diff --git a/episodes/c2_p012_e014/data.npz b/episodes/c2_p012_e014/data.npz new file mode 100644 index 0000000000000000000000000000000000000000..58332c3fa1bad5b7fcc7bd19b459358b64817c9f --- /dev/null +++ b/episodes/c2_p012_e014/data.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:79a0bd30b2cc76c0b7f8c4ee4cec8bdd30da7eb2cef93c284e6096e9090f6861 +size 204507 diff --git a/episodes/c2_p012_e014/device_events.jsonl b/episodes/c2_p012_e014/device_events.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..89a04fdedf77eb2e5debaee84b5aaedf283bdfe2 --- /dev/null +++ b/episodes/c2_p012_e014/device_events.jsonl @@ -0,0 +1,36 @@ +{"env_id": 1, "seq": 1, "step": 147, "t": 0.735, "topic": "conveyor_1.belt.station.pick.captured", "source": "conveyor_1.belt", "data": {"rider": "carrier_1"}, "cause": null} +{"env_id": 1, "seq": 2, "step": 147, "t": 0.735, "topic": "conveyor_1.belt.state.changed", "source": "conveyor_1.belt", "data": {"from": "running", "to": "at_station"}, "cause": null} +{"env_id": 1, "seq": 3, "step": 152, "t": 0.76, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_1"}, "cause": null} +{"env_id": 1, "seq": 4, "step": 2202, "t": 11.01, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_1"}, "cause": null} +{"env_id": 1, "seq": 5, "step": 7135, "t": 35.675, "topic": "a4s_sealer_1.plate_present.present", "source": "a4s_sealer_1.plate_present", "data": {"object": "plate_1"}, "cause": null} +{"env_id": 1, "seq": 6, "step": 7748, "t": 38.74, "topic": "a4s_sealer_1.command.started", "source": "a4s_sealer_1", "data": {"command_id": "task-1-1", "name": "seal", "source": "task"}, "cause": "task-1-1"} +{"env_id": 1, "seq": 7, "step": 7748, "t": 38.74, "topic": "a4s_sealer_1.seal.started", "source": "a4s_sealer_1", "data": {"dwell": 4.404779840296298}, "cause": "task-1-1"} +{"env_id": 1, "seq": 8, "step": 7748, "t": 38.74, "topic": "a4s_sealer_1.drawer.command.started", "source": "a4s_sealer_1.drawer", "data": {"command_id": "program-1-2", "name": "close", "source": "program:seal"}, "cause": "program-1-2"} +{"env_id": 1, "seq": 9, "step": 7748, "t": 38.74, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "at_out", "to": "moving"}, "cause": null} +{"env_id": 1, "seq": 10, "step": 7748, "t": 38.74, "topic": "a4s_sealer_1.drawer.moving", "source": "a4s_sealer_1.drawer", "data": {"target": 0.3, "goal": "in"}, "cause": "program-1-2"} +{"env_id": 1, "seq": 11, "step": 8167, "t": 40.835, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "moving", "to": "at_in"}, "cause": null} +{"env_id": 1, "seq": 12, "step": 8167, "t": 40.835, "topic": "a4s_sealer_1.drawer.reached", "source": "a4s_sealer_1.drawer", "data": {"position": "in", "q": 0.30000001192092896}, "cause": "program-1-2"} +{"env_id": 1, "seq": 13, "step": 8167, "t": 40.835, "topic": "a4s_sealer_1.drawer.at_in", "source": "a4s_sealer_1.drawer", "data": {"q": 0.30000001192092896}, "cause": "program-1-2"} +{"env_id": 1, "seq": 14, "step": 8167, "t": 40.835, "topic": "a4s_sealer_1.drawer.command.succeeded", "source": "a4s_sealer_1.drawer", "data": {"command_id": "program-1-2", "name": "close", "source": "program:seal", "result": {"position": "in"}}, "cause": "program-1-2"} +{"env_id": 1, "seq": 15, "step": 8167, "t": 40.835, "topic": "labware.plate_1.changed", "source": "labware.plate_1", "data": {"key": "sealed", "value": true}, "cause": "task-1-1"} +{"env_id": 1, "seq": 16, "step": 8167, "t": 40.835, "topic": "a4s_sealer_1.sealed", "source": "a4s_sealer_1", "data": {"plate": "plate_1"}, "cause": "task-1-1"} +{"env_id": 1, "seq": 17, "step": 8167, "t": 40.835, "topic": "a4s_sealer_1.heater.command.started", "source": "a4s_sealer_1.heater", "data": {"command_id": "program-1-3", "name": "run", "source": "program:seal"}, "cause": "program-1-3"} +{"env_id": 1, "seq": 18, "step": 8167, "t": 40.835, "topic": "a4s_sealer_1.heater.state.changed", "source": "a4s_sealer_1.heater", "data": {"from": "ready", "to": "running"}, "cause": null} +{"env_id": 1, "seq": 19, "step": 8167, "t": 40.835, "topic": "a4s_sealer_1.heater.started", "source": "a4s_sealer_1.heater", "data": {"duration": 4.404779840296298}, "cause": "program-1-3"} +{"env_id": 1, "seq": 20, "step": 9048, "t": 45.24, "topic": "a4s_sealer_1.heater.state.changed", "source": "a4s_sealer_1.heater", "data": {"from": "running", "to": "ready"}, "cause": null} +{"env_id": 1, "seq": 21, "step": 9048, "t": 45.24, "topic": "a4s_sealer_1.heater.finished", "source": "a4s_sealer_1.heater", "data": {"elapsed": 4.405000000002254}, "cause": "program-1-3"} +{"env_id": 1, "seq": 22, "step": 9048, "t": 45.24, "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": 4.405000000002254}}, "cause": "program-1-3"} +{"env_id": 1, "seq": 23, "step": 9048, "t": 45.24, "topic": "a4s_sealer_1.drawer.command.started", "source": "a4s_sealer_1.drawer", "data": {"command_id": "program-1-4", "name": "open", "source": "program:seal"}, "cause": "program-1-4"} +{"env_id": 1, "seq": 24, "step": 9048, "t": 45.24, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "at_in", "to": "moving"}, "cause": null} +{"env_id": 1, "seq": 25, "step": 9048, "t": 45.24, "topic": "a4s_sealer_1.drawer.moving", "source": "a4s_sealer_1.drawer", "data": {"target": 0.0, "goal": "out"}, "cause": "program-1-4"} +{"env_id": 1, "seq": 26, "step": 9468, "t": 47.34, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "moving", "to": "at_out"}, "cause": null} +{"env_id": 1, "seq": 27, "step": 9468, "t": 47.34, "topic": "a4s_sealer_1.drawer.reached", "source": "a4s_sealer_1.drawer", "data": {"position": "out", "q": 5.643647216224679e-10}, "cause": "program-1-4"} +{"env_id": 1, "seq": 28, "step": 9468, "t": 47.34, "topic": "a4s_sealer_1.drawer.at_out", "source": "a4s_sealer_1.drawer", "data": {"q": 5.643647216224679e-10}, "cause": "program-1-4"} +{"env_id": 1, "seq": 29, "step": 9468, "t": 47.34, "topic": "a4s_sealer_1.drawer.command.succeeded", "source": "a4s_sealer_1.drawer", "data": {"command_id": "program-1-4", "name": "open", "source": "program:seal", "result": {"position": "out"}}, "cause": "program-1-4"} +{"env_id": 1, "seq": 30, "step": 9468, "t": 47.34, "topic": "a4s_sealer_1.seal.finished", "source": "a4s_sealer_1", "data": {}, "cause": "task-1-1"} +{"env_id": 1, "seq": 31, "step": 9468, "t": 47.34, "topic": "a4s_sealer_1.command.succeeded", "source": "a4s_sealer_1", "data": {"command_id": "task-1-1", "name": "seal", "source": "task"}, "cause": "task-1-1"} +{"env_id": 1, "seq": 32, "step": 10046, "t": 50.23, "topic": "a4s_sealer_1.plate_present.absent", "source": "a4s_sealer_1.plate_present", "data": {"object": "plate_1"}, "cause": null} +{"env_id": 1, "seq": 33, "step": 12284, "t": 61.42, "topic": "conveyor_1.belt.command.started", "source": "conveyor_1.belt", "data": {"command_id": "task-1-5", "name": "release", "source": "task"}, "cause": "task-1-5"} +{"env_id": 1, "seq": 34, "step": 12284, "t": 61.42, "topic": "conveyor_1.belt.station.pick.released", "source": "conveyor_1.belt", "data": {"rider": "carrier_1"}, "cause": "task-1-5"} +{"env_id": 1, "seq": 35, "step": 12284, "t": 61.42, "topic": "conveyor_1.belt.state.changed", "source": "conveyor_1.belt", "data": {"from": "at_station", "to": "running"}, "cause": null} +{"env_id": 1, "seq": 36, "step": 12284, "t": 61.42, "topic": "conveyor_1.belt.command.succeeded", "source": "conveyor_1.belt", "data": {"command_id": "task-1-5", "name": "release", "source": "task", "result": {"state": "running"}}, "cause": "task-1-5"} diff --git a/episodes/c2_p012_e014/env.mp4 b/episodes/c2_p012_e014/env.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..210cf6e0e01f808bcf3d65e0de1b0465cce636eb --- /dev/null +++ b/episodes/c2_p012_e014/env.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:b780d6f374ee68094033504c944f2dd7566d768f68090b5c72360c3012635555 +size 1552667 diff --git a/episodes/c2_p012_e014/meta.json b/episodes/c2_p012_e014/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..57d8b25033469d9944a23d973d132120d89c7cab --- /dev/null +++ b/episodes/c2_p012_e014/meta.json @@ -0,0 +1,32 @@ +{ + "source": "raw/c2_p012/magicsim/14", + "fps": 25, + "frames": 1320, + "kept_ticks": "even", + "video_frames": { + "wrist": 1320, + "env": 1320 + }, + "joint_target_source": "joint_pos_target", + "fk_vs_recorded_eef_max_m": 0.0, + "curobo_joints": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "joint_order": [ + "shoulder_pan", + "shoulder_lift", + "elbow", + "wrist_1", + "wrist_2", + "wrist_3", + "finger_left", + "finger_right" + ], + "frames_note": "eef / actions in the robot base frame; camera_pose = local pose (wrist: in plate_gripper_base, env: env frame), pos + quat wxyz", + "dr_version": "v2" +} \ No newline at end of file diff --git a/episodes/c2_p012_e014/scene_snapshot.json b/episodes/c2_p012_e014/scene_snapshot.json new file mode 100644 index 0000000000000000000000000000000000000000..735d46f2d6b2fe8d75754c0fac2bec3d6f45bec2 --- /dev/null +++ b/episodes/c2_p012_e014/scene_snapshot.json @@ -0,0 +1,1558 @@ +{ + "trajectory_id": 14, + "env_id": 1, + "run_id": "c2_p012", + "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_96_black/plate_96_black.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.0285 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_6_clear/plate_6_clear.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.0965 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_12_clear/plate_12_clear.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.1645 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_6_clear/plate_6_clear.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.2325 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "a4s_sealer": [ + { + "asset": "$MAGICSIM_ASSETS/Articulated/A4SSealer/Object.usd", + "pose": { + "pos": [ + 0.5209474563598633, + 0.06173419952392578, + 0.8999999761581421 + ], + "ori": [ + -0.7053927779197693, + 0.0, + 0.0, + 0.708816647529602 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "articulation", + "solver_position_iteration_count": 16.0, + "solver_velocity_iteration_count": 1.0, + "enabled_self_collisions": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "joint_position": [ + 0.0 + ], + "joint_velocity": [ + 0.0 + ], + "linear_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "angular_velocity": [ + 0.0, + 0.0, + 0.0 + ] + } + } + ], + "conveyor": [ + { + "asset": "Cube", + "pose": { + "pos": [ + 0.15, + 0.45, + 0.9 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "conveyor", + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9 + }, + "ratio": 1.0 + }, + "primitive_params": { + "size": [ + 2.4, + 0.076, + 0.03 + ] + }, + "conveyor": { + "speed": 0.15663684758114677, + "direction": [ + 1.0, + 0.0, + 0.0 + ], + "enabled": true, + "drive": "surface_velocity", + "lines": null, + "station_line": null, + "riders": [ + "carrier" + ], + "stations": { + "pick": { + "position": -0.21120565579674866, + "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": 0.15663684758114677, + "holds": [], + "station": "pick", + "rider": "carrier_1", + "arrived": true, + "applied_speed": 0.0 + } + } + } + ], + "carrier": [ + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + -0.06061840057373047, + 0.4500007629394531, + 0.8999999761581421 + ], + "ori": [ + 1.0, + 4.245760187870928e-09, + -3.74662700863837e-09, + 3.3127776987385005e-05 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 1.7271259977746922e-09, + 8.780824956033939e-10, + 1.1175870895385742e-08 + ], + "angular_velocity": [ + -2.5975042561299233e-08, + 1.6435213012755412e-07, + -1.80784276437862e-08 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + -1.319936752319336, + 1.01812744140625, + 0.8999999761581421 + ], + "ori": [ + -0.4283962845802307, + -1.1826779910961704e-07, + -5.0943924634339055e-08, + 0.9035909175872803 + ], + "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": [ + 3.8698999560438097e-10, + 2.921751729445532e-11, + 0.0 + ], + "angular_velocity": [ + -2.120759745594114e-08, + -1.8873834051191807e-08, + -1.457010512240231e-08 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + 0.17361068725585938, + 1.1499967575073242, + 0.8999999761581421 + ], + "ori": [ + -1.876858004834503e-05, + -5.152602788882632e-10, + 4.213213777859437e-09, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -2.759843464872347e-10, + -4.4725906311882113e-10, + 3.725290298461914e-09 + ], + "angular_velocity": [ + 5.26298364889044e-08, + -3.396459646864969e-08, + 3.6942786607596645e-09 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + 1.6550025939941406, + 0.9666385650634766, + 0.8999999761581421 + ], + "ori": [ + 0.5103456377983093, + -1.2217637390676828e-07, + 7.255186318388951e-08, + 0.859969437122345 + ], + "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": [ + -8.573869791916877e-08, + -2.2567327562228456e-08, + 1.9371509552001953e-07 + ], + "angular_velocity": [ + 2.6482314297027187e-06, + -1.011019207908248e-06, + 9.870357189356582e-07 + ] + } + } + ], + "plate": [ + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_12_clear/Object.usd", + "pose": { + "pos": [ + -0.048980712890625, + 0.45073413848876953, + 0.9179999828338623 + ], + "ori": [ + 0.9973986148834229, + 6.147058861927235e-09, + -3.888029453946729e-09, + 0.07208339124917984 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -1.4289003757994578e-08, + -6.778100303250767e-09, + 1.4528632164001465e-07 + ], + "angular_velocity": [ + 9.068771760212258e-07, + -1.666537968958437e-06, + -3.625618916203166e-08 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_96_white/Object.usd", + "pose": { + "pos": [ + -1.3142356872558594, + 1.0291252136230469, + 0.9180000424385071 + ], + "ori": [ + -0.38129615783691406, + -1.1113353082237154e-07, + -5.9570105293005327e-08, + 0.9244530200958252 + ], + "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": [ + 2.4463474801450502e-08, + 1.2383850389596773e-08, + 1.0803341865539551e-07 + ], + "angular_velocity": [ + -1.4789602573728189e-06, + 9.551367838867009e-07, + 4.939147402183153e-08 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/pcr_384_red/Object.usd", + "pose": { + "pos": [ + 0.16428089141845703, + 1.1583023071289062, + 0.9179999828338623 + ], + "ori": [ + -0.052766166627407074, + 1.8940221613306107e-10, + 4.601092840061938e-09, + 0.9986069798469543 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 3.5775264972670584e-09, + -1.1853638071102068e-08, + -5.763024091720581e-06 + ], + "angular_velocity": [ + -3.8026976767469023e-07, + 1.5445814369741129e-06, + -1.6956406057033746e-08 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/deep_well_96_1ml/Object.usd", + "pose": { + "pos": [ + 1.6554641723632812, + 0.9587974548339844, + 0.9180000424385071 + ], + "ori": [ + 0.5730369687080383, + 4.771892463395488e-07, + 1.037595893649268e-06, + 0.8195295333862305 + ], + "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": [ + -1.1876782082254067e-05, + -3.5177033623767784e-06, + -1.8794089555740356e-05 + ], + "angular_velocity": [ + 0.00024166521325241774, + -0.000580953957978636, + 3.575707523850724e-05 + ] + } + } + ], + "deco_hub_west": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/hub_a.usd", + "pose": { + "pos": [ + -3.36, + 0.0, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_hub_east": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/hub_c.usd", + "pose": { + "pos": [ + 3.36, + 0.0, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_hub_back": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/hub_d.usd", + "pose": { + "pos": [ + -3.0, + -2.1, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_bench_east": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/bench_c.usd", + "pose": { + "pos": [ + 2.6, + -2.5, + 0.0 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_bench_gap": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/bench_b.usd", + "pose": { + "pos": [ + -0.1, + -2.9, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ] + }, + {}, + {} + ], + "devices": { + "hub": [ + null, + { + "t": 8.899999999999991, + "step": 1780, + "counter": 0, + "devices": { + "a4s_sealer_1": { + "mode": "auto", + "units": { + "drawer": { + "state": "at_out", + "active": null, + "target": 0.0, + "goal_name": "out", + "profile": null, + "q_start": null, + "reversing": false, + "blocked_for": 0.0, + "settled_for": 0.0, + "last_q": 0.0 + }, + "heater": { + "state": "ready", + "active": null, + "duration": 0.0, + "t_start": null, + "elapsed": 0.0 + } + }, + "queues": {}, + "program": null, + "sensors": { + "plate_present": { + "occupants": [], + "pending": {} + } + }, + "interlocks": {} + }, + "conveyor_1": { + "mode": "auto", + "units": { + "belt": { + "state": "at_station", + "active": null, + "controller": { + "speed": 0.15663684758114677, + "holds": [], + "station": "pick", + "rider": "carrier_1", + "arrived": true, + "settle_count": 1632, + "released": { + "pick": [] + }, + "last_pos": { + "carrier_1": [ + -0.21061840653419495, + 7.748603820800781e-07, + 0.0 + ], + "carrier_2": [ + -1.4699367582798004, + 0.568127453327179, + 0.0 + ], + "carrier_3": [ + 0.023610681295394897, + 0.6999967694282532, + 0.0 + ], + "carrier_4": [ + 1.5050025880336761, + 0.5166385769844055, + 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": [ + 0.38835765074118445, + 0.23665075338593922, + 2.8532444357348523 + ], + "ori": [ + -6.808457598384864, + 13.617645218562291, + 14.941022194310854 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "color_temperature": 3329.686730323328, + "color": [ + 0.930423124999663, + 0.8806222884331485, + 0.8170976318379283 + ], + "intensity": 8852.861018992418, + "width": 1.5418500242745332, + "height": 1.2191511975814842 + } + }, + "key": { + "type": "disk", + "pose": { + "pos": [ + -1.3821223078152935, + 0.5969759228509162, + 2.590763563904394 + ], + "ori": [ + 15.23031777170003, + 28.553264161690805, + 23.02415095659127 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "color_temperature": 7286.873813071564, + "color": [ + 0.8184634263862945, + 0.8218302220887664, + 0.9000210764358778 + ], + "intensity": 7334.987806779001, + "radius": 0.30555492197115275 + } + } + }, + {}, + {} + ], + "background": { + "type": "dome", + "pose": { + "pos": null, + "ori": null, + "scale": null + }, + "dr": { + "intensity": 362.2657279848533, + "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": [ + [ + 2.5255956649780273, + -2.233670949935913, + 2.06150484085083, + -1.3961619138717651, + -1.5696483850479126, + 4.0959153175354, + 0.01799999363720417, + 0.018000004813075066 + ], + [ + 0.9141026735305786, + -1.719398021697998, + 2.0904994010925293, + -1.941900610923767, + -1.5707999467849731, + 2.484900951385498, + 0.01799999736249447, + 0.018000001087784767 + ], + [ + 1.3716336488723755, + -1.5897153615951538, + 2.1701459884643555, + -2.151247978210449, + -1.5707671642303467, + 2.7561707496643066, + 0.007711347192525864, + 0.007165980525314808 + ], + [ + 0.914101243019104, + -1.7193982601165771, + 2.0904994010925293, + -1.9419007301330566, + -1.5707999467849731, + 2.4849002361297607, + 0.018000001087784767, + 0.01799999736249447 + ] + ], + "joint_vel": [ + [ + 6.811905677750474e-06, + -1.790642937746223e-12, + -1.7597958680559689e-12, + 3.4059767131111585e-06, + -3.405978077353211e-06, + -1.3623915947391652e-05, + 7.797223133820808e-08, + -7.796972312235084e-08 + ], + [ + -2.5542352729877894e-38, + 2.954210135737565e-38, + 2.9600950287683434e-38, + 7.044717950068832e-37, + -7.306760314482064e-37, + 2.5105275407428498e-37, + 2.5990386731677972e-08, + -2.5990386731677972e-08 + ], + [ + 0.03493959829211235, + -0.02899210900068283, + 0.022862475365400314, + 0.004977612290531397, + 0.00012696738122031093, + 0.04016536474227905, + -0.006913847289979458, + 0.0003850460343528539 + ], + [ + 0.0, + -2.4642834022255436e-38, + -1.6987694654480036e-38, + -3.6177840373386217e-37, + 5.993584017488655e-37, + -2.7050825191247325e-36, + -2.5990372520823257e-08, + 2.5990388508034812e-08 + ] + ] + } + }, + "cameras": { + "cameras": { + "camera0": [ + [ + 0.04943956062197685, + -0.0018668521661311388, + -0.026618724688887596, + -0.28928062319755554, + 0.6514530777931213, + 0.6432148814201355, + -0.2796429693698883 + ], + [ + 0.05182094871997833, + -0.0012959056766703725, + -0.034304678440093994, + -0.28203070163726807, + 0.6504401564598083, + 0.641325831413269, + -0.2934066951274872 + ], + [ + 0.04702844098210335, + -0.0016957048792392015, + -0.03150695934891701, + -0.2709926664829254, + 0.6592551469802856, + 0.6471965312957764, + -0.2703372836112976 + ], + [ + 0.04988683760166168, + 0.003671122482046485, + -0.0315953828394413, + -0.2794777452945709, + 0.6438893675804138, + 0.6525105834007263, + -0.2855321764945984 + ] + ], + "camera1": [ + [ + 0.029340671375393867, + 0.5955253839492798, + 1.9585025310516357, + 0.05125032365322113, + 0.016936661675572395, + 0.2697831988334656, + 0.9614070653915405 + ], + [ + 0.06406161934137344, + 0.588767409324646, + 1.9292455911636353, + 0.0547955185174942, + 0.009874905459582806, + 0.27846717834472656, + 0.9588305354118347 + ], + [ + 0.048261579126119614, + 0.6010310649871826, + 1.9545080661773682, + 0.04655304551124573, + -0.005970081780105829, + 0.2830362617969513, + 0.9579601287841797 + ], + [ + 0.05576283857226372, + 0.598671019077301, + 1.9558275938034058, + 0.04937441274523735, + 0.015513386577367783, + 0.2645552158355713, + 0.9629808068275452 + ] + ] + } + } + } +} \ No newline at end of file diff --git a/episodes/c2_p012_e014/wrist.mp4 b/episodes/c2_p012_e014/wrist.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..c015f6cc7923ed46d01ec77b6affd026b834b3dc --- /dev/null +++ b/episodes/c2_p012_e014/wrist.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:36cf433e55329e366287d46b2aad7400ae8d78ee68fa051df991565f9ed8b653 +size 8098295 diff --git a/episodes/c2_p012_e015/data.npz b/episodes/c2_p012_e015/data.npz new file mode 100644 index 0000000000000000000000000000000000000000..fe048501d08694de4dea9fc691f47b551dfe1e39 --- /dev/null +++ b/episodes/c2_p012_e015/data.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:d06a5034205afccdfbc5babbafb2b0720989d96036f303552ae0e05896e2dbfa +size 186871 diff --git a/episodes/c2_p012_e015/device_events.jsonl b/episodes/c2_p012_e015/device_events.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..8ac6fe10bf72a01d2917d54aae0776ea3dbffbc4 --- /dev/null +++ b/episodes/c2_p012_e015/device_events.jsonl @@ -0,0 +1,35 @@ +{"env_id": 3, "seq": 1, "step": 64, "t": 0.32, "topic": "conveyor_1.belt.station.pick.captured", "source": "conveyor_1.belt", "data": {"rider": "carrier_4"}, "cause": null} +{"env_id": 3, "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": 3, "seq": 3, "step": 69, "t": 0.345, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_4"}, "cause": null} +{"env_id": 3, "seq": 4, "step": 6587, "t": 32.935, "topic": "a4s_sealer_1.plate_present.present", "source": "a4s_sealer_1.plate_present", "data": {"object": "plate_4"}, "cause": null} +{"env_id": 3, "seq": 5, "step": 7200, "t": 36.0, "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": 7200, "t": 36.0, "topic": "a4s_sealer_1.seal.started", "source": "a4s_sealer_1", "data": {"dwell": 4.65393841996788}, "cause": "task-3-1"} +{"env_id": 3, "seq": 7, "step": 7200, "t": 36.0, "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": 7200, "t": 36.0, "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": 7200, "t": 36.0, "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": 7619, "t": 38.095, "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": 7619, "t": 38.095, "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": 7619, "t": 38.095, "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": 7619, "t": 38.095, "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": 7619, "t": 38.095, "topic": "labware.plate_4.changed", "source": "labware.plate_4", "data": {"key": "sealed", "value": true}, "cause": "task-3-1"} +{"env_id": 3, "seq": 15, "step": 7619, "t": 38.095, "topic": "a4s_sealer_1.sealed", "source": "a4s_sealer_1", "data": {"plate": "plate_4"}, "cause": "task-3-1"} +{"env_id": 3, "seq": 16, "step": 7619, "t": 38.095, "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": 7619, "t": 38.095, "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": 7619, "t": 38.095, "topic": "a4s_sealer_1.heater.started", "source": "a4s_sealer_1.heater", "data": {"duration": 4.65393841996788}, "cause": "program-3-3"} +{"env_id": 3, "seq": 19, "step": 8550, "t": 42.75, "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": 8550, "t": 42.75, "topic": "a4s_sealer_1.heater.finished", "source": "a4s_sealer_1.heater", "data": {"elapsed": 4.6550000000023815}, "cause": "program-3-3"} +{"env_id": 3, "seq": 21, "step": 8550, "t": 42.75, "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": 4.6550000000023815}}, "cause": "program-3-3"} +{"env_id": 3, "seq": 22, "step": 8550, "t": 42.75, "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": 8550, "t": 42.75, "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": 8550, "t": 42.75, "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": 8969, "t": 44.845, "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": 8969, "t": 44.845, "topic": "a4s_sealer_1.drawer.reached", "source": "a4s_sealer_1.drawer", "data": {"position": "out", "q": 0.0}, "cause": "program-3-4"} +{"env_id": 3, "seq": 27, "step": 8969, "t": 44.845, "topic": "a4s_sealer_1.drawer.at_out", "source": "a4s_sealer_1.drawer", "data": {"q": 0.0}, "cause": "program-3-4"} +{"env_id": 3, "seq": 28, "step": 8969, "t": 44.845, "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": 8969, "t": 44.845, "topic": "a4s_sealer_1.seal.finished", "source": "a4s_sealer_1", "data": {}, "cause": "task-3-1"} +{"env_id": 3, "seq": 30, "step": 8969, "t": 44.845, "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": 9552, "t": 47.76, "topic": "a4s_sealer_1.plate_present.absent", "source": "a4s_sealer_1.plate_present", "data": {"object": "plate_4"}, "cause": null} +{"env_id": 3, "seq": 32, "step": 11256, "t": 56.28, "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": 11256, "t": 56.28, "topic": "conveyor_1.belt.station.pick.released", "source": "conveyor_1.belt", "data": {"rider": "carrier_4"}, "cause": "task-3-5"} +{"env_id": 3, "seq": 34, "step": 11256, "t": 56.28, "topic": "conveyor_1.belt.state.changed", "source": "conveyor_1.belt", "data": {"from": "at_station", "to": "running"}, "cause": null} +{"env_id": 3, "seq": 35, "step": 11256, "t": 56.28, "topic": "conveyor_1.belt.command.succeeded", "source": "conveyor_1.belt", "data": {"command_id": "task-3-5", "name": "release", "source": "task", "result": {"state": "running"}}, "cause": "task-3-5"} diff --git a/episodes/c2_p012_e015/env.mp4 b/episodes/c2_p012_e015/env.