1221,1,,2.0877745151519775,0.2835240688304779,0.0,0.006821027956902981,0.5225225225225225,12,release,0.04230189323425293,"Pre-grasping the small plate, moving the arm toward it; the ",v2,True,False c9_p007_e004,1,True,0.11626529693603516,0.45000171661376953,0.013250285738318768,-0.0035040460489377053,-3.7745203482274974,pcr_384_red,0.49117279052734375,0.08234405517578125,-88.8944599767783,0.15117259932633867,767.9355300068794,rect,0.3075768153519286,-0.14734502467497002,3.011285609957361,15071.879306640627,6485.171123840739,disk,-1.2139462220785873,-0.7696261427976248,2.04613677721681,2080.9587036521098,4328.845832358993,0.05212469771504402,0.003886956023052335,-0.028910964727401733,-0.2883068919181824,0.6474294066429138,0.6515597105026245,-0.27052581310272217,0.07284227758646011,0.5680368542671204,1.9662245512008667,0.05129878968000412,0.015658337622880936,0.2627292275428772,0.9633777141571045,1232,1,,2.0213816165924072,0.31062607851577356,0.0,0.006840313784778118,0.523538961038961,12,release,0.04211568832397461,"Pre-grasping the small plate, moving the arm toward it; the ",v2,True,False c9_p007_e005,0,True,0.03826141357421875,0.4499979019165039,0.007020966572540687,0.00017482448068656636,10.00805434310928,deep_well_96_2ml,0.4788179397583008,0.09220218658447266,-87.35510062205685,0.2655279629290661,1428.887620207866,rect,-0.5261726070433818,0.11675764765362817,2.9843202394991706,4139.977782880264,4958.276153001737,sphere,-1.5911423658220285,-1.050357324939607,2.3670155363985814,6493.799327019423,5530.375510054881,0.05287972837686539,-0.0002960225974675268,-0.025820763781666756,-0.2755129039287567,0.6533947587013245,0.6436100602149963,-0.2879827320575714,0.05622236058115959,0.5887578725814819,1.9275498390197754,0.0433630533516407,0.025621512904763222,0.2790853977203369,0.9589444994926453,1210,1,,2.109872341156006,0.24948237989627192,0.0,0.007506342139095068,0.5355371900826447,12,release,0.042586326599121094,"Pre-grasping the small plate, moving the arm toward it; the ",v2,True,False +c1_p004_e028,2,True,0.1297283172607422,0.4499950408935547,0.006040199463041165,0.005676667143452804,-5.283207179624668,plate_384_black,0.4877500534057617,0.10293388366699219,-92.28249091729678,0.21569791070179567,1406.155206402213,rect,0.2872739733113311,0.5874985479984285,2.6500749296589565,14522.049518480348,3733.6417931064784,sphere,1.6586461118285456,1.1296980517105146,2.151357252317685,8444.178606325682,4156.431679667607,0.04974732920527458,-0.002374330535531044,-0.02878749743103981,-0.28414207696914673,0.6563940048217773,0.6402201056480408,-0.28022921085357666,0.059085238724946976,0.5601892471313477,1.949273943901062,0.035095907747745514,-0.003449582029134035,0.27364808320999146,0.9611831903457642,1161,1,,2.0464704036712646,0.29356913486308817,0.0,0.007417641580104828,0.5478036175710594,12,release,0.04221796989440918,"Pre-grasping the small plate, moving the arm toward it; the ",v2,True,False +c1_p004_e029,0,True,0.07383537292480469,0.4472637176513672,0.005546473013085456,0.010329340593595195,3.644859455104296,deep_well_96_2ml,0.4648113250732422,0.12581157684326172,-87.54015496626167,0.18719505386542287,1406.155206402213,rect,0.5239607309995761,0.13826541460982822,2.8188603986616423,11505.794105740537,4549.356219638774,sphere,1.7486369235223087,-0.9046672082299051,1.906932372907978,5939.4331457823255,3690.2772235366215,0.05016748979687691,-0.001581604708917439,-0.03177228197455406,-0.2891388237476349,0.6534048914909363,0.6403107047080994,-0.2818918228149414,0.0669875517487526,0.5709797739982605,1.947091817855835,0.036109521985054016,0.02722797356545925,0.26760783791542053,0.9624660015106201,1276,1,,2.0980584621429443,0.2767426064392966,0.0,0.007519128732383251,0.5031347962382445,12,release,0.042687416076660156,"Pre-grasping the small plate, moving the arm toward it; the ",v2,True,False +c1_p004_e030,3,True,0.02311229705810547,0.45000267028808594,-0.0004198649008538564,0.004219030482893051,-1.3419387847437179,plate_384_white,0.48879337310791016,0.054409027099609375,-91.56224719301127,0.19273017612990903,1406.155206402213,rect,0.505377681518418,-0.15488146574224482,3.164971685925962,4649.791702503449,6084.106186572824,disk,1.108076780265816,-1.17685675032248,2.584822043669837,4996.3120648219565,6909.093195688807,0.05151846632361412,0.001838706899434328,-0.027241678908467293,-0.27789634466171265,0.6532905697822571,0.6393994688987732,-0.2952175736427307,0.056365590542554855,0.5672527551651001,1.9309630393981934,0.054289937019348145,0.002442008815705776,0.27241411805152893,0.9606441259384155,1281,1,,2.1006438732147217,0.2783043142841593,0.0,0.007383231073617935,0.501951600312256,12,release,0.042203426361083984,"Pre-grasping the small plate, moving the arm toward it; the ",v2,True,False +c1_p004_e031,1,True,0.11629104614257812,0.44740867614746094,0.012988803491714303,0.010255074019279066,-5.134064166645231,plate_12_clear,0.5042552947998047,0.08044242858886719,-90.56581214725338,0.23986348000852764,1406.155206402213,rect,0.579814476233164,0.5287680817316882,3.1015781596847254,5344.0439439479205,3821.659463254255,disk,1.7539608930382053,0.8830363723894512,2.2305687058278045,8238.06999312055,5834.265564649493,0.049249570816755295,-0.002208436606451869,-0.03180549293756485,-0.29282045364379883,0.6406324505805969,0.6516215801239014,-0.2814880609512329,0.0446348674595356,0.5832217335700989,1.9509516954421997,0.050811685621738434,-0.003339954186230898,0.28015831112861633,0.9586023092269897,1214,1,,2.059471368789673,0.31719510454842914,0.0,0.007363935932517052,0.5181219110378913,12,release,0.04229307174682617,"Pre-grasping the small plate, moving the arm toward it; the ",v2,True,False +c2_p007_e000,1,True,0.05964469909667969,0.4473724365234375,-0.009382370550588671,-0.0018678397440689417,-6.900634181129675,plate_96_white,0.5104236602783203,0.09545230865478516,-93.25554149054526,0.24348549353491633,603.347035282019,rect,0.4357560794177183,-0.16984060990616356,2.699535224578701,13376.519453445157,3638.540072756196,disk,-0.5454965612206955,0.43611617836960037,2.472868465824399,6927.174359960906,3898.5446448841167,0.04843376949429512,-0.0023075963836163282,-0.029629359021782875,-0.2971806824207306,0.6370366215705872,0.6546453237533569,-0.2780422568321228,0.06585000455379486,0.5832615494728088,1.931291937828064,0.047798652201890945,-0.005887546110898256,0.2717774510383606,0.9611543416976929,1228,1,,2.104947090148926,0.25066729586345177,0.0,0.007223241031169891,0.5138436482084691,12,release,0.04229789972305298,"Pre-grasping the small plate, moving the arm toward it; the ",v2,True,False +c2_p007_e001,0,True,0.049053192138671875,0.4499998092651367,0.0027839610779632376,-0.0032022768800248113,3.516887288476852,plate_6_clear,0.4996671676635742,0.1175851821899414,-89.63538658672277,0.19928762059158384,603.347035282019,rect,-0.3832221792333829,0.5041620320687983,2.9792585119618016,8211.169019281046,6811.833286821193,sphere,1.688236287461938,-0.5305530057424523,2.6123151452508124,8700.31717516643,3076.425345326308,0.04775412008166313,0.001491613918915391,-0.029542693868279457,-0.28298255801200867,0.649932324886322,0.6467561721801758,-0.2814522087574005,0.0650700181722641,0.5855382680892944,1.9510035514831543,0.05444188043475151,0.006014169193804264,0.2757602334022522,0.9596646428108215,1179,1,,2.1227221488952637,0.32687343722296514,0.0,0.007381695322692394,0.5343511450381679,12,release,0.042151689529418945,"Pre-grasping the small plate, moving the arm toward it; the ",v2,True,False +c2_p007_e002,2,True,0.000583648681640625,0.45000267028808594,-0.0004112148908045517,0.008885331153589516,5.604686819450876,plate_24_clear,0.5135993957519531,0.10516643524169922,-87.88800592830745,0.28988506984472473,603.347035282019,rect,0.6605730459744364,0.41021103749864274,2.6775138310964803,11424.839953770459,4854.107929928521,sphere,-1.270820901284507,0.4487541020705643,2.2375485908652384,1552.1101816590967,7060.60848839943,0.04819057881832123,-0.0003378277469892055,-0.025862714275717735,-0.27513551712036133,0.6505219340324402,0.6505837440490723,-0.27903833985328674,0.03002513386309147,0.5767843723297119,1.9705108404159546,0.029460957273840904,-0.0024535830598324537,0.2808568477630615,0.9592942595481873,1289,1,,2.084895372390747,0.2653939937304861,0.0,0.0072884028777480125,0.547711404189294,12,release,0.04262387752532959,"Pre-grasping the small plate, moving the arm toward it; the ",v2,True,False +c2_p007_e003,3,True,0.04513740539550781,0.45000267028808594,-0.011442815415470951,-0.011638974732248635,-2.880308775618488,plate_96_clear,0.4724998474121094,0.052265167236328125,-92.16766996430009,0.1800402076149779,603.347035282019,rect,0.7189674574410264,0.06450653279797058,2.9907153362479986,15891.720909906342,5738.103030522543,sphere,1.4493211784348903,-1.1549490386872796,2.2887351049208307,6773.607735276818,4073.401598894792,0.04950062558054924,-0.0006930457311682403,-0.028804363682866096,-0.2653184235095978,0.6477632522583008,0.6590054035186768,-0.275174081325531,0.02681967429816723,0.5658280253410339,1.9609524011611938,0.04137752577662468,0.009255612269043922,0.26106226444244385,0.9643903374671936,1271,1,,2.0714173316955566,0.2596300375339335,0.0,0.007315071765333414,0.5098347757671126,12,release,0.04209756851196289,"Pre-grasping the small plate, moving the arm toward it; the ",v2,True,False +c3_p005_e000,1,True,0.08945274353027344,0.4499940872192383,0.013673451826080407,0.0063760216625634945,-7.183484749114996,deep_well_96_1ml,0.5018272399902344,0.11866378784179688,-90.04183064297952,0.2965027116637645,1260.8924498923423,rect,0.7522391556141513,0.4713854453163806,2.938501312659032,12621.88280745654,5461.687108572332,disk,0.16890517951081718,0.7953659526848802,2.0276250708520545,5299.958300223864,7098.386574294028,0.05037500709295273,0.00425677327439189,-0.027243372052907944,-0.2639930546283722,0.6527409553527832,0.6533616185188293,-0.27812865376472473,0.07391547411680222,0.5814281105995178,1.9405794143676758,0.045872434973716736,-0.006822303403168917,0.2674201428890228,0.9624633193016052,1225,1,,2.078031063079834,0.28978124778765546,0.0,0.007470156066119671,0.5142857142857142,12,release,0.04219239950180054,"Pre-grasping