diff --git a/episodes/c4_p008_e000/data.npz b/episodes/c4_p008_e000/data.npz new file mode 100644 index 0000000000000000000000000000000000000000..675cf1f925593172502cdc09f919c12b2696348b --- /dev/null +++ b/episodes/c4_p008_e000/data.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:57ab10b7b93c6ac960698fcba15908068fac5b63806945fe525e16a2312473a7 +size 190958 diff --git a/episodes/c4_p008_e000/device_events.jsonl b/episodes/c4_p008_e000/device_events.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..30977b06dc6526eccdb772e287b05ac30a50901b --- /dev/null +++ b/episodes/c4_p008_e000/device_events.jsonl @@ -0,0 +1,37 @@ +{"env_id": 2, "seq": 1, "step": 73, "t": 0.365, "topic": "conveyor_1.belt.station.pick.captured", "source": "conveyor_1.belt", "data": {"rider": "carrier_2"}, "cause": null} +{"env_id": 2, "seq": 2, "step": 73, "t": 0.365, "topic": "conveyor_1.belt.state.changed", "source": "conveyor_1.belt", "data": {"from": "running", "to": "at_station"}, "cause": null} +{"env_id": 2, "seq": 3, "step": 78, "t": 0.39, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_2"}, "cause": null} +{"env_id": 2, "seq": 4, "step": 926, "t": 4.63, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_2"}, "cause": null} +{"env_id": 2, "seq": 5, "step": 1056, "t": 5.28, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_2"}, "cause": null} +{"env_id": 2, "seq": 6, "step": 5750, "t": 28.75, "topic": "a4s_sealer_1.plate_present.present", "source": "a4s_sealer_1.plate_present", "data": {"object": "plate_2"}, "cause": null} +{"env_id": 2, "seq": 7, "step": 6364, "t": 31.82, "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": 6364, "t": 31.82, "topic": "a4s_sealer_1.seal.started", "source": "a4s_sealer_1", "data": {"dwell": 3.4649239045507514}, "cause": "task-2-1"} +{"env_id": 2, "seq": 9, "step": 6364, "t": 31.82, "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": 6364, "t": 31.82, "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": 6364, "t": 31.82, "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": 6783, "t": 33.915, "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": 6783, "t": 33.915, "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": 6783, "t": 33.915, "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": 6783, "t": 33.915, "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": 6783, "t": 33.915, "topic": "labware.plate_2.changed", "source": "labware.plate_2", "data": {"key": "sealed", "value": true}, "cause": "task-2-1"} +{"env_id": 2, "seq": 17, "step": 6783, "t": 33.915, "topic": "a4s_sealer_1.sealed", "source": "a4s_sealer_1", "data": {"plate": "plate_2"}, "cause": "task-2-1"} +{"env_id": 2, "seq": 18, "step": 6783, "t": 33.915, "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": 6783, "t": 33.915, "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": 6783, "t": 33.915, "topic": "a4s_sealer_1.heater.started", "source": "a4s_sealer_1.heater", "data": {"duration": 3.4649239045507514}, "cause": "program-2-3"} +{"env_id": 2, "seq": 21, "step": 7476, "t": 37.38, "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": 7476, "t": 37.38, "topic": "a4s_sealer_1.heater.finished", "source": "a4s_sealer_1.heater", "data": {"elapsed": 3.4650000000017727}, "cause": "program-2-3"} +{"env_id": 2, "seq": 23, "step": 7476, "t": 37.38, "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": 3.4650000000017727}}, "cause": "program-2-3"} +{"env_id": 2, "seq": 24, "step": 7476, "t": 37.38, "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": 7476, "t": 37.38, "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": 7476, "t": 37.38, "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": 7896, "t": 39.48, "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": 7896, "t": 39.48, "topic": "a4s_sealer_1.drawer.reached", "source": "a4s_sealer_1.drawer", "data": {"position": "out", "q": 2.864635785526648e-11}, "cause": "program-2-4"} +{"env_id": 2, "seq": 29, "step": 7896, "t": 39.48, "topic": "a4s_sealer_1.drawer.at_out", "source": "a4s_sealer_1.drawer", "data": {"q": 2.864635785526648e-11}, "cause": "program-2-4"} +{"env_id": 2, "seq": 30, "step": 7896, "t": 39.48, "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": 7896, "t": 39.48, "topic": "a4s_sealer_1.seal.finished", "source": "a4s_sealer_1", "data": {}, "cause": "task-2-1"} +{"env_id": 2, "seq": 32, "step": 7896, "t": 39.48, "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": 8475, "t": 42.375, "topic": "a4s_sealer_1.plate_present.absent", "source": "a4s_sealer_1.plate_present", "data": {"object": "plate_2"}, "cause": null} +{"env_id": 2, "seq": 34, "step": 10184, "t": 50.92, "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": 10184, "t": 50.92, "topic": "conveyor_1.belt.station.pick.released", "source": "conveyor_1.belt", "data": {"rider": "carrier_2"}, "cause": "task-2-5"} +{"env_id": 2, "seq": 36, "step": 10184, "t": 50.92, "topic": "conveyor_1.belt.state.changed", "source": "conveyor_1.belt", "data": {"from": "at_station", "to": "running"}, "cause": null} +{"env_id": 2, "seq": 37, "step": 10184, "t": 50.92, "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_p008_e000/env.mp4 b/episodes/c4_p008_e000/env.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..7ace4bd68edf6725a4f8755ee3998bf5f0791a18 --- /dev/null +++ b/episodes/c4_p008_e000/env.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:5d4e180c19ae44292db2bd9ddd8b82af895a4a4f1be51cc4956282c901628f25 +size 1242613 diff --git a/episodes/c4_p008_e000/meta.json b/episodes/c4_p008_e000/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..628d09c2ea5a3375d165aef2d29505c3681ca0ad --- /dev/null +++ b/episodes/c4_p008_e000/meta.json @@ -0,0 +1,32 @@ +{ + "source": "raw/c4_p008/magicsim/0", + "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/c4_p008_e000/scene_snapshot.json b/episodes/c4_p008_e000/scene_snapshot.json new file mode 100644 index 0000000000000000000000000000000000000000..d00b381210c9858cb0dadbfe7acc643d7d815021 --- /dev/null +++ b/episodes/c4_p008_e000/scene_snapshot.json @@ -0,0 +1,1558 @@ +{ + "trajectory_id": 0, + "env_id": 2, + "run_id": "c4_p008", + "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": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_96_white/plate_96_white.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 0.9605 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/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": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_96_black/plate_96_black.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.0965 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_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": "$MAGICSIM_ASSETS/Bio/CAD/plates/deep_well_24_10ml/deep_well_24_10ml.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.2325 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "a4s_sealer": [ + { + "asset": "$MAGICSIM_ASSETS/Articulated/A4SSealer/Object.usd", + "pose": { + "pos": [ + 0.4988422393798828, + 0.11703014373779297, + 0.8999999761581421 + ], + "ori": [ + 0.735316276550293, + 0.0, + 0.0, + -0.6777241230010986 + ], + "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": [ + 2.5301405935651555e-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": 0.218144290467794, + "direction": [ + 1.0, + 0.0, + 0.0 + ], + "enabled": true, + "drive": "surface_velocity", + "lines": null, + "station_line": null, + "riders": [ + "carrier" + ], + "stations": { + "pick": { + "position": -0.28103755618182147, + "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": 0.218144290467794, + "holds": [], + "station": "pick", + "rider": "carrier_2", + "arrived": true, + "applied_speed": 0.0 + } + } + } + ], + "carrier": [ + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + 0.4996376037597656, + 1.1499958038330078, + 0.8999999761581421 + ], + "ori": [ + 3.136524901492521e-05, + -1.3918660668466032e-10, + 3.549665672508695e-09, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -1.4083676447285143e-09, + -4.809598275201665e-10, + 1.1175870895385742e-08 + ], + "angular_velocity": [ + -2.2109617248133873e-08, + -1.2567753060466202e-07, + -2.1021493878947695e-08 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + -0.13150978088378906, + 0.4499979019165039, + 0.8999999761581421 + ], + "ori": [ + 1.0, + 4.674735043508349e-10, + 1.3960874678531354e-09, + -6.742677214788273e-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": [ + 6.18889384185195e-11, + 2.049311165208678e-09, + 3.725290298461914e-09 + ], + "angular_velocity": [ + -1.4296071526587184e-07, + -1.0278395023988196e-08, + -1.69178293596417e-09 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + -1.0361509323120117, + 1.1493291854858398, + 0.8999999761581421 + ], + "ori": [ + -0.007291456684470177, + 8.619096547590743e-10, + -5.566855865168918e-09, + 0.999973475933075 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -1.971383056798004e-10, + -2.3988502295679837e-09, + 1.4901161193847656e-08 + ], + "angular_velocity": [ + 1.0185713961163856e-07, + 1.196850689666462e-07, + 2.80004446295834e-08 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + 1.6649894714355469, + 0.6535434722900391, + 0.8999999761581421 + ], + "ori": [ + 0.8425746560096741, + -4.072919779218864e-09, + 7.281896863275961e-09, + 0.538579523563385 + ], + "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": [ + -1.21845311618074e-10, + -9.278878776441957e-10, + 3.725290298461914e-09 + ], + "angular_velocity": [ + 7.853608963159786e-08, + 3.20012887300436e-08, + 1.138996097438394e-08 + ] + } + } + ], + "plate": [ + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_24_clear/Object.usd", + "pose": { + "pos": [ + 0.49588775634765625, + 1.1529664993286133, + 0.9179999828338623 + ], + "ori": [ + -0.06957264244556427, + -1.232370872017441e-10, + 1.4304851747581893e-09, + 0.997576892375946 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 1.133338756176272e-08, + -1.3060796888453297e-10, + 1.341104507446289e-07 + ], + "angular_velocity": [ + -7.344786467911035e-07, + 1.528740654066496e-06, + -1.7764516968554744e-08 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_384_black/Object.usd", + "pose": { + "pos": [ + -0.13623523712158203, + 0.444122314453125, + 0.9180000424385071 + ], + "ori": [ + 0.9953448176383972, + 8.933124240328993e-10, + 2.3055672926375337e-09, + 0.09637835621833801 + ], + "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": [ + -1.6861275042856505e-08, + 1.8129716394810202e-08, + -5.103647708892822e-06 + ], + "angular_velocity": [ + 1.730158629698053e-07, + -1.5188103361651883e-06, + 9.914803200672395e-08 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_1536_black/Object.usd", + "pose": { + "pos": [ + -1.0340023040771484, + 1.1461095809936523, + 0.9180000424385071 + ], + "ori": [ + 0.0603814460337162, + 9.825980029631864e-10, + -2.5145279636262785e-08, + 0.9981753826141357 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 3.721384800314809e-08, + -1.0634124691932811e-08, + -5.532056093215942e-06 + ], + "angular_velocity": [ + -8.783555131230969e-06, + 1.850505213951692e-06, + 5.905324087507324e-07 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/deep_well_24_10ml/Object.usd", + "pose": { + "pos": [ + 1.6727628707885742, + 0.6490974426269531, + 0.9179999828338623 + ], + "ori": [ + 0.858275294303894, + -2.1609323219706766e-09, + 6.353626513799782e-09, + 0.5131896138191223 + ], + "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": [ + -8.102708193291619e-08, + -4.2753985241006376e-08, + -1.6726553440093994e-06 + ], + "angular_velocity": [ + 2.012282266150578e-06, + -2.650679107318865e-06, + 2.823881217750568e-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": 2.299999999999973, + "step": 460, + "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": 2.5301405935651555e-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": 0.218144290467794, + "holds": [], + "station": "pick", + "rider": "carrier_2", + "arrived": true, + "settle_count": 386, + "released": { + "pick": [] + }, + "last_pos": { + "carrier_1": [ + 0.34963759779930115, + 0.6999958157539368, + 0.0 + ], + "carrier_2": [ + -0.28150978684425354, + -2.086162567138672e-06, + 0.0 + ], + "carrier_3": [ + -1.1861509382724762, + 0.6993291974067688, + 0.0 + ], + "carrier_4": [ + 1.5149894654750824, + 0.20354348421096802, + 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": [ + 0.7325246958215893, + -0.1975283954915168, + 3.090050531571356 + ], + "ori": [ + -1.7041630101103653, + 0.33251838922418386, + -18.463543709120174 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "color_temperature": 5720.993916365896, + "color": [ + 0.9436361428641598, + 0.9613071796349708, + 0.9924203357410277 + ], + "intensity": 9221.796282086438, + "width": 1.939034813738719, + "height": 0.9846708228064526 + } + }, + "key": { + "type": "disk", + "pose": { + "pos": [ + -1.3089395312835783, + 0.8029830431455645, + 1.7622292227304404 + ], + "ori": [ + -14.28303630811067, + -11.630510677760533, + -36.420653959978196 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "color_temperature": 3832.830255573813, + "color": [ + 0.8830875256172155, + 0.8989718424648693, + 0.9215922846784665 + ], + "intensity": 8958.849828889546, + "radius": 0.20425787773650095 + } + } + }, + {} + ], + "background": { + "type": "dome", + "pose": { + "pos": null, + "ori": null, + "scale": null + }, + "dr": { + "intensity": 1003.282330481583, + "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 + ], + [ + 0.9148498773574829, + -1.7189438343048096, + 2.09096097946167, + -1.9428133964538574, + -1.5707998275756836, + 2.486050605773926, + 0.018000077456235886, + 0.01799992099404335 + ], + [ + 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 + ], + [ + 0.0024133226834237576, + 0.001511123962700367, + 0.0015133527340367436, + -0.0028802393935620785, + 5.318933745002141e-06, + 0.0036450421903282404, + 4.230119884596206e-06, + -4.228806574246846e-06 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 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": [ + [ + 0.048883453011512756, + 0.0014590001665055752, + -0.03080505132675171, + -0.2750520706176758, + 0.6425319314002991, + 0.6591928005218506, + -0.2774237096309662 + ], + [ + 0.056201327592134476, + -0.0029875102918595076, + -0.029080042615532875, + -0.2916816174983978, + 0.6460638642311096, + 0.6446342468261719, + -0.2863040864467621 + ], + [ + 0.048566725105047226, + -0.0005133333615958691, + -0.031707875430583954, + -0.2797650396823883, + 0.654201865196228, + 0.6400607228279114, + -0.28995463252067566 + ], + [ + 0.05224079266190529, + 0.0006265908014029264, + -0.02898235432803631, + -0.2747735381126404, + 0.6568277478218079, + 0.640539288520813, + -0.28772595524787903 + ] + ], + "camera1": [ + [ + 0.025668663904070854, + 0.5670415759086609, + 1.9287309646606445, + 0.03548051416873932, + 0.028053227812051773, + 0.271859735250473, + 0.9612733125686646 + ], + [ + 0.038024067878723145, + 0.5640347599983215, + 1.9465104341506958, + 0.04526257514953613, + 0.013188634067773819, + 0.26338228583335876, + 0.9635388851165771 + ], + [ + 0.04166445881128311, + 0.5847527980804443, + 1.9659149646759033, + 0.03255760669708252, + 0.021048828959465027, + 0.2796851694583893, + 0.9593086838722229 + ], + [ + 0.06378815323114395, + 0.5875962376594543, + 1.9654231071472168, + 0.04528586193919182, + 0.01322939619421959, + 0.2734065055847168, + 0.960740864276886 + ] + ] + } + } + } +} \ No newline at end of file diff --git a/episodes/c4_p008_e000/wrist.mp4 b/episodes/c4_p008_e000/wrist.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..86d241a6a5c273a3dce01ab531a008073c29d9cb --- /dev/null +++ b/episodes/c4_p008_e000/wrist.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:d840ca57cb76adef4269ab3cf94696eb1748ff49569d25ddda82fb51bcda5955 +size 6580502 diff --git a/episodes/c4_p008_e001/data.npz b/episodes/c4_p008_e001/data.npz new file mode 100644 index 0000000000000000000000000000000000000000..46069ef6ec07494d6f3d35c04f6666baec0ba112 --- /dev/null +++ b/episodes/c4_p008_e001/data.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:55977131d5a40dcb17a8c89abc1be4d9a92ddf748b1b4b90752e61fa124231d2 +size 188154 diff --git a/episodes/c4_p008_e001/device_events.jsonl b/episodes/c4_p008_e001/device_events.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..4dfacdf54b1e69a8d74526767836578d74acc4c1 --- /dev/null +++ b/episodes/c4_p008_e001/device_events.jsonl @@ -0,0 +1,35 @@ +{"env_id": 3, "seq": 1, "step": 273, "t": 1.365, "topic": "conveyor_1.belt.station.pick.captured", "source": "conveyor_1.belt", "data": {"rider": "carrier_1"}, "cause": null} +{"env_id": 3, "seq": 2, "step": 273, "t": 1.365, "topic": "conveyor_1.belt.state.changed", "source": "conveyor_1.belt", "data": {"from": "running", "to": "at_station"}, "cause": null} +{"env_id": 3, "seq": 3, "step": 278, "t": 1.39, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_1"}, "cause": null} +{"env_id": 3, "seq": 4, "step": 5779, "t": 28.895, "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": 6388, "t": 31.94, "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": 6388, "t": 31.94, "topic": "a4s_sealer_1.seal.started", "source": "a4s_sealer_1", "data": {"dwell": 4.2218484173728985}, "cause": "task-3-1"} +{"env_id": 3, "seq": 7, "step": 6388, "t": 31.94, "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": 6388, "t": 31.94, "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": 6388, "t": 31.94, "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": 6807, "t": 34.035, "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": 6807, "t": 34.035, "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": 6807, "t": 34.035, "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": 6807, "t": 34.035, "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": 6807, "t": 34.035, "topic": "labware.plate_1.changed", "source": "labware.plate_1", "data": {"key": "sealed", "value": true}, "cause": "task-3-1"} +{"env_id": 3, "seq": 15, "step": 6807, "t": 34.035, "topic": "a4s_sealer_1.sealed", "source": "a4s_sealer_1", "data": {"plate": "plate_1"}, "cause": "task-3-1"} +{"env_id": 3, "seq": 16, "step": 6807, "t": 34.035, "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": 6807, "t": 34.035, "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": 6807, "t": 34.035, "topic": "a4s_sealer_1.heater.started", "source": "a4s_sealer_1.heater", "data": {"duration": 4.2218484173728985}, "cause": "program-3-3"} +{"env_id": 3, "seq": 19, "step": 7652, "t": 38.26, "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": 7652, "t": 38.26, "topic": "a4s_sealer_1.heater.finished", "source": "a4s_sealer_1.heater", "data": {"elapsed": 4.2250000000021615}, "cause": "program-3-3"} +{"env_id": 3, "seq": 21, "step": 7652, "t": 38.26, "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": 4.2250000000021615}}, "cause": "program-3-3"} +{"env_id": 3, "seq": 22, "step": 7652, "t": 38.26, "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": 7652, "t": 38.26, "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": 7652, "t": 38.26, "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": 8072, "t": 40.36, "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": 8072, "t": 40.36, "topic": "a4s_sealer_1.drawer.reached", "source": "a4s_sealer_1.drawer", "data": {"position": "out", "q": 1.2330525055864738e-12}, "cause": "program-3-4"} +{"env_id": 3, "seq": 27, "step": 8072, "t": 40.36, "topic": "a4s_sealer_1.drawer.at_out", "source": "a4s_sealer_1.drawer", "data": {"q": 1.2330525055864738e-12}, "cause": "program-3-4"} +{"env_id": 3, "seq": 28, "step": 8072, "t": 40.36, "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": 8072, "t": 40.36, "topic": "a4s_sealer_1.seal.finished", "source": "a4s_sealer_1", "data": {}, "cause": "task-3-1"} +{"env_id": 3, "seq": 30, "step": 8072, "t": 40.36, "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": 8651, "t": 43.255, "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": 10448, "t": 52.24, "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": 10448, "t": 52.24, "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": 10448, "t": 52.24, "topic": "conveyor_1.belt.state.changed", "source": "conveyor_1.belt", "data": {"from": "at_station", "to": "running"}, "cause": null} +{"env_id": 3, "seq": 35, "step": 10448, "t": 52.24, "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_p008_e001/env.mp4 b/episodes/c4_p008_e001/env.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..e7872a3ea84ad7e88370a8313357a594103a8629 --- /dev/null +++ b/episodes/c4_p008_e001/env.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:b57b67ac050697a55b14d7a4bb77c077e427cc7f087e20e7dc7b056387d1b1df +size 1215157 diff --git a/episodes/c4_p008_e001/meta.json b/episodes/c4_p008_e001/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..c7ab5bbe77bffbe1e089fd24c4d872d97752ba8e --- /dev/null +++ b/episodes/c4_p008_e001/meta.json @@ -0,0 +1,32 @@ +{ + "source": "raw/c4_p008/magicsim/1", + "fps": 25, + "frames": 1209, + "kept_ticks": "even", + "video_frames": { + "wrist": 1209, + "env": 1209 + }, + "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_p008_e001/scene_snapshot.json b/episodes/c4_p008_e001/scene_snapshot.json new file mode 100644 index 0000000000000000000000000000000000000000..3f6965575e7cd5f073159da4aca76c24b16ef495 --- /dev/null +++ b/episodes/c4_p008_e001/scene_snapshot.json @@ -0,0 +1,1558 @@ +{ + "trajectory_id": 1, + "env_id": 3, + "run_id": "c4_p008", + "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_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": "$MAGICSIM_ASSETS/Bio/CAD/plates/deep_well_96_2ml/deep_well_96_2ml.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.0285 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/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/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": [ + 0.4977226257324219, + 0.10507011413574219, + 0.8999999761581421 + ], + "ori": [ + 0.7244132161140442, + 0.0, + 0.0, + -0.6893659830093384 + ], + "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": [ + 7.228975989863329e-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": 0.15692256071374253, + "direction": [ + 1.0, + 0.0, + 0.0 + ], + "enabled": true, + "drive": "surface_velocity", + "lines": null, + "station_line": null, + "riders": [ + "carrier" + ], + "stations": { + "pick": { + "position": -0.21301747474557864, + "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": 0.15692256071374253, + "holds": [], + "station": "pick", + "rider": "carrier_1", + "arrived": true, + "applied_speed": 0.0 + } + } + } + ], + "carrier": [ + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + -0.06339073181152344, + 0.4476766586303711, + 0.8999999761581421 + ], + "ori": [ + -0.9999034404754639, + -2.0881034679121058e-09, + 1.4199059983344142e-10, + -0.013899659737944603 + ], + "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": [ + -9.776930376403925e-10, + -1.1126256582727478e-09, + 2.2351741790771484e-08 + ], + "angular_velocity": [ + 7.372054255938565e-08, + -2.2325420445667987e-07, + 1.8141880886446415e-08 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + -1.0421781539916992, + 1.1492090225219727, + 0.8999999761581421 + ], + "ori": [ + -0.00806108396500349, + 1.498861301740817e-08, + 4.780194018394468e-09, + 0.9999675154685974 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 1.3809398069497547e-10, + -1.0256499649585749e-07, + 1.4901161193847656e-08 + ], + "angular_velocity": [ + 1.9985579911008244e-06, + -6.593057833015337e-07, + -6.254151685425313e-07 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + 0.2984352111816406, + 1.1522483825683594, + 0.8999999761581421 + ], + "ori": [ + -0.013890284113585949, + 1.4950799709367857e-08, + 4.616707904858686e-09, + 0.9999035596847534 + ], + "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": [ + -3.040772078577447e-10, + 2.2301362978538464e-09, + 1.862645149230957e-08 + ], + "angular_velocity": [ + -2.2363879281783738e-07, + 1.030315175398755e-07, + 2.361242401605068e-08 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + 1.6700773239135742, + 0.9357099533081055, + 0.8999999761581421 + ], + "ori": [ + 0.5533979535102844, + -7.113906264066827e-08, + 4.6874816916897544e-08, + 0.8329170942306519 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 1.5823796717384653e-09, + 7.14836523307838e-10, + 0.0 + ], + "angular_velocity": [ + -1.6600569807678767e-08, + 4.132122555233764e-08, + 2.0097127517715307e-08 + ] + } + } + ], + "plate": [ + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_48_clear/Object.usd", + "pose": { + "pos": [ + -0.07362651824951172, + 0.4431133270263672, + 0.9179999828338623 + ], + "ori": [ + -0.9999953508377075, + -2.4714486013266423e-09, + 2.799250831131417e-10, + 0.003047892590984702 + ], + "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": [ + -4.1780527482160323e-08, + -3.819191718434922e-08, + 1.6391277313232422e-07 + ], + "angular_velocity": [ + 8.955205430538626e-07, + -2.56644352703006e-06, + 1.227699044648034e-07 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_384_white/Object.usd", + "pose": { + "pos": [ + -1.0390710830688477, + 1.1584529876708984, + 0.9180000424385071 + ], + "ori": [ + 0.023432409390807152, + 7.665817491897542e-08, + 7.39584038456087e-08, + 0.9997254610061646 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -2.5561195116097224e-07, + -4.028770035802154e-06, + -4.403293132781982e-06 + ], + "angular_velocity": [ + -1.901809355331352e-06, + 2.4376186047447845e-05, + 1.6108586351037957e-05 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_96_clear/Object.usd", + "pose": { + "pos": [ + 0.3120098114013672, + 1.1474199295043945, + 0.9180000424385071 + ], + "ori": [ + -0.0014458755031228065, + 1.347653721950337e-08, + 