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..e1043e8ef14496be3766a264faf3d1fd67ea1f52 --- /dev/null +++ b/episodes/c2_p012_e015/env.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:0b0df902ebbc0a50ecc5a6257db284cb5252064bb5b7a5162e34960c02076d4e +size 1408409 diff --git a/episodes/c2_p012_e015/meta.json b/episodes/c2_p012_e015/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..1375375075b6f7e01e4a787a28411eceeadf8787 --- /dev/null +++ b/episodes/c2_p012_e015/meta.json @@ -0,0 +1,32 @@ +{ + "source": "raw/c2_p012/magicsim/15", + "fps": 25, + "frames": 1276, + "kept_ticks": "even", + "video_frames": { + "wrist": 1276, + "env": 1276 + }, + "joint_target_source": "joint_pos_target", + "fk_vs_recorded_eef_max_m": 0.0, + "curobo_joints": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "joint_order": [ + "shoulder_pan", + "shoulder_lift", + "elbow", + "wrist_1", + "wrist_2", + "wrist_3", + "finger_left", + "finger_right" + ], + "frames_note": "eef / actions in the robot base frame; camera_pose = local pose (wrist: in plate_gripper_base, env: env frame), pos + quat wxyz", + "dr_version": "v2" +} \ No newline at end of file diff --git a/episodes/c2_p012_e015/scene_snapshot.json b/episodes/c2_p012_e015/scene_snapshot.json new file mode 100644 index 0000000000000000000000000000000000000000..70a314df468442331761068eea9846c5a1ed1e38 --- /dev/null +++ b/episodes/c2_p012_e015/scene_snapshot.json @@ -0,0 +1,1558 @@ +{ + "trajectory_id": 15, + "env_id": 3, + "run_id": "c2_p012", + "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_24_10ml/deep_well_24_10ml.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 0.9605 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/pcr_384_red/pcr_384_red.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.0285 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/pcr_96_blue/pcr_96_blue.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.0965 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_48_clear/plate_48_clear.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.1645 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_96_white/plate_96_white.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.2325 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "a4s_sealer": [ + { + "asset": "$MAGICSIM_ASSETS/Articulated/A4SSealer/Object.usd", + "pose": { + "pos": [ + 0.46442604064941406, + 0.05261802673339844, + 0.8999999761581421 + ], + "ori": [ + -0.7059735655784607, + 0.0, + 0.0, + 0.7082381844520569 + ], + "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": [ + 2.3549148742141313e-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": 0.2592163876348917, + "direction": [ + 1.0, + 0.0, + 0.0 + ], + "enabled": true, + "drive": "surface_velocity", + "lines": null, + "station_line": null, + "riders": [ + "carrier" + ], + "stations": { + "pick": { + "position": -0.051608523036479115, + "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": 0.2592163876348917, + "holds": [], + "station": "pick", + "rider": "carrier_4", + "arrived": true, + "applied_speed": 0.0 + } + } + } + ], + "carrier": [ + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + 0.14966297149658203, + 1.1499967575073242, + 0.8999999761581421 + ], + "ori": [ + 2.392990791122429e-05, + -1.8220161379645106e-08, + 2.727644776712168e-10, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 2.6881599168859793e-09, + 1.1446493530797852e-08, + 3.725290298461914e-09 + ], + "angular_velocity": [ + -2.3840442509026616e-07, + 8.288222375085752e-08, + -8.789831440481066e-08 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + 1.6057043075561523, + 1.0374679565429688, + 0.8999999761581421 + ], + "ori": [ + 0.40166833996772766, + 2.3377797475632178e-08, + 1.0929680493987348e-09, + 0.9157852530479431 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 2.937058374286039e-10, + -5.183957707544096e-10, + 0.0 + ], + "angular_velocity": [ + 7.438054439035113e-08, + -3.978205143084779e-08, + 2.074161642440231e-08 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + -1.3946762084960938, + 0.7463207244873047, + 0.8999999761581421 + ], + "ori": [ + -0.7576295733451843, + -8.945102791813042e-08, + -1.1832869262207169e-07, + 0.6526848077774048 + ], + "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": [ + -8.830340902932221e-10, + -2.942215360235423e-10, + 3.725290298461914e-09 + ], + "angular_velocity": [ + 2.2548192646354437e-08, + 5.8362275012768805e-08, + -2.2367203200701624e-08 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + 0.09810733795166016, + 0.4499969482421875, + 0.8999999761581421 + ], + "ori": [ + 1.0, + -3.278638027737202e-09, + -5.656252688446273e-10, + 1.0408556590846274e-05 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 1.1280021361415038e-10, + -8.218737357346129e-10, + 0.0 + ], + "angular_velocity": [ + 8.38659843793721e-08, + -1.3054251013500107e-09, + 4.734527436767166e-09 + ] + } + } + ], + "plate": [ + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_48_clear/Object.usd", + "pose": { + "pos": [ + 0.14594650268554688, + 1.1514759063720703, + 0.9179999828338623 + ], + "ori": [ + 0.0651899129152298, + -2.018949629700728e-08, + -2.5633684064274576e-10, + 0.9978729486465454 + ], + "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": [ + 6.611488601038218e-08, + 9.524803346039334e-08, + 1.0803341865539551e-07 + ], + "angular_velocity": [ + -1.1701988569257082e-06, + 2.990615030284971e-06, + -2.0978058046239312e-07 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_384_white/Object.usd", + "pose": { + "pos": [ + 1.6142778396606445, + 1.027165412902832, + 0.9180000424385071 + ], + "ori": [ + 0.4475981295108795, + 2.4851559032867954e-08, + 3.318091579274096e-09, + 0.894234836101532 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 1.7503927196571567e-08, + -1.7241283956082043e-08, + -5.617737770080566e-06 + ], + "angular_velocity": [ + 5.237958475845517e-07, + 1.2192293752377736e-06, + 1.0759245583358279e-07 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_96_clear/Object.usd", + "pose": { + "pos": [ + -1.4014978408813477, + 0.7379732131958008, + 0.9180000424385071 + ], + "ori": [ + -0.6895406246185303, + -7.697500592485085e-08, + -1.29361552581031e-07, + 0.7242470383644104 + ], + "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": [ + -1.6370137245758087e-08, + 5.0771632231771946e-08, + 1.0803341865539551e-07 + ], + "angular_velocity": [ + -2.31045123655349e-06, + -2.6460838853381574e-07, + -1.0425242180645e-07 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/reservoir_12ch/Object.usd", + "pose": { + "pos": [ + 0.10295963287353516, + 0.447235107421875, + 0.9179999828338623 + ], + "ori": [ + 0.9998745322227478, + 2.641159291272288e-09, + -2.52733078909273e-09, + -0.015839923173189163 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -6.854222789343112e-08, + -3.1892508189912405e-08, + -1.0356307029724121e-06 + ], + "angular_velocity": [ + 4.035925655898609e-07, + -2.1613989247271093e-06, + 6.810530095435752e-08 + ] + } + } + ], + "deco_hub_west": [ + { + "asset": "$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": 5.399999999999907, + "step": 1080, + "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": 2.3549148742141313e-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": 0.2592163876348917, + "holds": [], + "station": "pick", + "rider": "carrier_4", + "arrived": true, + "settle_count": 1015, + "released": { + "pick": [] + }, + "last_pos": { + "carrier_1": [ + -0.0003370344638824463, + 0.6999967694282532, + 0.0 + ], + "carrier_2": [ + 1.4557043015956879, + 0.5874679684638977, + 0.0 + ], + "carrier_3": [ + -1.5446762144565582, + 0.29632073640823364, + 0.0 + ], + "carrier_4": [ + -0.05189266800880432, + -3.039836883544922e-06, + 0.0 + ] + }, + "command": 0.0 + }, + "belt": { + "target_speed": 0.0, + "command_speed": 0.0 + }, + "seen": { + "state": "at_station", + "station": "pick", + "rider": "carrier_4", + "arrived": true + } + } + }, + "queues": {}, + "program": null, + "sensors": {}, + "interlocks": {} + } + }, + "zones": {}, + "labware": { + "plate_1": { + "sealed": false + }, + "plate_2": { + "sealed": false + }, + "plate_3": { + "sealed": false + }, + "plate_4": { + "sealed": false + } + }, + "rules": {}, + "records": [], + "bus": { + "seq": 3, + "queue": [] + } + } + ], + "drives": [ + null, + null, + null, + {} + ] + }, + "artifacts": [ + {}, + {}, + {}, + { + "ceiling": { + "type": "rect", + "pose": { + "pos": [ + 0.6140627946865217, + 0.2190862679098533, + 3.1927757775284733 + ], + "ori": [ + 1.623812135739854, + 12.058255100409884, + 7.618623930981386 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "color_temperature": 5319.349539435007, + "color": [ + 0.9847820106768934, + 0.9442861720571192, + 0.8646794174148815 + ], + "intensity": 6789.26826872839, + "width": 1.8857239671019936, + "height": 1.3416508709496568 + } + }, + "key": { + "type": "disk", + "pose": { + "pos": [ + -1.200228343069309, + 0.6863092824789525, + 1.9795696009455415 + ], + "ori": [ + 17.20431542987572, + 13.238614308357128, + 34.40829917401594 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "color_temperature": 6185.614872720964, + "color": [ + 0.8142980340257642, + 0.9581446168581479, + 0.7614765217098124 + ], + "intensity": 3877.181503258624, + "radius": 0.36571582913188083 + } + } + } + ], + "background": { + "type": "dome", + "pose": { + "pos": null, + "ori": null, + "scale": null + }, + "dr": { + "intensity": 362.2657279848533, + "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": [ + [ + 2.6876983642578125, + -1.986660122871399, + 1.9624544382095337, + -1.5462610721588135, + -1.5708975791931152, + 4.257920265197754, + 0.017999999225139618, + 0.017999999225139618 + ], + [ + 1.1010156869888306, + -1.2520073652267456, + 2.2039992809295654, + -2.5227818489074707, + -1.5708245038986206, + 2.527392625808716, + 0.007719673682004213, + 0.007046728860586882 + ], + [ + 2.5659420490264893, + -1.9007912874221802, + 2.6573314666748047, + -2.3273751735687256, + -1.5706228017807007, + 4.135201454162598, + 0.007756029721349478, + 0.007119156885892153 + ], + [ + 0.9141026735305786, + -1.7193982601165771, + 2.0904994010925293, + -1.9419007301330566, + -1.5707999467849731, + 2.484900951385498, + 0.017999999225139618, + 0.017999999225139618 + ] + ], + "joint_vel": [ + [ + 0.007962211966514587, + 0.01653197966516018, + -0.008933762088418007, + -0.007218269165605307, + 0.00010142413520952687, + 0.007997434586286545, + 2.0387876702443464e-06, + -2.038680804616888e-06 + ], + [ + -0.00036653096321970224, + 6.201674750627717e-06, + -8.502911805408075e-05, + -0.0020038688089698553, + 0.0018520824378356338, + 0.006509038619697094, + -0.008739280514419079, + 0.00025890686083585024 + ], + [ + 0.021440675482153893, + 0.04136341065168381, + -0.020908847451210022, + -0.021099410951137543, + -2.561380824772641e-05, + 0.021688738837838173, + -0.00781448744237423, + 0.0003526353684719652 + ], + [ + -2.2347095155942874e-38, + 0.0, + 0.0, + 6.541012360860982e-37, + -6.696069062743206e-37, + -5.611380646071201e-37, + 4.406204775904725e-38, + -4.623006948072432e-38 + ] + ] + } + }, + "cameras": { + "cameras": { + "camera0": [ + [ + 0.05282266065478325, + -0.0009058511350303888, + -0.028094923123717308, + -0.28499752283096313, + 0.6519080400466919, + 0.6439106464385986, + -0.2813740670681 + ], + [ + 0.05347428098320961, + 0.0014050466706976295, + -0.03127012029290199, + -0.28445279598236084, + 0.6478657722473145, + 0.6429895162582397, + -0.29312294721603394 + ], + [ + 0.046936940401792526, + -0.0013853362761437893, + -0.028955336660146713, + -0.2673056721687317, + 0.6563591361045837, + 0.6529621481895447, + -0.2671718895435333 + ], + [ + 0.04798596724867821, + -2.8878637749585323e-05, + -0.033403411507606506, + -0.2791847288608551, + 0.6450157761573792, + 0.650887131690979, + -0.286978155374527 + ] + ], + "camera1": [ + [ + 0.029340671375393867, + 0.5955253839492798, + 1.9585025310516357, + 0.05125032365322113, + 0.016936661675572395, + 0.2697831988334656, + 0.9614070653915405 + ], + [ + 0.06406161934137344, + 0.588767409324646, + 1.9292455911636353, + 0.0547955185174942, + 0.009874905459582806, + 0.27846717834472656, + 0.9588305354118347 + ], + [ + 0.048261579126119614, + 0.6010310649871826, + 1.9545080661773682, + 0.04655304551124573, + -0.005970081780105829, + 0.2830362617969513, + 0.9579601287841797 + ], + [ + 0.05576283857226372, + 0.598671019077301, + 1.9558275938034058, + 0.04937441274523735, + 0.015513386577367783, + 0.2645552158355713, + 0.9629808068275452 + ] + ] + } + } + } +} \ No newline at end of file diff --git a/episodes/c2_p012_e015/wrist.mp4 b/episodes/c2_p012_e015/wrist.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..f9c711deacf3ede77742bd7821e30c112742b4ca --- /dev/null +++ b/episodes/c2_p012_e015/wrist.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:8f6d8ade8c7022368fe96bd36887cb1e26f9749a243724f2eb31402c2bc80a4d +size 6673316 diff --git a/episodes/c4_p010_e017/data.npz b/episodes/c4_p010_e017/data.npz new file mode 100644 index 0000000000000000000000000000000000000000..01eacf9d661d3f46fadf07de5638ac3a83d4d9ed --- /dev/null +++ b/episodes/c4_p010_e017/data.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:69f0366ae03d1c66128194bb2d256327659884122a1a457f82aa4d31f1c5c019 +size 190593 diff --git a/episodes/c4_p010_e017/device_events.jsonl b/episodes/c4_p010_e017/device_events.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..8b264091789415c4cf2a9a977b0d88613a1e0abe --- /dev/null +++ b/episodes/c4_p010_e017/device_events.jsonl @@ -0,0 +1,36 @@ +{"env_id": 0, "seq": 1, "step": 149, "t": 0.745, "topic": "conveyor_1.belt.station.pick.captured", "source": "conveyor_1.belt", "data": {"rider": "carrier_4"}, "cause": null} +{"env_id": 0, "seq": 2, "step": 149, "t": 0.745, "topic": "conveyor_1.belt.state.changed", "source": "conveyor_1.belt", "data": {"from": "running", "to": "at_station"}, "cause": null} +{"env_id": 0, "seq": 3, "step": 154, "t": 0.77, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_4"}, "cause": null} +{"env_id": 0, "seq": 4, "step": 1789, "t": 8.945, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_4"}, "cause": null} +{"env_id": 0, "seq": 5, "step": 6690, "t": 33.45, "topic": "a4s_sealer_1.plate_present.present", "source": "a4s_sealer_1.plate_present", "data": {"object": "plate_4"}, "cause": null} +{"env_id": 0, "seq": 6, "step": 7304, "t": 36.52, "topic": "a4s_sealer_1.command.started", "source": "a4s_sealer_1", "data": {"command_id": "task-0-1", "name": "seal", "source": "task"}, "cause": "task-0-1"} +{"env_id": 0, "seq": 7, "step": 7304, "t": 36.52, "topic": "a4s_sealer_1.seal.started", "source": "a4s_sealer_1", "data": {"dwell": 3.552280955602512}, "cause": "task-0-1"} +{"env_id": 0, "seq": 8, "step": 7304, "t": 36.52, "topic": "a4s_sealer_1.drawer.command.started", "source": "a4s_sealer_1.drawer", "data": {"command_id": "program-0-2", "name": "close", "source": "program:seal"}, "cause": "program-0-2"} +{"env_id": 0, "seq": 9, "step": 7304, "t": 36.52, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "at_out", "to": "moving"}, "cause": null} +{"env_id": 0, "seq": 10, "step": 7304, "t": 36.52, "topic": "a4s_sealer_1.drawer.moving", "source": "a4s_sealer_1.drawer", "data": {"target": 0.3, "goal": "in"}, "cause": "program-0-2"} +{"env_id": 0, "seq": 11, "step": 7723, "t": 38.615, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "moving", "to": "at_in"}, "cause": null} +{"env_id": 0, "seq": 12, "step": 7723, "t": 38.615, "topic": "a4s_sealer_1.drawer.reached", "source": "a4s_sealer_1.drawer", "data": {"position": "in", "q": 0.30000001192092896}, "cause": "program-0-2"} +{"env_id": 0, "seq": 13, "step": 7723, "t": 38.615, "topic": "a4s_sealer_1.drawer.at_in", "source": "a4s_sealer_1.drawer", "data": {"q": 0.30000001192092896}, "cause": "program-0-2"} +{"env_id": 0, "seq": 14, "step": 7723, "t": 38.615, "topic": "a4s_sealer_1.drawer.command.succeeded", "source": "a4s_sealer_1.drawer", "data": {"command_id": "program-0-2", "name": "close", "source": "program:seal", "result": {"position": "in"}}, "cause": "program-0-2"} +{"env_id": 0, "seq": 15, "step": 7723, "t": 38.615, "topic": "labware.plate_4.changed", "source": "labware.plate_4", "data": {"key": "sealed", "value": true}, "cause": "task-0-1"} +{"env_id": 0, "seq": 16, "step": 7723, "t": 38.615, "topic": "a4s_sealer_1.sealed", "source": "a4s_sealer_1", "data": {"plate": "plate_4"}, "cause": "task-0-1"} +{"env_id": 0, "seq": 17, "step": 7723, "t": 38.615, "topic": "a4s_sealer_1.heater.command.started", "source": "a4s_sealer_1.heater", "data": {"command_id": "program-0-3", "name": "run", "source": "program:seal"}, "cause": "program-0-3"} +{"env_id": 0, "seq": 18, "step": 7723, "t": 38.615, "topic": "a4s_sealer_1.heater.state.changed", "source": "a4s_sealer_1.heater", "data": {"from": "ready", "to": "running"}, "cause": null} +{"env_id": 0, "seq": 19, "step": 7723, "t": 38.615, "topic": "a4s_sealer_1.heater.started", "source": "a4s_sealer_1.heater", "data": {"duration": 3.552280955602512}, "cause": "program-0-3"} +{"env_id": 0, "seq": 20, "step": 8434, "t": 42.17, "topic": "a4s_sealer_1.heater.state.changed", "source": "a4s_sealer_1.heater", "data": {"from": "running", "to": "ready"}, "cause": null} +{"env_id": 0, "seq": 21, "step": 8434, "t": 42.17, "topic": "a4s_sealer_1.heater.finished", "source": "a4s_sealer_1.heater", "data": {"elapsed": 3.5550000000018187}, "cause": "program-0-3"} +{"env_id": 0, "seq": 22, "step": 8434, "t": 42.17, "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": 3.5550000000018187}}, "cause": "program-0-3"} +{"env_id": 0, "seq": 23, "step": 8434, "t": 42.17, "topic": "a4s_sealer_1.drawer.command.started", "source": "a4s_sealer_1.drawer", "data": {"command_id": "program-0-4", "name": "open", "source": "program:seal"}, "cause": "program-0-4"} +{"env_id": 0, "seq": 24, "step": 8434, "t": 42.17, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "at_in", "to": "moving"}, "cause": null} +{"env_id": 0, "seq": 25, "step": 8434, "t": 42.17, "topic": "a4s_sealer_1.drawer.moving", "source": "a4s_sealer_1.drawer", "data": {"target": 0.0, "goal": "out"}, "cause": "program-0-4"} +{"env_id": 0, "seq": 26, "step": 8854, "t": 44.27, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "moving", "to": "at_out"}, "cause": null} +{"env_id": 0, "seq": 27, "step": 8854, "t": 44.27, "topic": "a4s_sealer_1.drawer.reached", "source": "a4s_sealer_1.drawer", "data": {"position": "out", "q": 2.9256947975397907e-09}, "cause": "program-0-4"} +{"env_id": 0, "seq": 28, "step": 8854, "t": 44.27, "topic": "a4s_sealer_1.drawer.at_out", "source": "a4s_sealer_1.drawer", "data": {"q": 2.9256947975397907e-09}, "cause": "program-0-4"} +{"env_id": 0, "seq": 29, "step": 8854, "t": 44.27, "topic": "a4s_sealer_1.drawer.command.succeeded", "source": "a4s_sealer_1.drawer", "data": {"command_id": "program-0-4", "name": "open", "source": "program:seal", "result": {"position": "out"}}, "cause": "program-0-4"} +{"env_id": 0, "seq": 30, "step": 8854, "t": 44.27, "topic": "a4s_sealer_1.seal.finished", "source": "a4s_sealer_1", "data": {}, "cause": "task-0-1"} +{"env_id": 0, "seq": 31, "step": 8854, "t": 44.27, "topic": "a4s_sealer_1.command.succeeded", "source": "a4s_sealer_1", "data": {"command_id": "task-0-1", "name": "seal", "source": "task"}, "cause": "task-0-1"} +{"env_id": 0, "seq": 32, "step": 9435, "t": 47.175, "topic": "a4s_sealer_1.plate_present.absent", "source": "a4s_sealer_1.plate_present", "data": {"object": "plate_4"}, "cause": null} +{"env_id": 0, "seq": 33, "step": 11132, "t": 55.66, "topic": "conveyor_1.belt.command.started", "source": "conveyor_1.belt", "data": {"command_id": "task-0-5", "name": "release", "source": "task"}, "cause": "task-0-5"} +{"env_id": 0, "seq": 34, "step": 11132, "t": 55.66, "topic": "conveyor_1.belt.station.pick.released", "source": "conveyor_1.belt", "data": {"rider": "carrier_4"}, "cause": "task-0-5"} +{"env_id": 0, "seq": 35, "step": 11132, "t": 55.66, "topic": "conveyor_1.belt.state.changed", "source": "conveyor_1.belt", "data": {"from": "at_station", "to": "running"}, "cause": null} +{"env_id": 0, "seq": 36, "step": 11132, "t": 55.66, "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_p010_e017/env.mp4 b/episodes/c4_p010_e017/env.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..034680f63a14b271a8d50af7bca99cdaa4ed94ee --- /dev/null +++ b/episodes/c4_p010_e017/env.