the small plate, moving the arm toward it; the ",v2,True,False +c3_p005_e001,0,True,-0.053032875061035156,0.4499969482421875,-0.013131399013726569,-0.010252622972914086,-6.52548335453514,deep_well_96_2ml,0.5093593597412109,0.1066446304321289,-90.2537113813263,0.1881616449302106,1260.8924498923423,rect,-0.26453598751871665,-0.409693228473602,2.605903273920148,10461.863727999218,5181.228358056747,disk,0.549010680936032,-0.26840568345649607,1.8094704819794503,2388.8384813439243,3921.4656229319826,0.047018539160490036,-0.0018761534010991454,-0.029058340936899185,-0.2860693633556366,0.644651472568512,0.649770975112915,-0.2835250794887543,0.03829045221209526,0.5648154616355896,1.9475328922271729,0.0545307882130146,-0.003932269290089607,0.2759581208229065,0.9596135020256042,1243,1,,2.117555618286133,0.30595711864503433,0.0,0.007517682388424873,0.5132743362831859,12,release,0.04214191436767578,"Pre-grasping the small plate, moving the arm toward it; the ",v2,True,False +c3_p005_e002,2,True,-0.013546943664550781,0.4499979019165039,0.0030784721053490854,-0.0012826645664479172,-8.513143563713555,plate_1536_black,0.4623851776123047,0.08329963684082031,-91.27323508406518,0.2062899449224049,1260.8924498923423,rect,-0.027548571969114533,0.5205814798723665,3.0154585171495483,5106.986978108039,4939.463722838037,sphere,-0.6256940506740635,0.32644046826694306,2.7991793765471433,3397.3846633592043,6194.725447078051,0.04862186312675476,0.0007728105410933495,-0.03318574279546738,-0.2716993987560272,0.6578123569488525,0.639002799987793,-0.2917836904525757,0.05444110557436943,0.5642682909965515,1.950761318206787,0.03111790306866169,0.007030889857560396,0.2740095555782318,0.9611976742744446,1270,1,,2.0871031284332275,0.2811377688562722,0.0,0.007379352115094662,0.5519685039370079,12,release,0.04253220558166504,"Pre-grasping the small plate, moving the arm toward it; the ",v2,True,False +c3_p005_e003,3,True,0.051174163818359375,0.45000553131103516,-0.012956766727710902,0.010786641330893142,2.305638551199081,plate_48_clear,0.47032737731933594,0.10230731964111328,-91.12412062705538,0.26390218729863935,1260.8924498923423,rect,0.14752467781074052,-0.2799823380797375,3.1384831698864937,14872.353278526702,3535.6215676722554,sphere,-1.5237513926434332,-0.9043219310390751,1.6304708115963773,9574.277119173508,6690.0695200626005,0.04620307683944702,0.0009729372104629874,-0.0321001335978508,-0.2937314510345459,0.6468366980552673,0.6453408598899841,-0.280818909406662,0.03842918202280998,0.6011009216308594,1.9464271068572998,0.04611796885728836,0.004703698214143515,0.2594301104545593,0.9646486639976501,1230,1,,2.042682647705078,0.2722231031282651,0.0,0.007335791364312172,0.5146341463414634,12,release,0.04241132736206055,"Pre-grasping the small plate, moving the arm toward it; the ",v2,True,False +c4_p005_e000,3,True,-0.10622119903564453,0.4499998092651367,-0.009483325997462273,0.011508951047973231,-2.957970872936727,plate_48_clear,0.4612903594970703,0.12853145599365234,-91.39230784532411,0.17257009218082922,1506.5120303012825,rect,-0.4251165812278262,0.1778669178361011,2.6492029748454704,6323.6819754444805,3655.947817607463,disk,0.9233360326907358,-0.7661715930714074,1.706839368829622,4093.6646769588333,7247.450274214429,0.0473674014210701,0.003466842696070671,-0.03190753236413002,-0.2778996527194977,0.6574578881263733,0.6354081034660339,-0.2945801019668579,0.07204993814229965,0.5755515694618225,1.941467046737671,0.05699848756194115,0.00555310258641839,0.2857838571071625,0.9565813541412354,1155,1,,2.051802158355713,0.26090344629612616,0.0,0.0073241787031292915,0.5471861471861472,12,release,0.04214286804199219,"Pre-grasping the small plate, moving the arm toward it; the ",v2,True,False +c4_p005_e001,1,True,-0.08820056915283203,0.4474916458129883,-0.014627075885387902,-0.006826623586539675,10.142368841403169,plate_96_white,0.5280046463012695,0.10087203979492188,-91.29483527377582,0.2533741899895981,1506.5120303012825,rect,0.5235021846413804,-0.002590917250372804,2.718246342128867,14251.470661873636,6417.584643530403,disk,0.902801205319339,-0.3425629692645319,2.1797731847070927,7895.965174137602,6003.379521270777,0.04955952614545822,-0.0015208693221211433,-0.029162250459194183,-0.2935042083263397,0.6424248218536377,0.6485756635665894,-0.2837167978286743,0.050085414201021194,0.5942978262901306,1.948786973953247,0.03434796631336212,0.015196963213384151,0.2876150608062744,0.9570093154907227,1215,1,,2.0995209217071533,0.2906330842167518,0.0,0.007288241758942604,0.5267489711934157,12,release,0.04216194152832031,"Pre-grasping the small plate, moving the arm toward it; the ",v2,True,False +c4_p005_e002,2,True,-0.08356189727783203,0.45000171661376953,-0.014219216881525496,0.0018782933412613942,-3.2722286592887713,plate_1536_black,0.4743375778198242,0.07537841796875,-89.9065529822233,0.1522632857994542,1506.5120303012825,rect,0.32692784147471887,0.2153172236193709,3.1877760196429983,6559.04608418958,6938.353492475862,sphere,-1.5730983654688562,-0.43621712719882666,1.6135186276383533,1919.8654250896936,5033.852673385911,0.047668810933828354,0.0005735410377383232,-0.03202911466360092,-0.2706749141216278,0.6557473540306091,0.6515679955482483,-0.2686813473701477,0.04559464752674103,0.5840745568275452,1.949146032333374,0.03730398416519165,0.005057400558143854,0.2741798162460327,0.9609413146972656,1216,1,,2.110755443572998,0.28761810436792073,0.0,0.0073791248723864555,0.5230263157894737,12,release,0.042136192321777344,"Pre-grasping the small plate, moving the arm toward it; the ",v2,True,False +c4_p005_e003,0,True,0.06032371520996094,0.4499979019165039,-0.004834170516203853,-0.0006618835269669041,-6.312604847892487,plate_96_black,0.49127864837646484,0.06891345977783203,-92.58880970116354,0.16780464425716848,1506.5120303012825,rect,0.7219550799855566,-0.10025545270126485,3.118528934067446,6121.708935139099,6920.880860880297,sphere,1.113774520647175,0.05596605169452795,2.6481217457600366,4817.723606795864,6086.289884150448,0.05067146569490433,-0.0007279699784703553,-0.03404012694954872,-0.27919334173202515,0.6429234743118286,0.6590690612792969,-0.27263250946998596,0.04620630666613579,0.5695286989212036,1.9702941179275513,0.03934749960899353,0.018188023939728737,0.2584480047225952,0.9650521278381348,1215,1,,2.0715246200561523,0.28763964737688846,0.0,0.007304091937839985,0.5234567901234568,12,release,0.04207205772399902,"Pre-grasping the small plate, moving the arm toward it; the ",v2,True,False +c5_p004_e020,2,True,0.135833740234375,0.45000171661376953,-0.005341326039580024,-0.0075294033116996666,-9.431959711325703,plate_24_clear,0.46412086486816406,0.06696701049804688,-92.47554467929427,0.2048185462941906,677.2870281919636,rect,0.543623276753595,0.43626710466370255,2.9933069949950237,11802.57521526271,4544.799284799292,sphere,0.3038418722852654,0.6646216851236466,2.069277117503665,6823.279029203878,7120.556726980184,0.05121641606092453,0.0009217406623065472,-0.0328509658575058,-0.2731698155403137,0.6534867286682129,0.6494444608688354,-0.27668604254722595,0.033233173191547394,0.5913195013999939,1.9415115118026733,0.034378379583358765,0.018136069178581238,0.2699944078922272,0.9620770215988159,1221,1,,2.1355690956115723,0.2729158353866504,0.0,0.007289068773388863,0.5217035217035217,12,release,0.04231688380241394,"Pre-grasping the small plate, moving the arm toward it; the ",v2,True,False +c5_p004_e021,1,True,-0.04303550720214844,0.45000457763671875,0.004888802538093152,0.011665231928580672,-10.98369691011203,deep_well_96_1ml,0.5256032943725586,0.08841419219970703,-86.35962671910123,0.2592014448979524,606.2487558480263,rect,-0.5160906779864118,-0.01900737949167891,2.8786919365315202,9606.746692008372,6466.358710480283,sphere,0.11376345877782712,-0.23689848330818497,2.152256668722605,9743.152509998417,4707.262522149042,0.046649497002363205,-0.003994171041995287,-0.030347425490617752,-0.2854122221469879,0.6502425074577332,0.6482290029525757,-0.2748158276081085,0.03685193881392479,0.5903816819190979,1.9571601152420044,0.02934284135699272,0.006310430821031332,0.26281243562698364,0.9643800258636475,1266,1,,2.0498149394989014,0.30613579283859543,0.0,0.007461059372872114,0.5537124802527646,12,release,0.0424191951751709,"Pre-grasping the small plate, moving the arm toward it; the ",v2,True,False +c5_p004_e022,0,True,0.1286296844482422,0.4499959945678711,-0.01132524972152839,0.011620163662232166,6.308496749121048,plate_6_clear,0.48097991943359375,0.1065673828125,-86.88794020368216,0.2849957797320991,606.2487558480263,rect,0.32401677283696984,0.5430009253216441,2.959140630055724,6634.903657555682,3327.190017103454,sphere,-0.693053817564349,0.6574692217863853,1.65475271716901,9006.2663649956,6104.498181295436,0.04979338496923447,0.0013390806270763278,-0.031548842787742615,-0.2748677730560303,0.6448144912719727,0.6543480753898621,-0.2837086617946625,0.07103428244590759,0.5582457780838013,1.9492818117141724,0.03065478801727295,0.01242429856210947,0.26725688576698303,0.9630574584007263,1171,1,,2.1025850772857666,0.30392852484133764,0.0,0.00736666563898325,0.5431255337318531,12,release,0.04231426119804382,"Pre-grasping the small plate, moving the arm toward it; the ",v2,True,False +c5_p004_e023,3,True,-0.09084606170654297,0.44750499725341797,0.009826079542057786,0.006596519551739606,5.40414921051925,plate_96_clear,0.5063915252685547,0.09279727935791016,-93.26214579185496,0.2617317257461941,606.2487558480263,rect,-0.24959219386997422,0.09488048030253105,2.6300773987044312,8369.593245339214,5304.144440714941,sphere,1.7374282613381613,0.8718260072100537,2.541145781297754,8394.428134787653,4680.247008749291,0.051964376121759415,-0.0006413735682144761,-0.027347587049007416,-0.28987908363342285,0.6355509757995605,0.6538917422294617,-0.29063841700553894,0.07151870429515839,0.5788511037826538,1.9577586650848389,0.05580925941467285,0.02070547081530094,0.2779150903224945,0.9587595462799072,1215,1,,2.085547685623169,0.31243325634998925,0.0,0.0072577642276883125,0.5259259259259259,12,release,0.042287349700927734,"Pre-grasping