diff --git a/episodes/c1_p004_e004/data.npz b/episodes/c1_p004_e004/data.npz new file mode 100644 index 0000000000000000000000000000000000000000..1c2ce03c9d9616fcb584079767b2fc03d8cf2b9f --- /dev/null +++ b/episodes/c1_p004_e004/data.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:8bcee854804d0fab844cc8234a80364bae140def48a0ac1b23dc7b91db9ab434 +size 188848 diff --git a/episodes/c1_p004_e004/device_events.jsonl b/episodes/c1_p004_e004/device_events.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..c05b8381716b3e350163bb0ffa98189c964df3e2 --- /dev/null +++ b/episodes/c1_p004_e004/device_events.jsonl @@ -0,0 +1,35 @@ +{"env_id": 1, "seq": 1, "step": 102, "t": 0.51, "topic": "conveyor_1.belt.station.pick.captured", "source": "conveyor_1.belt", "data": {"rider": "carrier_1"}, "cause": null} +{"env_id": 1, "seq": 2, "step": 102, "t": 0.51, "topic": "conveyor_1.belt.state.changed", "source": "conveyor_1.belt", "data": {"from": "running", "to": "at_station"}, "cause": null} +{"env_id": 1, "seq": 3, "step": 107, "t": 0.535, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_1"}, "cause": null} +{"env_id": 1, "seq": 4, "step": 6017, "t": 30.085, "topic": "a4s_sealer_1.plate_present.present", "source": "a4s_sealer_1.plate_present", "data": {"object": "plate_1"}, "cause": null} +{"env_id": 1, "seq": 5, "step": 6628, "t": 33.14, "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": 6628, "t": 33.14, "topic": "a4s_sealer_1.seal.started", "source": "a4s_sealer_1", "data": {"dwell": 1.984500479517369}, "cause": "task-1-1"} +{"env_id": 1, "seq": 7, "step": 6628, "t": 33.14, "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": 6628, "t": 33.14, "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": 6628, "t": 33.14, "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": 7047, "t": 35.235, "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": 7047, "t": 35.235, "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": 7047, "t": 35.235, "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": 7047, "t": 35.235, "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": 7047, "t": 35.235, "topic": "labware.plate_1.changed", "source": "labware.plate_1", "data": {"key": "sealed", "value": true}, "cause": "task-1-1"} +{"env_id": 1, "seq": 15, "step": 7047, "t": 35.235, "topic": "a4s_sealer_1.sealed", "source": "a4s_sealer_1", "data": {"plate": "plate_1"}, "cause": "task-1-1"} +{"env_id": 1, "seq": 16, "step": 7047, "t": 35.235, "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": 7047, "t": 35.235, "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": 7047, "t": 35.235, "topic": "a4s_sealer_1.heater.started", "source": "a4s_sealer_1.heater", "data": {"duration": 1.984500479517369}, "cause": "program-1-3"} +{"env_id": 1, "seq": 19, "step": 7444, "t": 37.22, "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": 7444, "t": 37.22, "topic": "a4s_sealer_1.heater.finished", "source": "a4s_sealer_1.heater", "data": {"elapsed": 1.9850000000010155}, "cause": "program-1-3"} +{"env_id": 1, "seq": 21, "step": 7444, "t": 37.22, "topic": "a4s_sealer_1.heater.command.succeeded", "source": "a4s_sealer_1.heater", "data": {"command_id": "program-1-3", "name": "run", "source": "program:seal", "result": {"elapsed": 1.9850000000010155}}, "cause": "program-1-3"} +{"env_id": 1, "seq": 22, "step": 7444, "t": 37.22, "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": 7444, "t": 37.22, "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": 7444, "t": 37.22, "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": 7864, "t": 39.32, "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": 7864, "t": 39.32, "topic": "a4s_sealer_1.drawer.reached", "source": "a4s_sealer_1.drawer", "data": {"position": "out", "q": 0.0}, "cause": "program-1-4"} +{"env_id": 1, "seq": 27, "step": 7864, "t": 39.32, "topic": "a4s_sealer_1.drawer.at_out", "source": "a4s_sealer_1.drawer", "data": {"q": 0.0}, "cause": "program-1-4"} +{"env_id": 1, "seq": 28, "step": 7864, "t": 39.32, "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": 7864, "t": 39.32, "topic": "a4s_sealer_1.seal.finished", "source": "a4s_sealer_1", "data": {}, "cause": "task-1-1"} +{"env_id": 1, "seq": 30, "step": 7864, "t": 39.32, "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": 8443, "t": 42.215, "topic": "a4s_sealer_1.plate_present.absent", "source": "a4s_sealer_1.plate_present", "data": {"object": "plate_1"}, "cause": null} +{"env_id": 1, "seq": 32, "step": 10160, "t": 50.8, "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": 10160, "t": 50.8, "topic": "conveyor_1.belt.station.pick.released", "source": "conveyor_1.belt", "data": {"rider": "carrier_1"}, "cause": "task-1-5"} +{"env_id": 1, "seq": 34, "step": 10160, "t": 50.8, "topic": "conveyor_1.belt.state.changed", "source": "conveyor_1.belt", "data": {"from": "at_station", "to": "running"}, "cause": null} +{"env_id": 1, "seq": 35, "step": 10160, "t": 50.8, "topic": "conveyor_1.belt.command.succeeded", "source": "conveyor_1.belt", "data": {"command_id": "task-1-5", "name": "release", "source": "task", "result": {"state": "running"}}, "cause": "task-1-5"} diff --git a/episodes/c1_p004_e004/env.mp4 b/episodes/c1_p004_e004/env.