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:e2035e22f51d4fe233bcff7a18a7f72d3c8bae2eb78dd583a80763ad150933c8 +size 1223072 diff --git a/episodes/c4_p010_e017/meta.json b/episodes/c4_p010_e017/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..7fef7d07acd8b3b8c41ca59188cf5bea89c0ba31 --- /dev/null +++ b/episodes/c4_p010_e017/meta.json @@ -0,0 +1,32 @@ +{ + "source": "raw/c4_p010/magicsim/17", + "fps": 25, + "frames": 1227, + "kept_ticks": "even", + "video_frames": { + "wrist": 1227, + "env": 1227 + }, + "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_p010_e017/scene_snapshot.json b/episodes/c4_p010_e017/scene_snapshot.json new file mode 100644 index 0000000000000000000000000000000000000000..277a3fe12df2ac448dca9814acefac723e8967a1 --- /dev/null +++ b/episodes/c4_p010_e017/scene_snapshot.json @@ -0,0 +1,1558 @@ +{ + "trajectory_id": 17, + "env_id": 0, + "run_id": "c4_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": 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/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": [ + 6.391916076292636e-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": 0.2579137555522813, + "direction": [ + 1.0, + 0.0, + 0.0 + ], + "enabled": true, + "drive": "surface_velocity", + "lines": null, + "station_line": null, + "riders": [ + "carrier" + ], + "stations": { + "pick": { + "position": -0.044237985714841166, + "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": 0.2579137555522813, + "holds": [], + "station": "pick", + "rider": "carrier_4", + "arrived": true, + "applied_speed": 0.0 + } + } + } + ], + "carrier": [ + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + 1.664536476135254, + 0.6522607803344727, + 0.8999999761581421 + ], + "ori": [ + 0.8486574292182922, + -1.1521837706141014e-08, + -6.339435287827655e-08, + 0.5289430022239685 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 6.669637286904617e-08, + -5.0022617159584115e-09, + -6.332993507385254e-08 + ], + "angular_velocity": [ + 3.4882353361354035e-07, + 1.9509500361891696e-06, + -7.592882411699975e-07 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + -1.396071434020996, + 0.7678756713867188, + 0.8999999761581421 + ], + "ori": [ + -0.7335702776908875, + 1.5357974447738343e-08, + 9.525051858361167e-09, + 0.6796135902404785 + ], + "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": [ + -3.839123741133932e-10, + -8.80964190486111e-11, + 0.0 + ], + "angular_velocity": [ + 8.23628987234315e-09, + -3.349378019379401e-08, + 3.270331783156166e-10 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + 0.4250755310058594, + 1.1524925231933594, + 0.8999999761581421 + ], + "ori": [ + -0.009766347706317902, + 1.2431053408867854e-10, + 3.5542673249011614e-09, + 0.9999523758888245 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -1.679177907831786e-10, + -9.024694880288564e-10, + 3.725290298461914e-09 + ], + "angular_velocity": [ + 5.285917126229833e-08, + -2.176021318689436e-08, + -9.102439690877873e-09 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + 0.1058187484741211, + 0.44747066497802734, + 0.8999999761581421 + ], + "ori": [ + 0.9999328255653381, + -1.450866204955048e-09, + -5.047140483327439e-09, + 0.011595131829380989 + ], + "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": [ + -9.152150148850069e-10, + -2.9444029436831443e-09, + 1.4901161193847656e-08 + ], + "angular_velocity": [ + 1.7107116434544878e-07, + -9.430459613213316e-08, + -2.09800745665234e-08 + ] + } + } + ], + "plate": [ + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_6_clear/Object.usd", + "pose": { + "pos": [ + 1.660569190979004, + 0.6497125625610352, + 0.9179999828338623 + ], + "ori": [ + 0.8693405389785767, + -4.0768873077468015e-07, + -3.398383796593407e-07, + 0.49421361088752747 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 7.846387234167196e-06, + -8.408218832300918e-07, + -3.345310688018799e-06 + ], + "angular_velocity": [ + 7.020839984761551e-05, + 0.00015244074165821075, + -4.363973857834935e-05 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_96_black/Object.usd", + "pose": { + "pos": [ + -1.399332046508789, + 0.7793846130371094, + 0.9180000424385071 + ], + "ori": [ + -0.7973661422729492, + 1.5850551093876675e-08, + 7.579735061824522e-09, + 0.6034959554672241 + ], + "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": [ + -6.1855462973881e-09, + 1.5351830029430857e-08, + -5.066394805908203e-06 + ], + "angular_velocity": [ + -8.388089440813928e-07, + -7.888447726145387e-07, + 4.004662912393542e-08 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/pcr_96_blue/Object.usd", + "pose": { + "pos": [ + 0.41540050506591797, + 1.1484737396240234, + 0.9180000424385071 + ], + "ori": [ + -0.020554449409246445, + 2.3758128797624067e-10, + 2.9520881295042045e-09, + 0.9997887015342712 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 1.4480829868546152e-08, + -6.845335853711276e-09, + -5.7443976402282715e-06 + ], + "angular_velocity": [ + -5.714833832826116e-07, + 2.029601319009089e-06, + 1.005586192093233e-08 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/deep_well_96_2ml/Object.usd", + "pose": { + "pos": [ + 0.10876083374023438, + 0.45638465881347656, + 0.9179999828338623 + ], + "ori": [ + 0.9996849894523621, + -3.305750118087758e-10, + -5.266307834261852e-09, + 0.0250990130007267 + ], + "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": [ + -1.0029815200596204e-07, + -1.2761559275986656e-07, + -1.3187527656555176e-06 + ], + "angular_velocity": [ + 4.254439772921614e-06, + -3.743238266906701e-06, + 4.2175752668072164e-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": 6.759999999999878, + "step": 1352, + "counter": 0, + "devices": { + "a4s_sealer_1": { + "mode": "auto", + "units": { + "drawer": { + "state": "at_out", + "active": null, + "target": 0.0, + "goal_name": "out", + "profile": null, + "q_start": null, + "reversing": false, + "blocked_for": 0.0, + "settled_for": 0.0, + "last_q": 6.391916076292636e-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": 0.2579137555522813, + "holds": [], + "station": "pick", + "rider": "carrier_4", + "arrived": true, + "settle_count": 1202, + "released": { + "pick": [] + }, + "last_pos": { + "carrier_1": [ + 1.5145364701747894, + 0.2022607922554016, + 0.0 + ], + "carrier_2": [ + -1.5460714399814606, + 0.3178756833076477, + 0.0 + ], + "carrier_3": [ + 0.2750755250453949, + 0.7024925351142883, + 0.0 + ], + "carrier_4": [ + -0.044181257486343384, + -0.002529323101043701, + 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": [ + 0.5059160566734177, + 0.31544407725598, + 3.0580857174518727 + ], + "ori": [ + -13.394765506528163, + 8.420517297493916, + -16.288361736950733 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "color_temperature": 6457.947769074399, + "color": [ + 0.8296300032904815, + 0.9426624714153347, + 0.7955329314875418 + ], + "intensity": 11150.257642731067, + "width": 2.4406612078316225, + "height": 1.8030010274189452 + } + }, + "key": { + "type": "disk", + "pose": { + "pos": [ + 1.0708975184392422, + 0.12418176028549399, + 1.6120955269908268 + ], + "ori": [ + -20.156590973442327, + -19.607678845272662, + 25.37075841657834 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "color_temperature": 3111.4261022469645, + "color": [ + 0.9938039446899907, + 0.9108966046642826, + 0.8238751364793752 + ], + "intensity": 2851.2131414717546, + "radius": 0.2994773358558932 + } + } + }, + {}, + {}, + {} + ], + "background": { + "type": "dome", + "pose": { + "pos": null, + "ori": null, + "scale": null + }, + "dr": { + "intensity": 1208.5843254455542, + "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": [ + [ + 0.9141040444374084, + -1.7193958759307861, + 2.090498447418213, + -1.941901445388794, + -1.5707999467849731, + 2.4849019050598145, + 0.017999999225139618, + 0.017999999225139618 + ], + [ + 1.189997911453247, + -1.3115612268447876, + 2.281515121459961, + -2.541001081466675, + -1.5708253383636475, + 2.7659194469451904, + 0.017999989911913872, + 0.017999989911913872 + ], + [ + 0.9141038656234741, + -1.7193968296051025, + 2.0904977321624756, + -1.9419000148773193, + -1.5707999467849731, + 2.4849014282226562, + 0.01799999736249447, + 0.018000001087784767 + ], + [ + 1.212642788887024, + -1.4556761980056763, + 2.17010235786438, + -2.285191535949707, + -1.5707921981811523, + 2.64672589302063, + 0.018000051379203796, + 0.01799994893372059 + ] + ], + "joint_vel": [ + [ + 2.877881128126099e-38, + 0.0, + -1.2223094904378367e-38, + -6.65694077387968e-37, + 3.349238751219905e-37, + 2.002724554825314e-37, + -3.104371597616455e-38, + -4.382449964337491e-38 + ], + [ + 1.021789648802951e-05, + 6.811852927057771e-06, + 6.811922503402457e-06, + -7.50373981700525e-12, + -1.0217933777312282e-05, + -1.3623913218907546e-05, + 1.2996723341984762e-07, + 1.2992414610835112e-07 + ], + [ + 3.4059653444273863e-06, + 3.4059546578646405e-06, + -6.811952061980264e-06, + 1.769167928475368e-12, + -1.7936726322970165e-13, + 5.574565331914472e-13, + 2.599018422699828e-08, + -2.5990019025812217e-08 + ], + [ + -0.00011921638360945508, + 0.015561416745185852, + 0.009858044795691967, + -0.024175623431801796, + -8.161695404851343e-06, + 1.998195148189552e-05, + -7.022678346402245e-06, + 6.998553544690367e-06 + ] + ] + } + }, + "cameras": { + "cameras": { + "camera0": [ + [ + 0.047728147357702255, + -0.0026955457869917154, + -0.031420063227415085, + -0.27034837007522583, + 0.6500675082206726, + 0.6523078083992004, + -0.28074631094932556 + ], + [ + 0.05227433890104294, + 0.003340465947985649, + -0.02783973328769207, + -0.286182701587677, + 0.645310640335083, + 0.6494505405426025, + -0.28264403343200684 + ], + [ + 0.047457460314035416, + -0.0014812616864219308, + -0.03127196431159973, + -0.287117063999176, + 0.6449079513549805, + 0.646247148513794, + -0.2898658215999603 + ], + [ + 0.04943636432290077, + 0.0006564114009961486, + -0.03160984069108963, + -0.27934548258781433, + 0.6523999571800232, + 0.6436604857444763, + -0.28642895817756653 + ] + ], + "camera1": [ + [ + 0.028137803077697754, + 0.5671164393424988, + 1.9326881170272827, + 0.0276589747518301, + 0.01839546486735344, + 0.28453290462493896, + 0.958090603351593 + ], + [ + 0.04760235175490379, + 0.5752531886100769, + 1.9576101303100586, + 0.04636215418577194, + 0.014557215385138988, + 0.2805882692337036, + 0.9585973620414734 + ], + [ + 0.053263261914253235, + 0.568596363067627, + 1.9619131088256836, + 0.02122991532087326, + 0.0012597718741744757, + 0.2771741449832916, + 0.960584282875061 + ], + [ + 0.032906875014305115, + 0.6003834009170532, + 1.9585797786712646, + 0.05431056767702103, + 0.006365660578012466, + 0.2705825865268707, + 0.9611424803733826 + ] + ] + } + } + } +} \ No newline at end of file diff --git a/episodes/c4_p010_e017/wrist.mp4 b/episodes/c4_p010_e017/wrist.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..7dbd4de053b9a9fb02dd0b907f67b843ea99f115 --- /dev/null +++ b/episodes/c4_p010_e017/wrist.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:963963b0b13d1c42d2313fccb8e617f8be9627fd630ac4485b74c97fd5a81801 +size 6128016 diff --git a/episodes/c4_p010_e018/data.npz b/episodes/c4_p010_e018/data.npz new file mode 100644 index 0000000000000000000000000000000000000000..bd3dc82617496bbba29f6a140161dd4df69105f5 --- /dev/null +++ b/episodes/c4_p010_e018/data.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:1f352d4c51da0adc0856e48d3897860ecc9ce30ceca19227bbd94ed2e777edfa +size 186934 diff --git a/episodes/c4_p010_e018/device_events.jsonl b/episodes/c4_p010_e018/device_events.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..d57062f2ba0025b5028aefe283d9fdf92f627d99 --- /dev/null +++ b/episodes/c4_p010_e018/device_events.jsonl @@ -0,0 +1,36 @@ +{"env_id": 2, "seq": 1, "step": 45, "t": 0.225, "topic": "conveyor_1.belt.station.pick.captured", "source": "conveyor_1.belt", "data": {"rider": "carrier_3"}, "cause": null} +{"env_id": 2, "seq": 2, "step": 45, "t": 0.225, "topic": "conveyor_1.belt.state.changed", "source": "conveyor_1.belt", "data": {"from": "running", "to": "at_station"}, "cause": null} +{"env_id": 2, "seq": 3, "step": 50, "t": 0.25, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_3"}, "cause": null} +{"env_id": 2, "seq": 4, "step": 2193, "t": 10.965, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_3"}, "cause": null} +{"env_id": 2, "seq": 5, "step": 6951, "t": 34.755, "topic": "a4s_sealer_1.plate_present.present", "source": "a4s_sealer_1.plate_present", "data": {"object": "plate_3"}, "cause": null} +{"env_id": 2, "seq": 6, "step": 7564, "t": 37.82, "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": 7, "step": 7564, "t": 37.82, "topic": "a4s_sealer_1.seal.started", "source": "a4s_sealer_1", "data": {"dwell": 1.681484548856461}, "cause": "task-2-1"} +{"env_id": 2, "seq": 8, "step": 7564, "t": 37.82, "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": 9, "step": 7564, "t": 37.82, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "at_out", "to": "moving"}, "cause": null} +{"env_id": 2, "seq": 10, "step": 7564, "t": 37.82, "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": 11, "step": 7983, "t": 39.915, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "moving", "to": "at_in"}, "cause": null} +{"env_id": 2, "seq": 12, "step": 7983, "t": 39.915, "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": 13, "step": 7983, "t": 39.915, "topic": "a4s_sealer_1.drawer.at_in", "source": "a4s_sealer_1.drawer", "data": {"q": 0.30000001192092896}, "cause": "program-2-2"} +{"env_id": 2, "seq": 14, "step": 7983, "t": 39.915, "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": 15, "step": 7983, "t": 39.915, "topic": "labware.plate_3.changed", "source": "labware.plate_3", "data": {"key": "sealed", "value": true}, "cause": "task-2-1"} +{"env_id": 2, "seq": 16, "step": 7983, "t": 39.915, "topic": "a4s_sealer_1.sealed", "source": "a4s_sealer_1", "data": {"plate": "plate_3"}, "cause": "task-2-1"} +{"env_id": 2, "seq": 17, "step": 7983, "t": 39.915, "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": 18, "step": 7983, "t": 39.915, "topic": "a4s_sealer_1.heater.state.changed", "source": "a4s_sealer_1.heater", "data": {"from": "ready", "to": "running"}, "cause": null} +{"env_id": 2, "seq": 19, "step": 7983, "t": 39.915, "topic": "a4s_sealer_1.heater.started", "source": "a4s_sealer_1.heater", "data": {"duration": 1.681484548856461}, "cause": "program-2-3"} +{"env_id": 2, "seq": 20, "step": 8320, "t": 41.6, "topic": "a4s_sealer_1.heater.state.changed", "source": "a4s_sealer_1.heater", "data": {"from": "running", "to": "ready"}, "cause": null} +{"env_id": 2, "seq": 21, "step": 8320, "t": 41.6, "topic": "a4s_sealer_1.heater.finished", "source": "a4s_sealer_1.heater", "data": {"elapsed": 1.685000000000862}, "cause": "program-2-3"} +{"env_id": 2, "seq": 22, "step": 8320, "t": 41.6, "topic": "a4s_sealer_1.heater.command.succeeded", "source": "a4s_sealer_1.heater", "data": {"command_id": "program-2-3", "name": "run", "source": "program:seal", "result": {"elapsed": 1.685000000000862}}, "cause": "program-2-3"} +{"env_id": 2, "seq": 23, "step": 8320, "t": 41.6, "topic": "a4s_sealer_1.drawer.command.started", "source": "a4s_sealer_1.drawer", "data": {"command_id": "program-2-4", "name": "open", "source": "program:seal"}, "cause": "program-2-4"} +{"env_id": 2, "seq": 24, "step": 8320, "t": 41.6, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "at_in", "to": "moving"}, "cause": null} +{"env_id": 2, "seq": 25, "step": 8320, "t": 41.6, "topic": "a4s_sealer_1.drawer.moving", "source": "a4s_sealer_1.drawer", "data": {"target": 0.0, "goal": "out"}, "cause": "program-2-4"} +{"env_id": 2, "seq": 26, "step": 8740, "t": 43.7, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "moving", "to": "at_out"}, "cause": null} +{"env_id": 2, "seq": 27, "step": 8740, "t": 43.7, "topic": "a4s_sealer_1.drawer.reached", "source": "a4s_sealer_1.drawer", "data": {"position": "out", "q": 1.230820653730369e-11}, "cause": "program-2-4"} +{"env_id": 2, "seq": 28, "step": 8740, "t": 43.7, "topic": "a4s_sealer_1.drawer.at_out", "source": "a4s_sealer_1.drawer", "data": {"q": 1.230820653730369e-11}, "cause": "program-2-4"} +{"env_id": 2, "seq": 29, "step": 8740, "t": 43.7, "topic": "a4s_sealer_1.drawer.command.succeeded", "source": "a4s_sealer_1.drawer", "data": {"command_id": "program-2-4", "name": "open", "source": "program:seal", "result": {"position": "out"}}, "cause": "program-2-4"} +{"env_id": 2, "seq": 30, "step": 8740, "t": 43.7, "topic": "a4s_sealer_1.seal.finished", "source": "a4s_sealer_1", "data": {}, "cause": "task-2-1"} +{"env_id": 2, "seq": 31, "step": 8740, "t": 43.7, "topic": "a4s_sealer_1.command.succeeded", "source": "a4s_sealer_1", "data": {"command_id": "task-2-1", "name": "seal", "source": "task"}, "cause": "task-2-1"} +{"env_id": 2, "seq": 32, "step": 9318, "t": 46.59, "topic": "a4s_sealer_1.plate_present.absent", "source": "a4s_sealer_1.plate_present", "data": {"object": "plate_3"}, "cause": null} +{"env_id": 2, "seq": 33, "step": 11056, "t": 55.28, "topic": "conveyor_1.belt.command.started", "source": "conveyor_1.belt", "data": {"command_id": "task-2-5", "name": "release", "source": "task"}, "cause": "task-2-5"} +{"env_id": 2, "seq": 34, "step": 11056, "t": 55.28, "topic": "conveyor_1.belt.station.pick.released", "source": "conveyor_1.belt", "data": {"rider": "carrier_3"}, "cause": "task-2-5"} +{"env_id": 2, "seq": 35, "step": 11056, "t": 55.28, "topic": "conveyor_1.belt.state.changed", "source": "conveyor_1.belt", "data": {"from": "at_station", "to": "running"}, "cause": null} +{"env_id": 2, "seq": 36, "step": 11056, "t": 55.28, "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_p010_e018/env.mp4 b/episodes/c4_p010_e018/env.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..45970a6256e98e34100c1f58bfb4f49649f37908 --- /dev/null +++ b/episodes/c4_p010_e018/env.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:5d492d1d71a42f74dd4bcc74ed848c21dd70b2e75a7a3276759536a78e4d258d +size 1209007 diff --git a/episodes/c4_p010_e018/meta.json b/episodes/c4_p010_e018/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..36b965494208ec7240fa0a8e211eb707abbef7c3 --- /dev/null +++ b/episodes/c4_p010_e018/meta.json @@ -0,0 +1,32 @@ +{ + "source": "raw/c4_p010/magicsim/18", + "fps": 25, + "frames": 1166, + "kept_ticks": "even", + "video_frames": { + "wrist": 1166, + "env": 1166 + }, + "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_p010_e018/scene_snapshot.json b/episodes/c4_p010_e018/scene_snapshot.json new file mode 100644 index 0000000000000000000000000000000000000000..b3fd23ba96c66aad99dc64876142567f97d4a05c --- /dev/null +++ b/episodes/c4_p010_e018/scene_snapshot.json @@ -0,0 +1,1558 @@ +{ + "trajectory_id": 18, + "env_id": 2, + "run_id": "c4_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": 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_24_10ml/deep_well_24_10ml.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 0.9605 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_384_white/plate_384_white.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.0285 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_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": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_24_clear/plate_24_clear.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.1645 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_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": [ + 0.5234966278076172, + 0.1207571029663086, + 0.8999999761581421 + ], + "ori": [ + -0.6758458018302917, + 0.0, + 0.0, + 0.737043023109436 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "articulation", + "solver_position_iteration_count": 16.0, + "solver_velocity_iteration_count": 1.0, + "enabled_self_collisions": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "joint_position": [ + 0.0 + ], + "joint_velocity": [ + 0.0 + ], + "linear_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "angular_velocity": [ + 0.0, + 0.0, + 0.0 + ] + } + } + ], + "conveyor": [ + { + "asset": "Cube", + "pose": { + "pos": [ + 0.15, + 0.45, + 0.9 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "conveyor", + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9 + }, + "ratio": 1.0 + }, + "primitive_params": { + "size": [ + 2.4, + 0.076, + 0.03 + ] + }, + "conveyor": { + "speed": 0.22840459352173267, + "direction": [ + 1.0, + 0.0, + 0.0 + ], + "enabled": true, + "drive": "surface_velocity", + "lines": null, + "station_line": null, + "riders": [ + "carrier" + ], + "stations": { + "pick": { + "position": -0.12277523362452128, + "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": 0.22840459352173267, + "holds": [], + "station": "pick", + "rider": "carrier_3", + "arrived": true, + "applied_speed": 0.0 + } + } + } + ], + "carrier": [ + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + -1.3990240097045898, + 0.7928590774536133, + 0.8999999761581421 + ], + "ori": [ + -0.7125654220581055, + 7.2796169092725904e-09, + -9.465016859167008e-08, + 0.7016057372093201 + ], + "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": [ + 2.0827296509651205e-07, + -2.9631387121753505e-08, + 1.1548399925231934e-07 + ], + "angular_velocity": [ + -9.197076451528119e-07, + 8.554430678486824e-06, + 1.5992141015885863e-06 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + 1.5654611587524414, + 0.5281705856323242, + 0.8999999761581421 + ], + "ori": [ + 0.948944091796875, + -2.0649393306371167e-10, + -3.1398180055930425e-08, + 0.3154444098472595 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 4.510578577310298e-10, + -4.797617414453725e-09, + 0.0 + ], + "angular_velocity": [ + 9.099636599785299e-09, + 1.0974545716635475e-08, + -6.876231140040545e-08 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + 0.027872085571289062, + 0.4500007629394531, + 0.8999999761581421 + ], + "ori": [ + 1.0, + 3.3391733822440983e-09, + 1.7998914858541326e-10, + 1.3328731256478932e-06 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 1.9659374128622176e-09, + 2.1696877627874755e-09, + 1.1175870895385742e-08 + ], + "angular_velocity": [ + -1.7339471014565788e-07, + 1.834119558452585e-07, + -6.3569824959586185e-09 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + 0.5255441665649414, + 1.1499967575073242, + 0.8999999761581421 + ], + "ori": [ + 1.6122086890391074e-05, + 6.383672701559817e-09, + 2.3620025935144895e-09, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -1.9679375906633823e-09, + -1.8084271857787826e-09, + 1.4901161193847656e-08 + ], + "angular_velocity": [ + 5.818266402002337e-08, + -1.7170111732411897e-07, + -3.176160134898964e-08 + ] + } + } + ], + "plate": [ + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_24_clear/Object.usd", + "pose": { + "pos": [ + -1.4031219482421875, + 0.7958507537841797, + 0.9180000424385071 + ], + "ori": [ + -0.7748860120773315, + -5.373156568566628e-07, + 4.7301648464781465e-07, + 0.6321009993553162 + ], + "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": [ + 6.320107786450535e-06, + -4.439684744284023e-06, + -9.234994649887085e-06 + ], + "angular_velocity": [ + -3.16276382363867e-05, + 0.00021945983462501317, + 2.505833253962919e-05 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_384_black/Object.usd", + "pose": { + "pos": [ + 1.5577669143676758, + 0.5314874649047852, + 0.9180000424385071 + ], + "ori": [ + 0.9477521181106567, + 3.7136612007770964e-08, + 5.6249895408200246e-08, + 0.31900760531425476 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -3.4075014809786808e-06, + -1.9680007881106576e-06, + -5.736947059631348e-06 + ], + "angular_velocity": [ + 4.2652922275010496e-05, + 2.4325656340806745e-05, + 2.5033561541931704e-05 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_1536_black/Object.usd", + "pose": { + "pos": [ + 0.030999183654785156, + 0.44512176513671875, + 0.9180000424385071 + ], + "ori": [ + 0.9981727600097656, + 4.404234754673553e-09, + -5.647580181289413e-10, + 0.060425762087106705 + ], + "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": [ + 8.535561146771897e-10, + 1.4873064557718862e-08, + -5.4426491260528564e-06 + ], + "angular_velocity": [ + 4.0217537389253266e-07, + -1.630381916584156e-06, + -5.44114477918356e-08 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/deep_well_24_10ml/Object.usd", + "pose": { + "pos": [ + 0.5404939651489258, + 1.147007942199707, + 0.9179999828338623 + ], + "ori": [ + -0.020796317607164383, + 6.3090692670186854e-09, + 4.817963361603006e-09, + 0.9997838139533997 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 5.94697135980482e-09, + 1.0510227355098323e-08, + -1.1026859283447266e-06 + ], + "angular_velocity": [ + -2.2072358660807367e-06, + 1.5765747320983792e-06, + -1.1106722297427041e-07 + ] + } + } + ], + "deco_hub_west": [ + { + "asset": "$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": 8.839999999999982, + "step": 1768, + "counter": 0, + "devices": { + "a4s_sealer_1": { + "mode": "auto", + "units": { + "drawer": { + "state": "at_out", + "active": null, + "target": 0.0, + "goal_name": "out", + "profile": null, + "q_start": null, + "reversing": false, + "blocked_for": 0.0, + "settled_for": 0.0, + "last_q": 0.0 + }, + "heater": { + "state": "ready", + "active": null, + "duration": 0.0, + "t_start": null, + "elapsed": 0.0 + } + }, + "queues": {}, + "program": null, + "sensors": { + "plate_present": { + "occupants": [], + "pending": {} + } + }, + "interlocks": {} + }, + "conveyor_1": { + "mode": "auto", + "units": { + "belt": { + "state": "at_station", + "active": null, + "controller": { + "speed": 0.22840459352173267, + "holds": [], + "station": "pick", + "rider": "carrier_3", + "arrived": true, + "settle_count": 1722, + "released": { + "pick": [] + }, + "last_pos": { + "carrier_1": [ + -1.5490240156650543, + 0.34285908937454224, + 0.0 + ], + "carrier_2": [ + 1.415461152791977, + 0.07817059755325317, + 0.0 + ], + "carrier_3": [ + -0.12212792038917542, + 7.748603820800781e-07, + 0.0 + ], + "carrier_4": [ + 0.37554416060447693, + 0.6999967694282532, + 0.0 + ] + }, + "command": 0.0 + }, + "belt": { + "target_speed": 0.0, + "command_speed": 0.0 + }, + "seen": { + "state": "at_station", + "station": "pick", + "rider": "carrier_3", + "arrived": true + } + } + }, + "queues": {}, + "program": null, + "sensors": {}, + "interlocks": {} + } + }, + "zones": {}, + "labware": { + "plate_1": { + "sealed": false + }, + "plate_2": { + "sealed": false + }, + "plate_3": { + "sealed": false + }, + "plate_4": { + "sealed": false + } + }, + "rules": {}, + "records": [], + "bus": { + "seq": 3, + "queue": [] + } + }, + null + ], + "drives": [ + null, + null, + {}, + null + ] + }, + "artifacts": [ + {}, + {}, + { + "ceiling": { + "type": "rect", + "pose": { + "pos": [ + 0.03147052087796387, + 0.23071517495473737, + 2.844615772732688 + ], + "ori": [ + 2.4669791180777842, + -3.8680024825143846, + 4.278915595047607 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "color_temperature": 3209.763046958841, + "color": [ + 0.8217560579197909, + 0.9187777770640405, + 0.886509502988237 + ], + "intensity": 11322.031100018263, + "width": 2.0439288038936905, + "height": 1.4103540039567934 + } + }, + "key": { + "type": "disk", + "pose": { + "pos": [ + 0.20594247970041102, + -0.07589438747014654, + 2.1793980621882465 + ], + "ori": [ + 6.136281427986596, + 4.21682320073586, + -15.718682479546917 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "color_temperature": 5081.307746971792, + "color": [ + 0.9213357553847583, + 0.8352125153501528, + 0.9442127109652128 + ], + "intensity": 7849.234398461294, + "radius": 0.36327057792548945 + } + } + }, + {} + ], + "background": { + "type": "dome", + "pose": { + "pos": null, + "ori": null, + "scale": null + }, + "dr": { + "intensity": 1208.5843254455542, + "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": [ + [ + 0.8222204446792603, + -1.1710518598556519, + 2.0717358589172363, + -2.4713711738586426, + -1.570831537246704, + 2.342634916305542, + 0.007823173888027668, + 0.007254160940647125 + ], + [ + 0.9141008853912354, + -1.7193975448608398, + 2.0904994010925293, + -1.9419009685516357, + -1.5707999467849731, + 2.4849002361297607, + 0.017999999225139618, + 0.017999999225139618 + ], + [ + 0.9141040444374084, + -1.7193958759307861, + 2.0904977321624756, + -1.9419001340866089, + -1.5707999467849731, + 2.4849014282226562, + 0.01799999736249447, + 0.018000001087784767 + ], + [ + 1.2127553224563599, + -1.4986543655395508, + 2.138495922088623, + -2.2106409072875977, + -1.5708088874816895, + 2.6467580795288086, + 0.007717855274677277, + 0.007133069448173046 + ] + ], + "joint_vel": [ + [ + -0.001198790967464447, + -0.00014170282520353794, + -0.0007314360118471086, + -0.0032782871276140213, + 0.002261271933093667, + 0.005539602600038052, + -0.007500264327973127, + 0.000432173372246325 + ], + [ + 2.878389799468649e-38, + 0.0, + -1.2213358682648238e-38, + -6.655888791096542e-37, + 3.3481603119217608e-37, + 2.278090913452855e-37, + -1.3025661134370505e-37, + -2.3454070496014764e-38 + ], + [ + -2.8349416998031796e-38, + 1.6513251428219726e-38, + -1.563277916932437e-38, + 5.0268373994688894e-37, + -4.251537747099461e-37, + 2.8061847011338143e-37, + 2.5990388508034812e-08, + -2.5990399166175848e-08 + ], + [ + 0.0002715575392358005, + -0.014206682331860065, + -0.011618019081652164, + 0.023828580975532532, + 0.00044247612822800875, + 0.0017738821916282177, + -0.007300423923879862, + 0.0002838103682734072 + ] + ] + } + }, + "cameras": { + "cameras": { + "camera0": [ + [ + 0.048956193029880524, + -0.0020361188799142838, + -0.03027976304292679, + -0.2648634910583496, + 0.6560473442077637, + 0.6485214829444885, + -0.28083640336990356 + ], + [ + 0.05347270891070366, + 0.0013361884048208594, + -0.028839509934186935, + -0.271647572517395, + 0.6542704105377197, + 0.6463195085525513, + -0.28356459736824036 + ], + [ + 0.04967033490538597, + -0.0014528303872793913, + -0.033040985465049744, + -0.28198471665382385, + 0.6429440379142761, + 0.6508079171180725, + -0.2890617251396179 + ], + [ + 0.05076351761817932, + 0.0012819425901398063, + -0.028651099652051926, + -0.282770574092865, + 0.6562153697013855, + 0.6362135410308838, + -0.2909545600414276 + ] + ], + "camera1": [ + [ + 0.028137803077697754, + 0.5671164393424988, + 1.9326881170272827, + 0.0276589747518301, + 0.01839546486735344, + 0.28453290462493896, + 0.958090603351593 + ], + [ + 0.06597726792097092, + 0.579235315322876, + 1.9395787715911865, + 0.03210459649562836, + 0.020691830664873123, + 0.2861087918281555, + 0.9574356079101562 + ], + [ + 0.053263261914253235, + 0.568596363067627, + 1.9619131088256836, + 0.02122991532087326, + 0.0012597718741744757, + 0.2771741449832916, + 0.960584282875061 + ], + [ + 0.032906875014305115, + 0.6003834009170532, + 1.9585797786712646, + 0.05431056767702103, + 0.006365660578012466, + 0.2705825865268707, + 0.9611424803733826 + ] + ] + } + } + } +} \ No newline at end of file diff --git a/episodes/c4_p010_e018/wrist.mp4 b/episodes/c4_p010_e018/wrist.