4.538271536347338e-09, + 0.9999990463256836 + ], + "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": [ + 1.491716972168433e-08, + 4.914658546795181e-08, + -5.7891011238098145e-06 + ], + "angular_velocity": [ + -8.710080692253541e-07, + 1.5473284520339803e-06, + 3.3073007443817914e-08 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/reservoir_12ch/Object.usd", + "pose": { + "pos": [ + 1.6645593643188477, + 0.9272041320800781, + 0.9179999828338623 + ], + "ori": [ + 0.4819602370262146, + -7.064926421662676e-08, + 5.075895259665231e-08, + 0.8761931657791138 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 9.992091065669229e-08, + -7.688900183211445e-09, + -1.7471611499786377e-06 + ], + "angular_velocity": [ + -9.055646188471655e-08, + 3.9049191400408745e-06, + 1.1451941617224293e-08 + ] + } + } + ], + "deco_hub_west": [ + { + "asset": "$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": 4.139999999999934, + "step": 828, + "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": 7.228975989863329e-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": 0.15692256071374253, + "holds": [], + "station": "pick", + "rider": "carrier_1", + "arrived": true, + "settle_count": 554, + "released": { + "pick": [] + }, + "last_pos": { + "carrier_1": [ + -0.21339073777198792, + -0.002323329448699951, + 0.0 + ], + "carrier_2": [ + -1.1921781599521637, + 0.6992090344429016, + 0.0 + ], + "carrier_3": [ + 0.14843520522117615, + 0.7022483944892883, + 0.0 + ], + "carrier_4": [ + 1.5200773179531097, + 0.4857099652290344, + 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": [ + -0.20641684363432433, + 0.11476922133448908, + 2.90865383723402 + ], + "ori": [ + 13.75393086534364, + 12.76188978165277, + -22.276360051223506 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "color_temperature": 6250.655617502908, + "color": [ + 0.9330301375384249, + 0.9650850964318173, + 0.7994434983987736 + ], + "intensity": 14647.674822706033, + "width": 1.854794494441622, + "height": 0.9880607519296019 + } + }, + "key": { + "type": "sphere", + "pose": { + "pos": [ + -1.2417059537028454, + -0.10381205924767856, + 2.787544329000329 + ], + "ori": [ + 8.017699949154995, + 21.6138078516354, + -27.502200987427365 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "color_temperature": 4674.7712383884955, + "color": [ + 0.8247918366036087, + 0.8550951831092758, + 0.993851852885668 + ], + "intensity": 4711.320624482827, + "radius": 0.10865000736506358 + } + } + } + ], + "background": { + "type": "dome", + "pose": { + "pos": null, + "ori": null, + "scale": null + }, + "dr": { + "intensity": 1003.282330481583, + "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": [ + [ + 1.119753122329712, + -1.5726211071014404, + 2.100872755050659, + -2.0990054607391357, + -1.5707955360412598, + 2.6585445404052734, + 0.018001703545451164, + 0.01799830235540867 + ], + [ + 1.0994291305541992, + -1.3766882419586182, + 2.328885793685913, + -2.522955894470215, + -1.5707948207855225, + 2.769843816757202, + 0.018000038340687752, + 0.017999960109591484 + ], + [ + 1.2812016010284424, + -1.3424707651138306, + 2.2017204761505127, + -2.430006265640259, + -1.5707961320877075, + 2.6590332984924316, + 0.018000055104494095, + 0.01799994334578514 + ], + [ + 0.9141013622283936, + -1.7193995714187622, + 2.0905003547668457, + -1.9419008493423462, + -1.5707999467849731, + 2.48490047454834, + 0.01799999736249447, + 0.018000001087784767 + ] + ], + "joint_vel": [ + [ + 0.03525577113032341, + 0.02552439644932747, + 0.00221692374907434, + -0.02640567161142826, + 6.922100874362513e-05, + 0.029268287122249603, + 4.344624176155776e-05, + -4.351314055384137e-05 + ], + [ + -9.525151835987344e-05, + 0.01992304064333439, + 0.006344446446746588, + -0.025191819295287132, + -7.949020073283464e-06, + 8.120371057884768e-05, + -8.168079148163088e-06, + 8.169847205863334e-06 + ], + [ + -0.00010609047603793442, + 0.01825794018805027, + 0.007247352972626686, + -0.02424907498061657, + -8.307289135700557e-06, + 1.988296935451217e-05, + -8.32786099635996e-06, + 8.329776392201893e-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": [ + [ + 0.05161309242248535, + -0.0013736893888562918, + -0.02675868198275566, + -0.2772822678089142, + 0.6435500979423523, + 0.6559256315231323, + -0.28056976199150085 + ], + [ + 0.055287983268499374, + -0.0019897932652384043, + -0.03296225145459175, + -0.2895178496837616, + 0.6491654515266418, + 0.644615113735199, + -0.2814871072769165 + ], + [ + 0.04943288862705231, + 0.0021319566294550896, + -0.0308928694576025, + -0.28478673100471497, + 0.6491169929504395, + 0.6428179144859314, + -0.2903941571712494 + ], + [ + 0.04976649582386017, + -0.0010711218928918242, + -0.02896558865904808, + -0.27652448415756226, + 0.6539613604545593, + 0.6426830291748047, + -0.2877972424030304 + ] + ], + "camera1": [ + [ + 0.025668663904070854, + 0.5670415759086609, + 1.9287309646606445, + 0.03548051416873932, + 0.028053227812051773, + 0.271859735250473, + 0.9612733125686646 + ], + [ + 0.038024067878723145, + 0.5640347599983215, + 1.9465104341506958, + 0.04526257514953613, + 0.013188634067773819, + 0.26338228583335876, + 0.9635388851165771 + ], + [ + 0.04166445881128311, + 0.5847527980804443, + 1.9659149646759033, + 0.03255760669708252, + 0.021048828959465027, + 0.2796851694583893, + 0.9593086838722229 + ], + [ + 0.06378815323114395, + 0.5875962376594543, + 1.9654231071472168, + 0.04528586193919182, + 0.01322939619421959, + 0.2734065055847168, + 0.960740864276886 + ] + ] + } + } + } +} \ No newline at end of file diff --git a/episodes/c4_p008_e001/wrist.mp4 b/episodes/c4_p008_e001/wrist.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..d937978ad46770f3a2276303bdff7136ef06fb59 --- /dev/null +++ b/episodes/c4_p008_e001/wrist.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:3965d6698a905f31c962f2c4fa26b68e61ae154ec476736efb738cdf1b0d5118 +size 6993855 diff --git a/episodes/c4_p008_e002/data.npz b/episodes/c4_p008_e002/data.npz new file mode 100644 index 0000000000000000000000000000000000000000..ac9e2803279af3e3f67290bba0db906544273267 --- /dev/null +++ b/episodes/c4_p008_e002/data.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:648c5e6cc5832cccc266dd1a77e741ced520f055aa8b72c0b4d2991b530c1f91 +size 189248 diff --git a/episodes/c4_p008_e002/device_events.jsonl b/episodes/c4_p008_e002/device_events.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..731256b5b5559012f8403b12ce15f615aecf02fa --- /dev/null +++ b/episodes/c4_p008_e002/device_events.jsonl @@ -0,0 +1,35 @@ +{"env_id": 0, "seq": 1, "step": 64, "t": 0.32, "topic": "conveyor_1.belt.station.pick.captured", "source": "conveyor_1.belt", "data": {"rider": "carrier_2"}, "cause": null} +{"env_id": 0, "seq": 2, "step": 64, "t": 0.32, "topic": "conveyor_1.belt.state.changed", "source": "conveyor_1.belt", "data": {"from": "running", "to": "at_station"}, "cause": null} +{"env_id": 0, "seq": 3, "step": 69, "t": 0.345, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_2"}, "cause": null} +{"env_id": 0, "seq": 4, "step": 6009, "t": 30.045, "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": 6620, "t": 33.1, "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": 6620, "t": 33.1, "topic": "a4s_sealer_1.seal.started", "source": "a4s_sealer_1", "data": {"dwell": 3.768336788545228}, "cause": "task-0-1"} +{"env_id": 0, "seq": 7, "step": 6620, "t": 33.1, "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": 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": 0, "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-0-2"} +{"env_id": 0, "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": 0, "seq": 11, "step": 7039, "t": 35.195, "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": 7039, "t": 35.195, "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": 7039, "t": 35.195, "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": 7039, "t": 35.195, "topic": "labware.plate_2.changed", "source": "labware.plate_2", "data": {"key": "sealed", "value": true}, "cause": "task-0-1"} +{"env_id": 0, "seq": 15, "step": 7039, "t": 35.195, "topic": "a4s_sealer_1.sealed", "source": "a4s_sealer_1", "data": {"plate": "plate_2"}, "cause": "task-0-1"} +{"env_id": 0, "seq": 16, "step": 7039, "t": 35.195, "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": 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": 0, "seq": 18, "step": 7039, "t": 35.195, "topic": "a4s_sealer_1.heater.started", "source": "a4s_sealer_1.heater", "data": {"duration": 3.768336788545228}, "cause": "program-0-3"} +{"env_id": 0, "seq": 19, "step": 7793, "t": 38.965, "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": 7793, "t": 38.965, "topic": "a4s_sealer_1.heater.finished", "source": "a4s_sealer_1.heater", "data": {"elapsed": 3.7700000000019287}, "cause": "program-0-3"} +{"env_id": 0, "seq": 21, "step": 7793, "t": 38.965, "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": 3.7700000000019287}}, "cause": "program-0-3"} +{"env_id": 0, "seq": 22, "step": 7793, "t": 38.965, "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": 7793, "t": 38.965, "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": 7793, "t": 38.965, "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": 8213, "t": 41.065, "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": 8213, "t": 41.065, "topic": "a4s_sealer_1.drawer.reached", "source": "a4s_sealer_1.drawer", "data": {"position": "out", "q": 4.398810309058643e-12}, "cause": "program-0-4"} +{"env_id": 0, "seq": 27, "step": 8213, "t": 41.065, "topic": "a4s_sealer_1.drawer.at_out", "source": "a4s_sealer_1.drawer", "data": {"q": 4.398810309058643e-12}, "cause": "program-0-4"} +{"env_id": 0, "seq": 28, "step": 8213, "t": 41.065, "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": 8213, "t": 41.065, "topic": "a4s_sealer_1.seal.finished", "source": "a4s_sealer_1", "data": {}, "cause": "task-0-1"} +{"env_id": 0, "seq": 30, "step": 8213, "t": 41.065, "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": 8795, "t": 43.975, "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": 10508, "t": 52.54, "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": 10508, "t": 52.54, "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": 10508, "t": 52.54, "topic": "conveyor_1.belt.state.changed", "source": "conveyor_1.belt", "data": {"from": "at_station", "to": "running"}, "cause": null} +{"env_id": 0, "seq": 35, "step": 10508, "t": 52.54, "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_p008_e002/env.mp4 b/episodes/c4_p008_e002/env.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..bad13dd3f74eb268b5cd60c4bfa01db27c8e3b87 --- /dev/null +++ b/episodes/c4_p008_e002/env.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:20ed68d2aeb55033b9216a2b87792f410fbeb052c449d628c7a95a74bd47d928 +size 1369175 diff --git a/episodes/c4_p008_e002/meta.json b/episodes/c4_p008_e002/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..9403d7a8c8c1bc4c9c00340fd8e5149cf2a14700 --- /dev/null +++ b/episodes/c4_p008_e002/meta.json @@ -0,0 +1,32 @@ +{ + "source": "raw/c4_p008/magicsim/2", + "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/c4_p008_e002/scene_snapshot.json b/episodes/c4_p008_e002/scene_snapshot.json new file mode 100644 index 0000000000000000000000000000000000000000..70e3143b6c522cda7cfae142eee4811329950d93 --- /dev/null +++ b/episodes/c4_p008_e002/scene_snapshot.json @@ -0,0 +1,1558 @@ +{ + "trajectory_id": 2, + "env_id": 0, + "run_id": "c4_p008", + "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": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_96_white/plate_96_white.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 0.9605 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$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_2", + "arrived": true, + "applied_speed": 0.0 + } + } + } + ], + "carrier": [ + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + 1.6957950592041016, + 0.7524929046630859, + 0.8999999761581421 + ], + "ori": [ + 0.7544362545013428, + -6.909415262157381e-09, + 1.3003480070494788e-08, + 0.6563734412193298 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 9.71255742499011e-10, + -1.5736911773700513e-11, + 0.0 + ], + "angular_velocity": [ + -1.3608598692371743e-08, + 8.629724845832243e-08, + -1.074409894386008e-09 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + -0.10692787170410156, + 0.4500007629394531, + 0.8999999761581421 + ], + "ori": [ + 1.0, + 7.555052139451846e-10, + -1.5854259016734318e-09, + 3.346943049109541e-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": [ + -2.891449302211413e-10, + 2.0540336098662237e-10, + 0.0 + ], + "angular_velocity": [ + -3.256704417253786e-08, + -3.55300713295037e-08, + -5.434736216614056e-09 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + 0.4276695251464844, + 1.1499996185302734, + 0.8999999761581421 + ], + "ori": [ + -4.368824738776311e-05, + 2.965904466467606e-10, + -1.7955589237672598e-09, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 1.3197776205231548e-11, + -4.98525110081971e-10, + 3.725290298461914e-09 + ], + "angular_velocity": [ + 5.96633213945097e-08, + 5.126292279555855e-09, + -4.587747959305943e-09 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + -1.357381820678711, + 0.9653682708740234, + 0.8999999761581421 + ], + "ori": [ + -0.5120376944541931, + 6.77594087505895e-08, + -6.044432154794777e-08, + 0.8589630722999573 + ], + "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": [ + -3.635880148067372e-07, + -8.615039348569553e-09, + -5.21540641784668e-08 + ], + "angular_velocity": [ + -6.40335088064603e-07, + -1.9607778085628524e-06, + 4.736312348541105e-06 + ] + } + } + ], + "plate": [ + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_6_clear/Object.usd", + "pose": { + "pos": [ + 1.695383071899414, + 0.76446533203125, + 0.9179999828338623 + ], + "ori": [ + 0.7844915986061096, + -5.533132174662114e-09, + 1.3628921102792901e-08, + 0.6201395392417908 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 1.1809545341634475e-08, + -3.503848944319543e-08, + 8.568167686462402e-08 + ], + "angular_velocity": [ + 1.9740514289878774e-06, + 5.909682272431382e-07, + 2.997141379523782e-08 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_96_black/Object.usd", + "pose": { + "pos": [ + -0.10475730895996094, + 0.4619560241699219, + 0.9180000424385071 + ], + "ori": [ + 0.9997385144233704, + 1.873248001160732e-09, + -1.3035141854800258e-09, + 0.022870218381285667 + ], + "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": [ + -1.4932522773847268e-08, + -1.3299517043208198e-09, + -5.0514936447143555e-06 + ], + "angular_velocity": [ + 6.337280069601547e-07, + -1.1896637488462147e-06, + 8.190156819409822e-08 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/pcr_96_blue/Object.usd", + "pose": { + "pos": [ + 0.42733001708984375, + 1.139669418334961, + 0.9180000424385071 + ], + "ori": [ + 0.08022862672805786, + 6.724045764627817e-10, + -2.5609190323905295e-09, + 0.9967765212059021 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 1.9262795802887922e-08, + -1.0004542083663637e-08, + -5.7853758335113525e-06 + ], + "angular_velocity": [ + 2.449683478289444e-08, + 1.564286208122212e-06, + 1.3311492352841015e-07 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/deep_well_96_2ml/Object.usd", + "pose": { + "pos": [ + -1.3602104187011719, + 0.9664812088012695, + 0.9179999828338623 + ], + "ori": [ + -0.4642609655857086, + 7.95344021753408e-07, + -1.092895217880141e-06, + 0.8856985569000244 + ], + "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": [ + -2.0365881937323138e-05, + 4.554059160000179e-06, + -1.0095536708831787e-05 + ], + "angular_velocity": [ + -0.0002447471779305488, + -0.0004425443767104298, + -4.837714368477464e-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": 3.579999999999946, + "step": 716, + "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_2", + "arrived": true, + "settle_count": 651, + "released": { + "pick": [] + }, + "last_pos": { + "carrier_1": [ + 1.545795053243637, + 0.3024929165840149, + 0.0 + ], + "carrier_2": [ + -0.25692787766456604, + 7.748603820800781e-07, + 0.0 + ], + "carrier_3": [ + 0.2776695191860199, + 0.6999996304512024, + 0.0 + ], + "carrier_4": [ + -1.5073818266391754, + 0.5153682827949524, + 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": [ + -0.4251165812278262, + 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": 1003.282330481583, + "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 + ], + [ + 1.0989574193954468, + -1.5278204679489136, + 2.262493133544922, + -2.3054301738739014, + -1.570794701576233, + 2.769118547439575, + 0.01800004206597805, + 0.017999958246946335 + ], + [ + 1.2808737754821777, + -1.4700500965118408, + 2.131939172744751, + -2.232647180557251, + -1.5707961320877075, + 2.65887451171875, + 0.018000049516558647, + 0.017999950796365738 + ], + [ + 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 + ], + [ + -9.475752449361607e-05, + 0.016161901876330376, + 0.0100087970495224, + -0.02505914308130741, + -8.032769983401522e-06, + 6.084708729758859e-05, + -7.14158204573323e-06, + 7.117283985280665e-06 + ], + [ + -8.48655981826596e-05, + 0.013963405042886734, + 0.01023549772799015, + -0.0229935459792614, + -7.807909241819289e-06, + 2.002812470891513e-05, + -6.281751666392665e-06, + 6.2575350057159085e-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": [ + [ + 0.05033911019563675, + -0.00014923234994057566, + -0.02707703784108162, + -0.27940407395362854, + 0.643298864364624, + 0.65756756067276, + -0.27514517307281494 + ], + [ + 0.053607355803251266, + -0.00031404790934175253, + -0.03203434497117996, + -0.2909916639328003, + 0.647708535194397, + 0.6452670097351074, + -0.28182971477508545 + ], + [ + 0.047328848391771317, + 0.0010351825039833784, + -0.02804231084883213, + -0.27820059657096863, + 0.6493569016456604, + 0.6441874504089355, + -0.2931937575340271 + ], + [ + 0.05150269716978073, + 0.0009698617504909635, + -0.03030945174396038, + -0.28188398480415344, + 0.6537013649940491, + 0.6413819193840027, + -0.28608593344688416 + ] + ], + "camera1": [ + [ + 0.025668663904070854, + 0.5670415759086609, + 1.9287309646606445, + 0.03548051416873932, + 0.028053227812051773, + 0.271859735250473, + 0.9612733125686646 + ], + [ + 0.038024067878723145, + 0.5640347599983215, + 1.9465104341506958, + 0.04526257514953613, + 0.013188634067773819, + 0.26338228583335876, + 0.9635388851165771 + ], + [ + 0.04166445881128311, + 0.5847527980804443, + 1.9659149646759033, + 0.03255760669708252, + 0.021048828959465027, + 0.2796851694583893, + 0.9593086838722229 + ], + [ + 0.06378815323114395, + 0.5875962376594543, + 1.9654231071472168, + 0.04528586193919182, + 0.01322939619421959, + 0.2734065055847168, + 0.960740864276886 + ] + ] + } + } + } +} \ No newline at end of file diff --git a/episodes/c4_p008_e002/wrist.mp4 b/episodes/c4_p008_e002/wrist.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..4031d9225dbd8df72f4a43e0ff47c9e366012c05 --- /dev/null +++ b/episodes/c4_p008_e002/wrist.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:e5a58bca422c459d16f9976851831e7b31be50a0a339f3af899c1372e3ee5087 +size 6564272 diff --git a/episodes/c4_p008_e003/data.npz b/episodes/c4_p008_e003/data.npz new file mode 100644 index 0000000000000000000000000000000000000000..b05b4d1f2041aad13b9378ee7d630f749c5bb2ed --- /dev/null +++ b/episodes/c4_p008_e003/data.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:34ca67534c06baa8bcbdafc296f339affd62ce869ba9e02f3748119ab587d40a +size 200541 diff --git a/episodes/c4_p008_e003/device_events.jsonl b/episodes/c4_p008_e003/device_events.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..70a7a57e28eeafc59f9ee0c966805053f0d0f59a --- /dev/null +++ b/episodes/c4_p008_e003/device_events.jsonl @@ -0,0 +1,35 @@ +{"env_id": 1, "seq": 1, "step": 116, "t": 0.58, "topic": "conveyor_1.belt.station.pick.captured", "source": "conveyor_1.belt", "data": {"rider": "carrier_1"}, "cause": null} +{"env_id": 1, "seq": 2, "step": 116, "t": 0.58, "topic": "conveyor_1.belt.state.changed", "source": "conveyor_1.belt", "data": {"from": "running", "to": "at_station"}, "cause": null} +{"env_id": 1, "seq": 3, "step": 121, "t": 0.605, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_1"}, "cause": null} +{"env_id": 1, "seq": 4, "step": 5925, "t": 29.625, "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": 6536, "t": 32.68, "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": 6536, "t": 32.68, "topic": "a4s_sealer_1.seal.started", "source": "a4s_sealer_1", "data": {"dwell": 1.8305432543830316}, "cause": "task-1-1"} +{"env_id": 1, "seq": 7, "step": 6536, "t": 32.68, "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": 6536, "t": 32.68, "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": 6536, "t": 32.68, "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": 6955, "t": 34.775, "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": 6955, "t": 34.775, "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": 6955, "t": 34.775, "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": 6955, "t": 34.775, "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": 6955, "t": 34.775, "topic": "labware.plate_1.changed", "source": "labware.plate_1", "data": {"key": "sealed", "value": true}, "cause": "task-1-1"} +{"env_id": 1, "seq": 15, "step": 6955, "t": 34.775, "topic": "a4s_sealer_1.sealed", "source": "a4s_sealer_1", "data": {"plate": "plate_1"}, "cause": "task-1-1"} +{"env_id": 1, "seq": 16, "step": 6955, "t": 34.775, "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": 6955, "t": 34.775, "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": 6955, "t": 34.775, "topic": "a4s_sealer_1.heater.started", "source": "a4s_sealer_1.heater", "data": {"duration": 1.8305432543830316}, "cause": "program-1-3"} +{"env_id": 1, "seq": 19, "step": 7322, "t": 36.61, "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": 7322, "t": 36.61, "topic": "a4s_sealer_1.heater.finished", "source": "a4s_sealer_1.heater", "data": {"elapsed": 1.8350000000009388}, "cause": "program-1-3"} +{"env_id": 1, "seq": 21, "step": 7322, "t": 36.61, "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": 1.8350000000009388}}, "cause": "program-1-3"} +{"env_id": 1, "seq": 22, "step": 7322, "t": 36.61, "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": 7322, "t": 36.61, "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": 7322, "t": 36.61, "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": 7742, "t": 38.71, "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": 7742, "t": 38.71, "topic": "a4s_sealer_1.drawer.reached", "source": "a4s_sealer_1.drawer", "data": {"position": "out", "q": 1.2218029610266967e-07}, "cause": "program-1-4"} +{"env_id": 1, "seq": 27, "step": 7742, "t": 38.71, "topic": "a4s_sealer_1.drawer.at_out", "source": "a4s_sealer_1.drawer", "data": {"q": 1.2218029610266967e-07}, "cause": "program-1-4"} +{"env_id": 1, "seq": 28, "step": 7742, "t": 38.71, "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": 7742, "t": 38.71, "topic": "a4s_sealer_1.seal.finished", "source": "a4s_sealer_1", "data": {}, "cause": "task-1-1"} +{"env_id": 1, "seq": 30, "step": 7742, "t": 38.71, "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_1"}, "cause": null} +{"env_id": 1, "seq": 32, "step": 10540, "t": 52.7, "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": 10540, "t": 52.7, "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": 10540, "t": 52.7, "topic": "conveyor_1.belt.state.changed", "source": "conveyor_1.belt", "data": {"from": "at_station", "to": "running"}, "cause": null} +{"env_id": 1, "seq": 35, "step": 10540, "t": 52.7, "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_p008_e003/env.mp4 b/episodes/c4_p008_e003/env.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..d3df0961911873e8b81e649ab78c13ba26503236 --- /dev/null +++ b/episodes/c4_p008_e003/env.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:f09c867579b02d0a61e4df000971ad53c7b9387c5f57136e38132e161a8bfaec +size 1379179 diff --git a/episodes/c4_p008_e003/meta.json b/episodes/c4_p008_e003/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..763d5ac910e62ba66f1ae2206ef31d05fbfb0699 --- /dev/null +++ b/episodes/c4_p008_e003/meta.json @@ -0,0 +1,32 @@ +{ + "source": "raw/c4_p008/magicsim/3", + "fps": 25, + "frames": 1265, + "kept_ticks": "even", + "video_frames": { + "wrist": 1265, + "env": 1265 + }, + "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_p008_e003/scene_snapshot.json b/episodes/c4_p008_e003/scene_snapshot.json new file mode 100644 index 0000000000000000000000000000000000000000..d7cca5f0a459ea7f7478b6a66f2b28f15f4f9ce7 --- /dev/null +++ b/episodes/c4_p008_e003/scene_snapshot.json @@ -0,0 +1,1558 @@ +{ + "trajectory_id": 3, + "env_id": 1, + "run_id": "c4_p008", + "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": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_96_clear/plate_96_clear.