the small plate, moving the arm toward it; the ",v2,True,False +c7_p005_e000,3,True,-0.0985727310180664,0.44748687744140625,0.006846986693545959,-0.0011803895688950847,9.073465461656866,reservoir_12ch,0.4677009582519531,0.06300163269042969,-90.72762367119496,0.2650703041225846,859.0333663401909,rect,0.8404682736397021,-0.3791246496218227,2.9828869474089337,6837.318449151604,5936.52188331298,disk,1.7325997611747934,-0.728888297500582,1.658614460278005,3237.746583210537,6058.113230448401,0.04904264211654663,0.0025755069218575954,-0.030611438676714897,-0.2719164788722992,0.6538690328598022,0.6461113095283508,-0.28470486402511597,0.05471363291144371,0.5785902738571167,1.9282846450805664,0.056743647903203964,0.02456721104681492,0.27144715189933777,0.9604650139808655,1240,1,,2.1114652156829834,0.2661601653133818,0.0,0.007444989401847124,0.5153225806451613,12,release,0.04247593879699707,"Pre-grasping the small plate, moving the arm toward it; the ",v2,True,False +c7_p005_e001,0,True,-0.0760202407836914,0.45000553131103516,0.0015423297306983012,0.005967078592891046,9.580666554013533,deep_well_96_2ml,0.5033798217773438,0.09269237518310547,-90.34246080252042,0.1790255560106044,859.0333663401909,rect,0.7997430486916767,0.5758916735699762,2.729450411208756,7227.519838105212,3229.296181307055,disk,0.4078127469091499,-0.8063962579844672,2.7313569048493287,3283.0953805035892,7287.246134655605,0.048032332211732864,0.002858602674677968,-0.031716231256723404,-0.2673909068107605,0.659339964389801,0.6408864855766296,-0.2881622016429901,0.06291063129901886,0.5813440680503845,1.9299241304397583,0.031568776816129684,0.02372092194855213,0.27646389603614807,0.9602127075195312,1241,1,,2.1172237396240234,0.3115997420423231,0.0,0.00746768806129694,0.5165189363416599,12,release,0.043686628341674805,"Pre-grasping the small plate, moving the arm toward it; the ",v2,True,False +c7_p005_e002,2,True,-0.06455039978027344,0.45000553131103516,0.00577719188872653,-0.009703349882675745,0.7501234430862098,deep_well_24_10ml,0.5010499954223633,0.1187429428100586,-88.53705766770034,0.18666090618636474,859.0333663401909,rect,-0.3294714437153154,0.48281330040195625,3.113850170100154,6060.719482702606,4606.032729045065,disk,0.6100111179395653,-1.1780546322586445,1.6248042211374951,8503.28247168023,4128.772162824956,0.05137889087200165,0.0002339817292522639,-0.029458966106176376,-0.27592721581459045,0.6426321864128113,0.6527658104896545,-0.2911783754825592,0.057791367173194885,0.6011362075805664,1.9705764055252075,0.049425143748521805,-0.0012361574918031693,0.2650063633918762,0.9629783034324646,1284,1,,2.0856518745422363,0.31420810654786463,0.0,0.007517128251492977,0.543613707165109,12,release,0.04304945468902588,"Pre-grasping the small plate, moving the arm toward it; the ",v2,True,False +c7_p005_e003,1,True,0.060860633850097656,0.4499969482421875,-0.0058574288406706455,0.004482320004802955,7.287405260036621,deep_well_96_1ml,0.4787302017211914,0.07873058319091797,-91.79683951563818,0.2293242267863404,859.0333663401909,rect,-0.5739970464988262,-0.3757304460062477,3.179322839986911,7575.74129431849,3734.882173059593,disk,0.8099027717788645,1.0604131008888584,1.7858155472297867,2134.9796798385837,6078.082599817988,0.04837099835276604,-0.004873892292380333,-0.02854464016854763,-0.2825268805027008,0.6478011608123779,0.6480886340141296,-0.28374868631362915,0.04356405884027481,0.5761547088623047,1.9405598640441895,0.02183312550187111,0.0056459601037204266,0.2837775647640228,0.9586248993873596,1256,1,,2.1052610874176025,0.33204507749844897,0.0,0.007471954450011253,0.5111464968152867,12,release,0.04229164123535156,"Pre-grasping the small plate, moving the arm toward it; the ",v2,True,False +c8_p005_e008,3,True,0.13341331481933594,0.4471588134765625,0.0007176738167867733,-0.009755798153785675,9.263459586547754,plate_48_clear,0.4940500259399414,0.12068843841552734,-88.4793647150569,0.2521017489356282,1257.166175302294,rect,0.18772069160624127,0.4795507387815636,3.1139402834400625,11591.431928183607,3813.4382877403905,sphere,-0.31950027294986527,0.6676583901067243,1.9817068814353442,5926.230935972101,3195.0139855504117,0.050626687705516815,0.0013978254282847047,-0.030276047065854073,-0.29217106103897095,0.6387370228767395,0.6561858654022217,-0.27581003308296204,0.04767463728785515,0.5813131928443909,1.9717894792556763,0.03980465978384018,0.012481015175580978,0.27998828887939453,0.9590966701507568,1195,1,,2.078122615814209,0.25352055943119245,0.0,0.007291021291166544,0.5447698744769874,12,release,0.04244232177734375,"Pre-grasping the small plate, moving the arm toward it; the ",v2,True,False +c9_p007_e006,2,True,-0.10378742218017578,0.4473609924316406,0.010976455016576432,-0.012511236060591381,-9.384872684999692,plate_384_black,0.4984111785888672,0.10499954223632812,-94.88015299755519,0.28279328599353354,1428.887620207866,rect,0.7538738743099344,0.02919007070443258,2.861460280436451,9687.488949564828,3958.0310257956676,disk,-0.9718858761623611,4.153998581912788e-05,2.6234162934764944,8007.547276036936,5398.061763188672,0.0511634387075901,0.002557184547185898,-0.030541259795427322,-0.27779024839401245,0.6415922045707703,0.6594158411026001,-0.27633821964263916,0.0456579215824604,0.5797617435455322,1.9624202251434326,0.05378241464495659,-0.005217188037931919,0.2650880515575409,0.9627089500427246,1151,1,,2.079643726348877,0.28834366614455625,0.0,0.007422883063554764,0.5525629887054735,12,release,0.04225371778011322,"Pre-grasping the small plate, moving the arm toward it; the ",v2,True,False +c9_p007_e007,3,True,0.06804275512695312,0.4499969482421875,0.002389447891056837,-0.005965417101016546,-7.287203330104774,plate_384_white,0.5116128921508789,0.08402252197265625,-90.0992231714612,0.17882298729395113,1428.887620207866,rect,-0.23616520381291906,0.39300842740830133,3.142522447238431,13658.297479777399,4954.0827363681665,sphere,0.697533234880408,-0.6803919406814701,2.028229473736027,3032.165051120801,4902.669441687309,0.050567492842674255,0.0019391726236790419,-0.028502438217401505,-0.27827733755111694,0.6572052240371704,0.6388446688652039,-0.28726381063461304,0.0667676031589508,0.5707981586456299,1.9440476894378662,0.05096403509378433,-0.004151706583797932,0.2755707800388336,0.9599198698997498,1191,1,,1.9975523948669434,0.25400036493008427,0.0,0.007379395887255669,0.5331654072208228,12,release,0.042275428771972656,"Pre-grasping the small plate, moving the arm toward it; the ",v2,True,False