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..0a3c4ac68625c44998333b076a3bf19ac938c686 --- /dev/null +++ b/episodes/c4_p010_e018/wrist.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:0dd0f777884fbeb2deaf04dac6312dc1bf463dd8225c8f0c0a3fe90e96b02583 +size 7112683 diff --git a/episodes/c4_p010_e019/data.npz b/episodes/c4_p010_e019/data.npz new file mode 100644 index 0000000000000000000000000000000000000000..3236fa2a952793ccbf1dac56899350d036ff2c91 --- /dev/null +++ b/episodes/c4_p010_e019/data.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:ef34553fd5e862de1201c7c856256152780d7d9c696abee940aec2f4adb6beac +size 202123 diff --git a/episodes/c4_p010_e019/device_events.jsonl b/episodes/c4_p010_e019/device_events.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..f369e7decc43b0d0b497ce564f3dd397a6bac5e2 --- /dev/null +++ b/episodes/c4_p010_e019/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_3"}, "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_3"}, "cause": null} +{"env_id": 1, "seq": 4, "step": 6372, "t": 31.86, "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": 6980, "t": 34.9, "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": 6980, "t": 34.9, "topic": "a4s_sealer_1.seal.started", "source": "a4s_sealer_1", "data": {"dwell": 3.90235638923252}, "cause": "task-1-1"} +{"env_id": 1, "seq": 7, "step": 6980, "t": 34.9, "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": 6980, "t": 34.9, "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": 6980, "t": 34.9, "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": 7399, "t": 36.995, "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": 7399, "t": 36.995, "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": 7399, "t": 36.995, "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": 7399, "t": 36.995, "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": 7399, "t": 36.995, "topic": "labware.plate_3.changed", "source": "labware.plate_3", "data": {"key": "sealed", "value": true}, "cause": "task-1-1"} +{"env_id": 1, "seq": 15, "step": 7399, "t": 36.995, "topic": "a4s_sealer_1.sealed", "source": "a4s_sealer_1", "data": {"plate": "plate_3"}, "cause": "task-1-1"} +{"env_id": 1, "seq": 16, "step": 7399, "t": 36.995, "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": 7399, "t": 36.995, "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": 7399, "t": 36.995, "topic": "a4s_sealer_1.heater.started", "source": "a4s_sealer_1.heater", "data": {"duration": 3.90235638923252}, "cause": "program-1-3"} +{"env_id": 1, "seq": 19, "step": 8180, "t": 40.9, "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": 8180, "t": 40.9, "topic": "a4s_sealer_1.heater.finished", "source": "a4s_sealer_1.heater", "data": {"elapsed": 3.9050000000019978}, "cause": "program-1-3"} +{"env_id": 1, "seq": 21, "step": 8180, "t": 40.9, "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": 3.9050000000019978}}, "cause": "program-1-3"} +{"env_id": 1, "seq": 22, "step": 8180, "t": 40.9, "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": 8180, "t": 40.9, "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": 8180, "t": 40.9, "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": 8600, "t": 43.0, "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": 8600, "t": 43.0, "topic": "a4s_sealer_1.drawer.reached", "source": "a4s_sealer_1.drawer", "data": {"position": "out", "q": 1.3218337015230563e-11}, "cause": "program-1-4"} +{"env_id": 1, "seq": 27, "step": 8600, "t": 43.0, "topic": "a4s_sealer_1.drawer.at_out", "source": "a4s_sealer_1.drawer", "data": {"q": 1.3218337015230563e-11}, "cause": "program-1-4"} +{"env_id": 1, "seq": 28, "step": 8600, "t": 43.0, "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": 8600, "t": 43.0, "topic": "a4s_sealer_1.seal.finished", "source": "a4s_sealer_1", "data": {}, "cause": "task-1-1"} +{"env_id": 1, "seq": 30, "step": 8600, "t": 43.0, "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": 9183, "t": 45.915, "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": 11428, "t": 57.14, "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": 11428, "t": 57.14, "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": 11428, "t": 57.14, "topic": "conveyor_1.belt.state.changed", "source": "conveyor_1.belt", "data": {"from": "at_station", "to": "running"}, "cause": null} +{"env_id": 1, "seq": 35, "step": 11428, "t": 57.14, "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_p010_e019/env.mp4 b/episodes/c4_p010_e019/env.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..88aaa2a5a26ae49a276f7935862f85ed529c2a38 --- /dev/null +++ b/episodes/c4_p010_e019/env.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:c1af2a29ff4953fa762e990a0efc8f96d6ab2a8751c0bf93cfda538ade79a640 +size 1298587 diff --git a/episodes/c4_p010_e019/meta.json b/episodes/c4_p010_e019/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..05b3072ca7d647999391aac15ea590bd7610ba8d --- /dev/null +++ b/episodes/c4_p010_e019/meta.json @@ -0,0 +1,32 @@ +{ + "source": "raw/c4_p010/magicsim/19", + "fps": 25, + "frames": 1280, + "kept_ticks": "even", + "video_frames": { + "wrist": 1280, + "env": 1280 + }, + "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_p010_e019/scene_snapshot.json b/episodes/c4_p010_e019/scene_snapshot.json new file mode 100644 index 0000000000000000000000000000000000000000..3459f4daac6787ad1dd4bbf89ba5f051bbdc3547 --- /dev/null +++ b/episodes/c4_p010_e019/scene_snapshot.json @@ -0,0 +1,1558 @@ +{ + "trajectory_id": 19, + "env_id": 1, + "run_id": "c4_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": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_48_clear/plate_48_clear.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 0.9605 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$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": [ + 2.018499083156211e-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": 0.2328154794734717, + "direction": [ + 1.0, + 0.0, + 0.0 + ], + "enabled": true, + "drive": "surface_velocity", + "lines": null, + "station_line": null, + "riders": [ + "carrier" + ], + "stations": { + "pick": { + "position": -0.21954080352138938, + "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": 0.2328154794734717, + "holds": [], + "station": "pick", + "rider": "carrier_3", + "arrived": true, + "applied_speed": 0.0 + } + } + } + ], + "carrier": [ + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + 0.4015522003173828, + 1.1526603698730469, + 0.8999999761581421 + ], + "ori": [ + -0.010228054597973824, + -8.08529421192361e-08, + -6.960893017549097e-08, + 0.9999477863311768 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 4.2389800114506215e-08, + 4.961451054441568e-07, + -7.450580596923828e-09 + ], + "angular_velocity": [ + -1.1385756806703284e-05, + -3.161927679684595e-07, + 2.7643923203868326e-06 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + 1.6472139358520508, + 0.9804105758666992, + 0.8999999761581421 + ], + "ori": [ + 0.4981190264225006, + -3.0113895377326116e-08, + 1.1773614971843926e-08, + 0.8671086430549622 + ], + "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": [ + -1.9125574735046058e-10, + -2.68138955483721e-10, + 0.0 + ], + "angular_velocity": [ + 2.1104865410848106e-08, + -2.0944806777833946e-08, + 8.980113319623229e-10 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + -0.06908607482910156, + 0.4474153518676758, + 0.8999999761581421 + ], + "ori": [ + -0.9999542236328125, + -6.595515800178475e-10, + -3.414964977466184e-09, + -0.009571656584739685 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -1.5188128532628298e-10, + -2.8598443613248037e-09, + 3.725290298461914e-09 + ], + "angular_velocity": [ + 1.0289078744563085e-07, + 1.5806747910573904e-08, + -3.376347734729279e-08 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + -1.354135513305664, + 0.6315832138061523, + 0.8999999761581421 + ], + "ori": [ + -0.8576515316963196, + 8.16004543935378e-08, + 1.1756845452737252e-07, + 0.5142314434051514 + ], + "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": [ + 3.6503365663520526e-08, + 4.900169159327561e-08, + 3.725290298461914e-07 + ], + "angular_velocity": [ + -4.2812625906663015e-06, + 1.1567158253456e-07, + 5.358851922210306e-07 + ] + } + } + ], + "plate": [ + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_12_clear/Object.usd", + "pose": { + "pos": [ + 0.3877553939819336, + 1.1444377899169922, + 0.9180000424385071 + ], + "ori": [ + -0.10606755316257477, + -2.098137485972984e-07, + -4.803027309208119e-07, + 0.9943589568138123 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 1.8939817891805433e-07, + 6.093007414165186e-06, + -1.0777264833450317e-05 + ], + "angular_velocity": [ + 8.602332673035562e-05, + 6.50159563519992e-05, + -2.573834171926137e-05 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_96_white/Object.usd", + "pose": { + "pos": [ + 1.6490612030029297, + 0.9761877059936523, + 0.9180000424385071 + ], + "ori": [ + 0.46579709649086, + -2.954088529349974e-08, + 1.4347541821280174e-08, + 0.8848916292190552 + ], + "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": [ + 5.560406357574266e-09, + -9.817171076065279e-09, + -4.991888999938965e-06 + ], + "angular_velocity": [ + 5.236876177150407e-07, + 7.221862006190349e-07, + 1.885084088826261e-09 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/pcr_384_red/Object.usd", + "pose": { + "pos": [ + -0.061682701110839844, + 0.4372367858886719, + 0.9179999828338623 + ], + "ori": [ + -0.9989701509475708, + -1.7616108571871791e-09, + -3.766670975124953e-09, + -0.04537416622042656 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -4.008322207482706e-08, + -4.298621192333485e-08, + -5.852431058883667e-06 + ], + "angular_velocity": [ + 8.623767371318536e-07, + -2.0639017748180777e-06, + 4.235208095337839e-08 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/deep_well_96_1ml/Object.usd", + "pose": { + "pos": [ + -1.359736442565918, + 0.6420478820800781, + 0.9179999828338623 + ], + "ori": [ + -0.8190610408782959, + 2.8391045248099545e-07, + 3.7037256106486893e-07, + 0.5737063884735107 + ], + "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": [ + -2.233825398434419e-06, + -5.213163603912108e-06, + -9.909272193908691e-06 + ], + "angular_velocity": [ + -0.00012613840226549655, + -0.00010003303759731352, + -4.0239734516944736e-05 + ] + } + } + ], + "deco_hub_west": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/hub_a.usd", + "pose": { + "pos": [ + -3.36, + 0.0, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_hub_east": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/hub_c.usd", + "pose": { + "pos": [ + 3.36, + 0.0, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_hub_back": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/hub_d.usd", + "pose": { + "pos": [ + -3.0, + -2.1, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_bench_east": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/bench_c.usd", + "pose": { + "pos": [ + 2.6, + -2.5, + 0.0 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_bench_gap": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/bench_b.usd", + "pose": { + "pos": [ + -0.1, + -2.9, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ] + }, + {}, + {} + ], + "devices": { + "hub": [ + null, + { + "t": 6.119999999999892, + "step": 1224, + "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": 2.018499083156211e-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": 0.2328154794734717, + "holds": [], + "station": "pick", + "rider": "carrier_3", + "arrived": true, + "settle_count": 1038, + "released": { + "pick": [] + }, + "last_pos": { + "carrier_1": [ + 0.25155219435691833, + 0.7026603817939758, + 0.0 + ], + "carrier_2": [ + 1.4972139298915863, + 0.5304105877876282, + 0.0 + ], + "carrier_3": [ + -0.21908608078956604, + -0.0025846362113952637, + 0.0 + ], + "carrier_4": [ + -1.5041355192661285, + 0.1815832257270813, + 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": [ + -0.38771652300178017, + 0.3109630481727187, + 2.77662477354633 + ], + "ori": [ + -12.783743583833248, + -11.827170258008541, + -29.60764224687557 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "color_temperature": 4578.6003859623725, + "color": [ + 0.8556819301758305, + 0.8983179707524215, + 0.8585801028089138 + ], + "intensity": 15393.722590721045, + "width": 2.563552726427963, + "height": 1.7464178655181208 + } + }, + "key": { + "type": "sphere", + "pose": { + "pos": [ + 1.5374158288459028, + -0.9044342048979233, + 2.385784022632394 + ], + "ori": [ + -11.115411663752049, + 0.5251658995387132, + -23.4186419031691 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "color_temperature": 5771.88276445347, + "color": [ + 0.940166779917932, + 0.9020651156715511, + 0.900659748894246 + ], + "intensity": 4779.5511706666875, + "radius": 0.21577302997276765 + } + } + }, + {}, + {} + ], + "background": { + "type": "dome", + "pose": { + "pos": null, + "ori": null, + "scale": null + }, + "dr": { + "intensity": 1208.5843254455542, + "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": [ + [ + 2.1994056701660156, + -2.390781879425049, + 2.2678279876708984, + -1.4477121829986572, + -1.5709693431854248, + 3.7650697231292725, + 0.007138940505683422, + 0.00802325177937746 + ], + [ + 0.9141027927398682, + -1.7193982601165771, + 2.0905003547668457, + -1.9419013261795044, + -1.5707999467849731, + 2.484900951385498, + 0.017999999225139618, + 0.017999999225139618 + ], + [ + 0.9440543055534363, + -1.4569785594940186, + 2.046825885772705, + -2.160655975341797, + -1.5707637071609497, + 2.394041061401367, + 0.007703649811446667, + 0.007082856725901365 + ], + [ + 2.6691291332244873, + -2.017728328704834, + 2.1442625522613525, + -1.6973421573638916, + -1.5708997249603271, + 4.240564823150635, + 0.007772389333695173, + 0.007075563073158264 + ] + ], + "joint_vel": [ + [ + 0.04016304761171341, + -0.03062807023525238, + 0.0061882417649030685, + 0.015807297080755234, + -0.0028132020961493254, + 0.05269450694322586, + -0.006133268587291241, + 0.000657746393699199 + ], + [ + -2.3135991158896138e-38, + 0.0, + 0.0, + 4.957420885078061e-37, + -6.808215539362507e-37, + -1.7561470323682476e-37, + -7.936011708328966e-38, + 9.809085887157405e-38 + ], + [ + 0.0001269055064767599, + -1.3238371138868388e-05, + -3.7564146623481065e-05, + 0.0004603498673532158, + -0.0005202502361498773, + -0.00170517701189965, + -0.007735096849501133, + 0.000311807612888515 + ], + [ + 0.012253298424184322, + 0.025920845568180084, + -0.013794634491205215, + -0.012266070581972599, + -0.0007877155439928174, + 0.01464679092168808, + -0.008639507927000523, + 0.0003118278400506824 + ] + ] + } + }, + "cameras": { + "cameras": { + "camera0": [ + [ + 0.04796196520328522, + -0.0013546639820560813, + -0.031237637624144554, + -0.26723942160606384, + 0.6529957056045532, + 0.6508321762084961, + -0.280351847410202 + ], + [ + 0.05232349410653114, + 0.004623047076165676, + -0.0285521000623703, + -0.27757757902145386, + 0.6544760465621948, + 0.6423490047454834, + -0.28635549545288086 + ], + [ + 0.04713699221611023, + -0.0010183898266404867, + -0.032752711325883865, + -0.2810189127922058, + 0.6437788009643555, + 0.6489567756652832, + -0.2922881543636322 + ], + [ + 0.05034991353750229, + -0.0024220412597060204, + -0.030779404565691948, + -0.2787382900714874, + 0.6547207832336426, + 0.6406304836273193, + -0.28851041197776794 + ] + ], + "camera1": [ + [ + 0.028137803077697754, + 0.5671164393424988, + 1.9326881170272827, + 0.0276589747518301, + 0.01839546486735344, + 0.28453290462493896, + 0.958090603351593 + ], + [ + 0.06597726792097092, + 0.579235315322876, + 1.9395787715911865, + 0.03210459649562836, + 0.020691830664873123, + 0.2861087918281555, + 0.9574356079101562 + ], + [ + 0.053263261914253235, + 0.568596363067627, + 1.9619131088256836, + 0.02122991532087326, + 0.0012597718741744757, + 0.2771741449832916, + 0.960584282875061 + ], + [ + 0.032906875014305115, + 0.6003834009170532, + 1.9585797786712646, + 0.05431056767702103, + 0.006365660578012466, + 0.2705825865268707, + 0.9611424803733826 + ] + ] + } + } + } +} \ No newline at end of file diff --git a/episodes/c4_p010_e019/wrist.mp4 b/episodes/c4_p010_e019/wrist.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..4d53a58af3229049c6b4f175f0bc0f519162a53d --- /dev/null +++ b/episodes/c4_p010_e019/wrist.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:59c8d7f168b245ef4ad3069bb1ff58509f75058fe5ba5ca294c3b7f0ce5b13a4 +size 8357470 diff --git a/episodes/c6_p010_e020/data.npz b/episodes/c6_p010_e020/data.npz new file mode 100644 index 0000000000000000000000000000000000000000..37bec161dc722e69739a114f75a1dcd6de0a6e56 --- /dev/null +++ b/episodes/c6_p010_e020/data.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:111275061d3fe0c9854a214d05c4f142aa5e659829cd19271306b63f24a757df +size 192233 diff --git a/episodes/c6_p010_e020/device_events.jsonl b/episodes/c6_p010_e020/device_events.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..7bd229663ec6a68bb49134b8aef0837e9bff26ac --- /dev/null +++ b/episodes/c6_p010_e020/device_events.jsonl @@ -0,0 +1,35 @@ +{"env_id": 2, "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": 2, "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": 2, "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": 2, "seq": 4, "step": 5806, "t": 29.03, "topic": "a4s_sealer_1.plate_present.present", "source": "a4s_sealer_1.plate_present", "data": {"object": "plate_3"}, "cause": null} +{"env_id": 2, "seq": 5, "step": 6416, "t": 32.08, "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": 6416, "t": 32.08, "topic": "a4s_sealer_1.seal.started", "source": "a4s_sealer_1", "data": {"dwell": 2.5980947475154506}, "cause": "task-2-1"} +{"env_id": 2, "seq": 7, "step": 6416, "t": 32.08, "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": 6416, "t": 32.08, "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": 6416, "t": 32.08, "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": 6835, "t": 34.175, "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": 6835, "t": 34.175, "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": 6835, "t": 34.175, "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": 6835, "t": 34.175, "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": 6835, "t": 34.175, "topic": "labware.plate_3.changed", "source": "labware.plate_3", "data": {"key": "sealed", "value": true}, "cause": "task-2-1"} +{"env_id": 2, "seq": 15, "step": 6835, "t": 34.175, "topic": "a4s_sealer_1.sealed", "source": "a4s_sealer_1", "data": {"plate": "plate_3"}, "cause": "task-2-1"} +{"env_id": 2, "seq": 16, "step": 6835, "t": 34.175, "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": 6835, "t": 34.175, "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": 6835, "t": 34.175, "topic": "a4s_sealer_1.heater.started", "source": "a4s_sealer_1.heater", "data": {"duration": 2.5980947475154506}, "cause": "program-2-3"} +{"env_id": 2, "seq": 19, "step": 7355, "t": 36.775, "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": 7355, "t": 36.775, "topic": "a4s_sealer_1.heater.finished", "source": "a4s_sealer_1.heater", "data": {"elapsed": 2.60000000000133}, "cause": "program-2-3"} +{"env_id": 2, "seq": 21, "step": 7355, "t": 36.775, "topic": "a4s_sealer_1.heater.command.succeeded", "source": "a4s_sealer_1.heater", "data": {"command_id": "program-2-3", "name": "run", "source": "program:seal", "result": {"elapsed": 2.60000000000133}}, "cause": "program-2-3"} +{"env_id": 2, "seq": 22, "step": 7355, "t": 36.775, "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": 7355, "t": 36.775, "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": 7355, "t": 36.775, "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": 7775, "t": 38.875, "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": 7775, "t": 38.875, "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": 7775, "t": 38.875, "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": 7775, "t": 38.875, "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": 7775, "t": 38.875, "topic": "a4s_sealer_1.seal.finished", "source": "a4s_sealer_1", "data": {}, "cause": "task-2-1"} +{"env_id": 2, "seq": 30, "step": 7775, "t": 38.875, "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": 8355, "t": 41.775, "topic": "a4s_sealer_1.plate_present.absent", "source": "a4s_sealer_1.plate_present", "data": {"object": "plate_3"}, "cause": null} +{"env_id": 2, "seq": 32, "step": 10128, "t": 50.64, "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": 10128, "t": 50.64, "topic": "conveyor_1.belt.station.pick.released", "source": "conveyor_1.belt", "data": {"rider": "carrier_3"}, "cause": "task-2-5"} +{"env_id": 2, "seq": 34, "step": 10128, "t": 50.64, "topic": "conveyor_1.belt.state.changed", "source": "conveyor_1.belt", "data": {"from": "at_station", "to": "running"}, "cause": null} +{"env_id": 2, "seq": 35, "step": 10128, "t": 50.64, "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_p010_e020/env.mp4 b/episodes/c6_p010_e020/env.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..d5dff90d65d872738321b86c94a63cd227a07b49 --- /dev/null +++ b/episodes/c6_p010_e020/env.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:3b8741146803a5903035be949cbe1a77400363cd54d1e1843ccfa7ee2651fb77 +size 1292739 diff --git a/episodes/c6_p010_e020/meta.json b/episodes/c6_p010_e020/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..9e5fd404466f22f50472abcde638dc29e3bfc6a6 --- /dev/null +++ b/episodes/c6_p010_e020/meta.json @@ -0,0 +1,32 @@ +{ + "source": "raw/c6_p010/magicsim/20", + "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/c6_p010_e020/scene_snapshot.json b/episodes/c6_p010_e020/scene_snapshot.json new file mode 100644 index 0000000000000000000000000000000000000000..61d4db4809f3b2e5cef865ae722a63a7c6a55552 --- /dev/null +++ b/episodes/c6_p010_e020/scene_snapshot.json @@ -0,0 +1,1558 @@ +{ + "trajectory_id": 20, + "env_id": 2, + "run_id": "c6_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": 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": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_384_white/plate_384_white.