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.0285 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/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_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": [ + 0.5011758804321289, + 0.07409000396728516, + 0.8999999761581421 + ], + "ori": [ + -0.6871027946472168, + 0.0, + 0.0, + 0.7265602350234985 + ], + "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": [ + 3.6144882659822075e-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": 0.2998844064909002, + "direction": [ + 1.0, + 0.0, + 0.0 + ], + "enabled": true, + "drive": "surface_velocity", + "lines": null, + "station_line": null, + "riders": [ + "carrier" + ], + "stations": { + "pick": { + "position": -0.23340175812360348, + "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": 0.2998844064909002, + "holds": [], + "station": "pick", + "rider": "carrier_1", + "arrived": true, + "applied_speed": 0.0 + } + } + } + ], + "carrier": [ + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + -0.0833292007446289, + 0.4472990036010742, + 0.8999999761581421 + ], + "ori": [ + 0.9999642968177795, + 9.290531677308422e-10, + -1.1822967604935286e-10, + 0.008456137962639332 + ], + "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": [ + -1.2357862511080953e-09, + 2.42529507588074e-09, + 3.725290298461914e-09 + ], + "angular_velocity": [ + -1.62717228135989e-07, + -1.1450259762568749e-07, + -7.203631025021195e-10 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + -1.2437763214111328, + 1.087784767150879, + 0.8999999761581421 + ], + "ori": [ + -0.2856481075286865, + -1.6952093062627682e-08, + -2.3238248658685734e-08, + 0.9583346247673035 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -5.921576562428754e-10, + 4.355746874296074e-09, + -1.4901161193847656e-08 + ], + "angular_velocity": [ + -1.6266440638901258e-07, + 7.853052608197686e-08, + 2.60954493569443e-08 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + 1.6885242462158203, + 0.7218132019042969, + 0.8999999761581421 + ], + "ori": [ + 0.7897082567214966, + -2.8355991332773556e-08, + 2.6594243252020533e-08, + 0.6134827136993408 + ], + "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": [ + -3.12898984500265e-10, + 2.9186078553955497e-10, + 0.0 + ], + "angular_velocity": [ + -2.4962858446997416e-08, + -2.8613818869871466e-08, + -5.209974673903162e-10 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + 0.4166431427001953, + 1.1526470184326172, + 0.8999999761581421 + ], + "ori": [ + -0.00966132152825594, + -8.153522301768135e-11, + 3.588984665015005e-10, + 0.9999533295631409 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 4.648697427001025e-09, + 8.681372065666437e-09, + 2.2351741790771484e-08 + ], + "angular_velocity": [ + -3.2929347071330994e-07, + 3.1312765713664703e-07, + -9.737997430647738e-08 + ] + } + } + ], + "plate": [ + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_12_clear/Object.usd", + "pose": { + "pos": [ + -0.07252311706542969, + 0.43859386444091797, + 0.9179999828338623 + ], + "ori": [ + 0.9987586140632629, + 2.2616346573300916e-09, + 4.048942292556035e-10, + -0.049812909215688705 + ], + "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": [ + -3.7205559522135445e-08, + 3.2940910443812754e-08, + 1.0803341865539551e-07 + ], + "angular_velocity": [ + -1.008422714221524e-06, + -1.9350452475919155e-06, + 2.0634925590456987e-07 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_96_white/Object.usd", + "pose": { + "pos": [ + -1.2507390975952148, + 1.0968132019042969, + 0.9180000424385071 + ], + "ori": [ + -0.25357335805892944, + -1.6865007523847453e-07, + 9.488547902947175e-08, + 0.9673161506652832 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 5.517676072486211e-06, + 3.2626139727653936e-06, + -6.206333637237549e-06 + ], + "angular_velocity": [ + 2.5314177037216723e-05, + 7.127035496523604e-05, + 2.719153417274356e-05 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/pcr_384_red/Object.usd", + "pose": { + "pos": [ + 1.6909360885620117, + 0.7232723236083984, + 0.9179999828338623 + ], + "ori": [ + 0.7526631355285645, + -2.7306025884854535e-08, + 2.7774175848094274e-08, + 0.6584057807922363 + ], + "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": [ + 8.3051232557807e-10, + -1.2024786499864604e-08, + -6.098300218582153e-06 + ], + "angular_velocity": [ + 1.0103931344929151e-06, + 2.815739890138502e-07, + 2.6271406383671092e-08 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/deep_well_96_1ml/Object.usd", + "pose": { + "pos": [ + 0.4139881134033203, + 1.1469602584838867, + 0.9179999828338623 + ], + "ori": [ + 0.05330377444624901, + 4.504277784089794e-10, + 5.1181672233724385e-09, + 0.9985784292221069 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 1.4139558857095835e-07, + 1.2548468930617673e-07, + 2.868473529815674e-07 + ], + "angular_velocity": [ + -3.1132603908190504e-06, + 5.723623871745076e-06, + -5.18049674269605e-08 + ] + } + } + ], + "deco_hub_west": [ + { + "asset": "$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": 2.259999999999974, + "step": 452, + "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": 3.6144882659822075e-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": 0.2998844064909002, + "holds": [], + "station": "pick", + "rider": "carrier_1", + "arrived": true, + "settle_count": 335, + "released": { + "pick": [] + }, + "last_pos": { + "carrier_1": [ + -0.23332920670509338, + -0.002700984477996826, + 0.0 + ], + "carrier_2": [ + -1.3937763273715973, + 0.6377847790718079, + 0.0 + ], + "carrier_3": [ + 1.5385242402553558, + 0.27181321382522583, + 0.0 + ], + "carrier_4": [ + 0.26664313673973083, + 0.7026470303535461, + 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": [ + 0.6470723955842482, + -0.12527081104450227, + 2.9214729203391765 + ], + "ori": [ + -5.209562330927614, + -1.6767030415678246, + -17.74528532301158 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "color_temperature": 7196.340508085423, + "color": [ + 0.9980446626982432, + 0.8178789683958589, + 0.8758910380163429 + ], + "intensity": 6069.168775738325, + "width": 2.468620308459566, + "height": 1.796872008928725 + } + }, + "key": { + "type": "sphere", + "pose": { + "pos": [ + 1.5867839042912517, + 1.3179889664122546, + 2.4946048058300825 + ], + "ori": [ + -18.15108198491119, + -7.108398777789013, + -3.7868481803240073 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "color_temperature": 4438.308333791521, + "color": [ + 0.7818420172626566, + 0.8177074078955038, + 0.8832935988617745 + ], + "intensity": 2316.440644065576, + "radius": 0.1323211289582316 + } + } + }, + {}, + {} + ], + "background": { + "type": "dome", + "pose": { + "pos": null, + "ori": null, + "scale": null + }, + "dr": { + "intensity": 1003.282330481583, + "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": [ + [ + 0.04896039888262749, + 0.0013899013865739107, + -0.029441704973578453, + -0.27826395630836487, + 0.6439356803894043, + 0.6577834486961365, + -0.27429357171058655 + ], + [ + 0.05287667736411095, + -0.00221422640606761, + -0.030533118173480034, + -0.2909070551395416, + 0.6464723348617554, + 0.6446357369422913, + -0.2861667573451996 + ], + [ + 0.047950033098459244, + 0.0008228065562434494, + -0.030973652377724648, + -0.28281453251838684, + 0.6485235095024109, + 0.6441047787666321, + -0.29079583287239075 + ], + [ + 0.05072028189897537, + 0.0007693966035731137, + -0.029074398800730705, + -0.2798910140991211, + 0.6543781161308289, + 0.6408856511116028, + -0.2876037359237671 + ] + ], + "camera1": [ + [ + 0.025668663904070854, + 0.5670415759086609, + 1.9287309646606445, + 0.03548051416873932, + 0.028053227812051773, + 0.271859735250473, + 0.9612733125686646 + ], + [ + 0.038024067878723145, + 0.5640347599983215, + 1.9465104341506958, + 0.04526257514953613, + 0.013188634067773819, + 0.26338228583335876, + 0.9635388851165771 + ], + [ + 0.04166445881128311, + 0.5847527980804443, + 1.9659149646759033, + 0.03255760669708252, + 0.021048828959465027, + 0.2796851694583893, + 0.9593086838722229 + ], + [ + 0.06378815323114395, + 0.5875962376594543, + 1.9654231071472168, + 0.04528586193919182, + 0.01322939619421959, + 0.2734065055847168, + 0.960740864276886 + ] + ] + } + } + } +} \ No newline at end of file diff --git a/episodes/c4_p008_e003/wrist.mp4 b/episodes/c4_p008_e003/wrist.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..b74bf2324fd9384dae19a28d878aba770a5bb3dc --- /dev/null +++ b/episodes/c4_p008_e003/wrist.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:0bf9c83466fb819f6500cd586ab3f87eeb67c3ad4e84611ee2bda57377673a28 +size 7532951 diff --git a/episodes/c5_p007_e026/data.npz b/episodes/c5_p007_e026/data.npz new file mode 100644 index 0000000000000000000000000000000000000000..69096a65a9a721f3934444dc5bcc4d863db55cd5 --- /dev/null +++ b/episodes/c5_p007_e026/data.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:99a0f00f51667315826d2b6ce1b4b876175b63a5d34d307dfb204480a332a740 +size 190486 diff --git a/episodes/c5_p007_e026/device_events.jsonl b/episodes/c5_p007_e026/device_events.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..8ae2cb7c3da4201e2bdd66bd83026bcfc4be9196 --- /dev/null +++ b/episodes/c5_p007_e026/device_events.jsonl @@ -0,0 +1,37 @@ +{"env_id": 0, "seq": 1, "step": 139, "t": 0.695, "topic": "conveyor_1.belt.station.pick.captured", "source": "conveyor_1.belt", "data": {"rider": "carrier_4"}, "cause": null} +{"env_id": 0, "seq": 2, "step": 139, "t": 0.695, "topic": "conveyor_1.belt.state.changed", "source": "conveyor_1.belt", "data": {"from": "running", "to": "at_station"}, "cause": null} +{"env_id": 0, "seq": 3, "step": 144, "t": 0.72, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_4"}, "cause": null} +{"env_id": 0, "seq": 4, "step": 951, "t": 4.755, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_4"}, "cause": null} +{"env_id": 0, "seq": 5, "step": 1003, "t": 5.015, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_4"}, "cause": null} +{"env_id": 0, "seq": 6, "step": 5674, "t": 28.37, "topic": "a4s_sealer_1.plate_present.present", "source": "a4s_sealer_1.plate_present", "data": {"object": "plate_4"}, "cause": null} +{"env_id": 0, "seq": 7, "step": 6284, "t": 31.42, "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": 8, "step": 6284, "t": 31.42, "topic": "a4s_sealer_1.seal.started", "source": "a4s_sealer_1", "data": {"dwell": 3.777614942775338}, "cause": "task-0-1"} +{"env_id": 0, "seq": 9, "step": 6284, "t": 31.42, "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": 10, "step": 6284, "t": 31.42, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "at_out", "to": "moving"}, "cause": null} +{"env_id": 0, "seq": 11, "step": 6284, "t": 31.42, "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": 12, "step": 6703, "t": 33.515, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "moving", "to": "at_in"}, "cause": null} +{"env_id": 0, "seq": 13, "step": 6703, "t": 33.515, "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": 14, "step": 6703, "t": 33.515, "topic": "a4s_sealer_1.drawer.at_in", "source": "a4s_sealer_1.drawer", "data": {"q": 0.30000001192092896}, "cause": "program-0-2"} +{"env_id": 0, "seq": 15, "step": 6703, "t": 33.515, "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": 16, "step": 6703, "t": 33.515, "topic": "labware.plate_4.changed", "source": "labware.plate_4", "data": {"key": "sealed", "value": true}, "cause": "task-0-1"} +{"env_id": 0, "seq": 17, "step": 6703, "t": 33.515, "topic": "a4s_sealer_1.sealed", "source": "a4s_sealer_1", "data": {"plate": "plate_4"}, "cause": "task-0-1"} +{"env_id": 0, "seq": 18, "step": 6703, "t": 33.515, "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": 19, "step": 6703, "t": 33.515, "topic": "a4s_sealer_1.heater.state.changed", "source": "a4s_sealer_1.heater", "data": {"from": "ready", "to": "running"}, "cause": null} +{"env_id": 0, "seq": 20, "step": 6703, "t": 33.515, "topic": "a4s_sealer_1.heater.started", "source": "a4s_sealer_1.heater", "data": {"duration": 3.777614942775338}, "cause": "program-0-3"} +{"env_id": 0, "seq": 21, "step": 7459, "t": 37.295, "topic": "a4s_sealer_1.heater.state.changed", "source": "a4s_sealer_1.heater", "data": {"from": "running", "to": "ready"}, "cause": null} +{"env_id": 0, "seq": 22, "step": 7459, "t": 37.295, "topic": "a4s_sealer_1.heater.finished", "source": "a4s_sealer_1.heater", "data": {"elapsed": 3.780000000001934}, "cause": "program-0-3"} +{"env_id": 0, "seq": 23, "step": 7459, "t": 37.295, "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": 3.780000000001934}}, "cause": "program-0-3"} +{"env_id": 0, "seq": 24, "step": 7459, "t": 37.295, "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": 25, "step": 7459, "t": 37.295, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "at_in", "to": "moving"}, "cause": null} +{"env_id": 0, "seq": 26, "step": 7459, "t": 37.295, "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": 27, "step": 7879, "t": 39.395, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "moving", "to": "at_out"}, "cause": null} +{"env_id": 0, "seq": 28, "step": 7879, "t": 39.395, "topic": "a4s_sealer_1.drawer.reached", "source": "a4s_sealer_1.drawer", "data": {"position": "out", "q": 3.659940261968586e-08}, "cause": "program-0-4"} +{"env_id": 0, "seq": 29, "step": 7879, "t": 39.395, "topic": "a4s_sealer_1.drawer.at_out", "source": "a4s_sealer_1.drawer", "data": {"q": 3.659940261968586e-08}, "cause": "program-0-4"} +{"env_id": 0, "seq": 30, "step": 7879, "t": 39.395, "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": 31, "step": 7879, "t": 39.395, "topic": "a4s_sealer_1.seal.finished", "source": "a4s_sealer_1", "data": {}, "cause": "task-0-1"} +{"env_id": 0, "seq": 32, "step": 7879, "t": 39.395, "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": 33, "step": 8459, "t": 42.295, "topic": "a4s_sealer_1.plate_present.absent", "source": "a4s_sealer_1.plate_present", "data": {"object": "plate_4"}, "cause": null} +{"env_id": 0, "seq": 34, "step": 10184, "t": 50.92, "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": 35, "step": 10184, "t": 50.92, "topic": "conveyor_1.belt.station.pick.released", "source": "conveyor_1.belt", "data": {"rider": "carrier_4"}, "cause": "task-0-5"} +{"env_id": 0, "seq": 36, "step": 10184, "t": 50.92, "topic": "conveyor_1.belt.state.changed", "source": "conveyor_1.belt", "data": {"from": "at_station", "to": "running"}, "cause": null} +{"env_id": 0, "seq": 37, "step": 10184, "t": 50.92, "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_p007_e026/env.mp4 b/episodes/c5_p007_e026/env.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..14f724217eb8c8052e69209e76d20ad483bedef8 --- /dev/null +++ b/episodes/c5_p007_e026/env.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:cfedcd126513da8a0b60bd65019b57abadd2df857760a15aca419e3c11ec2876 +size 1274940 diff --git a/episodes/c5_p007_e026/meta.json b/episodes/c5_p007_e026/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..65bd7943b0c6791ebf43e937098000ea8a809209 --- /dev/null +++ b/episodes/c5_p007_e026/meta.json @@ -0,0 +1,32 @@ +{ + "source": "raw/c5_p007/magicsim/26", + "fps": 25, + "frames": 1212, + "kept_ticks": "even", + "video_frames": { + "wrist": 1212, + "env": 1212 + }, + "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_p007_e026/scene_snapshot.json b/episodes/c5_p007_e026/scene_snapshot.json new file mode 100644 index 0000000000000000000000000000000000000000..8980e687baaad457ae95dd162d846efdf7ab3ac3 --- /dev/null +++ b/episodes/c5_p007_e026/scene_snapshot.json @@ -0,0 +1,1558 @@ +{ + "trajectory_id": 26, + "env_id": 0, + "run_id": "c5_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": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_24_clear/plate_24_clear.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 0.9605 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$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": [ + 1.6820831836780736e-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": 0.20717575507584976, + "direction": [ + 1.0, + 0.0, + 0.0 + ], + "enabled": true, + "drive": "surface_velocity", + "lines": null, + "station_line": null, + "riders": [ + "carrier" + ], + "stations": { + "pick": { + "position": -0.06430264552767911, + "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": 0.20717575507584976, + "holds": [], + "station": "pick", + "rider": "carrier_4", + "arrived": true, + "applied_speed": 0.0 + } + } + } + ], + "carrier": [ + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + -1.125685691833496, + 1.1390552520751953, + 0.8999999761581421 + ], + "ori": [ + -0.09547483175992966, + 6.361293003465107e-08, + -2.0888712981559365e-10, + 0.9954319000244141 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 9.927691557720664e-09, + 1.0155103069564575e-07, + -5.960464477539063e-08 + ], + "angular_velocity": [ + -2.7568435143621173e-06, + 5.127778877067612e-07, + 7.030126312201901e-07 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + -0.03178596496582031, + 1.1499958038330078, + 0.8999999761581421 + ], + "ori": [ + 2.4652286811033264e-05, + 6.021279030932192e-10, + -1.1753007456150044e-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": [ + 5.266553859684109e-11, + -9.505711773272196e-10, + 3.725290298461914e-09 + ], + "angular_velocity": [ + 7.77496751425133e-08, + 1.162965901357893e-08, + -3.334995390957829e-09 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + 1.693678855895996, + 0.7507448196411133, + 0.8999999761581421 + ], + "ori": [ + 0.7602049708366394, + 2.4084027216986215e-08, + -1.2934291859778568e-08, + 0.6496832966804504 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 3.5175695689559916e-10, + 6.616741599074771e-10, + 0.0 + ], + "angular_velocity": [ + -5.907617151024169e-08, + 4.7056758489816275e-08, + -3.0262294892224872e-09 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + 0.08555412292480469, + 0.4499959945678711, + 0.8999999761581421 + ], + "ori": [ + 1.0, + 7.282849878720299e-10, + -3.5773035644837137e-09, + 2.6230753064737655e-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": [ + 5.053279572564406e-09, + 3.0719915500299066e-09, + 3.725290298461914e-08 + ], + "angular_velocity": [ + -1.9602371992277767e-07, + 4.831902629121032e-07, + -2.8038165567068063e-08 + ] + } + } + ], + "plate": [ + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_6_clear/Object.usd", + "pose": { + "pos": [ + -1.1209983825683594, + 1.1408882141113281, + 0.9179999828338623 + ], + "ori": [ + -0.07920274883508682, + 7.834918847038352e-08, + -4.227619569974195e-07, + 0.9968585968017578 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -2.0419163320184452e-06, + 5.148880518390797e-06, + -1.9297003746032715e-06 + ], + "angular_velocity": [ + -6.721664249198511e-05, + -1.0667054084478877e-05, + -3.4717420930974185e-05 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_96_black/Object.usd", + "pose": { + "pos": [ + -0.028783798217773438, + 1.1483707427978516, + 0.9180000424385071 + ], + "ori": [ + 0.04187348112463951, + 2.7516544598427117e-10, + -1.1680030276295383e-09, + 0.9991229772567749 + ], + "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": [ + 1.4491750910394785e-08, + -1.2874675547891457e-08, + -5.334615707397461e-06 + ], + "angular_velocity": [ + 7.007492541788451e-08, + 1.2165750149506493e-06, + 9.847237691928967e-08 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/pcr_96_blue/Object.usd", + "pose": { + "pos": [ + 1.7046165466308594, + 0.7542028427124023, + 0.9180000424385071 + ], + "ori": [ + 0.8226396441459656, + 2.476105187554367e-08, + -1.0171144815274147e-08, + 0.5685632824897766 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 1.2049506281641698e-08, + -1.5490545735019623e-08, + -5.938112735748291e-06 + ], + "angular_velocity": [ + 1.5112336768652312e-06, + -1.270998950531066e-08, + -8.649367089219595e-08 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/deep_well_96_2ml/Object.usd", + "pose": { + "pos": [ + 0.09847068786621094, + 0.44330596923828125, + 0.9179999828338623 + ], + "ori": [ + 0.9991403818130493, + 9.980333226522475e-10, + -3.4416367533651737e-09, + -0.041456494480371475 + ], + "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": [ + -4.142612652913158e-08, + 4.702490841168583e-08, + -1.1399388313293457e-06 + ], + "angular_velocity": [ + -1.3433467529466725e-06, + -2.3188420072983718e-06, + -2.758169515004738e-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": 2.639999999999966, + "step": 528, + "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": 1.6820831836780736e-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": 0.20717575507584976, + "holds": [], + "station": "pick", + "rider": "carrier_4", + "arrived": true, + "settle_count": 388, + "released": { + "pick": [] + }, + "last_pos": { + "carrier_1": [ + -1.2756856977939606, + 0.6890552639961243, + 0.0 + ], + "carrier_2": [ + -0.1817859709262848, + 0.6999958157539368, + 0.0 + ], + "carrier_3": [ + 1.5436788499355316, + 0.30074483156204224, + 0.0 + ], + "carrier_4": [ + -0.06444588303565979, + -3.993511199951172e-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": [ + 0.3928320195077012, + 0.17547504900564848, + 2.8159598097628122 + ], + "ori": [ + -11.004519950865786, + -14.360303289789048, + -25.833873971876834 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "color_temperature": 3425.744321618148, + "color": [ + 0.8257229178795125, + 0.9882648268111389, + 0.9516565963980759 + ], + "intensity": 11932.489044430473, + "width": 2.583672152693269, + "height": 1.6427176307616755 + } + }, + "key": { + "type": "sphere", + "pose": { + "pos": [ + 0.7760253195204916, + -1.1527557377061093, + 2.014658145414886 + ], + "ori": [ + -9.780389499271173, + -31.650324069879765, + 2.8016265003432395 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "color_temperature": 5905.611219471414, + "color": [ + 0.9397174822937753, + 0.7898706351803719, + 0.8433979585492788 + ], + "intensity": 2304.7245047131537, + "radius": 0.08551168630291657 + } + } + }, + {}, + {}, + {} + ], + "background": { + "type": "dome", + "pose": { + "pos": null, + "ori": null, + "scale": null + }, + "dr": { + "intensity": 1461.9531450656978, + "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": [ + [ + 0.9141009449958801, + -1.719397783279419, + 2.09049916267395, + -1.941900610923767, + -1.5707999467849731, + 2.4849002361297607, + 0.018000001087784767, + 0.01799999736249447 + ], + [ + 0.9141026735305786, + -1.7193982601165771, + 2.0904998779296875, + -1.9419008493423462, + -1.5707999467849731, + 2.484900951385498, + 0.01799999549984932, + 0.018000002950429916 + ], + [ + 2.8049330711364746, + -1.3917162418365479, + 2.2196669578552246, + -2.399043560028076, + -1.571833848953247, + 4.375046730041504, + 0.01799989491701126, + 0.017999887466430664 + ], + [ + 2.7911670207977295, + -1.4298468828201294, + 2.2664554119110107, + -2.4072978496551514, + -1.5704416036605835, + 4.362442493438721, + 0.018000027164816856, + 0.01799997128546238 + ] + ], + "joint_vel": [ + [ + 0.0, + -2.454310080795251e-38, + -1.6918134198710952e-38, + -3.6030116610315866e-37, + 5.968039579626662e-37, + -2.6942972293122715e-36, + -2.5990372520823257e-08, + 2.5990400942532688e-08 + ], + [ + 2.886386449285165e-38, + -1.620929577832303e-38, + -2.6130365591477874e-38, + -5.2578476170260786e-37, + 2.0619799737916303e-37, + -2.9090749848249254e-37, + 5.1980777016069624e-08, + -5.1980773463355945e-08 + ], + [ + 3.697909201072491e-10, + 6.8118952185614035e-06, + 8.269646079028803e-11, + 6.812003903178265e-06, + -3.405816414669971e-06, + 1.3623857739730738e-05, + 1.5653113223379478e-06, + 1.6706310361769283e-06 + ], + [ + -0.006702158600091934, + -0.018349001184105873, + 0.022210463881492615, + -0.003931557293981314, + -4.873845227848506e-06, + -0.006798609625548124, + -3.1822946766624227e-06, + 3.182269665558124e-06 + ] + ] + } + }, + "cameras": { + "cameras": { + "camera0": [ + [ + 0.052411120384931564, + 0.00022822906612418592, + -0.03144267201423645, + -0.27879244089126587, + 0.6407286524772644, + 0.6593308448791504, + -0.27753278613090515 + ], + [ + 0.04665433242917061, + -0.0004747503553517163, + -0.032574594020843506, + -0.27721086144447327, + 0.6550275087356567, + 0.6512883305549622, + -0.264417439699173 + ], + [ + 0.049664899706840515, + -0.0030394119676202536, + -0.031346723437309265, + -0.2787238657474518, + 0.6517101526260376, + 0.645706057548523, + -0.2839905023574829 + ], + [ + 0.04822300374507904, + 0.002963981358334422, + -0.028753776103258133, + -0.27569079399108887, + 0.6531220078468323, + 0.649227499961853, + -0.27555373311042786 + ] + ], + "camera1": [ + [ + 0.05094919726252556, + 0.5900187492370605, + 1.9255307912826538, + 0.03277754783630371, + 0.010227200575172901, + 0.2754877507686615, + 0.9606911540031433 + ], + [ + 0.06907598674297333, + 0.5959287285804749, + 1.9377716779708862, + 0.047152649611234665, + -0.003496214048936963, + 0.2727587819099426, + 0.9609199166297913 + ], + [ + 0.07254008203744888, + 0.6004801392555237, + 1.9305235147476196, + 0.029090354219079018, + 0.014837713912129402, + 0.27595824003219604, + 0.9606147408485413 + ], + [ + 0.05200650542974472, + 0.5729271173477173, + 1.9587680101394653, + 0.04209646210074425, + 0.005021553486585617, + 0.26951050758361816, + 0.9620637893676758 + ] + ] + } + } + } +} \ No newline at end of file diff --git a/episodes/c5_p007_e026/wrist.mp4 b/episodes/c5_p007_e026/wrist.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..92235cdbd4d254b3da1da7055bc8b3114120d22f --- /dev/null +++ b/episodes/c5_p007_e026/wrist.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:be6aa189ea97d5e1b488beb559baf917b1f6dfd3dbcc3bf4b149e97456dc3a39 +size 6113900 diff --git a/episodes/c5_p007_e027/data.npz b/episodes/c5_p007_e027/data.npz new file mode 100644 index 0000000000000000000000000000000000000000..222015c06472562b72696521ce9bef669ff13f2b --- /dev/null +++ b/episodes/c5_p007_e027/data.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:2e42e8f3ea5c31f36b98d87689de6e5862dea9aa530a776b70c561833a75affd +size 189139 diff --git a/episodes/c5_p007_e027/device_events.jsonl b/episodes/c5_p007_e027/device_events.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..dae0fb305080456a02a51d04990db956ec915244 --- /dev/null +++ b/episodes/c5_p007_e027/device_events.jsonl @@ -0,0 +1,35 @@ +{"env_id": 1, "seq": 1, "step": 130, "t": 0.65, "topic": "conveyor_1.belt.station.pick.captured", "source": "conveyor_1.belt", "data": {"rider": "carrier_3"}, "cause": null} +{"env_id": 1, "seq": 2, "step": 130, "t": 0.65, "topic": "conveyor_1.belt.state.changed", "source": "conveyor_1.belt", "data": {"from": "running", "to": "at_station"}, "cause": null} +{"env_id": 1, "seq": 3, "step": 135, "t": 0.675, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_3"}, "cause": null} +{"env_id": 1, "seq": 4, "step": 7227, "t": 36.135, "topic": "a4s_sealer_1.plate_present.present", "source": "a4s_sealer_1.plate_present", "data": {"object": "plate_3"}, "cause": null} +{"env_id": 1, "seq": 5, "step": 7840, "t": 39.2, "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": 7840, "t": 39.2, "topic": "a4s_sealer_1.seal.started", "source": "a4s_sealer_1", "data": {"dwell": 4.230453801413922}, "cause": "task-1-1"} +{"env_id": 1, "seq": 7, "step": 7840, "t": 39.2, "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": 7840, "t": 39.2, "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": 7840, "t": 39.2, "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": 8259, "t": 41.295, "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": 8259, "t": 41.295, "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": 8259, "t": 41.295, "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": 8259, "t": 41.295, "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": 8259, "t": 41.295, "topic": "labware.plate_3.changed", "source": "labware.plate_3", "data": {"key": "sealed", "value": true}, "cause": "task-1-1"} +{"env_id": 1, "seq": 15, "step": 8259, "t": 41.295, "topic": "a4s_sealer_1.sealed", "source": "a4s_sealer_1", "data": {"plate": "plate_3"}, "cause": "task-1-1"} +{"env_id": 1, "seq": 16, "step": 8259, "t": 41.295, "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": 8259, "t": 41.295, "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": 8259, "t": 41.295, "topic": "a4s_sealer_1.heater.started", "source": "a4s_sealer_1.heater", "data": {"duration": 4.230453801413922}, "cause": "program-1-3"} +{"env_id": 1, "seq": 19, "step": 9106, "t": 45.53, "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": 9106, "t": 45.53, "topic": "a4s_sealer_1.heater.finished", "source": "a4s_sealer_1.heater", "data": {"elapsed": 4.235000000002167}, "cause": "program-1-3"} +{"env_id": 1, "seq": 21, "step": 9106, "t": 45.53, "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": 4.235000000002167}}, "cause": "program-1-3"} +{"env_id": 1, "seq": 22, "step": 9106, "t": 45.53, "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": 9106, "t": 45.53, "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": 9106, "t": 45.53, "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": 9526, "t": 47.63, "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": 9526, "t": 47.63, "topic": "a4s_sealer_1.drawer.reached", "source": "a4s_sealer_1.drawer", "data": {"position": "out", "q": 1.3023753187013654e-09}, "cause": "program-1-4"} +{"env_id": 1, "seq": 27, "step": 9526, "t": 47.63, "topic": "a4s_sealer_1.drawer.at_out", "source": "a4s_sealer_1.drawer", "data": {"q": 1.3023753187013654e-09}, "cause": "program-1-4"} +{"env_id": 1, "seq": 28, "step": 9526, "t": 47.63, "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": 9526, "t": 47.63, "topic": "a4s_sealer_1.seal.finished", "source": "a4s_sealer_1", "data": {}, "cause": "task-1-1"} +{"env_id": 1, "seq": 30, "step": 9526, "t": 47.63, "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": 10107, "t": 50.535, "topic": "a4s_sealer_1.plate_present.absent", "source": "a4s_sealer_1.plate_present", "data": {"object": "plate_3"}, "cause": null} +{"env_id": 1, "seq": 32, "step": 11852, "t": 59.26, "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": 11852, "t": 59.26, "topic": "conveyor_1.belt.station.pick.released", "source": "conveyor_1.belt", "data": {"rider": "carrier_3"}, "cause": "task-1-5"} +{"env_id": 1, "seq": 34, "step": 11852, "t": 59.26, "topic": "conveyor_1.belt.state.changed", "source": "conveyor_1.belt", "data": {"from": "at_station", "to": "running"}, "cause": null} +{"env_id": 1, "seq": 35, "step": 11852, "t": 59.26, "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_p007_e027/env.mp4 b/episodes/c5_p007_e027/env.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..5150b597c0d44ca7a3f961e2ed3ed2047e03af70 --- /dev/null +++ b/episodes/c5_p007_e027/env.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:f44281873d613cdfc138f99b48bf93885380f4ee12c2d408984ecd4b2eafe753 +size 1367301 diff --git a/episodes/c5_p007_e027/meta.json b/episodes/c5_p007_e027/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..0dbc35023696fa4e62240811dd55cefe921075aa --- /dev/null +++ b/episodes/c5_p007_e027/meta.json @@ -0,0 +1,32 @@ +{ + "source": "raw/c5_p007/magicsim/27", + "fps": 25, + "frames": 1277, + "kept_ticks": "even", + "video_frames": { + "wrist": 1277, + "env": 1277 + }, + "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_p007_e027/scene_snapshot.json b/episodes/c5_p007_e027/scene_snapshot.json new file mode 100644 index 0000000000000000000000000000000000000000..ec023fd2a28ffa898eab87bd23c6c1e08c854f88 --- /dev/null +++ b/episodes/c5_p007_e027/scene_snapshot.json @@ -0,0 +1,1558 @@ +{ + "trajectory_id": 27, + "env_id": 1, + "run_id": "c5_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_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": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_6_clear/plate_6_clear.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.0285 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/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": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_24_clear/plate_24_clear.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.1645 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$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": [ + 0.5050344467163086, + 0.06483745574951172, + 0.8999999761581421 + ], + "ori": [ + 0.729860246181488, + 0.0, + 0.0, + -0.6835963726043701 + ], + "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": [ + 1.009250192099409e-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": 0.23534278368594203, + "direction": [ + 1.0, + 0.0, + 0.0 + ], + "enabled": true, + "drive": "surface_velocity", + "lines": null, + "station_line": null, + "riders": [ + "carrier" + ], + "stations": { + "pick": { + "position": -0.07037238201503263, + "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": 0.23534278368594203, + "holds": [], + "station": "pick", + "rider": "carrier_3", + "arrived": true, + "applied_speed": 0.0 + } + } + } + ], + "carrier": [ + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + 1.6727933883666992, + 0.6722087860107422, + 0.8999999761581421 + ], + "ori": [ + 0.8316373229026794, + 4.231323291747913e-09, + 1.2245358504969772e-07, + 0.5553191304206848 + ], + "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": [ + 9.332519201876721e-10, + 6.484549008867191e-11, + 0.0 + ], + "angular_velocity": [ + -3.7029366239949013e-09, + 6.033842225861008e-08, + -2.3933233173067947e-09 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + -1.1494436264038086, + 1.1321172714233398, + 0.8999999761581421 + ], + "ori": [ + -0.13689754903316498, + -1.283143120645036e-07, + -1.281172856693047e-08, + 0.990585207939148 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 1.9941455153826837e-09, + 1.9743489065859876e-09, + 7.450580596923828e-09 + ], + "angular_velocity": [ + -8.698835785025949e-08, + 1.7188531842293742e-07, + -1.2873345056618746e-08 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + 0.07941150665283203, + 0.4500141143798828, + 0.8999999761581421 + ], + "ori": [ + 1.0, + 4.243823958915982e-09, + -7.589980310918065e-10, + 0.00024495203979313374 + ], + "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": [ + -1.0457490429160998e-10, + -1.516740399942762e-09, + 3.725290298461914e-09 + ], + "angular_velocity": [ + 1.518084786766849e-07, + -4.735518643883552e-09, + -5.511775036382005e-09 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + -0.1915607452392578, + 1.1500005722045898, + 0.8999999761581421 + ], + "ori": [ + -3.460578682279447e-06, + 8.275218732478606e-09, + 8.315921284918204e-10, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -3.2431080043693328e-09, + -4.736667058580224e-09, + 2.2351741790771484e-08 + ], + "angular_velocity": [ + 2.599715287487925e-07, + -2.915492416377674e-07, + -4.747444748431917e-08 + ] + } + } + ], + "plate": [ + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_12_clear/Object.usd", + "pose": { + "pos": [ + 1.667062759399414, + 0.6634101867675781, + 0.9179999828338623 + ], + "ori": [ + 0.8560477495193481, + -1.3119013653195566e-09, + 1.2355694423149544e-07, + 0.5168968439102173 + ], + "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": [ + 3.65306274119348e-09, + -2.885383132422703e-08, + 1.0058283805847168e-07 + ], + "angular_velocity": [ + 2.3203899672807893e-06, + 2.747432858996035e-07, + 2.7630786547661046e-08 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_96_white/Object.usd", + "pose": { + "pos": [ + -1.152693748474121, + 1.1240110397338867, + 0.9180000424385071 + ], + "ori": [ + -0.18306399881839752, + -1.2971273122275306e-07, + -8.257712735826317e-09, + 0.9831010103225708 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 8.93379450417342e-08, + 7.908607813078561e-08, + -5.520880222320557e-06 + ], + "angular_velocity": [ + -2.512628270778805e-06, + 2.7816240617539734e-06, + 3.061062443521223e-07 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/pcr_384_red/Object.usd", + "pose": { + "pos": [ + 0.08536911010742188, + 0.4513406753540039, + 0.9179999828338623 + ], + "ori": [ + 0.9979943037033081, + 4.8729718038487135e-09, + -7.140198154953481e-11, + -0.06330433487892151 + ], + "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": [ + -1.044001063377209e-08, + -2.4954179167480106e-08, + -5.628913640975952e-06 + ], + "angular_velocity": [ + 5.8015723425342e-07, + -1.0695282526285155e-06, + -3.787461722026819e-08 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/deep_well_96_1ml/Object.usd", + "pose": { + "pos": [ + -0.18806934356689453, + 1.1585502624511719, + 0.9179999828338623 + ], + "ori": [ + -0.08860351890325546, + 6.584972123135913e-09, + 1.4177561347139545e-09, + 0.9960670471191406 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 3.1835231339982784e-08, + -3.5660399078096816e-08, + 2.60770320892334e-07 + ], + "angular_velocity": [ + 1.9993005651031126e-07, + 2.2131237074063392e-06, + -5.85835380206845e-10 + ] + } + } + ], + "deco_hub_west": [ + { + "asset": "$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": 8.359999999999907, + "step": 1672, + "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": 1.009250192099409e-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": 0.23534278368594203, + "holds": [], + "station": "pick", + "rider": "carrier_3", + "arrived": true, + "settle_count": 1541, + "released": { + "pick": [] + }, + "last_pos": { + "carrier_1": [ + 1.5227933824062347, + 0.22220879793167114, + 0.0 + ], + "carrier_2": [ + -1.299443632364273, + 0.6821172833442688, + 0.0 + ], + "carrier_3": [ + -0.07058849930763245, + 1.4126300811767578e-05, + 0.0 + ], + "carrier_4": [ + -0.3415607511997223, + 0.7000005841255188, + 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, + null + ], + "drives": [ + null, + {}, + null, + null + ] + }, + "artifacts": [ + {}, + { + "ceiling": { + "type": "rect", + "pose": { + "pos": [ + -0.5825653049248024, + -0.39673027256258464, + 2.8806534422847903 + ], + "ori": [ + -9.270281395982511, + 3.791731680910285, + -11.442502822077994 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "color_temperature": 4644.993172138842, + "color": [ + 0.9236684131620838, + 0.8261557495714663, + 0.9585701196038425 + ], + "intensity": 6066.556378987743, + "width": 2.146237926431527, + "height": 1.2263239891581967 + } + }, + "key": { + "type": "disk", + "pose": { + "pos": [ + -1.5196140680164787, + -0.7451286551195289, + 2.149355024232936 + ], + "ori": [ + 17.59090530324646, + -36.036305846201735, + -37.184311243250725 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "color_temperature": 3841.188948840895, + "color": [ + 0.9447504697889642, + 0.8881213199245035, + 0.8901343688696203 + ], + "intensity": 5014.761718145992, + "radius": 0.44482641758923214 + } + } + }, + {}, + {} + ], + "background": { + "type": "dome", + "pose": { + "pos": null, + "ori": null, + "scale": null + }, + "dr": { + "intensity": 1461.9531450656978, + "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": [ + [ + 1.5129327774047852, + -1.9159040451049805, + 2.075704574584961, + -1.7308292388916016, + -1.5706793069839478, + 3.127929210662842, + 0.007757082115858793, + 0.007264141459017992 + ], + [ + 0.9141026735305786, + -1.7193981409072876, + 2.0904998779296875, + -1.9419008493423462, + -1.5707999467849731, + 2.484900951385498, + 0.01799999736249447, + 0.018000001087784767 + ], + [ + 2.8042306900024414, + -1.3858511447906494, + 2.224341869354248, + -2.409262180328369, + -1.5706967115402222, + 4.375100612640381, + 0.007782218046486378, + 0.006947572808712721 + ], + [ + 2.5983521938323975, + -1.8323609828948975, + 2.6416871547698975, + -2.3800535202026367, + -1.570803165435791, + 4.169082164764404, + 0.0077369785867631435, + 0.007179280277341604 + ] + ], + "joint_vel": [ + [ + 0.0742596983909607, + -0.04942656308412552, + 0.0020978525280952454, + 0.043221365660429, + 0.00014672674296889454, + 0.06749241054058075, + -0.006578188855201006, + 0.0005998435663059354 + ], + [ + -2.8463154789187184e-38, + 1.4771798972067774e-38, + 1.1780178090968436e-38, + 6.874627669845823e-37, + -3.5732617583223393e-37, + 3.7209252095067855e-37, + 2.5990388508034812e-08, + -2.5990386731677972e-08 + ], + [ + -0.0005960323032923043, + -0.00015381345292553306, + -0.0001784484484232962, + -0.0007216125377453864, + -0.004562123212963343, + 0.010592984966933727, + -0.011144055984914303, + 0.0003644987882580608 + ], + [ + -0.015118041075766087, + -0.02939186617732048, + 0.016503598541021347, + 0.011620587669312954, + -0.0006117087323218584, + -0.013399320654571056, + -0.006987838074564934, + 0.00023776470334269106 + ] + ] + } + }, + "cameras": { + "cameras": { + "camera0": [ + [ + 0.05327150970697403, + 0.0004681874124798924, + -0.032344069331884384, + -0.2856331169605255, + 0.6466525793075562, + 0.6509231328964233, + -0.27668264508247375 + ], + [ + 0.04685388132929802, + -7.554067997261882e-05, + -0.03345919027924538, + -0.27333787083625793, + 0.6514062285423279, + 0.6554543972015381, + -0.26708775758743286 + ], + [ + 0.05043249949812889, + -0.001345093478448689, + -0.032005734741687775, + -0.28071829676628113, + 0.6485263109207153, + 0.6472386121749878, + -0.285819947719574 + ], + [ + 0.05119631439447403, + 0.0017044792184606194, + -0.03148148953914642, + -0.2767721712589264, + 0.652987003326416, + 0.649479329586029, + -0.2741929292678833 + ] + ], + "camera1": [ + [ + 0.05094919726252556, + 0.5900187492370605, + 1.9255307912826538, + 0.03277754783630371, + 0.010227200575172901, + 0.2754877507686615, + 0.9606911540031433 + ], + [ + 0.06907598674297333, + 0.5959287285804749, + 1.9377716779708862, + 0.047152649611234665, + -0.003496214048936963, + 0.2727587819099426, + 0.9609199166297913 + ], + [ + 0.07254008203744888, + 0.6004801392555237, + 1.9305235147476196, + 0.029090354219079018, + 0.014837713912129402, + 0.27595824003219604, + 0.9606147408485413 + ], + [ + 0.05200650542974472, + 0.5729271173477173, + 1.9587680101394653, + 0.04209646210074425, + 0.005021553486585617, + 0.26951050758361816, + 0.9620637893676758 + ] + ] + } + } + } +} \ No newline at end of file diff --git a/episodes/c5_p007_e027/wrist.mp4 b/episodes/c5_p007_e027/wrist.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..ce2eda7b72019bb6e69e6010005ff9cac759cd4f --- /dev/null +++ b/episodes/c5_p007_e027/wrist.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:778b8ae4759b3ec629d89e0f4eebdc4fe85aa4e0efbf5d53b517f3fe0b13d8ed +size 8524839 diff --git a/episodes/c6_p008_e016/data.npz b/episodes/c6_p008_e016/data.npz new file mode 100644 index 0000000000000000000000000000000000000000..c3c2abd01049404717fa74dfc2ea80f7cc1ddb8c --- /dev/null +++ b/episodes/c6_p008_e016/data.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:0382117e934e52d1c95338970e809b012870db16ada85a6eece0886abe8a4acb +size 203632 diff --git a/episodes/c6_p008_e016/device_events.jsonl b/episodes/c6_p008_e016/device_events.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..9e8061b6bcafe825abfb0408ac68fce5c03917e8 --- /dev/null +++ b/episodes/c6_p008_e016/device_events.jsonl @@ -0,0 +1,35 @@ +{"env_id": 0, "seq": 1, "step": 47, "t": 0.235, "topic": "conveyor_1.belt.station.pick.captured", "source": "conveyor_1.belt", "data": {"rider": "carrier_3"}, "cause": null} +{"env_id": 0, "seq": 2, "step": 47, "t": 0.235, "topic": "conveyor_1.belt.state.changed", "source": "conveyor_1.belt", "data": {"from": "running", "to": "at_station"}, "cause": null} +{"env_id": 0, "seq": 3, "step": 52, "t": 0.26, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_3"}, "cause": null} +{"env_id": 0, "seq": 4, "step": 7079, "t": 35.395, "topic": "a4s_sealer_1.plate_present.present", "source": "a4s_sealer_1.plate_present", "data": {"object": "plate_3"}, "cause": null} +{"env_id": 0, "seq": 5, "step": 7696, "t": 38.48, "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": 7696, "t": 38.48, "topic": "a4s_sealer_1.seal.started", "source": "a4s_sealer_1", "data": {"dwell": 2.5607505035643143}, "cause": "task-0-1"} +{"env_id": 0, "seq": 7, "step": 7696, "t": 38.48, "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": 7696, "t": 38.48, "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": 7696, "t": 38.48, "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": 8115, "t": 40.575, "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": 8115, "t": 40.575, "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": 8115, "t": 40.575, "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": 8115, "t": 40.575, "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": 8115, "t": 40.575, "topic": "labware.plate_3.changed", "source": "labware.plate_3", "data": {"key": "sealed", "value": true}, "cause": "task-0-1"} +{"env_id": 0, "seq": 15, "step": 8115, "t": 40.575, "topic": "a4s_sealer_1.sealed", "source": "a4s_sealer_1", "data": {"plate": "plate_3"}, "cause": "task-0-1"} +{"env_id": 0, "seq": 16, "step": 8115, "t": 40.575, "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": 8115, "t": 40.575, "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": 8115, "t": 40.575, "topic": "a4s_sealer_1.heater.started", "source": "a4s_sealer_1.heater", "data": {"duration": 2.5607505035643143}, "cause": "program-0-3"} +{"env_id": 0, "seq": 19, "step": 8628, "t": 43.14, "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": 8628, "t": 43.14, "topic": "a4s_sealer_1.heater.finished", "source": "a4s_sealer_1.heater", "data": {"elapsed": 2.5650000000013122}, "cause": "program-0-3"} +{"env_id": 0, "seq": 21, "step": 8628, "t": 43.14, "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": 2.5650000000013122}}, "cause": "program-0-3"} +{"env_id": 0, "seq": 22, "step": 8628, "t": 43.14, "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": 8628, "t": 43.14, "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": 8628, "t": 43.14, "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": 9048, "t": 45.24, "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": 9048, "t": 45.24, "topic": "a4s_sealer_1.drawer.reached", "source": "a4s_sealer_1.drawer", "data": {"position": "out", "q": 7.657649625514296e-09}, "cause": "program-0-4"} +{"env_id": 0, "seq": 27, "step": 9048, "t": 45.24, "topic": "a4s_sealer_1.drawer.at_out", "source": "a4s_sealer_1.drawer", "data": {"q": 7.657649625514296e-09}, "cause": "program-0-4"} +{"env_id": 0, "seq": 28, "step": 9048, "t": 45.24, "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": 9048, "t": 45.24, "topic": "a4s_sealer_1.seal.finished", "source": "a4s_sealer_1", "data": {}, "cause": "task-0-1"} +{"env_id": 0, "seq": 30, "step": 9048, "t": 45.24, "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": 9627, "t": 48.135, "topic": "a4s_sealer_1.plate_present.absent", "source": "a4s_sealer_1.plate_present", "data": {"object": "plate_3"}, "cause": null} +{"env_id": 0, "seq": 32, "step": 11840, "t": 59.2, "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": 11840, "t": 59.2, "topic": "conveyor_1.belt.station.pick.released", "source": "conveyor_1.belt", "data": {"rider": "carrier_3"}, "cause": "task-0-5"} +{"env_id": 0, "seq": 34, "step": 11840, "t": 59.2, "topic": "conveyor_1.belt.state.changed", "source": "conveyor_1.belt", "data": {"from": "at_station", "to": "running"}, "cause": null} +{"env_id": 0, "seq": 35, "step": 11840, "t": 59.2, "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/c6_p008_e016/env.mp4 b/episodes/c6_p008_e016/env.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..debd2700104d19c637dc7b5ae63b8a23609bb9c5 --- /dev/null +++ b/episodes/c6_p008_e016/env.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:a94a5f63465f9c971297f6973271d26a4e62278d8a2b81efc948c76f97d61e2b +size 1361581 diff --git a/episodes/c6_p008_e016/meta.json b/episodes/c6_p008_e016/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..a3a97759cb754d7c4efce70782fe68e4192b22d9 --- /dev/null +++ b/episodes/c6_p008_e016/meta.json @@ -0,0 +1,32 @@ +{ + "source": "raw/c6_p008/magicsim/16", + "fps": 25, + "frames": 1258, + "kept_ticks": "even", + "video_frames": { + "wrist": 1258, + "env": 1258 + }, + "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/c6_p008_e016/scene_snapshot.json b/episodes/c6_p008_e016/scene_snapshot.json new file mode 100644 index 0000000000000000000000000000000000000000..c1d335b9e3f598919606eb7f58618238f4916006 --- /dev/null +++ b/episodes/c6_p008_e016/scene_snapshot.json @@ -0,0 +1,1558 @@ +{ + "trajectory_id": 16, + "env_id": 0, + "run_id": "c6_p008", + "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": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_6_clear/plate_6_clear.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 0.9605 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_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": "$MAGICSIM_ASSETS/Bio/CAD/plates/pcr_96_blue/pcr_96_blue.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.0965 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/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": "$MAGICSIM_ASSETS/Bio/CAD/plates/deep_well_24_10ml/deep_well_24_10ml.