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.0285 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_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": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_6_clear/plate_6_clear.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.1645 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_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": [ + 0.5262136459350586, + 0.07812881469726562, + 0.8999999761581421 + ], + "ori": [ + 0.7247427105903625, + 0.0, + 0.0, + -0.6890196204185486 + ], + "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": [ + 4.373415692093818e-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": 0.1618034955630772, + "direction": [ + 1.0, + 0.0, + 0.0 + ], + "enabled": true, + "drive": "surface_velocity", + "lines": null, + "station_line": null, + "riders": [ + "carrier" + ], + "stations": { + "pick": { + "position": -0.1253957103514516, + "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": 0.1618034955630772, + "holds": [], + "station": "pick", + "rider": "carrier_3", + "arrived": true, + "applied_speed": 0.0 + } + } + } + ], + "carrier": [ + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + -1.3918952941894531, + 0.860595703125, + 0.8999999761581421 + ], + "ori": [ + -0.640276312828064, + 3.352641186893379e-08, + 1.3027388057196276e-08, + 0.7681446671485901 + ], + "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": [ + -6.037821909110619e-10, + -4.954597843109809e-10, + 3.725290298461914e-09 + ], + "angular_velocity": [ + 3.725219954731074e-08, + -5.497183153124752e-09, + 8.762080838664588e-09 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + 0.46033573150634766, + 1.149998664855957, + 0.8999999761581421 + ], + "ori": [ + 3.919201117241755e-05, + -6.5665526349789616e-09, + -3.979943929977026e-09, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -2.1313995013372278e-09, + -1.7896361059754895e-09, + 1.4901161193847656e-08 + ], + "angular_velocity": [ + 5.930482771532297e-08, + -1.8491182629531977e-07, + -3.019272654114502e-08 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + 0.024951934814453125, + 0.45000457763671875, + 0.8999999761581421 + ], + "ori": [ + 1.0, + 2.4274120491440954e-09, + -4.999549663153857e-10, + 1.5069250366650522e-05 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -8.627731862276278e-11, + 5.926665824773636e-10, + 3.725290298461914e-09 + ], + "angular_velocity": [ + -8.320331090772015e-08, + -2.3332317411473014e-08, + -8.774208026807173e-09 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + 1.6966400146484375, + 0.771453857421875, + 0.8999999761581421 + ], + "ori": [ + 0.7344432473182678, + -1.0164506392129624e-07, + 6.269840469030896e-08, + 0.6786701679229736 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 1.2016760919664193e-09, + 6.214756487210593e-11, + 0.0 + ], + "angular_velocity": [ + 4.480666149220269e-08, + -1.3725545144893658e-08, + 1.959058693046245e-08 + ] + } + } + ], + "plate": [ + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_24_clear/Object.usd", + "pose": { + "pos": [ + -1.3936948776245117, + 0.8669195175170898, + 0.9179999828338623 + ], + "ori": [ + -0.6062449216842651, + 3.355733113608039e-08, + 1.4308096041304452e-08, + 0.7952779531478882 + ], + "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": [ + 5.402687186517596e-09, + 1.895503487503447e-08, + 7.078051567077637e-08 + ], + "angular_velocity": [ + -1.4560480394720798e-06, + -5.7224902150210255e-08, + 6.95739501566095e-08 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_384_black/Object.usd", + "pose": { + "pos": [ + 0.46772003173828125, + 1.1601495742797852, + 0.9180000424385071 + ], + "ori": [ + 0.003130829194560647, + -6.1727538636091595e-09, + -4.290014565810907e-09, + 0.9999951124191284 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 5.128555358169251e-09, + -3.459824782225951e-08, + -5.409121513366699e-06 + ], + "angular_velocity": [ + 4.801449904334731e-07, + 1.8257007923239144e-06, + -1.1480096873128787e-08 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_1536_black/Object.usd", + "pose": { + "pos": [ + 0.014309883117675781, + 0.45668983459472656, + 0.9180000424385071 + ], + "ori": [ + 0.9977656602859497, + 2.95260504934447e-09, + -1.694974716137665e-09, + -0.06681200116872787 + ], + "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": [ + -1.1382793374536959e-08, + 3.820570526613665e-09, + -5.122274160385132e-06 + ], + "angular_velocity": [ + 1.2779167946064263e-06, + -2.210689899584395e-06, + 4.684623888806527e-08 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/deep_well_24_10ml/Object.usd", + "pose": { + "pos": [ + 1.6864032745361328, + 0.7660388946533203, + 0.9179999828338623 + ], + "ori": [ + 0.7388077974319458, + -1.012088972629499e-07, + 6.108146521910385e-08, + 0.6739162802696228 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 9.811732581965771e-08, + -6.337535296552232e-08, + -9.909272193908691e-07 + ], + "angular_velocity": [ + 2.7610481083684135e-06, + 3.6089213608647697e-06, + 2.8585652955825935e-08 + ] + } + } + ], + "deco_hub_west": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/hub_c.usd", + "pose": { + "pos": [ + -3.36, + 0.0, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_hub_east": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/hub_a.usd", + "pose": { + "pos": [ + 3.36, + 0.0, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_hub_back": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/hub_e.usd", + "pose": { + "pos": [ + -3.0, + -2.1, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_bench_east": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/bench_a.usd", + "pose": { + "pos": [ + 2.6, + -2.5, + 0.0 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_bench_gap": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/bench_b.usd", + "pose": { + "pos": [ + -0.1, + -2.9, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ] + }, + {} + ], + "devices": { + "hub": [ + null, + null, + { + "t": 1.7199999999999853, + "step": 344, + "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": 4.373415692093818e-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": 0.1618034955630772, + "holds": [], + "station": "pick", + "rider": "carrier_3", + "arrived": true, + "settle_count": 213, + "released": { + "pick": [] + }, + "last_pos": { + "carrier_1": [ + -1.5418953001499176, + 0.41059571504592896, + 0.0 + ], + "carrier_2": [ + 0.3103357255458832, + 0.699998676776886, + 0.0 + ], + "carrier_3": [ + -0.12504807114601135, + 4.589557647705078e-06, + 0.0 + ], + "carrier_4": [ + 1.546640008687973, + 0.32145386934280396, + 0.0 + ] + }, + "command": 0.0 + }, + "belt": { + "target_speed": 0.0, + "command_speed": 0.0 + }, + "seen": { + "state": "at_station", + "station": "pick", + "rider": "carrier_3", + "arrived": true + } + } + }, + "queues": {}, + "program": null, + "sensors": {}, + "interlocks": {} + } + }, + "zones": {}, + "labware": { + "plate_1": { + "sealed": false + }, + "plate_2": { + "sealed": false + }, + "plate_3": { + "sealed": false + }, + "plate_4": { + "sealed": false + } + }, + "rules": {}, + "records": [], + "bus": { + "seq": 3, + "queue": [] + } + }, + null + ], + "drives": [ + null, + null, + {}, + null + ] + }, + "artifacts": [ + {}, + {}, + { + "ceiling": { + "type": "rect", + "pose": { + "pos": [ + 0.7223657160858769, + -0.05548974131162038, + 2.7575680063396892 + ], + "ori": [ + -6.919445444490593, + 12.284135825515513, + -7.9071448769234 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "color_temperature": 4835.183677220842, + "color": [ + 0.8404897135459322, + 0.9240411251800471, + 0.8259110728288246 + ], + "intensity": 7860.13842142119, + "width": 1.5677302018199994, + "height": 1.1979000528156991 + } + }, + "key": { + "type": "disk", + "pose": { + "pos": [ + 0.2709776307547236, + 1.0606667786709265, + 2.0469980913542387 + ], + "ori": [ + -15.94947609432311, + 7.631715668421329, + -35.31504467489623 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "color_temperature": 7017.636544599664, + "color": [ + 0.9894221628792115, + 0.9583004399516131, + 0.7883589168370448 + ], + "intensity": 3266.2495862897667, + "radius": 0.34478213528568746 + } + } + }, + {} + ], + "background": { + "type": "dome", + "pose": { + "pos": null, + "ori": null, + "scale": null + }, + "dr": { + "intensity": 1359.8687646790718, + "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": [ + [ + -0.3581324517726898, + -2.2688369750976562, + 2.509694814682007, + -1.8116322755813599, + -1.5708128213882446, + 4.317450046539307, + 0.018000010401010513, + 0.017999988049268723 + ], + [ + -0.21271775662899017, + -2.1801352500915527, + 2.412548065185547, + -1.8035274744033813, + -1.5708835124969482, + 4.4665021896362305, + 0.007431180216372013, + 0.007151956669986248 + ], + [ + 0.9141011834144592, + -1.7193987369537354, + 2.0904998779296875, + -1.9419009685516357, + -1.5707999467849731, + 2.4848999977111816, + 0.01799999549984932, + 0.018000002950429916 + ], + [ + -0.11636392027139664, + -2.182670831680298, + 2.3290162086486816, + -1.7185792922973633, + -1.5706279277801514, + 4.587923049926758, + 0.01799999736249447, + 0.018000001087784767 + ] + ], + "joint_vel": [ + [ + -0.000946905929595232, + 0.0047833905555307865, + 0.017596008256077766, + -0.021731048822402954, + -7.814354830770753e-06, + -0.0009128781966865063, + -1.338051902166626e-06, + 1.33818991798762e-06 + ], + [ + -0.00010919049964286387, + 0.0003053419932257384, + 0.001553932554088533, + 0.0004949819413013756, + 0.0021556394640356302, + -0.005016237031668425, + -0.008459634147584438, + -0.001020435243844986 + ], + [ + 2.2883444945760127e-38, + -2.1368271363030418e-38, + -2.0352313160813353e-38, + -3.4240120372762774e-37, + 5.551163824254481e-37, + -2.9739320103244723e-36, + 5.1980745041646514e-08, + -5.1980777016069624e-08 + ], + [ + -6.386168820426974e-07, + -6.8118547460471746e-06, + -6.811921139160404e-06, + -3.405968300285167e-06, + 6.8119552452117205e-06, + -1.2525866303382538e-13, + 2.5990120278152062e-08, + -2.5990551932864037e-08 + ] + ] + } + }, + "cameras": { + "cameras": { + "camera0": [ + [ + 0.05112643167376518, + 6.059237421141006e-05, + -0.029902029782533646, + -0.2762550711631775, + 0.6450528502464294, + 0.6548325419425964, + -0.28068533539772034 + ], + [ + 0.04969041794538498, + -0.0014755330048501492, + -0.027478765696287155, + -0.28166311979293823, + 0.6442103981971741, + 0.6528416872024536, + -0.28188037872314453 + ], + [ + 0.05137573927640915, + -0.003717170562595129, + -0.027037419378757477, + -0.2704828381538391, + 0.6546387076377869, + 0.645538330078125, + -0.2856001555919647 + ], + [ + 0.04871777445077896, + 0.0013905658852308989, + -0.03234944865107536, + -0.2783368229866028, + 0.655239462852478, + 0.6383764743804932, + -0.292686402797699 + ] + ], + "camera1": [ + [ + 0.02904217690229416, + 0.5652005672454834, + 1.9459890127182007, + 0.03841182589530945, + 0.0025507351383566856, + 0.2597634792327881, + 0.9649046063423157 + ], + [ + 0.052996471524238586, + 0.5800438523292542, + 1.9526742696762085, + 0.041859664022922516, + 0.0008828591671772301, + 0.28407323360443115, + 0.9578880071640015 + ], + [ + 0.028934825211763382, + 0.5684044361114502, + 1.9624083042144775, + 0.0468500591814518, + 0.002993786707520485, + 0.27237236499786377, + 0.9610459804534912 + ], + [ + 0.046888045966625214, + 0.5904091596603394, + 1.9466300010681152, + 0.025892110541462898, + 0.017760394141077995, + 0.270938903093338, + 0.9620843529701233 + ] + ] + } + } + } +} \ No newline at end of file diff --git a/episodes/c6_p010_e020/wrist.mp4 b/episodes/c6_p010_e020/wrist.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..515e30027e7a85cc12d06278c6b87307da720410 --- /dev/null +++ b/episodes/c6_p010_e020/wrist.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:df8c88080782d024f0a350ccf5703a3d04125daeee98337ed36ae58e38ef16f8 +size 6323917 diff --git a/episodes/c9_p012_e020/data.npz b/episodes/c9_p012_e020/data.npz new file mode 100644 index 0000000000000000000000000000000000000000..49264508b8fa42aa7f2cf54155bd78a86a053edd --- /dev/null +++ b/episodes/c9_p012_e020/data.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:d63d16c4bd30a0be7d6e4de58628c03af0677635be672aa4c4cee29f53b91395 +size 185061 diff --git a/episodes/c9_p012_e020/device_events.jsonl b/episodes/c9_p012_e020/device_events.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..223a0875842754ad5fb9c6e4c98519e7e03dcf5f --- /dev/null +++ b/episodes/c9_p012_e020/device_events.jsonl @@ -0,0 +1,35 @@ +{"env_id": 2, "seq": 1, "step": 127, "t": 0.635, "topic": "conveyor_1.belt.station.pick.captured", "source": "conveyor_1.belt", "data": {"rider": "carrier_3"}, "cause": null} +{"env_id": 2, "seq": 2, "step": 127, "t": 0.635, "topic": "conveyor_1.belt.state.changed", "source": "conveyor_1.belt", "data": {"from": "running", "to": "at_station"}, "cause": null} +{"env_id": 2, "seq": 3, "step": 132, "t": 0.66, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_3"}, "cause": null} +{"env_id": 2, "seq": 4, "step": 5326, "t": 26.63, "topic": "a4s_sealer_1.plate_present.present", "source": "a4s_sealer_1.plate_present", "data": {"object": "plate_3"}, "cause": null} +{"env_id": 2, "seq": 5, "step": 5940, "t": 29.7, "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": 5940, "t": 29.7, "topic": "a4s_sealer_1.seal.started", "source": "a4s_sealer_1", "data": {"dwell": 2.7744443875119926}, "cause": "task-2-1"} +{"env_id": 2, "seq": 7, "step": 5940, "t": 29.7, "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": 5940, "t": 29.7, "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": 5940, "t": 29.7, "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": 6359, "t": 31.795, "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": 6359, "t": 31.795, "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": 6359, "t": 31.795, "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": 6359, "t": 31.795, "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": 6359, "t": 31.795, "topic": "labware.plate_3.changed", "source": "labware.plate_3", "data": {"key": "sealed", "value": true}, "cause": "task-2-1"} +{"env_id": 2, "seq": 15, "step": 6359, "t": 31.795, "topic": "a4s_sealer_1.sealed", "source": "a4s_sealer_1", "data": {"plate": "plate_3"}, "cause": "task-2-1"} +{"env_id": 2, "seq": 16, "step": 6359, "t": 31.795, "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": 6359, "t": 31.795, "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": 6359, "t": 31.795, "topic": "a4s_sealer_1.heater.started", "source": "a4s_sealer_1.heater", "data": {"duration": 2.7744443875119926}, "cause": "program-2-3"} +{"env_id": 2, "seq": 19, "step": 6914, "t": 34.57, "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": 6914, "t": 34.57, "topic": "a4s_sealer_1.heater.finished", "source": "a4s_sealer_1.heater", "data": {"elapsed": 2.775000000001274}, "cause": "program-2-3"} +{"env_id": 2, "seq": 21, "step": 6914, "t": 34.57, "topic": "a4s_sealer_1.heater.command.succeeded", "source": "a4s_sealer_1.heater", "data": {"command_id": "program-2-3", "name": "run", "source": "program:seal", "result": {"elapsed": 2.775000000001274}}, "cause": "program-2-3"} +{"env_id": 2, "seq": 22, "step": 6914, "t": 34.57, "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": 6914, "t": 34.57, "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": 6914, "t": 34.57, "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": 7334, "t": 36.67, "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": 7334, "t": 36.67, "topic": "a4s_sealer_1.drawer.reached", "source": "a4s_sealer_1.drawer", "data": {"position": "out", "q": 7.067567087126747e-10}, "cause": "program-2-4"} +{"env_id": 2, "seq": 27, "step": 7334, "t": 36.67, "topic": "a4s_sealer_1.drawer.at_out", "source": "a4s_sealer_1.drawer", "data": {"q": 7.067567087126747e-10}, "cause": "program-2-4"} +{"env_id": 2, "seq": 28, "step": 7334, "t": 36.67, "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": 7334, "t": 36.67, "topic": "a4s_sealer_1.seal.finished", "source": "a4s_sealer_1", "data": {}, "cause": "task-2-1"} +{"env_id": 2, "seq": 30, "step": 7334, "t": 36.67, "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": 7915, "t": 39.575, "topic": "a4s_sealer_1.plate_present.absent", "source": "a4s_sealer_1.plate_present", "data": {"object": "plate_3"}, "cause": null} +{"env_id": 2, "seq": 32, "step": 9572, "t": 47.86, "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": 9572, "t": 47.86, "topic": "conveyor_1.belt.station.pick.released", "source": "conveyor_1.belt", "data": {"rider": "carrier_3"}, "cause": "task-2-5"} +{"env_id": 2, "seq": 34, "step": 9572, "t": 47.86, "topic": "conveyor_1.belt.state.changed", "source": "conveyor_1.belt", "data": {"from": "at_station", "to": "running"}, "cause": null} +{"env_id": 2, "seq": 35, "step": 9572, "t": 47.86, "topic": "conveyor_1.belt.command.succeeded", "source": "conveyor_1.belt", "data": {"command_id": "task-2-5", "name": "release", "source": "task", "result": {"state": "running"}}, "cause": "task-2-5"} diff --git a/episodes/c9_p012_e020/env.mp4 b/episodes/c9_p012_e020/env.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..d99e31f3080be9cd95823840cfcf74355b74f0b0 --- /dev/null +++ b/episodes/c9_p012_e020/env.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:567e7060711b05a4afbceadac91addc70c86a95f35757340013dea91438a02d6 +size 1240591 diff --git a/episodes/c9_p012_e020/meta.json b/episodes/c9_p012_e020/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..bed98ef3237553a49b6ebe188a029c6735f5fe12 --- /dev/null +++ b/episodes/c9_p012_e020/meta.json @@ -0,0 +1,32 @@ +{ + "source": "raw/c9_p012/magicsim/20", + "fps": 25, + "frames": 1159, + "kept_ticks": "even", + "video_frames": { + "wrist": 1159, + "env": 1159 + }, + "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_p012_e020/scene_snapshot.json b/episodes/c9_p012_e020/scene_snapshot.json new file mode 100644 index 0000000000000000000000000000000000000000..ce55737f4bf5aee0f5521064a1098ea778247dba --- /dev/null +++ b/episodes/c9_p012_e020/scene_snapshot.json @@ -0,0 +1,1558 @@ +{ + "trajectory_id": 20, + "env_id": 2, + "run_id": "c9_p012", + "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": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_48_clear/plate_48_clear.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 0.9605 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_96_white/plate_96_white.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.0285 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_96_black/plate_96_black.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.0965 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_96_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": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_24_clear/plate_24_clear.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.2325 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "a4s_sealer": [ + { + "asset": "$MAGICSIM_ASSETS/Articulated/A4SSealer/Object.usd", + "pose": { + "pos": [ + 0.5216436386108398, + 0.11292362213134766, + 0.8999999761581421 + ], + "ori": [ + 0.7227718234062195, + 0.0, + 0.0, + -0.6910867691040039 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "articulation", + "solver_position_iteration_count": 16.0, + "solver_velocity_iteration_count": 1.0, + "enabled_self_collisions": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "joint_position": [ + 6.728331542089905e-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": 0.2414892764349575, + "direction": [ + 1.0, + 0.0, + 0.0 + ], + "enabled": true, + "drive": "surface_velocity", + "lines": null, + "station_line": null, + "riders": [ + "carrier" + ], + "stations": { + "pick": { + "position": -0.02152840296775721, + "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": 0.2414892764349575, + "holds": [], + "station": "pick", + "rider": "carrier_3", + "arrived": true, + "applied_speed": 0.0 + } + } + } + ], + "carrier": [ + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + 1.6528959274291992, + 0.9708309173583984, + 0.8999999761581421 + ], + "ori": [ + 0.5134081244468689, + 3.1413613044151134e-08, + -2.4652127450508488e-08, + 0.8581446409225464 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 6.0476135210763e-10, + 1.1346203976358993e-09, + -3.725290298461914e-09 + ], + "angular_velocity": [ + -1.2454566444830562e-07, + 6.870823199278675e-08, + -6.13066353238878e-09 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + -0.08068561553955078, + 1.1499967575073242, + 0.8999999761581421 + ], + "ori": [ + 6.517240399261937e-05, + 2.5857782581795163e-10, + 2.8054627509987995e-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": [ + -5.470686126329838e-10, + -9.583605020679897e-10, + 1.1175870895385742e-08 + ], + "angular_velocity": [ + 9.64135260517196e-09, + -4.588880386791061e-08, + -2.325390013879769e-08 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + 0.12857532501220703, + 0.4499988555908203, + 0.8999999761581421 + ], + "ori": [ + 1.0, + -4.3466692467575285e-09, + -4.945410192469524e-10, + -5.294842594594229e-06 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -3.215844257553613e-10, + 2.2109880593035314e-09, + 3.725290298461914e-09 + ], + "angular_velocity": [ + -1.5716777568286489e-07, + -3.459377850845158e-08, + -1.8805446089231737e-10 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + -1.3663806915283203, + 0.6555137634277344, + 0.8999999761581421 + ], + "ori": [ + -0.8379685878753662, + -4.325852032138755e-08, + -8.581270094509819e-08, + 0.5457186102867126 + ], + "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": [ + -2.426356227047677e-09, + -5.18270093508022e-09, + 2.9802322387695312e-08 + ], + "angular_velocity": [ + 3.4129735126953165e-07, + 2.92983717287143e-08, + 4.1940108275184684e-08 + ] + } + } + ], + "plate": [ + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_24_clear/Object.usd", + "pose": { + "pos": [ + 1.6606101989746094, + 0.9588031768798828, + 0.9179999828338623 + ], + "ori": [ + 0.4713825583457947, + 3.162987383120708e-08, + -2.5452425944649804e-08, + 0.8819289207458496 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 2.512533114895632e-08, + -1.1507824027034985e-08, + 9.313225746154785e-08 + ], + "angular_velocity": [ + 5.304755745783041e-07, + 1.8611809764479403e-06, + 2.717471403457239e-08 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_384_black/Object.usd", + "pose": { + "pos": [ + -0.06619548797607422, + 1.1607484817504883, + 0.9180000424385071 + ], + "ori": [ + -0.04500590264797211, + 6.280392872426432e-11, + 1.1884767614489533e-09, + 0.9989867210388184 + ], + "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": [ + -1.3392913444931764e-09, + -2.4370523377115205e-08, + -5.409121513366699e-06 + ], + "angular_velocity": [ + -1.631412658298359e-07, + 1.6644722791170352e-06, + -8.233091364218126e-08 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_1536_black/Object.usd", + "pose": { + "pos": [ + 0.1399240493774414, + 0.4403419494628906, + 0.9180000424385071 + ], + "ori": [ + 0.9947748184204102, + -5.982591311237684e-09, + -1.1972117741620991e-09, + -0.10209320485591888 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -1.569453367267215e-08, + 3.137086324045413e-08, + -5.204230546951294e-06 + ], + "angular_velocity": [ + -1.0699561698856996e-06, + -1.56873022660875e-06, + 1.3028862611008662e-07 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/deep_well_24_10ml/Object.usd", + "pose": { + "pos": [ + -1.3579740524291992, + 0.656254768371582, + 0.9179999828338623 + ], + "ori": [ + -0.8556514382362366, + -4.728904556827729e-08, + -8.309680765705707e-08, + 0.5175526738166809 + ], + "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": [ + -1.4512403367916704e-07, + -2.8918115901888086e-08, + -1.6763806343078613e-06 + ], + "angular_velocity": [ + -9.277202366320125e-07, + -5.996580057399115e-06, + -1.8189531658663327e-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": 1.6799999999999862, + "step": 336, + "counter": 0, + "devices": { + "a4s_sealer_1": { + "mode": "auto", + "units": { + "drawer": { + "state": "at_out", + "active": null, + "target": 0.0, + "goal_name": "out", + "profile": null, + "q_start": null, + "reversing": false, + "blocked_for": 0.0, + "settled_for": 0.0, + "last_q": 6.728331542089905e-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": 0.2414892764349575, + "holds": [], + "station": "pick", + "rider": "carrier_3", + "arrived": true, + "settle_count": 208, + "released": { + "pick": [] + }, + "last_pos": { + "carrier_1": [ + 1.5028959214687347, + 0.5208309292793274, + 0.0 + ], + "carrier_2": [ + -0.23068562150001526, + 0.6999967694282532, + 0.0 + ], + "carrier_3": [ + -0.021424680948257446, + -1.1324882507324219e-06, + 0.0 + ], + "carrier_4": [ + -1.5163806974887848, + 0.20551377534866333, + 0.0 + ] + }, + "command": 0.0 + }, + "belt": { + "target_speed": 0.0, + "command_speed": 0.0 + }, + "seen": { + "state": "at_station", + "station": "pick", + "rider": "carrier_3", + "arrived": true + } + } + }, + "queues": {}, + "program": null, + "sensors": {}, + "interlocks": {} + } + }, + "zones": {}, + "labware": { + "plate_1": { + "sealed": false + }, + "plate_2": { + "sealed": false + }, + "plate_3": { + "sealed": false + }, + "plate_4": { + "sealed": false + } + }, + "rules": {}, + "records": [], + "bus": { + "seq": 3, + "queue": [] + } + }, + null + ], + "drives": [ + null, + null, + {}, + null + ] + }, + "artifacts": [ + {}, + {}, + { + "ceiling": { + "type": "rect", + "pose": { + "pos": [ + -0.24681845867991964, + 0.4744004693350031, + 2.641856712489601 + ], + "ori": [ + -2.8026520247383893, + 11.057075913602741, + 1.2764905589074615 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "color_temperature": 6963.51046814331, + "color": [ + 0.9297449322040142, + 0.9390066701470782, + 0.9486334474596405 + ], + "intensity": 4814.342116557763, + "width": 2.7841274725355873, + "height": 1.1463554973746206 + } + }, + "key": { + "type": "sphere", + "pose": { + "pos": [ + -0.5027995347366736, + -1.177237948235655, + 1.8962827696397877 + ], + "ori": [ + -3.049143284991878, + -7.463147929865542, + 19.290531210010684 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "color_temperature": 3190.2710682616535, + "color": [ + 0.9354268628087303, + 0.787234896838649, + 0.9289686226738334 + ], + "intensity": 1706.224208232486, + "radius": 0.17466063851902205 + } + } + }, + {} + ], + "background": { + "type": "dome", + "pose": { + "pos": null, + "ori": null, + "scale": null + }, + "dr": { + "intensity": 1130.2793976846615, + "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": [ + [ + 1.218307614326477, + -1.6295106410980225, + 2.209749937057495, + -2.1509134769439697, + -1.571088194847107, + 5.9078264236450195, + 0.0075990259647369385, + 0.007053934503346682 + ], + [ + 0.9889653921127319, + -1.6705193519592285, + 2.1504526138305664, + -2.0506861209869385, + -1.570797324180603, + 2.620699882507324, + 0.018000846728682518, + 0.017999211326241493 + ], + [ + 0.9141014218330383, + -1.719399094581604, + 2.0904998779296875, + -1.9419009685516357, + -1.5707999467849731, + 2.4848999977111816, + 0.017999999225139618, + 0.017999999225139618 + ], + [ + 0.9141020774841309, + -1.719398021697998, + 2.0904994010925293, + -1.9419010877609253, + -1.5707999467849731, + 2.4849002361297607, + 0.017999999225139618, + 0.017999999225139618 + ] + ], + "joint_vel": [ + [ + 0.05546603351831436, + 0.025469014421105385, + -0.008621948771178722, + -0.016799042001366615, + 0.0002993923262692988, + 0.054654210805892944, + -0.00709972670301795, + 0.00032086228020489216 + ], + [ + 0.023543888702988625, + 0.015778329223394394, + 0.0192192941904068, + -0.03354446589946747, + 4.0338280086871237e-05, + 0.04202177748084068, + 1.691927172942087e-05, + -1.75112782017095e-05 + ], + [ + -2.4799384284092876e-38, + 1.689200839014208e-38, + 0.0, + 3.5418704306439205e-37, + 6.713138895908471e-38, + 9.194073030954569e-37, + -3.354786996307614e-38, + 1.3836638518264907e-37 + ], + [ + 5.108947789267404e-06, + 2.5284162174436624e-14, + -7.847752802421157e-14, + 5.766546094798652e-14, + -1.2332305044781416e-14, + 1.455927609375629e-12, + 1.7898590866805703e-13, + 1.0052959712510828e-13 + ] + ] + } + }, + "cameras": { + "cameras": { + "camera0": [ + [ + 0.05122341588139534, + -0.003803800791501999, + -0.026781944558024406, + -0.2848365902900696, + 0.6508866548538208, + 0.6405168771743774, + -0.2914665937423706 + ], + [ + 0.04714107885956764, + 0.001477545709349215, + -0.026088779792189598, + -0.2788096070289612, + 0.6436294317245483, + 0.6583937406539917, + -0.2729909420013428 + ], + [ + 0.04989144951105118, + -0.00011334109149174765, + -0.031197315081954002, + -0.2823943495750427, + 0.6479023098945618, + 0.6450991034507751, + -0.29038459062576294 + ], + [ + 0.051379382610321045, + 0.0024516067933291197, + -0.03082115203142166, + -0.26878803968429565, + 0.6551108956336975, + 0.6517447233200073, + -0.2716827988624573 + ] + ], + "camera1": [ + [ + 0.06240425631403923, + 0.5603390336036682, + 1.9456287622451782, + 0.03943030536174774, + 0.0025167849380522966, + 0.2777819037437439, + 0.9598312973976135 + ], + [ + 0.07414529472589493, + 0.596565306186676, + 1.9352067708969116, + 0.03222434222698212, + 0.0037313795182853937, + 0.26327764987945557, + 0.9641745686531067 + ], + [ + 0.06558123230934143, + 0.5793325304985046, + 1.9397412538528442, + 0.03078513965010643, + -0.0007736344123259187, + 0.2759726345539093, + 0.9606720209121704 + ], + [ + 0.053358569741249084, + 0.5729422569274902, + 1.9673371315002441, + 0.039820101112127304, + 0.0064127808436751366, + 0.26562246680259705, + 0.9632330536842346 + ] + ] + } + } + } +} \ No newline at end of file diff --git a/episodes/c9_p012_e020/wrist.mp4 b/episodes/c9_p012_e020/wrist.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..51beae6d76bfdf307ba0cba1c3fd69b88af071af --- /dev/null +++ b/episodes/c9_p012_e020/wrist.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:9f06e03fd615fe6cc9b24f814a016be436f1df1f1a83c6067d6053ef8d537a01 +size 6061870 diff --git a/episodes/c9_p012_e021/data.npz b/episodes/c9_p012_e021/data.npz new file mode 100644 index 0000000000000000000000000000000000000000..7b357fbc11112ae52a33dc95e3d4cd3d311310e8 --- /dev/null +++ b/episodes/c9_p012_e021/data.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:5f0359627d56240e1c241c1cbd55c157c4a67c3a2e06314427e70e4d57312946 +size 187443 diff --git a/episodes/c9_p012_e021/device_events.jsonl b/episodes/c9_p012_e021/device_events.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..0e820b768bb386fccfd1729b837d7c83e23e2798 --- /dev/null +++ b/episodes/c9_p012_e021/device_events.jsonl @@ -0,0 +1,35 @@ +{"env_id": 3, "seq": 1, "step": 199, "t": 0.995, "topic": "conveyor_1.belt.station.pick.captured", "source": "conveyor_1.belt", "data": {"rider": "carrier_3"}, "cause": null} +{"env_id": 3, "seq": 2, "step": 199, "t": 0.995, "topic": "conveyor_1.belt.state.changed", "source": "conveyor_1.belt", "data": {"from": "running", "to": "at_station"}, "cause": null} +{"env_id": 3, "seq": 3, "step": 204, "t": 1.02, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_3"}, "cause": null} +{"env_id": 3, "seq": 4, "step": 6701, "t": 33.505, "topic": "a4s_sealer_1.plate_present.present", "source": "a4s_sealer_1.plate_present", "data": {"object": "plate_3"}, "cause": null} +{"env_id": 3, "seq": 5, "step": 7312, "t": 36.56, "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": 7312, "t": 36.56, "topic": "a4s_sealer_1.seal.started", "source": "a4s_sealer_1", "data": {"dwell": 2.02125644872066}, "cause": "task-3-1"} +{"env_id": 3, "seq": 7, "step": 7312, "t": 36.56, "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": 7312, "t": 36.56, "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": 7312, "t": 36.56, "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": 7731, "t": 38.655, "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": 7731, "t": 38.655, "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": 7731, "t": 38.655, "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": 7731, "t": 38.655, "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": 7731, "t": 38.655, "topic": "labware.plate_3.changed", "source": "labware.plate_3", "data": {"key": "sealed", "value": true}, "cause": "task-3-1"} +{"env_id": 3, "seq": 15, "step": 7731, "t": 38.655, "topic": "a4s_sealer_1.sealed", "source": "a4s_sealer_1", "data": {"plate": "plate_3"}, "cause": "task-3-1"} +{"env_id": 3, "seq": 16, "step": 7731, "t": 38.655, "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": 7731, "t": 38.655, "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": 7731, "t": 38.655, "topic": "a4s_sealer_1.heater.started", "source": "a4s_sealer_1.heater", "data": {"duration": 2.02125644872066}, "cause": "program-3-3"} +{"env_id": 3, "seq": 19, "step": 8136, "t": 40.68, "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": 8136, "t": 40.68, "topic": "a4s_sealer_1.heater.finished", "source": "a4s_sealer_1.heater", "data": {"elapsed": 2.025000000001036}, "cause": "program-3-3"} +{"env_id": 3, "seq": 21, "step": 8136, "t": 40.68, "topic": "a4s_sealer_1.heater.command.succeeded", "source": "a4s_sealer_1.heater", "data": {"command_id": "program-3-3", "name": "run", "source": "program:seal", "result": {"elapsed": 2.025000000001036}}, "cause": "program-3-3"} +{"env_id": 3, "seq": 22, "step": 8136, "t": 40.68, "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": 8136, "t": 40.68, "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": 8136, "t": 40.68, "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": 8556, "t": 42.78, "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": 8556, "t": 42.78, "topic": "a4s_sealer_1.drawer.reached", "source": "a4s_sealer_1.drawer", "data": {"position": "out", "q": 0.0}, "cause": "program-3-4"} +{"env_id": 3, "seq": 27, "step": 8556, "t": 42.78, "topic": "a4s_sealer_1.drawer.at_out", "source": "a4s_sealer_1.drawer", "data": {"q": 0.0}, "cause": "program-3-4"} +{"env_id": 3, "seq": 28, "step": 8556, "t": 42.78, "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": 8556, "t": 42.78, "topic": "a4s_sealer_1.seal.finished", "source": "a4s_sealer_1", "data": {}, "cause": "task-3-1"} +{"env_id": 3, "seq": 30, "step": 8556, "t": 42.78, "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": 9135, "t": 45.675, "topic": "a4s_sealer_1.plate_present.absent", "source": "a4s_sealer_1.plate_present", "data": {"object": "plate_3"}, "cause": null} +{"env_id": 3, "seq": 32, "step": 10856, "t": 54.28, "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": 10856, "t": 54.28, "topic": "conveyor_1.belt.station.pick.released", "source": "conveyor_1.belt", "data": {"rider": "carrier_3"}, "cause": "task-3-5"} +{"env_id": 3, "seq": 34, "step": 10856, "t": 54.28, "topic": "conveyor_1.belt.state.changed", "source": "conveyor_1.belt", "data": {"from": "at_station", "to": "running"}, "cause": null} +{"env_id": 3, "seq": 35, "step": 10856, "t": 54.28, "topic": "conveyor_1.belt.command.succeeded", "source": "conveyor_1.belt", "data": {"command_id": "task-3-5", "name": "release", "source": "task", "result": {"state": "running"}}, "cause": "task-3-5"} diff --git a/episodes/c9_p012_e021/env.mp4 b/episodes/c9_p012_e021/env.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..8dc3c743e2df07f726e6c650b45da3cfaf985667 --- /dev/null +++ b/episodes/c9_p012_e021/env.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:2fa8cb4f8acfcc2c1edd998eb53004b1a73127de496bb353fee49d2913d86d80 +size 1235097 diff --git a/episodes/c9_p012_e021/meta.json b/episodes/c9_p012_e021/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..7101b1453b514b0f3a73649ee06746e9fc6b4bac --- /dev/null +++ b/episodes/c9_p012_e021/meta.json @@ -0,0 +1,32 @@ +{ + "source": "raw/c9_p012/magicsim/21", + "fps": 25, + "frames": 1200, + "kept_ticks": "even", + "video_frames": { + "wrist": 1200, + "env": 1200 + }, + "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_p012_e021/scene_snapshot.json b/episodes/c9_p012_e021/scene_snapshot.json new file mode 100644 index 0000000000000000000000000000000000000000..c603dccc0b4be10dabf1fbe81da9f13712f7face --- /dev/null +++ b/episodes/c9_p012_e021/scene_snapshot.json @@ -0,0 +1,1558 @@ +{ + "trajectory_id": 21, + "env_id": 3, + "run_id": "c9_p012", + "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_24_10ml/deep_well_24_10ml.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 0.9605 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_6_clear/plate_6_clear.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.0285 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_6_clear/plate_6_clear.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.0965 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/pcr_384_red/pcr_384_red.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.1645 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/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": [ + 0.47942543029785156, + 0.07618427276611328, + 0.8999999761581421 + ], + "ori": [ + -0.6954550743103027, + 0.0, + 0.0, + 0.7185695767402649 + ], + "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": [ + 1.0092498668387573e-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": 0.20031497273333243, + "direction": [ + 1.0, + 0.0, + 0.0 + ], + "enabled": true, + "drive": "surface_velocity", + "lines": null, + "station_line": null, + "riders": [ + "carrier" + ], + "stations": { + "pick": { + "position": -0.29428981058071524, + "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": 0.20031497273333243, + "holds": [], + "station": "pick", + "rider": "carrier_3", + "arrived": true, + "applied_speed": 0.0 + } + } + } + ], + "carrier": [ + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + 1.6695556640625, + 0.9363813400268555, + 0.8999999761581421 + ], + "ori": [ + 0.556259036064148, + -1.4901589295845952e-08, + 1.5645588158363921e-09, + 0.8310089111328125 + ], + "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": [ + 1.3077630089952663e-09, + -1.3625323092014696e-10, + 0.0 + ], + "angular_velocity": [ + 1.048286790705788e-08, + 4.737356107398227e-08, + -1.492875867370458e-08 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + 0.08808708190917969, + 1.1529045104980469, + 0.8999999761581421 + ], + "ori": [ + -0.008890209719538689, + -2.1320584187023428e-11, + 2.9486169061954115e-09, + 0.9999604821205139 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -1.1280980594108314e-09, + -7.106981669835477e-11, + 0.0 + ], + "angular_velocity": [ + -1.4336620779431541e-09, + -7.692220549415651e-08, + -4.625883232023398e-09 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + -0.14443397521972656, + 0.4471750259399414, + 0.8999999761581421 + ], + "ori": [ + 0.999956488609314, + 1.0865663924164437e-10, + -3.1371533149027186e-10, + 0.009337161667644978 + ], + "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": [ + -2.1053891963163096e-10, + -3.1518159193666406e-09, + 7.450580596923828e-09 + ], + "angular_velocity": [ + 1.7830362253334897e-07, + 8.935531425890986e-09, + 2.125291276300345e-09 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + -1.0205965042114258, + 1.1497879028320312, + 0.8999999761581421 + ], + "ori": [ + -0.002839141758158803, + -1.2364544943466171e-07, + -1.192554588413941e-08, + 0.9999960064888 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -9.923724064719863e-07, + -5.54799512997306e-08, + -2.5741755962371826e-06 + ], + "angular_velocity": [ + 4.0594040910946205e-06, + -8.404031541431323e-05, + 1.4073498277866747e-07 + ] + } + } + ], + "plate": [ + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_48_clear/Object.usd", + "pose": { + "pos": [ + 1.6709394454956055, + 0.9316082000732422, + 0.9179999828338623 + ], + "ori": [ + 0.4703482389450073, + -1.3738207904623323e-08, + 5.252111634490575e-09, + 0.8824809193611145 + ], + "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": [ + 2.3874271448676154e-08, + -3.609174115126734e-08, + 5.960464477539063e-08 + ], + "angular_velocity": [ + 6.063258410904382e-07, + 1.6659656694173464e-06, + 9.733005867929023e-08 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_384_white/Object.usd", + "pose": { + "pos": [ + 0.10258960723876953, + 1.1474943161010742, + 0.9180000424385071 + ], + "ori": [ + -0.06113896518945694, + 7.536333779256665e-10, + 2.0364465669331366e-09, + 0.9981292486190796 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 7.571016702456745e-09, + -4.8463899560147183e-11, + -6.0498714447021484e-06 + ], + "angular_velocity": [ + -9.518884667159e-07, + 1.0501257747819182e-06, + 3.889589805794458e-08 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_96_clear/Object.usd", + "pose": { + "pos": [ + -0.1495962142944336, + 0.4448823928833008, + 0.9180000424385071 + ], + "ori": [ + 0.9996848702430725, + 1.0565255337269264e-09, + -3.6025965544084215e-10, + 0.025102077051997185 + ], + "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": [ + -1.309025776663475e-08, + -3.5626786853981685e-08, + -5.934387445449829e-06 + ], + "angular_velocity": [ + 1.286024485125381e-06, + -1.7710393649394973e-06, + -2.6898716143364254e-08 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/reservoir_12ch/Object.usd", + "pose": { + "pos": [ + -1.0291929244995117, + 1.1489686965942383, + 0.9179999232292175 + ], + "ori": [ + -0.052363548427820206, + -1.027406568709921e-07, + -6.5617635769399385e-09, + 0.9986280798912048 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -2.911699766627862e-06, + 8.219445390977853e-08, + -3.1962990760803223e-06 + ], + "angular_velocity": [ + -5.979267143629841e-07, + -8.095592784229666e-05, + -4.4916728825228347e-07 + ] + } + } + ], + "deco_hub_west": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/hub_e.usd", + "pose": { + "pos": [ + -3.36, + 0.0, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_hub_east": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/hub_d.usd", + "pose": { + "pos": [ + 3.36, + 0.0, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_hub_back": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/hub_a.usd", + "pose": { + "pos": [ + -3.0, + -2.1, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_bench_east": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/bench_c.usd", + "pose": { + "pos": [ + 2.6, + -2.5, + 0.0 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_bench_gap": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/bench_b.usd", + "pose": { + "pos": [ + -0.1, + -2.9, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ] + } + ], + "devices": { + "hub": [ + null, + null, + null, + { + "t": 6.499999999999884, + "step": 1300, + "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": 1.0092498668387573e-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": 0.20031497273333243, + "holds": [], + "station": "pick", + "rider": "carrier_3", + "arrived": true, + "settle_count": 1100, + "released": { + "pick": [] + }, + "last_pos": { + "carrier_1": [ + 1.5195556581020355, + 0.4863813519477844, + 0.0 + ], + "carrier_2": [ + -0.06191292405128479, + 0.7029045224189758, + 0.0 + ], + "carrier_3": [ + -0.29443398118019104, + -0.0028249621391296387, + 0.0 + ], + "carrier_4": [ + -1.1705965101718903, + 0.6997879147529602, + 0.0 + ] + }, + "command": 0.0 + }, + "belt": { + "target_speed": 0.0, + "command_speed": 0.0 + }, + "seen": { + "state": "at_station", + "station": "pick", + "rider": "carrier_3", + "arrived": true + } + } + }, + "queues": {}, + "program": null, + "sensors": {}, + "interlocks": {} + } + }, + "zones": {}, + "labware": { + "plate_1": { + "sealed": false + }, + "plate_2": { + "sealed": false + }, + "plate_3": { + "sealed": false + }, + "plate_4": { + "sealed": false + } + }, + "rules": {}, + "records": [], + "bus": { + "seq": 3, + "queue": [] + } + } + ], + "drives": [ + null, + null, + null, + {} + ] + }, + "artifacts": [ + {}, + {}, + {}, + { + "ceiling": { + "type": "rect", + "pose": { + "pos": [ + -0.39291520735984137, + 0.424502015216621, + 2.946393647920761 + ], + "ori": [ + -9.16015752285935, + -12.839926281118991, + 22.569405648583583 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "color_temperature": 4337.581495705412, + "color": [ + 0.8289514350815399, + 0.8516161890982592, + 0.8356127551298418 + ], + "intensity": 12169.354622367977, + "width": 2.174773396218686, + "height": 1.7277706659316865 + } + }, + "key": { + "type": "sphere", + "pose": { + "pos": [ + 1.5821767012079282, + 1.16879595456129, + 2.007925662366093 + ], + "ori": [ + 6.345888170009708, + -13.331350038935945, + -22.92677673401063 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "color_temperature": 4357.459980746641, + "color": [ + 0.9246471752034189, + 0.8362285915462953, + 0.8994956362817677 + ], + "intensity": 4747.89317720245, + "radius": 0.12095565857827675 + } + } + } + ], + "background": { + "type": "dome", + "pose": { + "pos": null, + "ori": null, + "scale": null + }, + "dr": { + "intensity": 1130.2793976846615, + "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": [ + [ + 1.4470443725585938, + -1.455905556678772, + 2.216822385787964, + -2.3308145999908447, + -1.570656657218933, + 6.142900466918945, + 0.007586448919028044, + 0.007063537836074829 + ], + [ + 1.069111704826355, + -1.5242664813995361, + 2.281909704208374, + -2.3283984661102295, + -1.570796012878418, + 2.766148090362549, + 0.0180000439286232, + 0.017999956384301186 + ], + [ + 0.70775306224823, + -1.439797282218933, + 2.0443105697631836, + -2.175276279449463, + -1.5707963705062866, + 2.482239007949829, + 0.018000032752752304, + 0.017999965697526932 + ], + [ + 0.9141020774841309, + -1.719398021697998, + 2.0904994010925293, + -1.9419010877609253, + -1.5707999467849731, + 2.4849002361297607, + 0.017999999225139618, + 0.017999999225139618 + ] + ], + "joint_vel": [ + [ + -0.00022893879213370383, + 0.016840340569615364, + 0.009187941439449787, + -0.02535429038107395, + 0.00014151516370475292, + -0.0015803491696715355, + -0.00673952279612422, + 0.000206278360565193 + ], + [ + -0.00010387290240032598, + 0.017057916149497032, + 0.009744501672685146, + -0.025665009394288063, + -8.116809112834744e-06, + 5.405148840509355e-05, + -6.891619250382064e-06, + 6.893186309753219e-06 + ], + [ + -9.953124390449375e-05, + 0.008740785531699657, + 0.007402484305202961, + -0.015207476913928986, + -8.544272532162722e-06, + -7.055126388877397e-06, + -3.886910235451069e-06, + 3.887746061081998e-06 + ], + [ + 5.108947789267404e-06, + 2.3451470867780384e-14, + -6.825224115264775e-14, + 1.1747449123493056e-15, + 3.75806631365376e-14, + 1.2731430493184703e-12, + 1.1087592161670295e-13, + 1.200074924417177e-13 + ] + ] + } + }, + "cameras": { + "cameras": { + "camera0": [ + [ + 0.05169759690761566, + -0.0022094757296144962, + -0.02936447784304619, + -0.2822693884372711, + 0.6504771709442139, + 0.641025960445404, + -0.293750137090683 + ], + [ + 0.04457372426986694, + -0.0017140783602371812, + -0.02757594920694828, + -0.2798689901828766, + 0.6486027240753174, + 0.6532801985740662, + -0.27242034673690796 + ], + [ + 0.04542051628232002, + 0.0014687459915876389, + -0.030568310990929604, + -0.28302592039108276, + 0.6510360240936279, + 0.6422634720802307, + -0.2890433669090271 + ], + [ + 0.05159340053796768, + 0.002581520937383175, + -0.030148500576615334, + -0.27580761909484863, + 0.6522705554962158, + 0.6506327390670776, + -0.274135559797287 + ] + ], + "camera1": [ + [ + 0.06240425631403923, + 0.5603390336036682, + 1.9456287622451782, + 0.03943030536174774, + 0.0025167849380522966, + 0.2777819037437439, + 0.9598312973976135 + ], + [ + 0.07414529472589493, + 0.596565306186676, + 1.9352067708969116, + 0.03222434222698212, + 0.0037313795182853937, + 0.26327764987945557, + 0.9641745686531067 + ], + [ + 0.06558123230934143, + 0.5793325304985046, + 1.9397412538528442, + 0.03078513965010643, + -0.0007736344123259187, + 0.2759726345539093, + 0.9606720209121704 + ], + [ + 0.053358569741249084, + 0.5729422569274902, + 1.9673371315002441, + 0.039820101112127304, + 0.0064127808436751366, + 0.26562246680259705, + 0.9632330536842346 + ] + ] + } + } + } +} \ No newline at end of file diff --git a/episodes/c9_p012_e021/wrist.mp4 b/episodes/c9_p012_e021/wrist.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..d02419feec7b88fcf474fbaa643179f44584a9d5 --- /dev/null +++ b/episodes/c9_p012_e021/wrist.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:27f0d2e34d3d6ffc578301104b692df1a3a84487c55170b76072cc9f6bdd5a5d +size 6881004 diff --git a/episodes/c9_p012_e022/data.npz b/episodes/c9_p012_e022/data.npz new file mode 100644 index 0000000000000000000000000000000000000000..4e30ecbc7b50c30d69a084252111861b21479491 --- /dev/null +++ b/episodes/c9_p012_e022/data.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:f7af99bbd6e3ec08fe0ef874448dd0d597810eeae3b9bee3e1ae6add7db77d52 +size 202254 diff --git a/episodes/c9_p012_e022/device_events.jsonl b/episodes/c9_p012_e022/device_events.