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.2325 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "a4s_sealer": [ + { + "asset": "$MAGICSIM_ASSETS/Articulated/A4SSealer/Object.usd", + "pose": { + "pos": [ + 0.5113554000854492, + 0.10975074768066406, + 0.8999999761581421 + ], + "ori": [ + -0.6963415741920471, + 0.0, + 0.0, + 0.717710554599762 + ], + "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": [ + 2.691334351559438e-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": 0.2950903521349226, + "direction": [ + 1.0, + 0.0, + 0.0 + ], + "enabled": true, + "drive": "surface_velocity", + "lines": null, + "station_line": null, + "riders": [ + "carrier" + ], + "stations": { + "pick": { + "position": -0.2072373781191597, + "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": 0.2950903521349226, + "holds": [], + "station": "pick", + "rider": "carrier_3", + "arrived": true, + "applied_speed": 0.0 + } + } + } + ], + "carrier": [ + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + -1.2004241943359375, + 1.1124391555786133, + 0.8999999761581421 + ], + "ori": [ + -0.21335892379283905, + -8.670242834796227e-08, + -2.307112278998602e-09, + 0.9769739508628845 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -3.4000480209073203e-10, + 7.901285181688422e-10, + 0.0 + ], + "angular_velocity": [ + -1.8477660290727727e-08, + 9.936304223856496e-09, + 8.339778645449769e-09 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + 1.5355358123779297, + 0.5069732666015625, + 0.8999999761581421 + ], + "ori": [ + 0.9633049368858337, + 6.149825537704601e-08, + -3.4316055774752385e-08, + 0.2684094309806824 + ], + "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": [ + -3.8099234878075094e-10, + 2.84848145071237e-10, + 3.725290298461914e-09 + ], + "angular_velocity": [ + -1.6366765720476906e-08, + -2.0288741353624573e-08, + -2.7721429596283542e-09 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + -0.05696582794189453, + 0.4499988555908203, + 0.8999999761581421 + ], + "ori": [ + 1.0, + -5.813724501813056e-10, + 4.99030150535873e-10, + 6.115720225352561e-06 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -6.816222031247321e-10, + 1.597043164380807e-09, + 3.725290298461914e-09 + ], + "angular_velocity": [ + -1.9532905071173445e-07, + -6.900230431483578e-08, + -1.1142714306799917e-08 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + 0.4181804656982422, + 1.150003433227539, + 0.8999999761581421 + ], + "ori": [ + -3.64188636012841e-05, + -9.528713929007893e-11, + -1.0349553436483916e-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": [ + 4.7395238844671894e-09, + 7.313001759712279e-09, + 2.9802322387695312e-08 + ], + "angular_velocity": [ + -3.1882660778137506e-07, + 3.6241883094589866e-07, + -7.451418326809289e-08 + ] + } + } + ], + "plate": [ + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_6_clear/Object.usd", + "pose": { + "pos": [ + -1.201176643371582, + 1.1113319396972656, + 0.9179999828338623 + ], + "ori": [ + -0.26323825120925903, + -8.746345514509812e-08, + 5.7805094044738325e-09, + 0.9647308588027954 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 2.4378728369356395e-08, + 4.237033479626007e-08, + 9.685754776000977e-08 + ], + "angular_velocity": [ + -2.100645360769704e-06, + 1.2077816791133955e-06, + 6.025236132245482e-08 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_96_black/Object.usd", + "pose": { + "pos": [ + 1.5300321578979492, + 0.5103902816772461, + 0.9180000424385071 + ], + "ori": [ + 0.971531093120575, + 6.316184908428113e-08, + -3.14388231004159e-08, + 0.23691226541996002 + ], + "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": [ + -1.610013100616925e-08, + -1.729131682282059e-08, + -4.9658119678497314e-06 + ], + "angular_velocity": [ + 1.0846249551832443e-06, + -7.295926138795039e-07, + 6.165990384943143e-08 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/pcr_96_blue/Object.usd", + "pose": { + "pos": [ + -0.07111167907714844, + 0.4513082504272461, + 0.9180000424385071 + ], + "ori": [ + 0.9985029101371765, + -1.2382034286773091e-09, + 9.215150864605448e-10, + 0.05469931662082672 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -1.9587645283536403e-08, + 4.183920765399307e-09, + -5.636364221572876e-06 + ], + "angular_velocity": [ + 2.4978720603030524e-07, + -1.4930737961549312e-06, + 1.0922519066980385e-07 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/deep_well_96_2ml/Object.usd", + "pose": { + "pos": [ + 0.41700172424316406, + 1.1399879455566406, + 0.9179999828338623 + ], + "ori": [ + 0.02285906858742237, + 3.7326697288619926e-11, + 2.227388495867899e-09, + 0.9997386932373047 + ], + "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": [ + 1.2846055597037775e-07, + 1.0061747701683998e-07, + -1.3671815395355225e-06 + ], + "angular_velocity": [ + -2.986040271935053e-06, + 4.0468712541041896e-06, + 1.2862780351952097e-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": 9.040000000000013, + "step": 1808, + "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": 2.691334351559438e-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": 0.2950903521349226, + "holds": [], + "station": "pick", + "rider": "carrier_3", + "arrived": true, + "settle_count": 1760, + "released": { + "pick": [] + }, + "last_pos": { + "carrier_1": [ + -1.350424200296402, + 0.6624391674995422, + 0.0 + ], + "carrier_2": [ + 1.3855358064174652, + 0.056973278522491455, + 0.0 + ], + "carrier_3": [ + -0.206965833902359, + -1.1324882507324219e-06, + 0.0 + ], + "carrier_4": [ + 0.2681804597377777, + 0.700003445148468, + 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, + null, + null + ], + "drives": [ + {}, + null, + null, + null + ] + }, + "artifacts": [ + { + "ceiling": { + "type": "rect", + "pose": { + "pos": [ + -0.16563984082067273, + 0.5310119846240917, + 2.899926275594506 + ], + "ori": [ + 7.439076933447094, + -6.619190567618229, + 25.62468990667535 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "color_temperature": 5435.545128012807, + "color": [ + 0.9274425226364398, + 0.8512061868529345, + 0.8168286553750347 + ], + "intensity": 13359.790087502224, + "width": 2.0946845329614012, + "height": 1.5582651695708059 + } + }, + "key": { + "type": "disk", + "pose": { + "pos": [ + 0.9381230051554605, + -0.2775335590229431, + 2.0535333959435094 + ], + "ori": [ + -20.361574489999697, + 35.59292740580253, + -9.275735626464623 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "color_temperature": 7275.8734899608835, + "color": [ + 0.7949340802755329, + 0.8247190221526906, + 0.7969322647981743 + ], + "intensity": 5677.652526187932, + "radius": 0.22808126985323984 + } + } + }, + {}, + {}, + {} + ], + "background": { + "type": "dome", + "pose": { + "pos": null, + "ori": null, + "scale": null + }, + "dr": { + "intensity": 665.2867147759027, + "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": [ + [ + 0.9141138195991516, + -1.719393253326416, + 2.09049654006958, + -1.9419012069702148, + -1.5707999467849731, + 2.484907388687134, + 0.01799999736249447, + 0.018000001087784767 + ], + [ + 1.0672619342803955, + -1.2934519052505493, + 2.253568649291992, + -2.531099319458008, + -1.5725592374801636, + 2.64131760597229, + 0.01799999177455902, + 0.017999989911913872 + ], + [ + 0.9141026139259338, + -1.7193981409072876, + 2.0904994010925293, + -1.9418994188308716, + -1.5707999467849731, + 2.484900712966919, + 0.017999999225139618, + 0.017999999225139618 + ], + [ + 0.9141008853912354, + -1.7193974256515503, + 2.090498924255371, + -1.941900610923767, + -1.5707999467849731, + 2.4849002361297607, + 0.018000001087784767, + 0.01799999736249447 + ] + ], + "joint_vel": [ + [ + 5.108946879772702e-06, + -4.790462934645655e-14, + -5.212310075740356e-14, + -2.3774063365742185e-14, + -3.405978077353211e-06, + 7.670733622941461e-13, + 2.5989821850203043e-08, + -2.5990583907287146e-08 + ], + [ + 1.0217897397524212e-05, + 3.405940105949412e-06, + -6.208840733212817e-12, + -6.811956609453773e-06, + 1.0217934686806984e-05, + -1.3623911399918143e-05, + 1.0397359062608302e-07, + 1.299410428146075e-07 + ], + [ + 2.7752833795024005e-38, + -1.9802026056469926e-38, + -1.8741453313745689e-38, + -3.317626130488e-37, + 5.971671745246192e-37, + 3.5612173177617746e-37, + 2.8342460952454887e-38, + 0.0 + ], + [ + 2.826722523790529e-38, + -1.6421463576209521e-38, + 1.5539671294160772e-38, + -5.007662255490823e-37, + 4.2353454630844945e-37, + -2.9387811670220857e-37, + -2.5990386731677972e-08, + 2.5990384955321133e-08 + ] + ] + } + }, + "cameras": { + "cameras": { + "camera0": [ + [ + 0.05020049586892128, + 0.002229438629001379, + -0.028156569227576256, + -0.2704910933971405, + 0.6560400724411011, + 0.6396247148513794, + -0.29551008343696594 + ], + [ + 0.052029307931661606, + 0.0006695095798932016, + -0.02855733409523964, + -0.27884209156036377, + 0.6503722071647644, + 0.6484228372573853, + -0.28073275089263916 + ], + [ + 0.04935911297798157, + 0.0026674738619476557, + -0.02822769805788994, + -0.2827483117580414, + 0.644487202167511, + 0.6532382369041443, + -0.279229998588562 + ], + [ + 0.048025112599134445, + 0.0005259673926047981, + -0.03197037801146507, + -0.2715529799461365, + 0.6511825323104858, + 0.6529508829116821, + -0.27545490860939026 + ] + ], + "camera1": [ + [ + 0.07382304966449738, + 0.5802807807922363, + 1.972342610359192, + 0.03622853383421898, + 0.013963710516691208, + 0.2860269248485565, + 0.9574346542358398 + ], + [ + 0.033298738300800323, + 0.5976755619049072, + 1.9611549377441406, + 0.020551461726427078, + 0.0018779562087729573, + 0.26998820900917053, + 0.9626424312591553 + ], + [ + 0.0579700730741024, + 0.5731197595596313, + 1.973790168762207, + 0.05048724263906479, + 0.0173170268535614, + 0.2551068961620331, + 0.9654385447502136 + ], + [ + 0.05508341267704964, + 0.5776282548904419, + 1.9627913236618042, + 0.04212517291307449, + 0.01645384542644024, + 0.2685304284095764, + 0.9622089862823486 + ] + ] + } + } + } +} \ No newline at end of file diff --git a/episodes/c6_p008_e016/wrist.mp4 b/episodes/c6_p008_e016/wrist.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..11f13a103cead1d0a91bedfb34a0efc5492812c9 --- /dev/null +++ b/episodes/c6_p008_e016/wrist.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:c4f4929a014bef36b038a9ce4ed3f1dea0a6991e0cb99ce0af5e517f159fda13 +size 8547598 diff --git a/episodes/c6_p008_e017/data.npz b/episodes/c6_p008_e017/data.npz new file mode 100644 index 0000000000000000000000000000000000000000..5a49bf4fde026300c2f08673d3feab6410f3bdc4 --- /dev/null +++ b/episodes/c6_p008_e017/data.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:bbe7c781e638223e4df4454f0c0b2afeb1b5d6d0b5c73eba664901a3ba3f241a +size 189509 diff --git a/episodes/c6_p008_e017/device_events.jsonl b/episodes/c6_p008_e017/device_events.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..bb4392f8a100f133d9b62f1db646c8cc003db75f --- /dev/null +++ b/episodes/c6_p008_e017/device_events.jsonl @@ -0,0 +1,36 @@ +{"env_id": 3, "seq": 1, "step": 131, "t": 0.655, "topic": "conveyor_1.belt.station.pick.captured", "source": "conveyor_1.belt", "data": {"rider": "carrier_2"}, "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_2"}, "cause": null} +{"env_id": 3, "seq": 4, "step": 1908, "t": 9.54, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_2"}, "cause": null} +{"env_id": 3, "seq": 5, "step": 6675, "t": 33.375, "topic": "a4s_sealer_1.plate_present.present", "source": "a4s_sealer_1.plate_present", "data": {"object": "plate_2"}, "cause": null} +{"env_id": 3, "seq": 6, "step": 7284, "t": 36.42, "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": 7, "step": 7284, "t": 36.42, "topic": "a4s_sealer_1.seal.started", "source": "a4s_sealer_1", "data": {"dwell": 4.980563159550611}, "cause": "task-3-1"} +{"env_id": 3, "seq": 8, "step": 7284, "t": 36.42, "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": 9, "step": 7284, "t": 36.42, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "at_out", "to": "moving"}, "cause": null} +{"env_id": 3, "seq": 10, "step": 7284, "t": 36.42, "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": 11, "step": 7703, "t": 38.515, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "moving", "to": "at_in"}, "cause": null} +{"env_id": 3, "seq": 12, "step": 7703, "t": 38.515, "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": 13, "step": 7703, "t": 38.515, "topic": "a4s_sealer_1.drawer.at_in", "source": "a4s_sealer_1.drawer", "data": {"q": 0.30000001192092896}, "cause": "program-3-2"} +{"env_id": 3, "seq": 14, "step": 7703, "t": 38.515, "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": 15, "step": 7703, "t": 38.515, "topic": "labware.plate_2.changed", "source": "labware.plate_2", "data": {"key": "sealed", "value": true}, "cause": "task-3-1"} +{"env_id": 3, "seq": 16, "step": 7703, "t": 38.515, "topic": "a4s_sealer_1.sealed", "source": "a4s_sealer_1", "data": {"plate": "plate_2"}, "cause": "task-3-1"} +{"env_id": 3, "seq": 17, "step": 7703, "t": 38.515, "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": 18, "step": 7703, "t": 38.515, "topic": "a4s_sealer_1.heater.state.changed", "source": "a4s_sealer_1.heater", "data": {"from": "ready", "to": "running"}, "cause": null} +{"env_id": 3, "seq": 19, "step": 7703, "t": 38.515, "topic": "a4s_sealer_1.heater.started", "source": "a4s_sealer_1.heater", "data": {"duration": 4.980563159550611}, "cause": "program-3-3"} +{"env_id": 3, "seq": 20, "step": 8700, "t": 43.5, "topic": "a4s_sealer_1.heater.state.changed", "source": "a4s_sealer_1.heater", "data": {"from": "running", "to": "ready"}, "cause": null} +{"env_id": 3, "seq": 21, "step": 8700, "t": 43.5, "topic": "a4s_sealer_1.heater.finished", "source": "a4s_sealer_1.heater", "data": {"elapsed": 4.98500000000255}, "cause": "program-3-3"} +{"env_id": 3, "seq": 22, "step": 8700, "t": 43.5, "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": 4.98500000000255}}, "cause": "program-3-3"} +{"env_id": 3, "seq": 23, "step": 8700, "t": 43.5, "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": 24, "step": 8700, "t": 43.5, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "at_in", "to": "moving"}, "cause": null} +{"env_id": 3, "seq": 25, "step": 8700, "t": 43.5, "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": 26, "step": 9120, "t": 45.6, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "moving", "to": "at_out"}, "cause": null} +{"env_id": 3, "seq": 27, "step": 9120, "t": 45.6, "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": 28, "step": 9120, "t": 45.6, "topic": "a4s_sealer_1.drawer.at_out", "source": "a4s_sealer_1.drawer", "data": {"q": 0.0}, "cause": "program-3-4"} +{"env_id": 3, "seq": 29, "step": 9120, "t": 45.6, "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": 30, "step": 9120, "t": 45.6, "topic": "a4s_sealer_1.seal.finished", "source": "a4s_sealer_1", "data": {}, "cause": "task-3-1"} +{"env_id": 3, "seq": 31, "step": 9120, "t": 45.6, "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": 32, "step": 9699, "t": 48.495, "topic": "a4s_sealer_1.plate_present.absent", "source": "a4s_sealer_1.plate_present", "data": {"object": "plate_2"}, "cause": null} +{"env_id": 3, "seq": 33, "step": 11436, "t": 57.18, "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": 34, "step": 11436, "t": 57.18, "topic": "conveyor_1.belt.station.pick.released", "source": "conveyor_1.belt", "data": {"rider": "carrier_2"}, "cause": "task-3-5"} +{"env_id": 3, "seq": 35, "step": 11436, "t": 57.18, "topic": "conveyor_1.belt.state.changed", "source": "conveyor_1.belt", "data": {"from": "at_station", "to": "running"}, "cause": null} +{"env_id": 3, "seq": 36, "step": 11436, "t": 57.18, "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/c6_p008_e017/env.mp4 b/episodes/c6_p008_e017/env.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..6f457689fd525f73888d68f1b93da7db9a63e9fd --- /dev/null +++ b/episodes/c6_p008_e017/env.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:bb6633f45f65e05eae4c884740dba711ed4738642dcee1dda864546f1e6de7db +size 1275784 diff --git a/episodes/c6_p008_e017/meta.json b/episodes/c6_p008_e017/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..21d2115a1713d9c6842d84b40d0936007283ae16 --- /dev/null +++ b/episodes/c6_p008_e017/meta.json @@ -0,0 +1,32 @@ +{ + "source": "raw/c6_p008/magicsim/17", + "fps": 25, + "frames": 1253, + "kept_ticks": "even", + "video_frames": { + "wrist": 1253, + "env": 1253 + }, + "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/c6_p008_e017/scene_snapshot.json b/episodes/c6_p008_e017/scene_snapshot.json new file mode 100644 index 0000000000000000000000000000000000000000..76f4a7d61d8064d2a56174558d6947d4e1b61142 --- /dev/null +++ b/episodes/c6_p008_e017/scene_snapshot.json @@ -0,0 +1,1558 @@ +{ + "trajectory_id": 17, + "env_id": 3, + "run_id": "c6_p008", + "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/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": "$MAGICSIM_ASSETS/Bio/CAD/plates/pcr_384_red/pcr_384_red.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.0285 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_24_clear/plate_24_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": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_384_white/plate_384_white.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.1645 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_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": [ + 0.5131692886352539, + 0.06496334075927734, + 0.8999999761581421 + ], + "ori": [ + 0.7123034596443176, + 0.0, + 0.0, + -0.7018716335296631 + ], + "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": [ + 4.036999467355029e-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": 0.21480070171397497, + "direction": [ + 1.0, + 0.0, + 0.0 + ], + "enabled": true, + "drive": "surface_velocity", + "lines": null, + "station_line": null, + "riders": [ + "carrier" + ], + "stations": { + "pick": { + "position": -0.2428344394650189, + "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": 0.21480070171397497, + "holds": [], + "station": "pick", + "rider": "carrier_2", + "arrived": true, + "applied_speed": 0.0 + } + } + } + ], + "carrier": [ + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + 1.5156335830688477, + 0.49541378021240234, + 0.8999999761581421 + ], + "ori": [ + 0.9707962870597839, + -4.635269235109263e-08, + -1.959952413699284e-07, + 0.23990564048290253 + ], + "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": [ + 1.6160739413351166e-11, + -7.466479656770275e-10, + 0.0 + ], + "angular_velocity": [ + 5.9548995068325894e-08, + 1.8579306981791888e-09, + -3.464903919336848e-10 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + -0.09277629852294922, + 0.447906494140625, + 0.8999999761581421 + ], + "ori": [ + 0.9999045729637146, + 6.577191569157037e-10, + -8.069998558291047e-10, + 0.013814128004014492 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 1.7954002728970408e-09, + 1.896990120542341e-09, + 1.4901161193847656e-08 + ], + "angular_velocity": [ + -1.4129621206393495e-07, + 1.7748948266671505e-07, + -1.232616320123725e-08 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + -1.3759651184082031, + 0.6794595718383789, + 0.8999999761581421 + ], + "ori": [ + -0.8161627054214478, + 6.108087369227633e-09, + -8.20018541958234e-08, + 0.5778222680091858 + ], + "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": [ + -2.1732859956102857e-09, + -8.478865387573364e-10, + -3.725290298461914e-09 + ], + "angular_velocity": [ + 1.529764759311547e-08, + 1.2593222464829523e-08, + 5.144177350757673e-08 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + 0.742182731628418, + 1.152578353881836, + 0.8999999761581421 + ], + "ori": [ + -0.011533551849424839, + 1.4491814415151794e-09, + 1.132932858638469e-09, + 0.9999334812164307 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -1.21743104486427e-09, + -1.8666961310032093e-09, + 1.4901161193847656e-08 + ], + "angular_velocity": [ + 1.2743200272780086e-07, + -1.3294112477524322e-07, + -1.641699043375411e-08 + ] + } + } + ], + "plate": [ + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_48_clear/Object.usd", + "pose": { + "pos": [ + 1.508112907409668, + 0.4800996780395508, + 0.9179999828338623 + ], + "ori": [ + 0.9661062955856323, + -5.2105050940554065e-08, + -1.9502620318689878e-07, + 0.25814470648765564 + ], + "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": [ + -4.9214744279879596e-08, + -2.705541213288143e-08, + 3.725290298461914e-08 + ], + "angular_velocity": [ + 4.1339717427035794e-07, + -9.007222843138152e-07, + 1.9417072394389834e-07 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_384_white/Object.usd", + "pose": { + "pos": [ + -0.08234310150146484, + 0.4455728530883789, + 0.9180000424385071 + ], + "ori": [ + 0.9995611906051636, + 1.5814319853646452e-09, + -8.759314384931827e-10, + -0.029624592512845993 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -7.201127694145271e-09, + 1.6215709663924827e-08, + -4.872679710388184e-06 + ], + "angular_velocity": [ + -9.472965700751956e-08, + -1.7362366406814544e-06, + -9.04125840861525e-09 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_96_clear/Object.usd", + "pose": { + "pos": [ + -1.3726186752319336, + 0.6727180480957031, + 0.9180000424385071 + ], + "ori": [ + -0.8176146745681763, + 7.718429451131215e-09, + -8.132377615766018e-08, + 0.5757659673690796 + ], + "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": [ + -4.782764762012448e-08, + 2.996416270661939e-08, + -6.094574928283691e-06 + ], + "angular_velocity": [ + -2.093049943141523e-06, + -2.9856510082026944e-06, + 2.0579946635734814e-07 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/reservoir_12ch/Object.usd", + "pose": { + "pos": [ + 0.7282800674438477, + 1.1497602462768555, + 0.9179999828338623 + ], + "ori": [ + 0.08395105600357056, + -1.2298448925918137e-09, + -3.915666901832537e-09, + 0.9964698553085327 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 3.564154127388974e-08, + 7.065850127219164e-10, + -9.760260581970215e-07 + ], + "angular_velocity": [ + -2.2225430029720883e-07, + 1.7505899450043216e-06, + -1.8116857347649784e-08 + ] + } + } + ], + "deco_hub_west": [ + { + "asset": "$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": 7.279999999999867, + "step": 1456, + "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": 4.036999467355029e-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": 0.21480070171397497, + "holds": [], + "station": "pick", + "rider": "carrier_2", + "arrived": true, + "settle_count": 1324, + "released": { + "pick": [] + }, + "last_pos": { + "carrier_1": [ + 1.3656335771083832, + 0.0454137921333313, + 0.0 + ], + "carrier_2": [ + -0.2427763044834137, + -0.002093493938446045, + 0.0 + ], + "carrier_3": [ + -1.5259651243686676, + 0.22945958375930786, + 0.0 + ], + "carrier_4": [ + 0.5921827256679535, + 0.7025783658027649, + 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": [ + 0.21219361259123015, + 0.4531890877883351, + 2.615358854308519 + ], + "ori": [ + -13.653046802527019, + 7.978078711223617, + 11.21471526263528 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "color_temperature": 4357.943617023126, + "color": [ + 0.9429452560727333, + 0.8208994673056943, + 0.9533840614677427 + ], + "intensity": 4545.5307147716585, + "width": 2.4563531740071056, + "height": 1.5199111297511023 + } + }, + "key": { + "type": "disk", + "pose": { + "pos": [ + -1.413110727603347, + 0.4233226472031275, + 2.397815858472941 + ], + "ori": [ + -26.779921768518626, + 31.246754475964593, + 8.53249330880297 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "color_temperature": 3279.509982201625, + "color": [ + 0.8539556397472979, + 0.7643263622008376, + 0.7987936564848623 + ], + "intensity": 8933.361153398431, + "radius": 0.48110828429549135 + } + } + } + ], + "background": { + "type": "dome", + "pose": { + "pos": null, + "ori": null, + "scale": null + }, + "dr": { + "intensity": 665.2867147759027, + "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": [ + [ + 1.1392604112625122, + -1.4042882919311523, + 2.171147108078003, + -2.337611198425293, + -1.5707954168319702, + 2.6006569862365723, + 0.018000047653913498, + 0.017999952659010887 + ], + [ + 1.0672563314437866, + -1.5331801176071167, + 2.1243672370910645, + -2.16221022605896, + -1.5725574493408203, + 2.6413087844848633, + 0.01799996756017208, + 0.018000030890107155 + ], + [ + 0.9227706789970398, + -1.6070899963378906, + 2.0672755241394043, + -2.030924081802368, + -1.570799469947815, + 2.4395604133605957, + 0.01800163835287094, + 0.01799841783940792 + ], + [ + 0.9141021370887756, + -1.719397783279419, + 2.0904994010925293, + -1.9419008493423462, + -1.5707999467849731, + 2.484900712966919, + 0.018000001087784767, + 0.01799999736249447 + ] + ], + "joint_vel": [ + [ + -0.00011867623834405094, + 0.01618916727602482, + 0.008713547140359879, + -0.023665951564908028, + -7.973993888299447e-06, + 1.9957016775151715e-05, + -7.335340796998935e-06, + 7.311018634936772e-06 + ], + [ + 0.00012412885553203523, + -0.013384484685957432, + -0.012228496372699738, + 0.024357151240110397, + 8.032820915104821e-06, + 2.082964056171477e-05, + 5.883081030333415e-06, + -5.881173819943797e-06 + ], + [ + 0.0025036358274519444, + 0.039964787662029266, + -0.007542516570538282, + -0.030215224251151085, + -9.707463505037595e-06, + -0.01541269663721323, + 5.015585702494718e-05, + -5.069343387731351e-05 + ], + [ + 2.2418267104945932e-38, + 0.0, + 1.655722137143331e-38, + -5.0521455223578585e-37, + 3.854091387298713e-37, + -2.955637778613019e-37, + -2.5990388508034812e-08, + 2.5990386731677972e-08 + ] + ] + } + }, + "cameras": { + "cameras": { + "camera0": [ + [ + 0.04682667553424835, + -0.00046275515342131257, + -0.028705677017569542, + -0.2759574055671692, + 0.6577404141426086, + 0.6361954212188721, + -0.29407551884651184 + ], + [ + 0.05429213121533394, + -0.00013027685054112226, + -0.02697131037712097, + -0.2744216322898865, + 0.6535022258758545, + 0.6486930251121521, + -0.2771732211112976 + ], + [ + 0.047299910336732864, + 0.0012336906511336565, + -0.028844328597187996, + -0.2829738259315491, + 0.6459336876869202, + 0.6529707908630371, + -0.27626916766166687 + ], + [ + 0.044105853885412216, + 0.0020432383753359318, + -0.031230155378580093, + -0.2737176716327667, + 0.6546770930290222, + 0.6480457186698914, + -0.276610404253006 + ] + ], + "camera1": [ + [ + 0.07382304966449738, + 0.5802807807922363, + 1.972342610359192, + 0.03622853383421898, + 0.013963710516691208, + 0.2860269248485565, + 0.9574346542358398 + ], + [ + 0.033298738300800323, + 0.5976755619049072, + 1.9611549377441406, + 0.020551461726427078, + 0.0018779562087729573, + 0.26998820900917053, + 0.9626424312591553 + ], + [ + 0.0579700730741024, + 0.5731197595596313, + 1.973790168762207, + 0.05048724263906479, + 0.0173170268535614, + 0.2551068961620331, + 0.9654385447502136 + ], + [ + 0.05508341267704964, + 0.5776282548904419, + 1.9627913236618042, + 0.04212517291307449, + 0.01645384542644024, + 0.2685304284095764, + 0.9622089862823486 + ] + ] + } + } + } +} \ No newline at end of file diff --git a/episodes/c6_p008_e017/wrist.mp4 b/episodes/c6_p008_e017/wrist.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..17b3544587d5854fdd54858f78818fad9fb91e23 --- /dev/null +++ b/episodes/c6_p008_e017/wrist.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:cd28fb483b32fc71f6c9215de25d1ccca47afa9fd2c25e85658c266ea4908a42 +size 6926218 diff --git a/episodes/c6_p008_e018/data.npz b/episodes/c6_p008_e018/data.npz new file mode 100644 index 0000000000000000000000000000000000000000..6a6d658f69132afd82e1a68ead1f5dc15ba5c312 --- /dev/null +++ b/episodes/c6_p008_e018/data.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:82d367d4be967fa860019c818e6d401041d0985bf63d6528aa7196b615d44ce4 +size 193449 diff --git a/episodes/c6_p008_e018/device_events.jsonl b/episodes/c6_p008_e018/device_events.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..4fead890a7fbe0d402f1b1d137ed62d839d735dc --- /dev/null +++ b/episodes/c6_p008_e018/device_events.jsonl @@ -0,0 +1,35 @@ +{"env_id": 2, "seq": 1, "step": 38, "t": 0.19, "topic": "conveyor_1.belt.station.pick.captured", "source": "conveyor_1.belt", "data": {"rider": "carrier_4"}, "cause": null} +{"env_id": 2, "seq": 2, "step": 38, "t": 0.19, "topic": "conveyor_1.belt.state.changed", "source": "conveyor_1.belt", "data": {"from": "running", "to": "at_station"}, "cause": null} +{"env_id": 2, "seq": 3, "step": 43, "t": 0.215, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_4"}, "cause": null} +{"env_id": 2, "seq": 4, "step": 6150, "t": 30.75, "topic": "a4s_sealer_1.plate_present.present", "source": "a4s_sealer_1.plate_present", "data": {"object": "plate_4"}, "cause": null} +{"env_id": 2, "seq": 5, "step": 6760, "t": 33.8, "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": 6760, "t": 33.8, "topic": "a4s_sealer_1.seal.started", "source": "a4s_sealer_1", "data": {"dwell": 4.763852434433022}, "cause": "task-2-1"} +{"env_id": 2, "seq": 7, "step": 6760, "t": 33.8, "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": 6760, "t": 33.8, "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": 6760, "t": 33.8, "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": 7179, "t": 35.895, "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": 7179, "t": 35.895, "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": 7179, "t": 35.895, "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": 7179, "t": 35.895, "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": 7179, "t": 35.895, "topic": "labware.plate_4.changed", "source": "labware.plate_4", "data": {"key": "sealed", "value": true}, "cause": "task-2-1"} +{"env_id": 2, "seq": 15, "step": 7179, "t": 35.895, "topic": "a4s_sealer_1.sealed", "source": "a4s_sealer_1", "data": {"plate": "plate_4"}, "cause": "task-2-1"} +{"env_id": 2, "seq": 16, "step": 7179, "t": 35.895, "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": 7179, "t": 35.895, "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": 7179, "t": 35.895, "topic": "a4s_sealer_1.heater.started", "source": "a4s_sealer_1.heater", "data": {"duration": 4.763852434433022}, "cause": "program-2-3"} +{"env_id": 2, "seq": 19, "step": 8132, "t": 40.66, "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": 8132, "t": 40.66, "topic": "a4s_sealer_1.heater.finished", "source": "a4s_sealer_1.heater", "data": {"elapsed": 4.765000000002438}, "cause": "program-2-3"} +{"env_id": 2, "seq": 21, "step": 8132, "t": 40.66, "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": 4.765000000002438}}, "cause": "program-2-3"} +{"env_id": 2, "seq": 22, "step": 8132, "t": 40.66, "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": 8132, "t": 40.66, "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": 8132, "t": 40.66, "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": 8552, "t": 42.76, "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": 8552, "t": 42.76, "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": 8552, "t": 42.76, "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": 8552, "t": 42.76, "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": 8552, "t": 42.76, "topic": "a4s_sealer_1.seal.finished", "source": "a4s_sealer_1", "data": {}, "cause": "task-2-1"} +{"env_id": 2, "seq": 30, "step": 8552, "t": 42.76, "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": 9131, "t": 45.655, "topic": "a4s_sealer_1.plate_present.absent", "source": "a4s_sealer_1.plate_present", "data": {"object": "plate_4"}, "cause": null} +{"env_id": 2, "seq": 32, "step": 10900, "t": 54.5, "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": 10900, "t": 54.5, "topic": "conveyor_1.belt.station.pick.released", "source": "conveyor_1.belt", "data": {"rider": "carrier_4"}, "cause": "task-2-5"} +{"env_id": 2, "seq": 34, "step": 10900, "t": 54.5, "topic": "conveyor_1.belt.state.changed", "source": "conveyor_1.belt", "data": {"from": "at_station", "to": "running"}, "cause": null} +{"env_id": 2, "seq": 35, "step": 10900, "t": 54.5, "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/c6_p008_e018/env.mp4 b/episodes/c6_p008_e018/env.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..da9dcca8e5aa6a59a5fdfb5bb32ec25dc4d1fc82 --- /dev/null +++ b/episodes/c6_p008_e018/env.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:d009d9e7573d2206129775415bfe871708e463c0e42392057f4c4a7736828a0b +size 1309670 diff --git a/episodes/c6_p008_e018/meta.json b/episodes/c6_p008_e018/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..399d58fc7d7829d19bca944c8c4086c8fae686e8 --- /dev/null +++ b/episodes/c6_p008_e018/meta.json @@ -0,0 +1,32 @@ +{ + "source": "raw/c6_p008/magicsim/18", + "fps": 25, + "frames": 1275, + "kept_ticks": "even", + "video_frames": { + "wrist": 1275, + "env": 1275 + }, + "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/c6_p008_e018/scene_snapshot.json b/episodes/c6_p008_e018/scene_snapshot.json new file mode 100644 index 0000000000000000000000000000000000000000..8275dd5a1cc5f8975ace5b352b7d3eef39ed3693 --- /dev/null +++ b/episodes/c6_p008_e018/scene_snapshot.json @@ -0,0 +1,1558 @@ +{ + "trajectory_id": 18, + "env_id": 2, + "run_id": "c6_p008", + "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_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_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": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_384_white/plate_384_white.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.2325 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "a4s_sealer": [ + { + "asset": "$MAGICSIM_ASSETS/Articulated/A4SSealer/Object.usd", + "pose": { + "pos": [ + 0.4826030731201172, + 0.10466194152832031, + 0.8999999761581421 + ], + "ori": [ + -0.7049852609634399, + 0.0, + 0.0, + 0.7092219591140747 + ], + "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": 0.2936517912992149, + "direction": [ + 1.0, + 0.0, + 0.0 + ], + "enabled": true, + "drive": "surface_velocity", + "lines": null, + "station_line": null, + "riders": [ + "carrier" + ], + "stations": { + "pick": { + "position": -0.11512012031610538, + "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": 0.2936517912992149, + "holds": [], + "station": "pick", + "rider": "carrier_4", + "arrived": true, + "applied_speed": 0.0 + } + } + } + ], + "carrier": [ + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + -1.3928356170654297, + 0.7343950271606445, + 0.8999999761581421 + ], + "ori": [ + -0.76799476146698, + -5.025045268780559e-08, + 1.361497670160361e-08, + 0.6404561996459961 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -9.94147431043757e-10, + -1.211177269588859e-10, + 3.725290298461914e-09 + ], + "angular_velocity": [ + -3.023295391813008e-09, + -1.2316412778545782e-07, + 7.082054054308173e-09 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + 0.39323902130126953, + 1.149998664855957, + 0.8999999761581421 + ], + "ori": [ + 6.8391314016480464e-06, + -6.0698921444668485e-09, + -1.6534634772469303e-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": [ + -3.8117597966902395e-10, + -2.1539050543140092e-09, + 1.1175870895385742e-08 + ], + "angular_velocity": [ + 1.3156541456282866e-07, + -3.707258144913794e-08, + -1.749109124205006e-08 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + 1.5471782684326172, + 0.515376091003418, + 0.8999999761581421 + ], + "ori": [ + 0.9581329226493835, + 4.529678676590265e-08, + -1.6177074124712476e-09, + 0.2863238751888275 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -1.734963950283941e-09, + 1.6461927376809626e-09, + 7.450580596923828e-09 + ], + "angular_velocity": [ + -1.2753501721363136e-07, + -1.3344258320557856e-07, + 1.6139920511193395e-09 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + 0.035346031188964844, + 0.4499988555908203, + 0.8999999761581421 + ], + "ori": [ + 1.0, + 1.0025283936343499e-09, + 3.479230681335821e-09, + -8.132367656799033e-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": [ + 2.302216195460005e-10, + 3.6541929482325486e-09, + 7.450580596923828e-09 + ], + "angular_velocity": [ + -1.975745931304118e-07, + -1.2618485811799474e-08, + 4.844514123192312e-09 + ] + } + } + ], + "plate": [ + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_24_clear/Object.usd", + "pose": { + "pos": [ + -1.401392936706543, + 0.7317934036254883, + 0.9179999828338623 + ], + "ori": [ + -0.7923995852470398, + -5.224014998361781e-08, + 1.797855375684776e-08, + 0.610002338886261 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -8.263227435634235e-09, + 4.216214222196868e-08, + 8.568167686462402e-08 + ], + "angular_velocity": [ + -1.5435127806995297e-06, + -8.050337783060968e-07, + 7.724564454747451e-08 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_384_black/Object.usd", + "pose": { + "pos": [ + 0.40659427642822266, + 1.1481361389160156, + 0.9180000424385071 + ], + "ori": [ + -0.04512964189052582, + -5.615154563543001e-09, + -7.450092209815296e-10, + 0.998981237411499 + ], + "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": [ + -1.0277241280221006e-09, + -6.096126270449531e-09, + -4.868954420089722e-06 + ], + "angular_velocity": [ + -1.1242999562455225e-06, + 1.7830759588832734e-06, + -9.532701028547308e-08 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_1536_black/Object.usd", + "pose": { + "pos": [ + 1.5404415130615234, + 0.4974365234375, + 0.9180000424385071 + ], + "ori": [ + 0.9504011869430542, + 2.9392545286555105e-08, + -5.680380610328939e-08, + 0.31102684140205383 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 3.2139460017788224e-06, + 1.7106455061366432e-06, + -5.345791578292847e-06 + ], + "angular_velocity": [ + -2.5147706764983013e-05, + -1.8274966350873e-05, + -1.7270209355046973e-05 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/deep_well_24_10ml/Object.usd", + "pose": { + "pos": [ + 0.03828716278076172, + 0.4462461471557617, + 0.9179999828338623 + ], + "ori": [ + 0.9978333115577698, + 1.8527990253147664e-09, + 2.5540245474076073e-09, + 0.06579325348138809 + ], + "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": [ + -6.628231830063669e-08, + 2.2228530127677004e-08, + -1.1958181858062744e-06 + ], + "angular_velocity": [ + 6.084532344630134e-08, + -2.803063352985191e-06, + 1.183572138074851e-07 + ] + } + } + ], + "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": 3.659999999999944, + "step": 732, + "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": 0.2936517912992149, + "holds": [], + "station": "pick", + "rider": "carrier_4", + "arrived": true, + "settle_count": 693, + "released": { + "pick": [] + }, + "last_pos": { + "carrier_1": [ + -1.5428356230258942, + 0.2843950390815735, + 0.0 + ], + "carrier_2": [ + 0.24323901534080505, + 0.699998676776886, + 0.0 + ], + "carrier_3": [ + 1.3971782624721527, + 0.06537610292434692, + 0.0 + ], + "carrier_4": [ + -0.11465397477149963, + -1.1324882507324219e-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": [ + 0.549020497276847, + -0.28621507275105473, + 2.881572860346557 + ], + "ori": [ + 1.5370846005237766, + 5.267834416645375, + 16.596475150120092 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "color_temperature": 6197.4289637548045, + "color": [ + 0.8475109948479047, + 0.8337014598800466, + 0.9754629082940683 + ], + "intensity": 12558.631032422676, + "width": 2.4257363716593177, + "height": 1.3395910212416828 + } + }, + "key": { + "type": "disk", + "pose": { + "pos": [ + 1.784049245467303, + 1.1806273032392618, + 2.2560842552502898 + ], + "ori": [ + -10.938153084103295, + 23.61754115530006, + -17.293382397142754 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "color_temperature": 5294.55306773077, + "color": [ + 0.9335411600513366, + 0.8069915881145169, + 0.8767429311143142 + ], + "intensity": 3935.1920095885, + "radius": 0.13235312003996713 + } + } + }, + {} + ], + "background": { + "type": "dome", + "pose": { + "pos": null, + "ori": null, + "scale": null + }, + "dr": { + "intensity": 665.2867147759027, + "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": [ + [ + 1.1392008066177368, + -1.4857960939407349, + 2.117302179336548, + -2.2022650241851807, + -1.5707954168319702, + 2.6006219387054443, + 0.018000055104494095, + 0.01799994520843029 + ], + [ + 1.0672662258148193, + -1.4492930173873901, + 2.187359094619751, + -2.309088945388794, + -1.572558879852295, + 2.64131760597229, + 0.017999960109591484, + 0.0180000402033329 + ], + [ + 0.9141026139259338, + -1.7193981409072876, + 2.0904994010925293, + -1.9418994188308716, + -1.5707999467849731, + 2.484900712966919, + 0.017999999225139618, + 0.017999999225139618 + ], + [ + 0.9141021370887756, + -1.719397783279419, + 2.0904994010925293, + -1.9419008493423462, + -1.5707999467849731, + 2.484900712966919, + 0.018000001087784767, + 0.01799999736249447 + ] + ], + "joint_vel": [ + [ + -0.00011648712097667158, + 0.012545116245746613, + 0.00988009013235569, + -0.021251164376735687, + -7.192502835096093e-06, + 1.3294393284013495e-05, + -5.396092547016451e-06, + 5.3716225920652505e-06 + ], + [ + 0.00013705958554055542, + -0.016674187034368515, + -0.009796514175832272, + 0.02520066313445568, + 8.317327228724025e-06, + -1.3145102457201574e-05, + 7.209209798020311e-06, + -7.233065844047815e-06 + ], + [ + 2.7752833795024005e-38, + -1.9802026056469926e-38, + -1.8741453313745689e-38, + -3.317626130488e-37, + 5.971671745246192e-37, + 3.5612173177617746e-37, + 2.8342460952454887e-38, + 0.0 + ], + [ + 2.2418267104945932e-38, + 0.0, + 1.655722137143331e-38, + -5.0521455223578585e-37, + 3.854091387298713e-37, + -2.955637778613019e-37, + -2.5990388508034812e-08, + 2.5990386731677972e-08 + ] + ] + } + }, + "cameras": { + "cameras": { + "camera0": [ + [ + 0.047863420099020004, + 0.0020103577990084887, + -0.029001951217651367, + -0.2741207778453827, + 0.6593676209449768, + 0.6355454325675964, + -0.2935543656349182 + ], + [ + 0.05385110527276993, + 0.0007430508267134428, + -0.027477188035845757, + -0.27833300828933716, + 0.6562016606330872, + 0.644740641117096, + -0.2761152982711792 + ], + [ + 0.04758905991911888, + -0.0013935284223407507, + -0.02910143882036209, + -0.288280189037323, + 0.642704963684082, + 0.652275562286377, + -0.2799311578273773 + ], + [ + 0.04651536047458649, + -0.00024098058929666877, + -0.032777488231658936, + -0.2752741277217865, + 0.6515730023384094, + 0.6490711569786072, + -0.27997034788131714 + ] + ], + "camera1": [ + [ + 0.07382304966449738, + 0.5802807807922363, + 1.972342610359192, + 0.03622853383421898, + 0.013963710516691208, + 0.2860269248485565, + 0.9574346542358398 + ], + [ + 0.033298738300800323, + 0.5976755619049072, + 1.9611549377441406, + 0.020551461726427078, + 0.0018779562087729573, + 0.26998820900917053, + 0.9626424312591553 + ], + [ + 0.0579700730741024, + 0.5731197595596313, + 1.973790168762207, + 0.05048724263906479, + 0.0173170268535614, + 0.2551068961620331, + 0.9654385447502136 + ], + [ + 0.05508341267704964, + 0.5776282548904419, + 1.9627913236618042, + 0.04212517291307449, + 0.01645384542644024, + 0.2685304284095764, + 0.9622089862823486 + ] + ] + } + } + } +} \ No newline at end of file diff --git a/episodes/c6_p008_e018/wrist.mp4 b/episodes/c6_p008_e018/wrist.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..a4e8f1a4f6515fa1f227a6eaeded6e3eedcc6384 --- /dev/null +++ b/episodes/c6_p008_e018/wrist.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:ec08d9c4b3ef4766fe5f6aa883ce129a608395ff6d4f9445bbe7460530f9aa34 +size 6384759 diff --git a/episodes/c6_p008_e019/data.npz b/episodes/c6_p008_e019/data.npz new file mode 100644 index 0000000000000000000000000000000000000000..a578aaafa05cee1229d44391740088a8ebceeae3 --- /dev/null +++ b/episodes/c6_p008_e019/data.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:1aed069b63e6ddfef62287833604ece8ef8f4bc8adf80e191bead51918cdd24c +size 189994 diff --git a/episodes/c6_p008_e019/device_events.jsonl b/episodes/c6_p008_e019/device_events.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..a3f1977fe766d552f190172cfb81c3552b1f880c --- /dev/null +++ b/episodes/c6_p008_e019/device_events.jsonl @@ -0,0 +1,37 @@ +{"env_id": 1, "seq": 1, "step": 41, "t": 0.205, "topic": "conveyor_1.belt.station.pick.captured", "source": "conveyor_1.belt", "data": {"rider": "carrier_1"}, "cause": null} +{"env_id": 1, "seq": 2, "step": 41, "t": 0.205, "topic": "conveyor_1.belt.state.changed", "source": "conveyor_1.belt", "data": {"from": "running", "to": "at_station"}, "cause": null} +{"env_id": 1, "seq": 3, "step": 46, "t": 0.23, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_1"}, "cause": null} +{"env_id": 1, "seq": 4, "step": 1385, "t": 6.925, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_1"}, "cause": null} +{"env_id": 1, "seq": 5, "step": 1432, "t": 7.16, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_1"}, "cause": null} +{"env_id": 1, "seq": 6, "step": 6243, "t": 31.215, "topic": "a4s_sealer_1.plate_present.present", "source": "a4s_sealer_1.plate_present", "data": {"object": "plate_1"}, "cause": null} +{"env_id": 1, "seq": 7, "step": 6856, "t": 34.28, "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": 8, "step": 6856, "t": 34.28, "topic": "a4s_sealer_1.seal.started", "source": "a4s_sealer_1", "data": {"dwell": 3.2812308730096147}, "cause": "task-1-1"} +{"env_id": 1, "seq": 9, "step": 6856, "t": 34.28, "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": 10, "step": 6856, "t": 34.28, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "at_out", "to": "moving"}, "cause": null} +{"env_id": 1, "seq": 11, "step": 6856, "t": 34.28, "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": 12, "step": 7275, "t": 36.375, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "moving", "to": "at_in"}, "cause": null} +{"env_id": 1, "seq": 13, "step": 7275, "t": 36.375, "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": 14, "step": 7275, "t": 36.375, "topic": "a4s_sealer_1.drawer.at_in", "source": "a4s_sealer_1.drawer", "data": {"q": 0.30000001192092896}, "cause": "program-1-2"} +{"env_id": 1, "seq": 15, "step": 7275, "t": 36.375, "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": 16, "step": 7275, "t": 36.375, "topic": "labware.plate_1.changed", "source": "labware.plate_1", "data": {"key": "sealed", "value": true}, "cause": "task-1-1"} +{"env_id": 1, "seq": 17, "step": 7275, "t": 36.375, "topic": "a4s_sealer_1.sealed", "source": "a4s_sealer_1", "data": {"plate": "plate_1"}, "cause": "task-1-1"} +{"env_id": 1, "seq": 18, "step": 7275, "t": 36.375, "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": 19, "step": 7275, "t": 36.375, "topic": "a4s_sealer_1.heater.state.changed", "source": "a4s_sealer_1.heater", "data": {"from": "ready", "to": "running"}, "cause": null} +{"env_id": 1, "seq": 20, "step": 7275, "t": 36.375, "topic": "a4s_sealer_1.heater.started", "source": "a4s_sealer_1.heater", "data": {"duration": 3.2812308730096147}, "cause": "program-1-3"} +{"env_id": 1, "seq": 21, "step": 7932, "t": 39.66, "topic": "a4s_sealer_1.heater.state.changed", "source": "a4s_sealer_1.heater", "data": {"from": "running", "to": "ready"}, "cause": null} +{"env_id": 1, "seq": 22, "step": 7932, "t": 39.66, "topic": "a4s_sealer_1.heater.finished", "source": "a4s_sealer_1.heater", "data": {"elapsed": 3.2850000000016806}, "cause": "program-1-3"} +{"env_id": 1, "seq": 23, "step": 7932, "t": 39.66, "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": 3.2850000000016806}}, "cause": "program-1-3"} +{"env_id": 1, "seq": 24, "step": 7932, "t": 39.66, "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": 25, "step": 7932, "t": 39.66, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "at_in", "to": "moving"}, "cause": null} +{"env_id": 1, "seq": 26, "step": 7932, "t": 39.66, "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": 27, "step": 8352, "t": 41.76, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "moving", "to": "at_out"}, "cause": null} +{"env_id": 1, "seq": 28, "step": 8352, "t": 41.76, "topic": "a4s_sealer_1.drawer.reached", "source": "a4s_sealer_1.drawer", "data": {"position": "out", "q": 4.038270606798733e-09}, "cause": "program-1-4"} +{"env_id": 1, "seq": 29, "step": 8352, "t": 41.76, "topic": "a4s_sealer_1.drawer.at_out", "source": "a4s_sealer_1.drawer", "data": {"q": 4.038270606798733e-09}, "cause": "program-1-4"} +{"env_id": 1, "seq": 30, "step": 8352, "t": 41.76, "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": 31, "step": 8352, "t": 41.76, "topic": "a4s_sealer_1.seal.finished", "source": "a4s_sealer_1", "data": {}, "cause": "task-1-1"} +{"env_id": 1, "seq": 32, "step": 8352, "t": 41.76, "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": 33, "step": 8930, "t": 44.65, "topic": "a4s_sealer_1.plate_present.absent", "source": "a4s_sealer_1.plate_present", "data": {"object": "plate_1"}, "cause": null} +{"env_id": 1, "seq": 34, "step": 10664, "t": 53.32, "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": 35, "step": 10664, "t": 53.32, "topic": "conveyor_1.belt.station.pick.released", "source": "conveyor_1.belt", "data": {"rider": "carrier_1"}, "cause": "task-1-5"} +{"env_id": 1, "seq": 36, "step": 10664, "t": 53.32, "topic": "conveyor_1.belt.state.changed", "source": "conveyor_1.belt", "data": {"from": "at_station", "to": "running"}, "cause": null} +{"env_id": 1, "seq": 37, "step": 10664, "t": 53.32, "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/c6_p008_e019/env.mp4 b/episodes/c6_p008_e019/env.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..204b35f93be0c84ddbd6993ceda29e6576275c02 --- /dev/null +++ b/episodes/c6_p008_e019/env.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:a5d1b49e35554f6c53ad0c036ddcb6c4fd0fcdddaf1ad659d1f22c40ef298d20 +size 1251605 diff --git a/episodes/c6_p008_e019/meta.json b/episodes/c6_p008_e019/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..d509286cd2611513abca272f7b32c33548eea246 --- /dev/null +++ b/episodes/c6_p008_e019/meta.json @@ -0,0 +1,32 @@ +{ + "source": "raw/c6_p008/magicsim/19", + "fps": 25, + "frames": 1226, + "kept_ticks": "even", + "video_frames": { + "wrist": 1226, + "env": 1226 + }, + "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/c6_p008_e019/scene_snapshot.json b/episodes/c6_p008_e019/scene_snapshot.json new file mode 100644 index 0000000000000000000000000000000000000000..1d9f32f5f7253826b9b3f29101250e5a9a876966 --- /dev/null +++ b/episodes/c6_p008_e019/scene_snapshot.json @@ -0,0 +1,1558 @@ +{ + "trajectory_id": 19, + "env_id": 1, + "run_id": "c6_p008", + "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/pcr_384_red/pcr_384_red.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/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": [ + 0.4729146957397461, + 0.0952615737915039, + 0.8999999761581421 + ], + "ori": [ + -0.6847528219223022, + 0.0, + 0.0, + 0.7287753820419312 + ], + "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": [ + 1.0092505173600608e-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": 0.26743546751945013, + "direction": [ + 1.0, + 0.0, + 0.0 + ], + "enabled": true, + "drive": "surface_velocity", + "lines": null, + "station_line": null, + "riders": [ + "carrier" + ], + "stations": { + "pick": { + "position": -0.2862395227383064, + "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": 0.26743546751945013, + "holds": [], + "station": "pick", + "rider": "carrier_1", + "arrived": true, + "applied_speed": 0.0 + } + } + } + ], + "carrier": [ + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + -0.1363506317138672, + 0.4499998092651367, + 0.8999999761581421 + ], + "ori": [ + 1.0, + 9.111669641015396e-09, + 6.704345523189659e-09, + 9.109561688092072e-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": [ + 9.807477496792671e-09, + 9.706063508474472e-08, + -3.725290298461914e-09 + ], + "angular_velocity": [ + -2.9654772788489936e-06, + -1.8393623690826644e-07, + -1.4110412394074956e-06 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + -1.3971242904663086, + 0.7694110870361328, + 0.9000002145767212 + ], + "ori": [ + -0.7343553900718689, + 6.999700872256653e-06, + -6.1597488638653886e-06, + 0.6787652373313904 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -3.7096495361765847e-05, + -8.11282097856747e-06, + -4.295632243156433e-05 + ], + "angular_velocity": [ + 0.0006901377928443253, + -0.003148348769173026, + 2.080799276882317e-06 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + 0.3948707580566406, + 1.1500024795532227, + 0.8999999761581421 + ], + "ori": [ + 1.9809487639577128e-05, + -5.5624879702342866e-11, + 1.126376880655755e-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": [ + -2.897727613415668e-10, + -3.513379587261056e-10, + 0.0 + ], + "angular_velocity": [ + 2.652174657669093e-08, + -2.20314007037814e-08, + -1.4996497377239848e-09 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + 1.5412397384643555, + 0.5114145278930664, + 0.8999999761581421 + ], + "ori": [ + 0.9595946669578552, + 7.790488254499905e-09, + -9.454029026301214e-08, + 0.28138598799705505 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -2.407118948610787e-08, + -1.4716709628714852e-08, + -1.2665987014770508e-07 + ], + "angular_velocity": [ + 9.685828672445496e-07, + -1.8377496644461644e-06, + -2.849038338581522e-08 + ] + } + } + ], + "plate": [ + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_12_clear/Object.usd", + "pose": { + "pos": [ + -0.13754558563232422, + 0.4462089538574219, + 0.9179999828338623 + ], + "ori": [ + 0.9999972581863403, + 1.4521202729156357e-07, + -7.450699968103436e-08, + -0.0023462511599063873 + ], + "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": [ + -1.8504846366340644e-07, + 4.7083376557566226e-06, + -8.50483775138855e-06 + ], + "angular_velocity": [ + 2.1782034309580922e-07, + -2.8272017516428605e-05, + 1.8326514691580087e-05 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_96_white/Object.usd", + "pose": { + "pos": [ + -1.407242774963379, + 0.7715015411376953, + 0.9180002212524414 + ], + "ori": [ + -0.6810535192489624, + 1.0754973118309863e-05, + -1.279911975871073e-05, + 0.7322336435317993 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -6.737150397384539e-05, + -2.067167042696383e-05, + -0.00010520592331886292 + ], + "angular_velocity": [ + 9.37127842917107e-05, + -0.00438796728849411, + 9.510769450571388e-05 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/pcr_384_red/Object.usd", + "pose": { + "pos": [ + 0.39229869842529297, + 1.1573991775512695, + 0.9179999828338623 + ], + "ori": [ + 0.07882875949144363, + -3.2510688585674075e-10, + 2.7580629446966043e-10, + 0.9968882203102112 + ], + "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": [ + 1.1882199224544365e-08, + -1.7000129304278744e-08, + -5.710870027542114e-06 + ], + "angular_velocity": [ + 1.778608407221327e-07, + 1.1970278137596324e-06, + 1.33356437004295e-07 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/deep_well_96_1ml/Object.usd", + "pose": { + "pos": [ + 1.550490379333496, + 0.5198144912719727, + 0.9180000424385071 + ], + "ori": [ + 0.966895580291748, + 1.2382722403003754e-08, + -9.716880100540948e-08, + 0.2551727294921875 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -7.354869069331471e-08, + -9.922758437141965e-08, + -8.128583431243896e-06 + ], + "angular_velocity": [ + 4.132899448450189e-06, + -3.4364002203801647e-06, + -1.3144072852355748e-07 + ] + } + } + ], + "deco_hub_west": [ + { + "asset": "$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": 4.459999999999927, + "step": 892, + "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": 1.0092505173600608e-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": 0.26743546751945013, + "holds": [], + "station": "pick", + "rider": "carrier_1", + "arrived": true, + "settle_count": 850, + "released": { + "pick": [] + }, + "last_pos": { + "carrier_1": [ + -0.28635063767433167, + -1.7881393432617188e-07, + 0.0 + ], + "carrier_2": [ + -1.547124296426773, + 0.31941109895706177, + 2.384185791015625e-07 + ], + "carrier_3": [ + 0.24487075209617615, + 0.7000024914741516, + 0.0 + ], + "carrier_4": [ + 1.391239732503891, + 0.06141453981399536, + 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": [ + 0.7629765983101328, + 0.38027494532056194, + 3.0222560733961004 + ], + "ori": [ + 7.829949558976143, + 7.280218897258823, + 7.99702826483702 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "color_temperature": 6051.225306340751, + "color": [ + 0.866851876649851, + 0.8610448316239386, + 0.8090125802135348 + ], + "intensity": 9199.957757980943, + "width": 2.48788482436815, + "height": 0.8166378574848076 + } + }, + "key": { + "type": "disk", + "pose": { + "pos": [ + 0.039828754861301, + 1.2010630163839646, + 2.147792461194458 + ], + "ori": [ + 23.162326343873083, + 27.859746763165234, + 35.46430975215951 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "color_temperature": 6161.666438640918, + "color": [ + 0.922108043094777, + 0.8169214098015156, + 0.7509971296424073 + ], + "intensity": 2825.3891278197407, + "radius": 0.192244803921919 + } + } + }, + {}, + {} + ], + "background": { + "type": "dome", + "pose": { + "pos": null, + "ori": null, + "scale": null + }, + "dr": { + "intensity": 665.2867147759027, + "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": [ + [ + 1.1704390048980713, + -1.5293617248535156, + 2.1008474826812744, + -2.142407178878784, + -1.5708558559417725, + 2.6347787380218506, + 0.007300068624317646, + 0.006730841472744942 + ], + [ + 0.9141024947166443, + -1.7193981409072876, + 2.090498924255371, + -1.9419000148773193, + -1.5707999467849731, + 2.484900951385498, + 0.01799999736249447, + 0.018000001087784767 + ], + [ + 0.9352622032165527, + -1.4457030296325684, + 2.0338375568389893, + -2.1589038372039795, + -1.570784330368042, + 2.3744494915008545, + 0.007816915400326252, + 0.007222944404929876 + ], + [ + 1.1334164142608643, + -1.5788886547088623, + 2.176950216293335, + -2.1689159870147705, + -1.5707550048828125, + 2.763204336166382, + 0.007103166542947292, + 0.007929939776659012 + ] + ], + "joint_vel": [ + [ + 0.019940325990319252, + -0.01590624451637268, + -0.00025655943318270147, + 0.014774231240153313, + -2.5345561880385503e-05, + 0.020678464323282242, + -0.007677859161049128, + 8.830511796986684e-05 + ], + [ + 0.0, + -2.454474593234963e-38, + -1.2499685997863728e-38, + -4.265927400769919e-37, + 2.7658317895163454e-37, + 7.673397726246167e-38, + 2.5990386731677972e-08, + -2.5990386731677972e-08 + ], + [ + 0.0003140558837912977, + 7.463591464329511e-05, + -4.009978147223592e-05, + 0.00011444406118243933, + 0.00025940267369151115, + 0.0006903546745888889, + -0.007046814076602459, + 0.00040842799353413284 + ], + [ + -0.002419866854324937, + -0.00029334635473787785, + 0.0014173155650496483, + -0.001910553895868361, + 0.0004376247525215149, + 0.0009721505921334028, + -0.005158812738955021, + 0.00019032639102078974 + ] + ] + } + }, + "cameras": { + "cameras": { + "camera0": [ + [ + 0.04732425510883331, + 0.0024444712325930595, + -0.025633910670876503, + -0.27374690771102905, + 0.6593901515007019, + 0.6360330581665039, + -0.2927955090999603 + ], + [ + 0.05098900943994522, + -0.0015304137486964464, + -0.027743669226765633, + -0.2682061791419983, + 0.6572274565696716, + 0.6507315039634705, + -0.2695663571357727 + ], + [ + 0.0473150759935379, + 0.0032490072771906853, + -0.0296466127038002, + -0.2774418592453003, + 0.6443341374397278, + 0.6567091941833496, + -0.276753693819046 + ], + [ + 0.04704907163977623, + 0.00125460687559098, + -0.034764982759952545, + -0.273145467042923, + 0.6520184874534607, + 0.6511218547821045, + -0.27623140811920166 + ] + ], + "camera1": [ + [ + 0.07382304966449738, + 0.5802807807922363, + 1.972342610359192, + 0.03622853383421898, + 0.013963710516691208, + 0.2860269248485565, + 0.9574346542358398 + ], + [ + 0.05005683749914169, + 0.6013895869255066, + 1.9624782800674438, + 0.049851566553115845, + 0.02450409345328808, + 0.2668415606021881, + 0.9621382355690002 + ], + [ + 0.0579700730741024, + 0.5731197595596313, + 1.973790168762207, + 0.05048724263906479, + 0.0173170268535614, + 0.2551068961620331, + 0.9654385447502136 + ], + [ + 0.05508341267704964, + 0.5776282548904419, + 1.9627913236618042, + 0.04212517291307449, + 0.01645384542644024, + 0.2685304284095764, + 0.9622089862823486 + ] + ] + } + } + } +} \ No newline at end of file diff --git a/episodes/c6_p008_e019/wrist.mp4 b/episodes/c6_p008_e019/wrist.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..f74d4073125ed0daea4c541dfb8d084d7bae5e30 --- /dev/null +++ b/episodes/c6_p008_e019/wrist.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:5df3e4c90a21073aa1b9f65c44e1349a14742b3b7c4988b31d2db017a9ca9bc0 +size 6657190 diff --git a/episodes/c8_p008_e015/data.npz b/episodes/c8_p008_e015/data.npz new file mode 100644 index 0000000000000000000000000000000000000000..d84513c246b58415b0b5738b3cc8f69a03a3d554 --- /dev/null +++ b/episodes/c8_p008_e015/data.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:36b4f2efb19cad92062310f8ab588232a5a4c2e7d45088538d9ee175104d9365 +size 187319 diff --git a/episodes/c8_p008_e015/device_events.jsonl b/episodes/c8_p008_e015/device_events.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..4e29e3e14c0e3a35d16189c8410948744790a954 --- /dev/null +++ b/episodes/c8_p008_e015/device_events.jsonl @@ -0,0 +1,35 @@ +{"env_id": 2, "seq": 1, "step": 106, "t": 0.53, "topic": "conveyor_1.belt.station.pick.captured", "source": "conveyor_1.belt", "data": {"rider": "carrier_2"}, "cause": null} +{"env_id": 2, "seq": 2, "step": 106, "t": 0.53, "topic": "conveyor_1.belt.state.changed", "source": "conveyor_1.belt", "data": {"from": "running", "to": "at_station"}, "cause": null} +{"env_id": 2, "seq": 3, "step": 111, "t": 0.555, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_2"}, "cause": null} +{"env_id": 2, "seq": 4, "step": 6543, "t": 32.715, "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": 7156, "t": 35.78, "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": 7156, "t": 35.78, "topic": "a4s_sealer_1.seal.started", "source": "a4s_sealer_1", "data": {"dwell": 3.7287039589944655}, "cause": "task-2-1"} +{"env_id": 2, "seq": 7, "step": 7156, "t": 35.78, "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": 7156, "t": 35.78, "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": 7156, "t": 35.78, "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": 7575, "t": 37.875, "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": 7575, "t": 37.875, "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": 7575, "t": 37.875, "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": 7575, "t": 37.875, "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": 7575, "t": 37.875, "topic": "labware.plate_2.changed", "source": "labware.plate_2", "data": {"key": "sealed", "value": true}, "cause": "task-2-1"} +{"env_id": 2, "seq": 15, "step": 7575, "t": 37.875, "topic": "a4s_sealer_1.sealed", "source": "a4s_sealer_1", "data": {"plate": "plate_2"}, "cause": "task-2-1"} +{"env_id": 2, "seq": 16, "step": 7575, "t": 37.875, "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": 7575, "t": 37.875, "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": 7575, "t": 37.875, "topic": "a4s_sealer_1.heater.started", "source": "a4s_sealer_1.heater", "data": {"duration": 3.7287039589944655}, "cause": "program-2-3"} +{"env_id": 2, "seq": 19, "step": 8321, "t": 41.605, "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": 8321, "t": 41.605, "topic": "a4s_sealer_1.heater.finished", "source": "a4s_sealer_1.heater", "data": {"elapsed": 3.7300000000019082}, "cause": "program-2-3"} +{"env_id": 2, "seq": 21, "step": 8321, "t": 41.605, "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": 3.7300000000019082}}, "cause": "program-2-3"} +{"env_id": 2, "seq": 22, "step": 8321, "t": 41.605, "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": 8321, "t": 41.605, "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": 8321, "t": 41.605, "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": 8741, "t": 43.705, "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": 8741, "t": 43.705, "topic": "a4s_sealer_1.drawer.reached", "source": "a4s_sealer_1.drawer", "data": {"position": "out", "q": 1.2104548266500537e-11}, "cause": "program-2-4"} +{"env_id": 2, "seq": 27, "step": 8741, "t": 43.705, "topic": "a4s_sealer_1.drawer.at_out", "source": "a4s_sealer_1.drawer", "data": {"q": 1.2104548266500537e-11}, "cause": "program-2-4"} +{"env_id": 2, "seq": 28, "step": 8741, "t": 43.705, "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": 8741, "t": 43.705, "topic": "a4s_sealer_1.seal.finished", "source": "a4s_sealer_1", "data": {}, "cause": "task-2-1"} +{"env_id": 2, "seq": 30, "step": 8741, "t": 43.705, "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": 9322, "t": 46.61, "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": 11064, "t": 55.32, "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": 11064, "t": 55.32, "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": 11064, "t": 55.32, "topic": "conveyor_1.belt.state.changed", "source": "conveyor_1.belt", "data": {"from": "at_station", "to": "running"}, "cause": null} +{"env_id": 2, "seq": 35, "step": 11064, "t": 55.32, "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/c8_p008_e015/env.mp4 b/episodes/c8_p008_e015/env.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..afaef0012e6327fb502129fdae126375690872e5 --- /dev/null +++ b/episodes/c8_p008_e015/env.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:7c29ab27727585cfc775f0ee5b5cb334e75785840fbb43f696c0a0d2457c8df1 +size 1232393 diff --git a/episodes/c8_p008_e015/meta.json b/episodes/c8_p008_e015/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..11d76199403010e1f81ace92d21cbd6394c31232 --- /dev/null +++ b/episodes/c8_p008_e015/meta.json @@ -0,0 +1,32 @@ +{ + "source": "raw/c8_p008/magicsim/15", + "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/c8_p008_e015/scene_snapshot.json b/episodes/c8_p008_e015/scene_snapshot.json new file mode 100644 index 0000000000000000000000000000000000000000..c778220a8fba0527e648c55f75b6c8ff3cea211b --- /dev/null +++ b/episodes/c8_p008_e015/scene_snapshot.json @@ -0,0 +1,1558 @@ +{ + "trajectory_id": 15, + "env_id": 2, + "run_id": "c8_p008", + "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": "$MAGICSIM_ASSETS/Bio/CAD/plates/pcr_96_blue/pcr_96_blue.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 0.9605 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/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_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": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_6_clear/plate_6_clear.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.2325 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "a4s_sealer": [ + { + "asset": "$MAGICSIM_ASSETS/Articulated/A4SSealer/Object.usd", + "pose": { + "pos": [ + 0.5054759979248047, + 0.0936441421508789, + 0.8999999761581421 + ], + "ori": [ + 0.7160273790359497, + 0.0, + 0.0, + -0.6980721950531006 + ], + "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": [ + 3.0277486247343166e-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": 0.23603420663178865, + "direction": [ + 1.0, + 0.0, + 0.0 + ], + "enabled": true, + "drive": "surface_velocity", + "lines": null, + "station_line": null, + "riders": [ + "carrier" + ], + "stations": { + "pick": { + "position": -0.28633143444717496, + "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": 0.23603420663178865, + "holds": [], + "station": "pick", + "rider": "carrier_2", + "arrived": true, + "applied_speed": 0.0 + } + } + } + ], + "carrier": [ + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + -1.2001399993896484, + 1.1127548217773438, + 0.8999999761581421 + ], + "ori": [ + -0.21893975138664246, + 2.0766766084534538e-08, + -6.87790446818326e-08, + 0.9757384061813354 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -2.704169776990284e-09, + 5.164856986539235e-09, + -3.725290298461914e-09 + ], + "angular_velocity": [ + -4.1530304883963254e-07, + -1.7088464687731175e-07, + -2.0270725542559376e-08 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + -0.13573169708251953, + 0.4501514434814453, + 0.8999999761581421 + ], + "ori": [ + 0.9999997615814209, + -1.8956058944752385e-09, + 2.214371574993379e-09, + -0.0006735323695465922 + ], + "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": [ + -5.87810911056863e-11, + 2.463574011457581e-09, + 3.725290298461914e-09 + ], + "angular_velocity": [ + -1.622595533490312e-07, + -1.226212731353371e-08, + 1.7627790338536897e-09 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + 1.6861886978149414, + 0.888300895690918, + 0.8999999761581421 + ], + "ori": [ + 0.6168820261955261, + -9.10345576699001e-09, + 2.4293612455039693e-08, + 0.7870557308197021 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 8.508159732301124e-10, + 2.1351913570555325e-09, + 3.725290298461914e-09 + ], + "angular_velocity": [ + -1.7291802123509115e-07, + 3.356263178488916e-08, + 1.2291433648670136e-08 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + 0.24580764770507812, + 1.1500005722045898, + 0.8999999761581421 + ], + "ori": [ + -4.732197703560814e-05, + 8.451368493922473e-09, + 3.305295481759174e-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": [ + -4.911560047560215e-11, + -1.1293841417625572e-08, + 0.0 + ], + "angular_velocity": [ + 1.921502104096362e-07, + -2.726966918942253e-08, + 7.453535744161854e-08 + ] + } + } + ], + "plate": [ + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_24_clear/Object.usd", + "pose": { + "pos": [ + -1.1945676803588867, + 1.1251029968261719, + 0.9179999828338623 + ], + "ori": [ + -0.285096138715744, + 1.5124184571391197e-08, + -6.922889639326968e-08, + 0.9584988951683044 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 1.3768824302928806e-08, + 3.109395763090106e-08, + 5.960464477539063e-08 + ], + "angular_velocity": [ + -1.5700203448432148e-06, + 7.168889624153962e-07, + 1.629462786922886e-08 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_384_black/Object.usd", + "pose": { + "pos": [ + -0.12851428985595703, + 0.4419536590576172, + 0.9180000424385071 + ], + "ori": [ + 0.9992231726646423, + -1.647142422456227e-09, + 1.9155390607039635e-09, + -0.03941117227077484 + ], + "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": [ + -2.231426066146014e-08, + 2.906782192724222e-08, + -5.953013896942139e-06 + ], + "angular_velocity": [ + -8.157664410646248e-07, + -1.6882565887499368e-06, + 1.3764061179699638e-07 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_1536_black/Object.usd", + "pose": { + "pos": [ + 1.6766881942749023, + 0.8906431198120117, + 0.9180000424385071 + ], + "ori": [ + 0.5459843873977661, + -5.612082354389258e-09, + 2.724200598436255e-08, + 0.8377953171730042 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 2.3004224303235787e-08, + 1.765662638320009e-08, + -5.852431058883667e-06 + ], + "angular_velocity": [ + 8.521300287611666e-07, + 1.7632664821576327e-06, + -2.0308797843426873e-07 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/deep_well_24_10ml/Object.usd", + "pose": { + "pos": [ + 0.23417949676513672, + 1.1550359725952148, + 0.9179999828338623 + ], + "ori": [ + 0.08666138350963593, + 8.178308696926706e-09, + -1.945721361806818e-10, + 0.9962378740310669 + ], + "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": [ + 8.633845993699651e-08, + -6.983241007674224e-08, + -1.3746321201324463e-06 + ], + "angular_velocity": [ + 1.808390834412421e-06, + 3.524490011841408e-06, + 1.0371672942710575e-07 + ] + } + } + ], + "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": 6.379999999999886, + "step": 1276, + "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": 3.0277486247343166e-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": 0.23603420663178865, + "holds": [], + "station": "pick", + "rider": "carrier_2", + "arrived": true, + "settle_count": 1169, + "released": { + "pick": [] + }, + "last_pos": { + "carrier_1": [ + -1.350140005350113, + 0.6627548336982727, + 0.0 + ], + "carrier_2": [ + -0.285731703042984, + 0.00015145540237426758, + 0.0 + ], + "carrier_3": [ + 1.536188691854477, + 0.4383009076118469, + 0.0 + ], + "carrier_4": [ + 0.09580764174461365, + 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": [] + } + }, + null + ], + "drives": [ + null, + null, + {}, + null + ] + }, + "artifacts": [ + {}, + {}, + { + "ceiling": { + "type": "rect", + "pose": { + "pos": [ + -0.24694704690600155, + 0.29114712201015513, + 2.8560157245042075 + ], + "ori": [ + -4.346141888439815, + -6.6151743753392385, + -14.624340713284793 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "color_temperature": 7119.569103843185, + "color": [ + 0.8570930034902873, + 0.989516764268071, + 0.7846730598784049 + ], + "intensity": 6543.634437095864, + "width": 2.7649728123654285, + "height": 1.8863269913212823 + } + }, + "key": { + "type": "sphere", + "pose": { + "pos": [ + 1.3960512969904157, + 0.12584551515733144, + 1.9920169427363301 + ], + "ori": [ + -35.48098601012115, + 31.51196393321743, + 21.40130727327719 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "color_temperature": 5599.984623733704, + "color": [ + 0.7812237294794677, + 0.9656431063622967, + 0.768306656295809 + ], + "intensity": 7850.902247815921, + "radius": 0.05154906902399419 + } + } + }, + {} + ], + "background": { + "type": "dome", + "pose": { + "pos": null, + "ori": null, + "scale": null + }, + "dr": { + "intensity": 513.3551757851104, + "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": [ + [ + 2.8054256439208984, + -1.520608901977539, + 2.1388251781463623, + -2.1888058185577393, + -1.5702286958694458, + 4.378024578094482, + 0.017999986186623573, + 0.017999986186623573 + ], + [ + 2.8041281700134277, + -1.690191626548767, + 1.7423838376998901, + -1.6229883432388306, + -1.5705822706222534, + 4.374096393585205, + 0.017999986186623573, + 0.017999986186623573 + ], + [ + 0.9141093492507935, + -1.7193948030471802, + 2.0904977321624756, + -1.941900610923767, + -1.5707999467849731, + 2.4849050045013428, + 0.01799999736249447, + 0.018000001087784767 + ], + [ + 2.583019495010376, + -2.166865348815918, + 2.211925983428955, + -1.616118311882019, + -1.5713313817977905, + 4.152986526489258, + 0.007656525820493698, + 0.00704091927036643 + ] + ], + "joint_vel": [ + [ + 3.0457034463915456e-12, + -6.81183200867963e-06, + -1.3623854101751931e-05, + -6.8119470597594045e-06, + -3.405978532100562e-06, + 1.362391503789695e-05, + 1.8193368589436432e-07, + 1.8193242112829466e-07 + ], + [ + -6.811923867644509e-06, + 3.4059435165545437e-06, + -3.4059814879583428e-06, + 3.405976485737483e-06, + 2.0731531183600105e-14, + 1.3623915947391652e-05, + 1.8192510253811633e-07, + 1.819256425505955e-07 + ], + [ + 0.0, + -2.454432554281033e-38, + -1.6919636390664708e-38, + -3.6030791475656285e-37, + 5.968116707094138e-37, + -2.694139028320843e-36, + 2.599039738981901e-08, + -2.5990386731677972e-08 + ], + [ + 0.01776915416121483, + 0.028453581035137177, + -0.011150493286550045, + -0.017292115837335587, + -0.00047285074833780527, + 0.01922496408224106, + -0.007945545017719269, + 0.00016147243150044233 + ] + ] + } + }, + "cameras": { + "cameras": { + "camera0": [ + [ + 0.05038566142320633, + -0.0027522470336407423, + -0.030730290338397026, + -0.29362937808036804, + 0.6397814154624939, + 0.6527339816093445, + -0.27999988198280334 + ], + [ + 0.053586967289447784, + 0.0008559188572689891, + -0.029664887115359306, + -0.2723503112792969, + 0.6589028835296631, + 0.6439069509506226, + -0.27758994698524475 + ], + [ + 0.05171729251742363, + -0.004124410450458527, + -0.030767805874347687, + -0.272956520318985, + 0.6519467830657959, + 0.6491605639457703, + -0.28115954995155334 + ], + [ + 0.04943946376442909, + 0.0008448024746030569, + -0.03434619680047035, + -0.28171828389167786, + 0.6535483598709106, + 0.6389488577842712, + -0.2919823229312897 + ] + ], + "camera1": [ + [ + 0.06859888881444931, + 0.5910753011703491, + 1.9642058610916138, + 0.021778278052806854, + 0.005672774277627468, + 0.2797355651855469, + 0.9598132967948914 + ], + [ + 0.06283333897590637, + 0.5909292101860046, + 1.9565916061401367, + 0.048310622572898865, + 0.00943711493164301, + 0.2859239876270294, + 0.956987202167511 + ], + [ + 0.03805062919855118, + 0.5666089653968811, + 1.94370698928833, + 0.029431208968162537, + 0.03042888082563877, + 0.2819511890411377, + 0.9584943652153015 + ], + [ + 0.031939104199409485, + 0.5831725597381592, + 1.9302408695220947, + 0.027808284386992455, + 0.017981750890612602, + 0.2757129669189453, + 0.9606693983078003 + ] + ] + } + } + } +} \ No newline at end of file diff --git a/episodes/c8_p008_e015/wrist.mp4 b/episodes/c8_p008_e015/wrist.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..a3faca4c1d6b5a05b49ac1c955cf6a29f91fef94 --- /dev/null +++ b/episodes/c8_p008_e015/wrist.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:84d3af19bbbd004fbfbcb8d5192d629f43d4166b269fc79e20f99fb46051d273 +size 7094572 diff --git a/episodes/c9_p010_e004/data.npz b/episodes/c9_p010_e004/data.npz new file mode 100644 index 0000000000000000000000000000000000000000..501c0d54d94bcc5887d36bd5032ff7e423b7b982 --- /dev/null +++ b/episodes/c9_p010_e004/data.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:cd50dd83c33d7bb66297e1fe697dbd21143bdb948de263fcee0dfa29548d2701 +size 188907 diff --git a/episodes/c9_p010_e004/device_events.jsonl b/episodes/c9_p010_e004/device_events.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..9a9b600b22df8528b5bb2a74ddaf2048fd975329 --- /dev/null +++ b/episodes/c9_p010_e004/device_events.jsonl @@ -0,0 +1,35 @@ +{"env_id": 1, "seq": 1, "step": 185, "t": 0.925, "topic": "conveyor_1.belt.station.pick.captured", "source": "conveyor_1.belt", "data": {"rider": "carrier_4"}, "cause": null} +{"env_id": 1, "seq": 2, "step": 185, "t": 0.925, "topic": "conveyor_1.belt.state.changed", "source": "conveyor_1.belt", "data": {"from": "running", "to": "at_station"}, "cause": null} +{"env_id": 1, "seq": 3, "step": 190, "t": 0.95, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_4"}, "cause": null} +{"env_id": 1, "seq": 4, "step": 6579, "t": 32.895, "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": 7192, "t": 35.96, "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": 7192, "t": 35.96, "topic": "a4s_sealer_1.seal.started", "source": "a4s_sealer_1", "data": {"dwell": 1.8003541337896023}, "cause": "task-1-1"} +{"env_id": 1, "seq": 7, "step": 7192, "t": 35.96, "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": 7192, "t": 35.96, "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": 7192, "t": 35.96, "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": 7611, "t": 38.055, "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": 7611, "t": 38.055, "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": 7611, "t": 38.055, "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": 7611, "t": 38.055, "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": 7611, "t": 38.055, "topic": "labware.plate_4.changed", "source": "labware.plate_4", "data": {"key": "sealed", "value": true}, "cause": "task-1-1"} +{"env_id": 1, "seq": 15, "step": 7611, "t": 38.055, "topic": "a4s_sealer_1.sealed", "source": "a4s_sealer_1", "data": {"plate": "plate_4"}, "cause": "task-1-1"} +{"env_id": 1, "seq": 16, "step": 7611, "t": 38.055, "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": 7611, "t": 38.055, "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": 7611, "t": 38.055, "topic": "a4s_sealer_1.heater.started", "source": "a4s_sealer_1.heater", "data": {"duration": 1.8003541337896023}, "cause": "program-1-3"} +{"env_id": 1, "seq": 19, "step": 7972, "t": 39.86, "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": 7972, "t": 39.86, "topic": "a4s_sealer_1.heater.finished", "source": "a4s_sealer_1.heater", "data": {"elapsed": 1.8050000000009234}, "cause": "program-1-3"} +{"env_id": 1, "seq": 21, "step": 7972, "t": 39.86, "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": 1.8050000000009234}}, "cause": "program-1-3"} +{"env_id": 1, "seq": 22, "step": 7972, "t": 39.86, "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": 23, "step": 7972, "t": 39.86, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "at_in", "to": "moving"}, "cause": null} +{"env_id": 1, "seq": 24, "step": 7972, "t": 39.86, "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": 25, "step": 8392, "t": 41.96, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "moving", "to": "at_out"}, "cause": null} +{"env_id": 1, "seq": 26, "step": 8392, "t": 41.96, "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": 8392, "t": 41.96, "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": 8392, "t": 41.96, "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": 29, "step": 8392, "t": 41.96, "topic": "a4s_sealer_1.seal.finished", "source": "a4s_sealer_1", "data": {}, "cause": "task-1-1"} +{"env_id": 1, "seq": 30, "step": 8392, "t": 41.96, "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": 31, "step": 8969, "t": 44.845, "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": 10696, "t": 53.48, "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": 10696, "t": 53.48, "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": 10696, "t": 53.48, "topic": "conveyor_1.belt.state.changed", "source": "conveyor_1.belt", "data": {"from": "at_station", "to": "running"}, "cause": null} +{"env_id": 1, "seq": 35, "step": 10696, "t": 53.48, "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/c9_p010_e004/env.mp4 b/episodes/c9_p010_e004/env.