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..3dba6e4a3a1826a7de5fea15aa905e139b64e4d0 --- /dev/null +++ b/episodes/c9_p012_e022/device_events.jsonl @@ -0,0 +1,36 @@ +{"env_id": 1, "seq": 1, "step": 193, "t": 0.965, "topic": "conveyor_1.belt.station.pick.captured", "source": "conveyor_1.belt", "data": {"rider": "carrier_3"}, "cause": null} +{"env_id": 1, "seq": 2, "step": 193, "t": 0.965, "topic": "conveyor_1.belt.state.changed", "source": "conveyor_1.belt", "data": {"from": "running", "to": "at_station"}, "cause": null} +{"env_id": 1, "seq": 3, "step": 198, "t": 0.99, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_3"}, "cause": null} +{"env_id": 1, "seq": 4, "step": 1568, "t": 7.84, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_3"}, "cause": null} +{"env_id": 1, "seq": 5, "step": 6279, "t": 31.395, "topic": "a4s_sealer_1.plate_present.present", "source": "a4s_sealer_1.plate_present", "data": {"object": "plate_3"}, "cause": null} +{"env_id": 1, "seq": 6, "step": 6892, "t": 34.46, "topic": "a4s_sealer_1.command.started", "source": "a4s_sealer_1", "data": {"command_id": "task-1-1", "name": "seal", "source": "task"}, "cause": "task-1-1"} +{"env_id": 1, "seq": 7, "step": 6892, "t": 34.46, "topic": "a4s_sealer_1.seal.started", "source": "a4s_sealer_1", "data": {"dwell": 3.5483293940137046}, "cause": "task-1-1"} +{"env_id": 1, "seq": 8, "step": 6892, "t": 34.46, "topic": "a4s_sealer_1.drawer.command.started", "source": "a4s_sealer_1.drawer", "data": {"command_id": "program-1-2", "name": "close", "source": "program:seal"}, "cause": "program-1-2"} +{"env_id": 1, "seq": 9, "step": 6892, "t": 34.46, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "at_out", "to": "moving"}, "cause": null} +{"env_id": 1, "seq": 10, "step": 6892, "t": 34.46, "topic": "a4s_sealer_1.drawer.moving", "source": "a4s_sealer_1.drawer", "data": {"target": 0.3, "goal": "in"}, "cause": "program-1-2"} +{"env_id": 1, "seq": 11, "step": 7311, "t": 36.555, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "moving", "to": "at_in"}, "cause": null} +{"env_id": 1, "seq": 12, "step": 7311, "t": 36.555, "topic": "a4s_sealer_1.drawer.reached", "source": "a4s_sealer_1.drawer", "data": {"position": "in", "q": 0.30000001192092896}, "cause": "program-1-2"} +{"env_id": 1, "seq": 13, "step": 7311, "t": 36.555, "topic": "a4s_sealer_1.drawer.at_in", "source": "a4s_sealer_1.drawer", "data": {"q": 0.30000001192092896}, "cause": "program-1-2"} +{"env_id": 1, "seq": 14, "step": 7311, "t": 36.555, "topic": "a4s_sealer_1.drawer.command.succeeded", "source": "a4s_sealer_1.drawer", "data": {"command_id": "program-1-2", "name": "close", "source": "program:seal", "result": {"position": "in"}}, "cause": "program-1-2"} +{"env_id": 1, "seq": 15, "step": 7311, "t": 36.555, "topic": "labware.plate_3.changed", "source": "labware.plate_3", "data": {"key": "sealed", "value": true}, "cause": "task-1-1"} +{"env_id": 1, "seq": 16, "step": 7311, "t": 36.555, "topic": "a4s_sealer_1.sealed", "source": "a4s_sealer_1", "data": {"plate": "plate_3"}, "cause": "task-1-1"} +{"env_id": 1, "seq": 17, "step": 7311, "t": 36.555, "topic": "a4s_sealer_1.heater.command.started", "source": "a4s_sealer_1.heater", "data": {"command_id": "program-1-3", "name": "run", "source": "program:seal"}, "cause": "program-1-3"} +{"env_id": 1, "seq": 18, "step": 7311, "t": 36.555, "topic": "a4s_sealer_1.heater.state.changed", "source": "a4s_sealer_1.heater", "data": {"from": "ready", "to": "running"}, "cause": null} +{"env_id": 1, "seq": 19, "step": 7311, "t": 36.555, "topic": "a4s_sealer_1.heater.started", "source": "a4s_sealer_1.heater", "data": {"duration": 3.5483293940137046}, "cause": "program-1-3"} +{"env_id": 1, "seq": 20, "step": 8021, "t": 40.105, "topic": "a4s_sealer_1.heater.state.changed", "source": "a4s_sealer_1.heater", "data": {"from": "running", "to": "ready"}, "cause": null} +{"env_id": 1, "seq": 21, "step": 8021, "t": 40.105, "topic": "a4s_sealer_1.heater.finished", "source": "a4s_sealer_1.heater", "data": {"elapsed": 3.550000000001816}, "cause": "program-1-3"} +{"env_id": 1, "seq": 22, "step": 8021, "t": 40.105, "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": 3.550000000001816}}, "cause": "program-1-3"} +{"env_id": 1, "seq": 23, "step": 8021, "t": 40.105, "topic": "a4s_sealer_1.drawer.command.started", "source": "a4s_sealer_1.drawer", "data": {"command_id": "program-1-4", "name": "open", "source": "program:seal"}, "cause": "program-1-4"} +{"env_id": 1, "seq": 24, "step": 8021, "t": 40.105, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "at_in", "to": "moving"}, "cause": null} +{"env_id": 1, "seq": 25, "step": 8021, "t": 40.105, "topic": "a4s_sealer_1.drawer.moving", "source": "a4s_sealer_1.drawer", "data": {"target": 0.0, "goal": "out"}, "cause": "program-1-4"} +{"env_id": 1, "seq": 26, "step": 8441, "t": 42.205, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "moving", "to": "at_out"}, "cause": null} +{"env_id": 1, "seq": 27, "step": 8441, "t": 42.205, "topic": "a4s_sealer_1.drawer.reached", "source": "a4s_sealer_1.drawer", "data": {"position": "out", "q": 4.4190098802410205e-10}, "cause": "program-1-4"} +{"env_id": 1, "seq": 28, "step": 8441, "t": 42.205, "topic": "a4s_sealer_1.drawer.at_out", "source": "a4s_sealer_1.drawer", "data": {"q": 4.4190098802410205e-10}, "cause": "program-1-4"} +{"env_id": 1, "seq": 29, "step": 8441, "t": 42.205, "topic": "a4s_sealer_1.drawer.command.succeeded", "source": "a4s_sealer_1.drawer", "data": {"command_id": "program-1-4", "name": "open", "source": "program:seal", "result": {"position": "out"}}, "cause": "program-1-4"} +{"env_id": 1, "seq": 30, "step": 8441, "t": 42.205, "topic": "a4s_sealer_1.seal.finished", "source": "a4s_sealer_1", "data": {}, "cause": "task-1-1"} +{"env_id": 1, "seq": 31, "step": 8441, "t": 42.205, "topic": "a4s_sealer_1.command.succeeded", "source": "a4s_sealer_1", "data": {"command_id": "task-1-1", "name": "seal", "source": "task"}, "cause": "task-1-1"} +{"env_id": 1, "seq": 32, "step": 9028, "t": 45.14, "topic": "a4s_sealer_1.plate_present.absent", "source": "a4s_sealer_1.plate_present", "data": {"object": "plate_3"}, "cause": null} +{"env_id": 1, "seq": 33, "step": 11268, "t": 56.34, "topic": "conveyor_1.belt.command.started", "source": "conveyor_1.belt", "data": {"command_id": "task-1-5", "name": "release", "source": "task"}, "cause": "task-1-5"} +{"env_id": 1, "seq": 34, "step": 11268, "t": 56.34, "topic": "conveyor_1.belt.station.pick.released", "source": "conveyor_1.belt", "data": {"rider": "carrier_3"}, "cause": "task-1-5"} +{"env_id": 1, "seq": 35, "step": 11268, "t": 56.34, "topic": "conveyor_1.belt.state.changed", "source": "conveyor_1.belt", "data": {"from": "at_station", "to": "running"}, "cause": null} +{"env_id": 1, "seq": 36, "step": 11268, "t": 56.34, "topic": "conveyor_1.belt.command.succeeded", "source": "conveyor_1.belt", "data": {"command_id": "task-1-5", "name": "release", "source": "task", "result": {"state": "running"}}, "cause": "task-1-5"} diff --git a/episodes/c9_p012_e022/env.mp4 b/episodes/c9_p012_e022/env.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..aa29795ef919e65a3f253959a8bdff16893cb41c --- /dev/null +++ b/episodes/c9_p012_e022/env.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:7bb45ae977b87ef5d191302054b96add2fb5065a875036317bb3f703ac1153a7 +size 1224492 diff --git a/episodes/c9_p012_e022/meta.json b/episodes/c9_p012_e022/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..4755a2a68cd94221198ef34a9022677712ed2edc --- /dev/null +++ b/episodes/c9_p012_e022/meta.json @@ -0,0 +1,32 @@ +{ + "source": "raw/c9_p012/magicsim/22", + "fps": 25, + "frames": 1272, + "kept_ticks": "even", + "video_frames": { + "wrist": 1272, + "env": 1272 + }, + "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_p012_e022/scene_snapshot.json b/episodes/c9_p012_e022/scene_snapshot.json new file mode 100644 index 0000000000000000000000000000000000000000..88666b38d12747c11103c99fd0dde7db83603681 --- /dev/null +++ b/episodes/c9_p012_e022/scene_snapshot.json @@ -0,0 +1,1558 @@ +{ + "trajectory_id": 22, + "env_id": 1, + "run_id": "c9_p012", + "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": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_24_clear/plate_24_clear.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 0.9605 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/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": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_384_white/plate_384_white.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.0965 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_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": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_6_clear/plate_6_clear.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.2325 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "a4s_sealer": [ + { + "asset": "$MAGICSIM_ASSETS/Articulated/A4SSealer/Object.usd", + "pose": { + "pos": [ + 0.5055665969848633, + 0.09293270111083984, + 0.8999999761581421 + ], + "ori": [ + 0.7367668747901917, + 0.0, + 0.0, + -0.6761468648910522 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "articulation", + "solver_position_iteration_count": 16.0, + "solver_velocity_iteration_count": 1.0, + "enabled_self_collisions": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "joint_position": [ + 0.0 + ], + "joint_velocity": [ + 0.0 + ], + "linear_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "angular_velocity": [ + 0.0, + 0.0, + 0.0 + ] + } + } + ], + "conveyor": [ + { + "asset": "Cube", + "pose": { + "pos": [ + 0.15, + 0.45, + 0.9 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "conveyor", + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9 + }, + "ratio": 1.0 + }, + "primitive_params": { + "size": [ + 2.4, + 0.076, + 0.03 + ] + }, + "conveyor": { + "speed": 0.18778829626842264, + "direction": [ + 1.0, + 0.0, + 0.0 + ], + "enabled": true, + "drive": "surface_velocity", + "lines": null, + "station_line": null, + "riders": [ + "carrier" + ], + "stations": { + "pick": { + "position": -0.19892202614057522, + "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": 0.18778829626842264, + "holds": [], + "station": "pick", + "rider": "carrier_3", + "arrived": true, + "applied_speed": 0.0 + } + } + } + ], + "carrier": [ + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + -1.3937063217163086, + 0.7494182586669922, + 0.8999999761581421 + ], + "ori": [ + -0.7544299364089966, + -1.260534432390159e-08, + -2.2763348539456274e-08, + 0.6563806533813477 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -1.2440795060797427e-09, + -4.4536579979492785e-10, + 0.0 + ], + "angular_velocity": [ + 3.55497284942885e-08, + -5.3449277004347095e-08, + 8.720437705278528e-09 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + 1.4646978378295898, + 0.47272396087646484, + 0.8999999761581421 + ], + "ori": [ + 0.9862953424453735, + -3.814944449231916e-08, + -1.0051882526340705e-07, + 0.1649894416332245 + ], + "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": [ + -4.733863301353836e-10, + 1.470387478441637e-09, + 0.0 + ], + "angular_velocity": [ + -1.310066295445722e-07, + -5.3758377305257454e-08, + -2.544873867194042e-09 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + -0.04835033416748047, + 0.44750499725341797, + 0.8999999761581421 + ], + "ori": [ + 0.9999345541000366, + 3.719565322413132e-09, + 4.7908607636593104e-11, + 0.01144189853221178 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -1.4980714446721777e-09, + -6.649063077901474e-09, + 3.725290298461914e-09 + ], + "angular_velocity": [ + 2.390108875260921e-07, + -6.9448880424261e-08, + -4.613336912484556e-08 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + 0.31099796295166016, + 1.1526756286621094, + 0.8999999761581421 + ], + "ori": [ + -0.010260646231472492, + -6.000506758141455e-10, + -8.429890119288075e-10, + 0.9999473690986633 + ], + "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": [ + 5.100160738180648e-09, + 7.725200035224589e-09, + 5.21540641784668e-08 + ], + "angular_velocity": [ + -2.3480518507312809e-07, + 4.976014338353707e-07, + -4.4540389154690274e-08 + ] + } + } + ], + "plate": [ + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_12_clear/Object.usd", + "pose": { + "pos": [ + -1.3832321166992188, + 0.7432699203491211, + 0.9179999828338623 + ], + "ori": [ + -0.8073473572731018, + -1.4948502879974512e-08, + -2.132272491905951e-08, + 0.5900765657424927 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -4.8449059875110834e-08, + 4.3695305151914e-08, + 1.0803341865539551e-07 + ], + "angular_velocity": [ + -1.3554200677390327e-06, + -2.507946646801429e-06, + -2.2527931520244238e-08 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_96_white/Object.usd", + "pose": { + "pos": [ + 1.460261344909668, + 0.46637916564941406, + 0.9180000424385071 + ], + "ori": [ + 0.9888222217559814, + -3.7813062903069294e-08, + -1.0150870366487652e-07, + 0.1490994244813919 + ], + "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": [ + -2.1834921426489018e-08, + 3.855054053758522e-09, + -5.356967449188232e-06 + ], + "angular_velocity": [ + 2.460694759065518e-08, + -8.822227073324029e-07, + 1.0376593451155713e-07 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/pcr_384_red/Object.usd", + "pose": { + "pos": [ + -0.06157684326171875, + 0.4360322952270508, + 0.9179999828338623 + ], + "ori": [ + 0.9980012774467468, + 4.8076485015258186e-09, + 3.2546487727103113e-10, + -0.06319447606801987 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -2.2054246429092927e-08, + -5.7952416199213985e-08, + -5.811452865600586e-06 + ], + "angular_velocity": [ + 7.240197419378092e-07, + -1.3278871620059363e-06, + -2.0478607609675237e-07 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/deep_well_96_1ml/Object.usd", + "pose": { + "pos": [ + 0.3258390426635742, + 1.1593742370605469, + 0.9179999828338623 + ], + "ori": [ + -0.07505873590707779, + 1.2346715316802204e-10, + 6.296948296125038e-09, + 0.9971790909767151 + ], + "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": [ + 1.0332868782825244e-07, + 4.756385862947354e-08, + 2.8312206268310547e-07 + ], + "angular_velocity": [ + -1.2804011930711567e-06, + 3.842435035039671e-06, + 8.802994955203758e-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": 5.679999999999901, + "step": 1136, + "counter": 0, + "devices": { + "a4s_sealer_1": { + "mode": "auto", + "units": { + "drawer": { + "state": "at_out", + "active": null, + "target": 0.0, + "goal_name": "out", + "profile": null, + "q_start": null, + "reversing": false, + "blocked_for": 0.0, + "settled_for": 0.0, + "last_q": 0.0 + }, + "heater": { + "state": "ready", + "active": null, + "duration": 0.0, + "t_start": null, + "elapsed": 0.0 + } + }, + "queues": {}, + "program": null, + "sensors": { + "plate_present": { + "occupants": [], + "pending": {} + } + }, + "interlocks": {} + }, + "conveyor_1": { + "mode": "auto", + "units": { + "belt": { + "state": "at_station", + "active": null, + "controller": { + "speed": 0.18778829626842264, + "holds": [], + "station": "pick", + "rider": "carrier_3", + "arrived": true, + "settle_count": 942, + "released": { + "pick": [] + }, + "last_pos": { + "carrier_1": [ + -1.543706327676773, + 0.29941827058792114, + 0.0 + ], + "carrier_2": [ + 1.3146978318691254, + 0.0227239727973938, + 0.0 + ], + "carrier_3": [ + -0.19835034012794495, + -0.002494990825653076, + 0.0 + ], + "carrier_4": [ + 0.16099795699119568, + 0.7026756405830383, + 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": [ + -0.11417021573985281, + 0.11969405135893252, + 2.842298627139939 + ], + "ori": [ + 7.022457995986535, + -12.154172994979119, + 18.530162855972634 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "color_temperature": 6597.787369357127, + "color": [ + 0.9532681987248128, + 0.9879669852659277, + 0.8627587855766219 + ], + "intensity": 12157.632711981147, + "width": 2.567262665489989, + "height": 1.4596835949826863 + } + }, + "key": { + "type": "disk", + "pose": { + "pos": [ + 0.39962033482840775, + 0.8615248163592459, + 2.7430109756741223 + ], + "ori": [ + -19.344739349600033, + 14.293421137652942, + -30.582774386318185 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "color_temperature": 7161.483964782167, + "color": [ + 0.7660075501287215, + 0.9604620134968802, + 0.7965897123881651 + ], + "intensity": 6410.892660393375, + "radius": 0.45543747318374195 + } + } + }, + {}, + {} + ], + "background": { + "type": "dome", + "pose": { + "pos": null, + "ori": null, + "scale": null + }, + "dr": { + "intensity": 1130.2793976846615, + "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": [ + [ + 0.7881596684455872, + -1.8275506496429443, + 2.27884578704834, + -2.0217742919921875, + -1.5709168910980225, + 5.464986801147461, + 0.00787811353802681, + 0.006938260514289141 + ], + [ + 0.9141025543212891, + -1.7193981409072876, + 2.09049916267395, + -1.9419001340866089, + -1.5707999467849731, + 2.484900951385498, + 0.01799999736249447, + 0.018000001087784767 + ], + [ + 0.9141014218330383, + -1.719399094581604, + 2.0904998779296875, + -1.9419009685516357, + -1.5707999467849731, + 2.4848999977111816, + 0.017999999225139618, + 0.017999999225139618 + ], + [ + 0.9141013622283936, + -1.719398021697998, + 2.0904994010925293, + -1.9419007301330566, + -1.5707999467849731, + 2.4849002361297607, + 0.017999999225139618, + 0.017999999225139618 + ] + ], + "joint_vel": [ + [ + 0.0689062625169754, + 0.03120781108736992, + -0.013330413959920406, + -0.020170316100120544, + -0.0020124728325754404, + 0.07927128672599792, + -0.006930392235517502, + 0.0004266729229129851 + ], + [ + -2.2839978068695235e-38, + 2.881015832790794e-38, + 2.7399510400229146e-38, + 4.183444058458955e-37, + -6.1734210572062445e-37, + -1.025657541771612e-37, + 2.5990388508034812e-08, + -2.5990388508034812e-08 + ], + [ + -2.4799384284092876e-38, + 1.689200839014208e-38, + 0.0, + 3.5418704306439205e-37, + 6.713138895908471e-38, + 9.194073030954569e-37, + -3.354786996307614e-38, + 1.3836638518264907e-37 + ], + [ + 2.4120785884565083e-38, + -3.0397313810153084e-38, + 0.0, + -5.956530098767838e-37, + 7.1039872699159145e-37, + 2.4312496966949975e-36, + 0.0, + 1.006377468564537e-37 + ] + ] + } + }, + "cameras": { + "cameras": { + "camera0": [ + [ + 0.05218859389424324, + -0.0018102737376466393, + -0.029650164768099785, + -0.28087136149406433, + 0.64686119556427, + 0.6443195939064026, + -0.2958616316318512 + ], + [ + 0.04556617885828018, + 0.002385880099609494, + -0.026387162506580353, + -0.27608224749565125, + 0.6455196738243103, + 0.6568939089775085, + -0.27490606904029846 + ], + [ + 0.04673103615641594, + -0.00031674691126681864, + -0.029303615912795067, + -0.2790220379829407, + 0.647855818271637, + 0.6432346701622009, + -0.2977897524833679 + ], + [ + 0.051660869270563126, + 0.002028651535511017, + -0.03070591762661934, + -0.27617403864860535, + 0.6509960889816284, + 0.6501912474632263, + -0.2778189480304718 + ] + ], + "camera1": [ + [ + 0.06240425631403923, + 0.5603390336036682, + 1.9456287622451782, + 0.03943030536174774, + 0.0025167849380522966, + 0.2777819037437439, + 0.9598312973976135 + ], + [ + 0.07414529472589493, + 0.596565306186676, + 1.9352067708969116, + 0.03222434222698212, + 0.0037313795182853937, + 0.26327764987945557, + 0.9641745686531067 + ], + [ + 0.06558123230934143, + 0.5793325304985046, + 1.9397412538528442, + 0.03078513965010643, + -0.0007736344123259187, + 0.2759726345539093, + 0.9606720209121704 + ], + [ + 0.053358569741249084, + 0.5729422569274902, + 1.9673371315002441, + 0.039820101112127304, + 0.0064127808436751366, + 0.26562246680259705, + 0.9632330536842346 + ] + ] + } + } + } +} \ No newline at end of file diff --git a/episodes/c9_p012_e022/wrist.mp4 b/episodes/c9_p012_e022/wrist.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..1aab427a8d5818a3b8d81e4dbcf80385205576dc --- /dev/null +++ b/episodes/c9_p012_e022/wrist.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:e3df588e40b4728716202bcf924eccacbfa1afad4c2b1dc11f1e73f8429ab700 +size 7768410 diff --git a/episodes/c9_p012_e023/data.npz b/episodes/c9_p012_e023/data.npz new file mode 100644 index 0000000000000000000000000000000000000000..855ce0f00546449ecd40b629981c0a0e03a579aa --- /dev/null +++ b/episodes/c9_p012_e023/data.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:1c21c72b23d8262935903d65564e030fa9dcc9e50a5dd17f8870c5c7775c96d7 +size 191905 diff --git a/episodes/c9_p012_e023/device_events.jsonl b/episodes/c9_p012_e023/device_events.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..dd1523aee0aadfbbe6d5e802651e5803ead2e335 --- /dev/null +++ b/episodes/c9_p012_e023/device_events.jsonl @@ -0,0 +1,35 @@ +{"env_id": 0, "seq": 1, "step": 220, "t": 1.1, "topic": "conveyor_1.belt.station.pick.captured", "source": "conveyor_1.belt", "data": {"rider": "carrier_2"}, "cause": null} +{"env_id": 0, "seq": 2, "step": 220, "t": 1.1, "topic": "conveyor_1.belt.state.changed", "source": "conveyor_1.belt", "data": {"from": "running", "to": "at_station"}, "cause": null} +{"env_id": 0, "seq": 3, "step": 225, "t": 1.125, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_2"}, "cause": null} +{"env_id": 0, "seq": 4, "step": 5678, "t": 28.39, "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": 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": 6, "step": 6284, "t": 31.42, "topic": "a4s_sealer_1.seal.started", "source": "a4s_sealer_1", "data": {"dwell": 3.15429770373096}, "cause": "task-0-1"} +{"env_id": 0, "seq": 7, "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": 8, "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": 9, "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": 10, "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": 11, "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": 12, "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": 13, "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": 14, "step": 6703, "t": 33.515, "topic": "labware.plate_2.changed", "source": "labware.plate_2", "data": {"key": "sealed", "value": true}, "cause": "task-0-1"} +{"env_id": 0, "seq": 15, "step": 6703, "t": 33.515, "topic": "a4s_sealer_1.sealed", "source": "a4s_sealer_1", "data": {"plate": "plate_2"}, "cause": "task-0-1"} +{"env_id": 0, "seq": 16, "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": 17, "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": 18, "step": 6703, "t": 33.515, "topic": "a4s_sealer_1.heater.started", "source": "a4s_sealer_1.heater", "data": {"duration": 3.15429770373096}, "cause": "program-0-3"} +{"env_id": 0, "seq": 19, "step": 7334, "t": 36.67, "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": 7334, "t": 36.67, "topic": "a4s_sealer_1.heater.finished", "source": "a4s_sealer_1.heater", "data": {"elapsed": 3.155000000001614}, "cause": "program-0-3"} +{"env_id": 0, "seq": 21, "step": 7334, "t": 36.67, "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": 3.155000000001614}}, "cause": "program-0-3"} +{"env_id": 0, "seq": 22, "step": 7334, "t": 36.67, "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": 7334, "t": 36.67, "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": 7334, "t": 36.67, "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": 7754, "t": 38.77, "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": 7754, "t": 38.77, "topic": "a4s_sealer_1.drawer.reached", "source": "a4s_sealer_1.drawer", "data": {"position": "out", "q": 5.472906572379088e-09}, "cause": "program-0-4"} +{"env_id": 0, "seq": 27, "step": 7754, "t": 38.77, "topic": "a4s_sealer_1.drawer.at_out", "source": "a4s_sealer_1.drawer", "data": {"q": 5.472906572379088e-09}, "cause": "program-0-4"} +{"env_id": 0, "seq": 28, "step": 7754, "t": 38.77, "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": 7754, "t": 38.77, "topic": "a4s_sealer_1.seal.finished", "source": "a4s_sealer_1", "data": {}, "cause": "task-0-1"} +{"env_id": 0, "seq": 30, "step": 7754, "t": 38.77, "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": 8335, "t": 41.675, "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": 10040, "t": 50.2, "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": 10040, "t": 50.2, "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": 10040, "t": 50.2, "topic": "conveyor_1.belt.state.changed", "source": "conveyor_1.belt", "data": {"from": "at_station", "to": "running"}, "cause": null} +{"env_id": 0, "seq": 35, "step": 10040, "t": 50.2, "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/c9_p012_e023/env.mp4 b/episodes/c9_p012_e023/env.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..44e3f3eaa11930888bb9fcbd6358df4cf13900a5 --- /dev/null +++ b/episodes/c9_p012_e023/env.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:c4e03a67fe34ffb15146640752d74bf6cc4ab0b2f021ce993851416c3ae5bfc8 +size 1201657 diff --git a/episodes/c9_p012_e023/meta.json b/episodes/c9_p012_e023/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..5ba257a564178cc96497085e35122983c2dc52a0 --- /dev/null +++ b/episodes/c9_p012_e023/meta.json @@ -0,0 +1,32 @@ +{ + "source": "raw/c9_p012/magicsim/23", + "fps": 25, + "frames": 1227, + "kept_ticks": "even", + "video_frames": { + "wrist": 1227, + "env": 1227 + }, + "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_p012_e023/scene_snapshot.json b/episodes/c9_p012_e023/scene_snapshot.json new file mode 100644 index 0000000000000000000000000000000000000000..e38e911ec64d420c187f4464e2f042ff9b9724b1 --- /dev/null +++ b/episodes/c9_p012_e023/scene_snapshot.json @@ -0,0 +1,1558 @@ +{ + "trajectory_id": 23, + "env_id": 0, + "run_id": "c9_p012", + "task_type": "BioPlateCell", + "success": true, + "timing": { + "fps": 50.0, + "sim_dt": 0.005, + "decimation": 4 + }, + "restore_interface": { + "scene": "scene_manager.reset_to(snapshot['scene'], env_ids=[env_id])", + "robots": "robot_manager.set_state({'robots': snapshot['robots']}, env_ids=[env_id])" + }, + "snapshot": { + "env_id": 0, + "scene": { + "objects": [ + { + "rac_cell": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/rac_cell.usd", + "pose": { + "pos": [ + 0.0, + 0.0, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "physics_material": { + "static_friction": 0.6, + "dynamic_friction": 0.5, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "robot_mount": [ + { + "asset": "Cube", + "pose": { + "pos": [ + 0.0, + 0.0, + 0.9075 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": "color", + "value": [ + 0.55, + 0.56, + 0.58 + ], + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": { + "size": [ + 0.2, + 0.2, + 0.015 + ] + } + }, + "type_specific": {} + } + ], + "plate_rack": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/plate_hotel.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 0.9 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "physics_material": { + "static_friction": 0.6, + "dynamic_friction": 0.5, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "hotel_plate": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_96_black/plate_96_black.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 0.9605 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_24_clear/plate_24_clear.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.0285 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/pcr_96_blue/pcr_96_blue.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.0965 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_96_clear/plate_96_clear.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.1645 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_96_white/plate_96_white.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.2325 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "a4s_sealer": [ + { + "asset": "$MAGICSIM_ASSETS/Articulated/A4SSealer/Object.usd", + "pose": { + "pos": [ + 0.5227231979370117, + 0.11492919921875, + 0.8999999761581421 + ], + "ori": [ + 0.7144604921340942, + 0.0, + 0.0, + -0.6996757984161377 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "articulation", + "solver_position_iteration_count": 16.0, + "solver_velocity_iteration_count": 1.0, + "enabled_self_collisions": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "joint_position": [ + 6.728328831584474e-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": 0.18558280591728557, + "direction": [ + 1.0, + 0.0, + 0.0 + ], + "enabled": true, + "drive": "surface_velocity", + "lines": null, + "station_line": null, + "riders": [ + "carrier" + ], + "stations": { + "pick": { + "position": -0.029614506734339574, + "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": 0.18558280591728557, + "holds": [], + "station": "pick", + "rider": "carrier_2", + "arrived": true, + "applied_speed": 0.0 + } + } + } + ], + "carrier": [ + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + -1.3970270156860352, + 0.8170700073242188, + 0.8999999761581421 + ], + "ori": [ + -0.686403751373291, + -1.4083417454457958e-07, + -2.7266429114547464e-08, + 0.7272207140922546 + ], + "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": [ + 1.0807775785437457e-09, + 2.5852331386744254e-10, + 0.0 + ], + "angular_velocity": [ + 3.3873508442638922e-09, + 1.99968042124965e-08, + 1.3766035422690948e-08 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + 0.12058734893798828, + 0.4473228454589844, + 0.8999999761581421 + ], + "ori": [ + 0.9999419450759888, + 5.869083885556847e-09, + -1.646751357498033e-08, + 0.010783543810248375 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 3.3659952602960175e-10, + -2.1566974872655464e-09, + 1.1175870895385742e-08 + ], + "angular_velocity": [ + 2.413636650544504e-07, + -8.804515516658284e-08, + 2.3238651891688278e-08 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + 0.3079519271850586, + 1.1526288986206055, + 0.8999999761581421 + ], + "ori": [ + -0.010197656229138374, + -1.831276819075356e-08, + -7.828758086247944e-09, + 0.9999480843544006 + ], + "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": [ + 4.153233312820248e-12, + 2.5810424908456753e-09, + 3.725290298461914e-09 + ], + "angular_velocity": [ + -1.4844212614661956e-07, + -5.0397024331516604e-09, + -9.082388174874723e-09 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + 1.638326644897461, + 0.6064004898071289, + 0.8999999761581421 + ], + "ori": [ + 0.8833082318305969, + -8.125512707124471e-09, + -3.5665821407349085e-09, + 0.4687926769256592 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 1.7257573148299343e-10, + 2.9370644805126744e-11, + -3.725290298461914e-09 + ], + "angular_velocity": [ + -1.995358900330757e-08, + 6.786481776543951e-08, + 6.8814607345757395e-09 + ] + } + } + ], + "plate": [ + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_6_clear/Object.usd", + "pose": { + "pos": [ + -1.3920488357543945, + 0.8084278106689453, + 0.9179999828338623 + ], + "ori": [ + -0.6900176405906677, + -1.432131710998874e-07, + -2.6027198174460864e-08, + 0.723792552947998 + ], + "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": [ + 5.943785907902566e-09, + 5.343377296185281e-08, + 1.30385160446167e-07 + ], + "angular_velocity": [ + -2.814971821862855e-06, + -1.0816256690304726e-06, + 2.749140719515708e-07 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_96_black/Object.usd", + "pose": { + "pos": [ + 0.1288890838623047, + 0.4443693161010742, + 0.9180000424385071 + ], + "ori": [ + 0.9966285824775696, + 8.107383209221553e-09, + -1.4840498607782138e-08, + -0.08204615116119385 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -2.3956097550126287e-08, + -3.599677000920565e-08, + -5.509704351425171e-06 + ], + "angular_velocity": [ + 9.608786513126688e-07, + -2.794684178297757e-06, + 6.225967297268653e-09 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/pcr_96_blue/Object.usd", + "pose": { + "pos": [ + 0.3115110397338867, + 1.15838623046875, + 0.9180000424385071 + ], + "ori": [ + -0.06490607559680939, + -1.9031640263733607e-08, + -5.857792917396409e-09, + 0.9978914260864258 + ], + "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": [ + 4.01872526367697e-08, + 5.179128237386976e-08, + -5.591660737991333e-06 + ], + "angular_velocity": [ + -9.351570042781532e-07, + 1.8057362467516214e-06, + 9.001973921840545e-08 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/deep_well_96_2ml/Object.usd", + "pose": { + "pos": [ + 1.6393566131591797, + 0.6153202056884766, + 0.9179999828338623 + ], + "ori": [ + 0.9223982691764832, + -7.393342826844673e-09, + -3.565813422312658e-09, + 0.3862403333187103 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -3.133890658091332e-08, + -8.493634595652111e-08, + -1.0654330253601074e-06 + ], + "angular_velocity": [ + 3.27845327774412e-06, + -7.253310627675091e-07, + 9.838986869681321e-08 + ] + } + } + ], + "deco_hub_west": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/hub_d.usd", + "pose": { + "pos": [ + -3.36, + 0.0, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_hub_east": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/hub_e.usd", + "pose": { + "pos": [ + 3.36, + 0.0, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_hub_back": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/hub_b.usd", + "pose": { + "pos": [ + -3.0, + -2.1, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_bench_east": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/bench_a.usd", + "pose": { + "pos": [ + 2.6, + -2.5, + 0.0 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_bench_gap": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/bench_b.usd", + "pose": { + "pos": [ + -0.1, + -2.9, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ] + }, + {}, + {}, + {} + ], + "devices": { + "hub": [ + { + "t": 1.359999999999993, + "step": 272, + "counter": 0, + "devices": { + "a4s_sealer_1": { + "mode": "auto", + "units": { + "drawer": { + "state": "at_out", + "active": null, + "target": 0.0, + "goal_name": "out", + "profile": null, + "q_start": null, + "reversing": false, + "blocked_for": 0.0, + "settled_for": 0.0, + "last_q": 6.728328831584474e-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": 0.18558280591728557, + "holds": [], + "station": "pick", + "rider": "carrier_2", + "arrived": true, + "settle_count": 51, + "released": { + "pick": [] + }, + "last_pos": { + "carrier_1": [ + -1.5470270216464996, + 0.3670700192451477, + 0.0 + ], + "carrier_2": [ + -0.029412657022476196, + -0.00267714262008667, + 0.0 + ], + "carrier_3": [ + 0.15795192122459412, + 0.7026289105415344, + 0.0 + ], + "carrier_4": [ + 1.4883266389369965, + 0.15640050172805786, + 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": [ + -0.28792291204638887, + 0.42752785210648814, + 2.940369842318688 + ], + "ori": [ + -9.21913646029124, + -11.111014695542298, + 6.949113024208643 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "color_temperature": 5028.740788506513, + "color": [ + 0.9530820641106087, + 0.8927194039412166, + 0.9815483996433314 + ], + "intensity": 11291.887731286464, + "width": 1.9015244095534696, + "height": 1.5917769428555584 + } + }, + "key": { + "type": "disk", + "pose": { + "pos": [ + 1.6178093194320757, + -0.7522689336872814, + 2.389761686995635 + ], + "ori": [ + -39.90077890252717, + -35.281221431446916, + -23.943310298636682 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "color_temperature": 4649.074501469709, + "color": [ + 0.9499621442156543, + 0.8651185313392252, + 0.8360300441818269 + ], + "intensity": 6190.255965745984, + "radius": 0.3375827247829776 + } + } + }, + {}, + {}, + {} + ], + "background": { + "type": "dome", + "pose": { + "pos": null, + "ori": null, + "scale": null + }, + "dr": { + "intensity": 914.5036821523398, + "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": [ + [ + 0.9141006469726562, + -1.7193981409072876, + 2.0904994010925293, + -1.9419004917144775, + -1.5707999467849731, + 2.4848999977111816, + 0.017999999225139618, + 0.017999999225139618 + ], + [ + 1.069399118423462, + -1.6180205345153809, + 2.214839220046997, + -2.167673349380493, + -1.5707690715789795, + 2.766831398010254, + 0.007212776690721512, + 0.006671869661659002 + ], + [ + 0.7067351341247559, + -1.4473870992660522, + 2.0363168716430664, + -2.15922212600708, + -1.5709503889083862, + 2.4821720123291016, + 0.0072258394211530685, + 0.007729677949100733 + ], + [ + 1.2926350831985474, + -1.5511879920959473, + 2.150043487548828, + -2.170142889022827, + -1.5709269046783447, + 2.8136284351348877, + 0.008108677342534065, + 0.0065847039222717285 + ] + ], + "joint_vel": [ + [ + 2.88169630332507e-38, + 0.0, + -1.2240224376806274e-38, + -6.656526437949748e-37, + 3.3488706020873577e-37, + 2.1489701161716178e-37, + -2.502413013699515e-38, + -4.496696146575736e-38 + ], + [ + 0.00010450626723468304, + 9.245355613529682e-06, + 0.00017961475532501936, + 0.00102054828312248, + -0.0006413542432710528, + -0.00357048399746418, + -0.007268007379025221, + 9.039472934091464e-05 + ], + [ + 0.0024287302512675524, + 0.0006248014979064465, + 0.0008146869367919862, + 0.001982369925826788, + 0.0005890820757485926, + 0.002159291645511985, + -0.006272211205214262, + 0.0002309326227987185 + ], + [ + 0.0020801564678549767, + 0.0013076046016067266, + 0.0013697537360712886, + -0.0004880349151790142, + 0.0008060680120252073, + 0.0040117548778653145, + -0.006863012444227934, + -0.0005881167016923428 + ] + ] + } + }, + "cameras": { + "cameras": { + "camera0": [ + [ + 0.047499895095825195, + 0.000646944681648165, + -0.030124206095933914, + -0.2708229422569275, + 0.6559746265411377, + 0.6438543796539307, + -0.2860136330127716 + ], + [ + 0.04626571387052536, + 0.001867354498244822, + -0.02757023088634014, + -0.28015390038490295, + 0.6448550820350647, + 0.6586308479309082, + -0.2681065499782562 + ], + [ + 0.04609135165810585, + 0.0008829567232169211, + -0.031196344643831253, + -0.2851885259151459, + 0.6478801965713501, + 0.6444645524024963, + -0.28910934925079346 + ], + [ + 0.05388373136520386, + 0.001218814984895289, + -0.03263295814394951, + -0.2772570550441742, + 0.6483933329582214, + 0.6534401178359985, + -0.275191992521286 + ] + ], + "camera1": [ + [ + 0.049877602607011795, + 0.5886276960372925, + 1.965886116027832, + 0.03201920539140701, + -0.0017699868185445666, + 0.279403418302536, + 0.9596381187438965 + ], + [ + 0.07414529472589493, + 0.596565306186676, + 1.9352067708969116, + 0.03222434222698212, + 0.0037313795182853937, + 0.26327764987945557, + 0.9641745686531067 + ], + [ + 0.06558123230934143, + 0.5793325304985046, + 1.9397412538528442, + 0.03078513965010643, + -0.0007736344123259187, + 0.2759726345539093, + 0.9606720209121704 + ], + [ + 0.053358569741249084, + 0.5729422569274902, + 1.9673371315002441, + 0.039820101112127304, + 0.0064127808436751366, + 0.26562246680259705, + 0.9632330536842346 + ] + ] + } + } + } +} \ No newline at end of file diff --git a/episodes/c9_p012_e023/wrist.mp4 b/episodes/c9_p012_e023/wrist.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..0da3985b0690861467d561e9db876b4043bcf154 --- /dev/null +++ b/episodes/c9_p012_e023/wrist.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:ce69f279dfb761cb7d82604345b688a4269f70e4d22a8409b6f7d2198dace4d7 +size 6722788 diff --git a/index/episodes.csv b/index/episodes.csv index 39364517d5450eab2ea984683a7b428b8091673e..625f1e18ac6906fc0f26f73643b4f023f905e3dd 100644 --- a/index/episodes.csv +++ b/index/episodes.csv @@ -3202,3 +3202,13 @@ c8_p011_e003,0,True,0.14751529693603516,0.4471778869628906,-0.004136070010513804 c9_p012_e015,0,True,0.06528854370117188,0.45000267028808594,0.00023239388991858978,0.004731193159084336,5.60452647113658,plate_6_clear,0.5227231979370117,0.11492919921875,-88.80199811353675,0.20094098405226207,1089.155697832812,rect,0.7466109774478845,-0.39569509725126284,2.891966717986537,5840.9331696004,3338.1395388761,disk,-1.4100438725906002,0.2213164625434645,1.8133443370217124,9445.193902809537,4709.4126839165765,0.04565238952636719,0.0005640243180096149,-0.029749378561973572,-0.2694811522960663,0.6616662740707397,0.6432987451553345,-0.2752169668674469,0.036897942423820496,0.5664883255958557,1.927253246307373,0.053609006106853485,0.02578851766884327,0.2618336081504822,0.9632778167724609,1244,1,,2.0798838138580322,0.2634532135192559,0.0,0.007341427728533745,0.5136655948553055,12,release,0.04286670684814453,"Pre-grasping the small plate, moving the arm toward it; the ",v2,True,False c6_p010_e017,1,True,-0.0932912826538086,0.44748687744140625,0.0007960549116861472,-0.009999478206588079,7.633780768171334,pcr_384_red,0.5131692886352539,0.06496334075927734,-89.15471793599049,0.21480070171397497,1359.8687646790718,rect,0.21219361259123015,0.4531890877883351,2.615358854308519,4545.5307147716585,4357.943617023126,disk,-1.413110727603347,0.4233226472031275,2.397815858472941,8933.361153398431,3279.509982201625,0.04985245689749718,0.0010418297024443746,-0.027289463207125664,-0.2821708619594574,0.6443796753883362,0.6543002128601074,-0.27757108211517334,0.052996471524238586,0.5800438523292542,1.9526742696762085,0.041859664022922516,0.0008828591671772301,0.28407323360443115,0.9578880071640015,1241,1,,2.1232404708862305,0.2714206201133402,0.0,0.006862957961857319,0.5132957292506044,12,release,0.04242396354675293,"Pre-grasping the small plate, moving the arm toward it; the ",v2,True,False c6_p010_e018,0,True,0.03556346893310547,0.45000648498535156,-0.0037811769266627073,0.006186360148571133,1.9971980811329786,deep_well_96_2ml,0.4826030731201172,0.10466194152832031,-90.34329398814339,0.2936517912992149,1359.8687646790718,rect,0.549020497276847,-0.28621507275105473,2.881572860346557,12558.631032422676,6197.4289637548045,disk,1.784049245467303,1.1806273032392618,2.2560842552502898,3935.1920095885,5294.55306773077,0.04997942969202995,0.0011334667215123773,-0.03232310712337494,-0.27093905210494995,0.6487482786178589,0.6544786095619202,-0.2781643569469452,0.02904217690229416,0.5652005672454834,1.9459890127182007,0.03841182589530945,0.0025507351383566856,0.2597634792327881,0.9649046063423157,1225,1,,2.0633277893066406,0.30918507737618917,0.0,0.007461147382855415,0.5289795918367347,12,release,0.04310894012451172,"Pre-grasping the small plate, moving the arm toward it; the ",v2,True,False +c2_p012_e014,1,True,-0.06061840057373047,0.4500007629394531,0.011637736247765209,0.0007326044862622916,8.263522156996402,plate_12_clear,0.5209474563598633,0.06173419952392578,-90.27743180792878,0.15663684758114677,362.2657279848533,rect,0.38835765074118445,0.23665075338593922,2.8532444357348523,8852.861018992418,3329.686730323328,disk,-1.3821223078152935,0.5969759228509162,2.590763563904394,7334.987806779001,7286.873813071564,0.05182094871997833,-0.0012959056766703725,-0.034304678440093994,-0.28203070163726807,0.6504401564598083,0.641325831413269,-0.2934066951274872,0.06406161934137344,0.588767409324646,1.9292455911636353,0.0547955185174942,0.009874905459582806,0.27846717834472656,0.9588305354118347,1320,1,,2.0871098041534424,0.25560130529594605,0.0,0.007318350952118635,0.5318181818181819,12,release,0.04230993986129761,"Pre-grasping the small plate, moving the arm toward it; the ",v2,True,False +c2_p012_e015,3,True,0.09810733795166016,0.4499969482421875,0.004852237427270677,-0.0027619418304866547,-1.8163901207551305,reservoir_12ch,0.46442604064941406,0.05261802673339844,-90.18349874668557,0.2592163876348917,362.2657279848533,rect,0.6140627946865217,0.2190862679098533,3.1927757775284733,6789.26826872839,5319.349539435007,disk,-1.200228343069309,0.6863092824789525,1.9795696009455415,3877.181503258624,6185.614872720964,0.04798596724867821,-2.8878637749585323e-05,-0.033403411507606506,-0.2791847288608551,0.6450157761573792,0.650887131690979,-0.286978155374527,0.05576283857226372,0.598671019077301,1.9558275938034058,0.04937441274523735,0.015513386577367783,0.2645552158355713,0.9629808068275452,1276,1,,2.104217767715454,0.28502814860217485,0.0,0.007438084110617638,0.5007836990595611,12,release,0.042180418968200684,"Pre-grasping the small plate, moving the arm toward it; the ",v2,True,False +c4_p010_e017,0,True,0.1058187484741211,0.44747066497802734,0.003147998137608227,0.00884337376441382,1.5477030691945401,deep_well_96_2ml,0.4988422393798828,0.11703014373779297,-85.3321059681004,0.2579137555522813,1208.5843254455542,rect,0.5059160566734177,0.31544407725598,3.0580857174518727,11150.257642731067,6457.947769074399,disk,1.0708975184392422,0.12418176028549399,1.6120955269908268,2851.2131414717546,3111.4261022469645,0.047728147357702255,-0.0026955457869917154,-0.031420063227415085,-0.27034837007522583,0.6500675082206726,0.6523078083992004,-0.28074631094932556,0.028137803077697754,0.5671164393424988,1.9326881170272827,0.0276589747518301,0.01839546486735344,0.28453290462493896,0.958090603351593,1227,1,,2.0867419242858887,0.29302262230149384,0.0,0.007518145255744457,0.5183374083129584,12,release,0.0428004264831543,"Pre-grasping the small plate, moving the arm toward it; the ",v2,True,False +c4_p010_e018,2,True,0.027872085571289062,0.4500007629394531,0.00312708507731488,-0.004879006138767033,6.928350678912466,plate_1536_black,0.5234966278076172,0.1207571029663086,-94.96026412449318,0.22840459352173267,1208.5843254455542,rect,0.03147052087796387,0.23071517495473737,2.844615772732688,11322.031100018263,3209.763046958841,disk,0.20594247970041102,-0.07589438747014654,2.1793980621882465,7849.234398461294,5081.307746971792,0.04967033490538597,-0.0014528303872793913,-0.033040985465049744,-0.28198471665382385,0.6429440379142761,0.6508079171180725,-0.2890617251396179,0.053263261914253235,0.568596363067627,1.9619131088256836,0.02122991532087326,0.0012597718741744757,0.2771741449832916,0.960584282875061,1166,1,,2.071990489959717,0.2821452965075881,0.0,0.007385111413896084,0.5506003430531733,12,release,0.04220724105834961,"Pre-grasping the small plate, moving the arm toward it; the ",v2,True,False +c4_p010_e019,1,True,-0.06908607482910156,0.4474153518676758,0.00720717461761309,-0.010318419541403504,4.104434859712683,pcr_384_red,0.4977226257324219,0.10507011413574219,-87.15988363439565,0.2328154794734717,1208.5843254455542,rect,-0.38771652300178017,0.3109630481727187,2.77662477354633,15393.722590721045,4578.6003859623725,sphere,1.5374158288459028,-0.9044342048979233,2.385784022632394,4779.5511706666875,5771.88276445347,0.05232349410653114,0.004623047076165676,-0.0285521000623703,-0.27757757902145386,0.6544760465621948,0.6423490047454834,-0.28635549545288086,0.06597726792097092,0.579235315322876,1.9395787715911865,0.03210459649562836,0.020691830664873123,0.2861087918281555,0.9574356079101562,1280,1,,2.0768330097198486,0.2535504915241221,0.0,0.006781208794564009,0.546875,12,release,0.04228043556213379,"Pre-grasping the small plate, moving the arm toward it; the ",v2,True,False +c6_p010_e020,2,True,0.024951934814453125,0.45000457763671875,-0.01064185020832237,0.006685577690454473,-7.663526183328855,plate_1536_black,0.5262136459350586,0.07812881469726562,-87.10510678931891,0.1618034955630772,1359.8687646790718,rect,0.7223657160858769,-0.05548974131162038,2.7575680063396892,7860.13842142119,4835.183677220842,disk,0.2709776307547236,1.0606667786709265,2.0469980913542387,3266.2495862897667,7017.636544599664,0.05137573927640915,-0.003717170562595129,-0.027037419378757477,-0.2704828381538391,0.6546387076377869,0.645538330078125,-0.2856001555919647,0.028934825211763382,0.5684044361114502,1.9624083042144775,0.0468500591814518,0.002993786707520485,0.27237236499786377,0.9610459804534912,1230,1,,2.1175827980041504,0.32722476766739916,0.0,0.007379158399999142,0.5276422764227642,12,release,0.04215860366821289,"Pre-grasping the small plate, moving the arm toward it; the ",v2,True,False +c9_p012_e020,2,True,0.12857532501220703,0.4499988555908203,0.01134882662819384,-0.009656785947969891,-11.718831655709522,plate_1536_black,0.5216436386108398,0.11292362213134766,-87.43239555807246,0.2414892764349575,1130.2793976846615,rect,-0.24681845867991964,0.4744004693350031,2.641856712489601,4814.342116557763,6963.51046814331,sphere,-0.5027995347366736,-1.177237948235655,1.8962827696397877,1706.224208232486,3190.2710682616535,0.04989144951105118,-0.00011334109149174765,-0.031197315081954002,-0.2823943495750427,0.6479023098945618,0.6450991034507751,-0.29038459062576294,0.06558123230934143,0.5793325304985046,1.9397412538528442,0.03078513965010643,-0.0007736344123259187,0.2759726345539093,0.9606720209121704,1159,1,,2.0624091625213623,0.2476332488224432,0.0,0.00738926138728857,0.542709232096635,12,release,0.04241955280303955,"Pre-grasping the small plate, moving the arm toward it; the ",v2,True,False +c9_p012_e021,3,True,-0.14443397521972656,0.4471750259399414,-0.005204150467954975,-0.002195836174152674,1.8068127032396433,plate_96_clear,0.47942543029785156,0.07618427276611328,-91.87301596129831,0.20031497273333243,1130.2793976846615,rect,-0.39291520735984137,0.424502015216621,2.946393647920761,12169.354622367977,4337.581495705412,sphere,1.5821767012079282,1.16879595456129,2.007925662366093,4747.89317720245,4357.459980746641,0.05159340053796768,0.002581520937383175,-0.030148500576615334,-0.27580761909484863,0.6522705554962158,0.6506327390670776,-0.274135559797287,0.053358569741249084,0.5729422569274902,1.9673371315002441,0.039820101112127304,0.0064127808436751366,0.26562246680259705,0.9632330536842346,1200,1,,2.115163564682007,0.2680600271343695,0.0,0.007286914624273777,0.525,12,release,0.04204297065734863,"Pre-grasping the small plate, moving the arm toward it; the ",v2,True,False +c9_p012_e022,1,True,-0.04835033416748047,0.44750499725341797,-0.013485567746092095,-0.011167045140561502,-8.557556074985342,pcr_384_red,0.5055665969848633,0.09293270111083984,-85.08654863577858,0.18778829626842264,1130.2793976846615,rect,-0.11417021573985281,0.11969405135893252,2.842298627139939,12157.632711981147,6597.787369357127,disk,0.39962033482840775,0.8615248163592459,2.7430109756741223,6410.892660393375,7161.483964782167,0.04556617885828018,0.002385880099609494,-0.026387162506580353,-0.27608224749565125,0.6455196738243103,0.6568939089775085,-0.27490606904029846,0.07414529472589493,0.596565306186676,1.9352067708969116,0.03222434222698212,0.0037313795182853937,0.26327764987945557,0.9641745686531067,1272,1,,2.0325727462768555,0.2908718000900981,0.0,0.006843716837465763,0.5518867924528302,12,release,0.042182207107543945,"Pre-grasping the small plate, moving the arm toward it; the ",v2,True,False +c9_p012_e023,0,True,0.12058734893798828,0.4473228454589844,0.008236108864110487,-0.0031318763066527032,-10.64810423152565,plate_96_black,0.5227231979370117,0.11492919921875,-88.80199811353675,0.18558280591728557,914.5036821523398,rect,-0.28792291204638887,0.42752785210648814,2.940369842318688,11291.887731286464,5028.740788506513,disk,1.6178093194320757,-0.7522689336872814,2.389761686995635,6190.255965745984,4649.074501469709,0.047499895095825195,0.000646944681648165,-0.030124206095933914,-0.2708229422569275,0.6559746265411377,0.6438543796539307,-0.2860136330127716,0.049877602607011795,0.5886276960372925,1.965886116027832,0.03201920539140701,-0.0017699868185445666,0.279403418302536,0.9596381187438965,1227,1,,2.0655953884124756,0.3058506696144683,0.0,0.007256444543600082,0.5240423797881011,12,release,0.04235267639160156,"Pre-grasping the small plate, moving the arm toward it; the ",v2,True,False