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..bb3309a6818a69ee573d0866bf040251cb7fa754 --- /dev/null +++ b/episodes/c9_p010_e004/env.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:d3247721433ff1f8a7283a6b854df91f280be3602e9616ec5ec823a9527f2aae +size 1197303 diff --git a/episodes/c9_p010_e004/meta.json b/episodes/c9_p010_e004/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..f097a2e35c866ba2d3ee01303bb54092a7dbd638 --- /dev/null +++ b/episodes/c9_p010_e004/meta.json @@ -0,0 +1,32 @@ +{ + "source": "raw/c9_p010/magicsim/4", + "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/c9_p010_e004/scene_snapshot.json b/episodes/c9_p010_e004/scene_snapshot.json new file mode 100644 index 0000000000000000000000000000000000000000..dba5e798bd20fb17ea5eea056ce22650d35aad5c --- /dev/null +++ b/episodes/c9_p010_e004/scene_snapshot.json @@ -0,0 +1,1558 @@ +{ + "trajectory_id": 4, + "env_id": 1, + "run_id": "c9_p010", + "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": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_96_white/plate_96_white.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.0285 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$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": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_96_black/plate_96_black.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.1645 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$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": [ + 0.4791736602783203, + 0.06023120880126953, + 0.8999999761581421 + ], + "ori": [ + 0.719016969203949, + 0.0, + 0.0, + -0.6949925422668457 + ], + "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": [ + 1.0092496499983228e-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": 0.1983806160893156, + "direction": [ + 1.0, + 0.0, + 0.0 + ], + "enabled": true, + "drive": "surface_velocity", + "lines": null, + "station_line": null, + "riders": [ + "carrier" + ], + "stations": { + "pick": { + "position": -0.28904413178913596, + "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": 0.1983806160893156, + "holds": [], + "station": "pick", + "rider": "carrier_4", + "arrived": true, + "applied_speed": 0.0 + } + } + } + ], + "carrier": [ + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + 0.29422473907470703, + 1.1526460647583008, + 0.8999999761581421 + ], + "ori": [ + -0.0104794567450881, + 3.5321873204097187e-10, + -4.2673968525530626e-11, + 0.9999451041221619 + ], + "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": [ + -7.680833746803728e-11, + -5.789497770081198e-10, + 0.0 + ], + "angular_velocity": [ + 2.2859673265429592e-08, + 5.690740323416321e-09, + -1.867679788603027e-09 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + 1.6972570419311523, + 0.7961921691894531, + 0.8999999761581421 + ], + "ori": [ + 0.7153726816177368, + 1.0713461051636841e-07, + -6.846511269031907e-08, + 0.6987431645393372 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -2.3619783462436317e-08, + 1.1453511028491903e-08, + -2.60770320892334e-08 + ], + "angular_velocity": [ + 1.0919336546066916e-07, + -1.545813859138434e-07, + -2.996299599544727e-07 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + -1.285069465637207, + 1.05487060546875, + 0.8999999761581421 + ], + "ori": [ + -0.3571249842643738, + -6.872208047070671e-08, + 7.348550212782357e-08, + 0.9340566396713257 + ], + "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": [ + 2.1051755894063717e-08, + -3.506829315824689e-08, + -7.450580596923828e-09 + ], + "angular_velocity": [ + 3.304438905615825e-06, + 1.8504629224480595e-06, + 4.44188685833069e-08 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + -0.1385021209716797, + 0.4472026824951172, + 0.8999999761581421 + ], + "ori": [ + 0.9999511241912842, + 6.437699262562546e-10, + 3.372601975470957e-09, + 0.009893643669784069 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 1.656705883590348e-10, + 5.095226462970004e-09, + 0.0 + ], + "angular_velocity": [ + -1.891785785801403e-07, + -6.2957496993476525e-09, + 2.2298182855706727e-08 + ] + } + } + ], + "plate": [ + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_12_clear/Object.usd", + "pose": { + "pos": [ + 0.3026123046875, + 1.1564836502075195, + 0.9179999828338623 + ], + "ori": [ + -0.05460266396403313, + 8.837255371929587e-10, + -4.4513313035565716e-09, + 0.9985082745552063 + ], + "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": [ + 2.055961090263736e-08, + -6.697102428177004e-09, + 8.195638656616211e-08 + ], + "angular_velocity": [ + -1.0767328717520286e-07, + 1.2097574426661595e-06, + 1.0420988161286004e-07 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_96_white/Object.usd", + "pose": { + "pos": [ + 1.6940298080444336, + 0.8097562789916992, + 0.9180000424385071 + ], + "ori": [ + 0.7057843208312988, + 1.0517650395058808e-07, + -6.75113156489715e-08, + 0.708426833152771 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -2.5542840731418437e-08, + 2.242777963346043e-09, + -4.556030035018921e-06 + ], + "angular_velocity": [ + 7.245323558890959e-07, + -4.763705874211155e-09, + -2.559656309131242e-07 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/pcr_384_red/Object.usd", + "pose": { + "pos": [ + -1.2833051681518555, + 1.0587997436523438, + 0.9179999828338623 + ], + "ori": [ + -0.3838087320327759, + -2.1209034173352848e-07, + 2.4352769401048135e-07, + 0.9234126806259155 + ], + "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": [ + 7.897984687588178e-06, + 1.2629923276108457e-06, + -6.154179573059082e-06 + ], + "angular_velocity": [ + 2.9914612241555005e-05, + 5.118500848766416e-05, + 5.3707448387285694e-05 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/deep_well_96_1ml/Object.usd", + "pose": { + "pos": [ + -0.14918041229248047, + 0.4471254348754883, + 0.9179999828338623 + ], + "ori": [ + 0.9957428574562073, + -5.595083063525408e-09, + 5.129585645136103e-10, + 0.09217526763677597 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -2.4642947238362467e-08, + 5.338991471148802e-09, + 1.4528632164001465e-07 + ], + "angular_velocity": [ + 8.327958198606211e-07, + -1.622697368475201e-06, + 1.2053092746100447e-07 + ] + } + } + ], + "deco_hub_west": [ + { + "asset": "$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": 5.899999999999896, + "step": 1180, + "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": 1.0092496499983228e-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": 0.1983806160893156, + "holds": [], + "station": "pick", + "rider": "carrier_4", + "arrived": true, + "settle_count": 994, + "released": { + "pick": [] + }, + "last_pos": { + "carrier_1": [ + 0.14422473311424255, + 0.7026460766792297, + 0.0 + ], + "carrier_2": [ + 1.5472570359706879, + 0.3461921811103821, + 0.0 + ], + "carrier_3": [ + -1.4350694715976715, + 0.604870617389679, + 0.0 + ], + "carrier_4": [ + -0.28850212693214417, + -0.0027973055839538574, + 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": [ + 0.5080778203811268, + 0.08325204120919805, + 3.050867973752948 + ], + "ori": [ + 9.839103918136324, + 8.344676186736475, + -24.27380201124349 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "color_temperature": 5434.740071836028, + "color": [ + 0.8305573941716956, + 0.9796500660449682, + 0.8683888699885721 + ], + "intensity": 15708.040002094629, + "width": 1.412478202413542, + "height": 1.8423497549400014 + } + }, + "key": { + "type": "disk", + "pose": { + "pos": [ + 1.38479086270471, + 1.430805835192414, + 2.634116049425268 + ], + "ori": [ + 34.35860580682079, + -21.043612553890256, + 30.100948418498618 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "color_temperature": 6765.41606798726, + "color": [ + 0.9651854300180094, + 0.8623753083333072, + 0.8845167873542468 + ], + "intensity": 2154.2564656591676, + "radius": 0.19269316847930137 + } + } + }, + {}, + {} + ], + "background": { + "type": "dome", + "pose": { + "pos": null, + "ori": null, + "scale": null + }, + "dr": { + "intensity": 658.8374501117372, + "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": [ + [ + 0.9141026735305786, + -1.7193981409072876, + 2.0904994010925293, + -1.9419013261795044, + -1.5707999467849731, + 2.484900712966919, + 0.01799999736249447, + 0.018000001087784767 + ], + [ + 0.9141019582748413, + -1.7193982601165771, + 2.0904994010925293, + -1.9419001340866089, + -1.5707999467849731, + 2.484900712966919, + 0.017999999225139618, + 0.017999999225139618 + ], + [ + 0.9141024947166443, + -1.7193984985351562, + 2.090498685836792, + -1.9418998956680298, + -1.5707999467849731, + 2.4849002361297607, + 0.017999999225139618, + 0.017999999225139618 + ], + [ + 0.9140999913215637, + -1.7194000482559204, + 2.0905001163482666, + -1.9419000148773193, + -1.5707999467849731, + 2.4848999977111816, + 0.017999999225139618, + 0.017999999225139618 + ] + ], + "joint_vel": [ + [ + -2.424550705308385e-38, + 2.199683499959103e-38, + 1.8024520993427826e-38, + 5.931964551961084e-37, + -5.959138531781271e-37, + 2.6884651372076288e-36, + 2.5990400942532688e-08, + -2.599039206074849e-08 + ], + [ + 2.1907221962797457e-38, + -2.0833709630053644e-38, + 1.4530607480388186e-38, + -6.575132745324643e-37, + 4.686406623169081e-37, + 2.824320417962983e-37, + -2.3224963802291514e-38, + 0.0 + ], + [ + 2.1757423156961134e-38, + -1.802991038732162e-38, + 0.0, + -7.171722674565062e-37, + 3.856431219422504e-37, + 6.940476142034849e-37, + 4.171477193781375e-38, + 2.813708664952344e-38 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + ] + } + }, + "cameras": { + "cameras": { + "camera0": [ + [ + 0.051600176841020584, + -0.0009653482702560723, + -0.028206102550029755, + -0.2660532295703888, + 0.6489832997322083, + 0.65854811668396, + -0.27267327904701233 + ], + [ + 0.04772273823618889, + -0.003579954383894801, + -0.028272179886698723, + -0.2899664044380188, + 0.6464756727218628, + 0.6500213742256165, + -0.27470144629478455 + ], + [ + 0.04611869156360626, + -0.0010853891726583242, + -0.030121969059109688, + -0.27064332365989685, + 0.6563547253608704, + 0.6406976580619812, + -0.2923305928707123 + ], + [ + 0.05308056250214577, + -0.0014090250479057431, + -0.03066725842654705, + -0.28315895795822144, + 0.6450201869010925, + 0.6511303782463074, + -0.2824876010417938 + ] + ], + "camera1": [ + [ + 0.05362074077129364, + 0.5939925909042358, + 1.9566497802734375, + 0.05667540058493614, + 0.024052930995821953, + 0.2767694890499115, + 0.9589619636535645 + ], + [ + 0.025377605110406876, + 0.6011894941329956, + 1.953452229499817, + 0.028624020516872406, + 0.03121485747396946, + 0.2644267678260803, + 0.9634753465652466 + ], + [ + 0.05736992880702019, + 0.566575825214386, + 1.9478915929794312, + 0.05461364984512329, + 0.02117168717086315, + 0.2778185307979584, + 0.9588461518287659 + ], + [ + 0.07452921569347382, + 0.5599275231361389, + 1.959796667098999, + 0.03546753153204918, + 0.017904378473758698, + 0.2550174593925476, + 0.9661198854446411 + ] + ] + } + } + } +} \ No newline at end of file diff --git a/episodes/c9_p010_e004/wrist.mp4 b/episodes/c9_p010_e004/wrist.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..ac12ed820a3ffc23bd5c86b3eae2b4161b84aa92 --- /dev/null +++ b/episodes/c9_p010_e004/wrist.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:0db35f58b492411d548394a8fc3f6d2c316d9017ee8a8ae3e002bfadebd62451 +size 6036711 diff --git a/index/episodes.csv b/index/episodes.csv index 3c1c2f3bdc1959eba0a13308e38e919f75714435..86bd67a0944a67b0093cb205e4b3a4eac6aa38b6 100644 --- a/index/episodes.csv +++ b/index/episodes.csv @@ -2560,3 +2560,15 @@ c7_p008_e027,1,True,0.012195587158203125,0.44725608825683594,0.00897448568277050 c8_p008_e012,0,True,0.1180887222290039,0.4499969482421875,-0.015071034859988609,-0.009292408505429213,2.2585963504495794,plate_96_black,0.4940500259399414,0.12068843841552734,-88.4793647150569,0.203251382956965,513.3551757851104,rect,0.3862368948878865,-0.4480532183696812,3.1143167637214813,14693.159852242117,4521.842806125237,sphere,-0.29101562103562273,-0.6289953302250849,1.9071966405352632,9379.143974761642,6926.5920547808255,0.04710754007101059,-0.0018427007598802447,-0.03227362409234047,-0.29845327138900757,0.6381518840789795,0.6540231704711914,-0.2755749225616455,0.06859888881444931,0.5910753011703491,1.9642058610916138,0.021778278052806854,0.005672774277627468,0.2797355651855469,0.9598132967948914,1217,1,,2.0901010036468506,0.2918968167258535,0.0,0.007311275228857994,0.5184880854560394,12,release,0.04224282503128052,"Pre-grasping the small plate, moving the arm toward it; the ",v2,True,False c8_p008_e013,3,True,-0.11847114562988281,0.45000267028808594,-0.005623069581803069,0.004623162771537074,11.630059589794712,plate_96_clear,0.47631263732910156,0.08839702606201172,-94.74114884331077,0.15542204454782885,513.3551757851104,rect,0.24918722572423901,0.37898130382464945,2.672492516570443,9321.011488705342,7137.555952947425,sphere,0.9551675449865016,0.4326915529718256,2.2960375768649905,4531.060343825946,3009.012660768312,0.05067645013332367,0.0009418550180271268,-0.03388283774256706,-0.2844436764717102,0.6503833532333374,0.6421569585800171,-0.2893574833869934,0.031939104199409485,0.5831725597381592,1.9302408695220947,0.027808284386992455,0.017981750890612602,0.2757129669189453,0.9606693983078003,1220,1,,2.0801544189453125,0.28665951664158923,0.0,0.007303871214389801,0.5229508196721312,12,release,0.04224848747253418,"Pre-grasping the small plate, moving the arm toward it; the ",v2,True,False c8_p008_e014,1,True,-0.0240631103515625,0.4499988555908203,0.008033749052161934,-0.0036296919498077654,-8.6219190489212,plate_12_clear,0.5170612335205078,0.08798694610595703,-88.62008018851587,0.19519220577803784,513.3551757851104,rect,-0.49734306277559753,0.5561365480195213,2.6997894372227838,7639.482986447814,4479.994898371417,disk,0.7242190523626504,-0.36374395720060515,1.6410389060416488,8666.360380067537,4698.545184514489,0.052602626383304596,-0.001124182133935392,-0.02797500416636467,-0.2689366638660431,0.6567577123641968,0.6475710868835449,-0.27747809886932373,0.06283333897590637,0.5909292101860046,1.9565916061401367,0.048310622572898865,0.00943711493164301,0.2859239876270294,0.956987202167511,1328,1,,2.109821081161499,0.2622915903533626,0.0,0.007350806146860123,0.5256024096385542,12,release,0.04216766357421875,"Pre-grasping the small plate, moving the arm toward it; the ",v2,True,False +c4_p008_e000,2,True,-0.13150978088378906,0.4499979019165039,-0.0047253770029838695,-0.005875651187296863,11.062088912104826,plate_384_black,0.4988422393798828,0.11703014373779297,-85.3321059681004,0.218144290467794,1003.282330481583,rect,0.7325246958215893,-0.1975283954915168,3.090050531571356,9221.796282086438,5720.993916365896,disk,-1.3089395312835783,0.8029830431455645,1.7622292227304404,8958.849828889546,3832.830255573813,0.048566725105047226,-0.0005133333615958691,-0.031707875430583954,-0.2797650396823883,0.654201865196228,0.6400607228279114,-0.28995463252067566,0.04166445881128311,0.5847527980804443,1.9659149646759033,0.03255760669708252,0.021048828959465027,0.2796851694583893,0.9593086838722229,1221,1,,2.0940752029418945,0.300754953659507,0.0,0.007414691150188446,0.5192465192465192,12,release,0.04228317737579346,"Pre-grasping the small plate, moving the arm toward it; the ",v2,True,False +c4_p008_e001,3,True,-0.06339073181152344,0.4476766586303711,-0.010358676582506466,-0.004277047906119112,-1.9420983468366444,plate_48_clear,0.4977226257324219,0.10507011413574219,-87.15988363439565,0.15692256071374253,1003.282330481583,rect,-0.20641684363432433,0.11476922133448908,2.90865383723402,14647.674822706033,6250.655617502908,sphere,-1.2417059537028454,-0.10381205924767856,2.787544329000329,4711.320624482827,4674.7712383884955,0.04976649582386017,-0.0010711218928918242,-0.02896558865904808,-0.27652448415756226,0.6539613604545593,0.6426830291748047,-0.2877972424030304,0.06378815323114395,0.5875962376594543,1.9654231071472168,0.04528586193919182,0.01322939619421959,0.2734065055847168,0.960740864276886,1209,1,,2.086820363998413,0.3011185406935215,0.0,0.007289629429578781,0.5293631100082713,12,release,0.042331576347351074,"Pre-grasping the small plate, moving the arm toward it; the ",v2,True,False +c4_p008_e002,0,True,-0.10692787170410156,0.4500007629394531,0.0021713630108471963,0.011955115908686333,2.6171273689625707,plate_96_black,0.4612903594970703,0.12853145599365234,-91.39230784532411,0.17257009218082922,1003.282330481583,rect,-0.4251165812278262,0.1778669178361011,2.6492029748454704,6323.6819754444805,3655.947817607463,disk,0.9233360326907358,-0.7661715930714074,1.706839368829622,4093.6646769588333,7247.450274214429,0.05033911019563675,-0.00014923234994057566,-0.02707703784108162,-0.27940407395362854,0.643298864364624,0.65756756067276,-0.27514517307281494,0.025668663904070854,0.5670415759086609,1.9287309646606445,0.03548051416873932,0.028053227812051773,0.271859735250473,0.9612733125686646,1230,1,,2.1266753673553467,0.2672825013275801,0.0,0.007290084380656481,0.5138211382113821,12,release,0.042134761810302734,"Pre-grasping the small plate, moving the arm toward it; the ",v2,True,False +c4_p008_e003,1,True,-0.0833292007446289,0.4472990036010742,0.010657319814497577,-0.008886643159880952,-6.679516092473847,plate_12_clear,0.5011758804321289,0.07409000396728516,-93.19759233197499,0.2998844064909002,1003.282330481583,rect,0.6470723955842482,-0.12527081104450227,2.9214729203391765,6069.168775738325,7196.340508085423,sphere,1.5867839042912517,1.3179889664122546,2.4946048058300825,2316.440644065576,4438.308333791521,0.05287667736411095,-0.00221422640606761,-0.030533118173480034,-0.2909070551395416,0.6464723348617554,0.6446357369422913,-0.2861667573451996,0.038024067878723145,0.5640347599983215,1.9465104341506958,0.04526257514953613,0.013188634067773819,0.26338228583335876,0.9635388851165771,1265,1,,2.097341299057007,0.2756329894525497,0.0,0.007355134934186935,0.5517786561264822,12,release,0.042354702949523926,"Pre-grasping the small plate, moving the arm toward it; the ",v2,True,False +c5_p007_e026,0,True,0.08555412292480469,0.4499959945678711,0.012916213954826868,-0.006690702942834513,-4.754932302994149,deep_well_96_2ml,0.5063915252685547,0.09279727935791016,-93.26214579185496,0.20717575507584976,1461.9531450656978,rect,0.3928320195077012,0.17547504900564848,2.8159598097628122,11932.489044430473,3425.744321618148,sphere,0.7760253195204916,-1.1527557377061093,2.014658145414886,2304.7245047131537,5905.611219471414,0.052411120384931564,0.00022822906612418592,-0.03144267201423645,-0.27879244089126587,0.6407286524772644,0.6593308448791504,-0.27753278613090515,0.05094919726252556,0.5900187492370605,1.9255307912826538,0.03277754783630371,0.010227200575172901,0.2754877507686615,0.9606911540031433,1212,1,,2.082813262939453,0.31884195284715594,0.0,0.007506679743528366,0.5288778877887789,12,release,0.042862892150878906,"Pre-grasping the small plate, moving the arm toward it; the ",v2,True,False +c5_p007_e027,1,True,0.07941150665283203,0.4500141143798828,0.005958252627292535,0.0013236421606928222,-7.287065959971784,pcr_384_red,0.5050344467163086,0.06483745574951172,-86.25063902752741,0.23534278368594203,1461.9531450656978,rect,-0.5825653049248024,-0.39673027256258464,2.8806534422847903,6066.556378987743,4644.993172138842,disk,-1.5196140680164787,-0.7451286551195289,2.149355024232936,5014.761718145992,3841.188948840895,0.04685388132929802,-7.554067997261882e-05,-0.03345919027924538,-0.27333787083625793,0.6514062285423279,0.6554543972015381,-0.26708775758743286,0.06907598674297333,0.5959287285804749,1.9377716779708862,0.047152649611234665,-0.003496214048936963,0.2727587819099426,0.9609199166297913,1277,1,,2.1111373901367188,0.28483237648602394,0.0,0.006852441467344761,0.5043069694596711,12,release,0.042125701904296875,"Pre-grasping the small plate, moving the arm toward it; the ",v2,True,False +c6_p008_e016,0,True,-0.05696582794189453,0.4499988555908203,-0.014145835118410771,0.0013095678604636185,6.270509313352903,pcr_96_blue,0.5113554000854492,0.10975074768066406,-91.73156323661549,0.2950903521349226,665.2867147759027,rect,-0.16563984082067273,0.5310119846240917,2.899926275594506,13359.790087502224,5435.545128012807,disk,0.9381230051554605,-0.2775335590229431,2.0535333959435094,5677.652526187932,7275.8734899608835,0.05020049586892128,0.002229438629001379,-0.028156569227576256,-0.2704910933971405,0.6560400724411011,0.6396247148513794,-0.29551008343696594,0.07382304966449738,0.5802807807922363,1.972342610359192,0.03622853383421898,0.013963710516691208,0.2860269248485565,0.9574346542358398,1258,1,,2.067535400390625,0.2603761277352606,0.0,0.006841091439127922,0.5540540540540541,12,release,0.042594194412231445,"Pre-grasping the small plate, moving the arm toward it; the ",v2,True,False +c6_p008_e017,3,True,-0.09277629852294922,0.447906494140625,0.010364746804984502,-0.0026209739255479503,-4.978258109109305,plate_384_white,0.5131692886352539,0.06496334075927734,-89.15471793599049,0.21480070171397497,665.2867147759027,rect,0.21219361259123015,0.4531890877883351,2.615358854308519,4545.5307147716585,4357.943617023126,disk,-1.413110727603347,0.4233226472031275,2.397815858472941,8933.361153398431,3279.509982201625,0.044105853885412216,0.0020432383753359318,-0.031230155378580093,-0.2737176716327667,0.6546770930290222,0.6480457186698914,-0.276610404253006,0.05508341267704964,0.5776282548904419,1.9627913236618042,0.04212517291307449,0.01645384542644024,0.2685304284095764,0.9622089862823486,1253,1,,2.0722157955169678,0.32390042134838787,0.0,0.007416871376335621,0.5067837190742218,12,release,0.042064011096954346,"Pre-grasping the small plate, moving the arm toward it; the ",v2,True,False +c6_p008_e018,2,True,0.035346031188964844,0.4499988555908203,0.0029417419209883428,-0.0037522300181525854,7.554120711982108,deep_well_24_10ml,0.4826030731201172,0.10466194152832031,-90.34329398814339,0.2936517912992149,665.2867147759027,rect,0.549020497276847,-0.28621507275105473,2.881572860346557,12558.631032422676,6197.4289637548045,disk,1.784049245467303,1.1806273032392618,2.2560842552502898,3935.1920095885,5294.55306773077,0.04758905991911888,-0.0013935284223407507,-0.02910143882036209,-0.288280189037323,0.642704963684082,0.652275562286377,-0.2799311578273773,0.0579700730741024,0.5731197595596313,1.973790168762207,0.05048724263906479,0.0173170268535614,0.2551068961620331,0.9654385447502136,1275,1,,2.1062748432159424,0.3314395552789702,0.0,0.0075180502608418465,0.5098039215686274,12,release,0.04327535629272461,"Pre-grasping the small plate, moving the arm toward it; the ",v2,True,False +c6_p008_e019,1,True,-0.1363506317138672,0.4499998092651367,-0.0011950229843210817,-0.003790833636072813,-0.269904706693211,plate_12_clear,0.4729146957397461,0.0952615737915039,-93.56765610145162,0.26743546751945013,665.2867147759027,rect,0.7629765983101328,0.38027494532056194,3.0222560733961004,9199.957757980943,6051.225306340751,disk,0.039828754861301,1.2010630163839646,2.147792461194458,2825.3891278197407,6161.666438640918,0.05098900943994522,-0.0015304137486964464,-0.027743669226765633,-0.2682061791419983,0.6572274565696716,0.6507315039634705,-0.2695663571357727,0.05005683749914169,0.6013895869255066,1.9624782800674438,0.049851566553115845,0.02450409345328808,0.2668415606021881,0.9621382355690002,1226,1,,2.118425130844116,0.2987639771344345,0.0,0.007363166660070419,0.5146818923327896,12,release,0.04213970899581909,"Pre-grasping the small plate, moving the arm toward it; the ",v2,True,False +c8_p008_e015,2,True,-0.13573169708251953,0.4501514434814453,0.007228443621972122,-0.008188054673581888,-4.440176909629059,plate_384_black,0.5054759979248047,0.0936441421508789,-88.54507967983156,0.23603420663178865,513.3551757851104,rect,-0.24694704690600155,0.29114712201015513,2.8560157245042075,6543.634437095864,7119.569103843185,sphere,1.3960512969904157,0.12584551515733144,1.9920169427363301,7850.902247815921,5599.984623733704,0.05171729251742363,-0.004124410450458527,-0.030767805874347687,-0.272956520318985,0.6519467830657959,0.6491605639457703,-0.28115954995155334,0.03805062919855118,0.5666089653968811,1.94370698928833,0.029431208968162537,0.03042888082563877,0.2819511890411377,0.9584943652153015,1228,1,,2.0800108909606934,0.2746987081955025,0.0,0.0073781805112957954,0.5154723127035831,12,release,0.04246783256530762,"Pre-grasping the small plate, moving the arm toward it; the ",v2,True,False +c9_p010_e004,1,True,-0.1385021209716797,0.4472026824951172,-0.010677729294969237,0.0001340515944828557,9.443776092579014,deep_well_96_1ml,0.4791736602783203,0.06023120880126953,-88.05324592295906,0.1983806160893156,658.8374501117372,rect,0.5080778203811268,0.08325204120919805,3.050867973752948,15708.040002094629,5434.740071836028,disk,1.38479086270471,1.430805835192414,2.634116049425268,2154.2564656591676,6765.41606798726,0.04772273823618889,-0.003579954383894801,-0.028272179886698723,-0.2899664044380188,0.6464756727218628,0.6500213742256165,-0.27470144629478455,0.025377605110406876,0.6011894941329956,1.953452229499817,0.028624020516872406,0.03121485747396946,0.2644267678260803,0.9634753465652466,1195,1,,2.0645668506622314,0.2746885117913587,0.0,0.0074777184054255486,0.5313807531380753,12,release,0.0422365665435791,"Pre-grasping the small plate, moving the arm toward it; the ",v2,True,False