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..6b16fcd134f1186cf7be2fe724a3f1b43d4a6fb2 --- /dev/null +++ b/episodes/c1_p004_e004/env.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:530e745aca2741bc2a3ee48159d2f6115350644c145e16acd4c314f4cf2aba2a +size 1210882 diff --git a/episodes/c1_p004_e004/meta.json b/episodes/c1_p004_e004/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..af2115a5a3b3de7020d2928a34967b4967d8f7f2 --- /dev/null +++ b/episodes/c1_p004_e004/meta.json @@ -0,0 +1,32 @@ +{ + "source": "raw/c1_p004/magicsim/4", + "fps": 25, + "frames": 1212, + "kept_ticks": "even", + "video_frames": { + "wrist": 1212, + "env": 1212 + }, + "joint_target_source": "joint_pos_target", + "fk_vs_recorded_eef_max_m": 0.0, + "curobo_joints": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "joint_order": [ + "shoulder_pan", + "shoulder_lift", + "elbow", + "wrist_1", + "wrist_2", + "wrist_3", + "finger_left", + "finger_right" + ], + "frames_note": "eef / actions in the robot base frame; camera_pose = local pose (wrist: in plate_gripper_base, env: env frame), pos + quat wxyz", + "dr_version": "v2" +} \ No newline at end of file diff --git a/episodes/c1_p004_e004/scene_snapshot.json b/episodes/c1_p004_e004/scene_snapshot.json new file mode 100644 index 0000000000000000000000000000000000000000..4c7f21231ea044eaa1df2f200e161535efc2599a --- /dev/null +++ b/episodes/c1_p004_e004/scene_snapshot.json @@ -0,0 +1,1558 @@ +{ + "trajectory_id": 4, + "env_id": 1, + "run_id": "c1_p004", + "task_type": "BioPlateCell", + "success": true, + "timing": { + "fps": 50.0, + "sim_dt": 0.005, + "decimation": 4 + }, + "restore_interface": { + "scene": "scene_manager.reset_to(snapshot['scene'], env_ids=[env_id])", + "robots": "robot_manager.set_state({'robots': snapshot['robots']}, env_ids=[env_id])" + }, + "snapshot": { + "env_id": 1, + "scene": { + "objects": [ + {}, + { + "rac_cell": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/rac_cell.usd", + "pose": { + "pos": [ + 0.0, + 0.0, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "physics_material": { + "static_friction": 0.6, + "dynamic_friction": 0.5, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "robot_mount": [ + { + "asset": "Cube", + "pose": { + "pos": [ + 0.0, + 0.0, + 0.9075 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": "color", + "value": [ + 0.55, + 0.56, + 0.58 + ], + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": { + "size": [ + 0.2, + 0.2, + 0.015 + ] + } + }, + "type_specific": {} + } + ], + "plate_rack": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/plate_hotel.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 0.9 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "physics_material": { + "static_friction": 0.6, + "dynamic_friction": 0.5, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "hotel_plate": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_96_clear/plate_96_clear.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 0.9605 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_24_clear/plate_24_clear.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.0285 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/pcr_96_blue/pcr_96_blue.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.0965 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_96_white/plate_96_white.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.1645 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_12_clear/plate_12_clear.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.2325 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "a4s_sealer": [ + { + "asset": "$MAGICSIM_ASSETS/Articulated/A4SSealer/Object.usd", + "pose": { + "pos": [ + 0.5042552947998047, + 0.08044242858886719, + 0.8999999761581421 + ], + "ori": [ + -0.7036067247390747, + 0.0, + 0.0, + 0.710589587688446 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "articulation", + "solver_position_iteration_count": 16.0, + "solver_velocity_iteration_count": 1.0, + "enabled_self_collisions": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "joint_position": [ + 1.3456657663168947e-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": 0.22102106385440595, + "direction": [ + 1.0, + 0.0, + 0.0 + ], + "enabled": true, + "drive": "surface_velocity", + "lines": null, + "station_line": null, + "riders": [ + "carrier" + ], + "stations": { + "pick": { + "position": -0.2631689968431408, + "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": 0.22102106385440595, + "holds": [], + "station": "pick", + "rider": "carrier_1", + "arrived": true, + "applied_speed": 0.0 + } + } + } + ], + "carrier": [ + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + -0.11262226104736328, + 0.4499979019165039, + 0.8999999761581421 + ], + "ori": [ + 1.0, + 3.6220537680264897e-09, + -7.046867950277758e-11, + 2.4731927624088712e-05 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 1.4981804685731959e-09, + 1.407193805924578e-09, + 1.1175870895385742e-08 + ], + "angular_velocity": [ + -7.486445952054055e-08, + 1.32543448216893e-07, + -1.5594114444184015e-08 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + -1.3750572204589844, + 0.9218883514404297, + 0.8999999761581421 + ], + "ori": [ + -0.5637229681015015, + 3.005758486551713e-08, + 1.4446897012021509e-08, + 0.8259639739990234 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 7.79337705480998e-11, + 7.705771576382858e-10, + 3.725290298461914e-09 + ], + "angular_velocity": [ + -6.060423629605793e-08, + 3.5049758650984586e-09, + 3.3565705770399745e-10 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + 1.2801952362060547, + 0.4498586654663086, + 0.8999999761581421 + ], + "ori": [ + 0.9999996423721313, + -7.949627622849675e-09, + -2.3300859908204075e-08, + -0.0008618153515271842 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -9.89390880334895e-09, + -7.44884403047763e-08, + -7.450580596923828e-09 + ], + "angular_velocity": [ + 1.3378032690525288e-06, + 1.844595942657179e-07, + -5.913586846872931e-07 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + 0.5741052627563477, + 1.1500749588012695, + 0.8999999761581421 + ], + "ori": [ + -0.0009503092733211815, + -2.1177293252350182e-10, + 9.875105178025478e-10, + 0.9999995827674866 + ], + "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": [ + 5.596785257466763e-10, + 1.3398876452797026e-09, + 0.0 + ], + "angular_velocity": [ + -7.183844985547694e-08, + 3.5536892539766995e-08, + -1.0871503697273965e-08 + ] + } + } + ], + "plate": [ + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_12_clear/Object.usd", + "pose": { + "pos": [ + -0.12410545349121094, + 0.4459972381591797, + 0.9179999828338623 + ], + "ori": [ + 0.9950358271598816, + 2.435827983759964e-09, + -1.5231438332818925e-09, + 0.09951826930046082 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -8.110012217343865e-09, + -1.7715131583884158e-09, + 1.601874828338623e-07 + ], + "angular_velocity": [ + 1.1124736829515314e-06, + -1.6902856714295922e-06, + -7.318652706089779e-08 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_96_white/Object.usd", + "pose": { + "pos": [ + -1.366124153137207, + 0.9154186248779297, + 0.9180000424385071 + ], + "ori": [ + -0.5896419286727905, + 3.1991167048772695e-08, + 1.3927138553526675e-08, + 0.8076648116111755 + ], + "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": [ + 1.9069108958547076e-08, + 2.7387628165342903e-08, + -5.759298801422119e-06 + ], + "angular_velocity": [ + -2.595610112621216e-06, + 8.828357636048167e-07, + 1.2382456304749212e-07 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/pcr_384_red/Object.usd", + "pose": { + "pos": [ + 1.2921552658081055, + 0.4552154541015625, + 0.9179999828338623 + ], + "ori": [ + 0.9952533841133118, + -5.6217110966372275e-08, + 2.5177833151701634e-08, + 0.09731782227754593 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -3.0599011324738967e-07, + -4.871179498877609e-06, + -6.202608346939087e-06 + ], + "angular_velocity": [ + 1.166526271845214e-05, + 1.7060412574210204e-05, + -1.4508390449918807e-05 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/deep_well_96_1ml/Object.usd", + "pose": { + "pos": [ + 0.5683345794677734, + 1.1426200866699219, + 0.9179999828338623 + ], + "ori": [ + -0.004827443510293961, + -4.8453792089731e-09, + 4.255934715757803e-09, + 0.9999883770942688 + ], + "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": [ + 1.0622648005664814e-07, + 7.802236723364331e-08, + 2.0116567611694336e-07 + ], + "angular_velocity": [ + -2.430220092719537e-06, + 4.036977770738304e-06, + 2.383164030561602e-07 + ] + } + } + ], + "deco_hub_west": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/hub_a.usd", + "pose": { + "pos": [ + -3.36, + 0.0, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_hub_east": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/hub_c.usd", + "pose": { + "pos": [ + 3.36, + 0.0, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_hub_back": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/hub_d.usd", + "pose": { + "pos": [ + -3.0, + -2.1, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_bench_east": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/bench_c.usd", + "pose": { + "pos": [ + 2.6, + -2.5, + 0.0 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_bench_gap": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/bench_b.usd", + "pose": { + "pos": [ + -0.1, + -2.9, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ] + }, + {}, + {} + ], + "devices": { + "hub": [ + null, + { + "t": 2.499999999999969, + "step": 500, + "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": 1.3456657663168947e-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": 0.22102106385440595, + "holds": [], + "station": "pick", + "rider": "carrier_1", + "arrived": true, + "settle_count": 397, + "released": { + "pick": [] + }, + "last_pos": { + "carrier_1": [ + -0.26262226700782776, + -2.086162567138672e-06, + 0.0 + ], + "carrier_2": [ + -1.5250572264194489, + 0.47188836336135864, + 0.0 + ], + "carrier_3": [ + 1.1301952302455902, + -0.00014132261276245117, + 0.0 + ], + "carrier_4": [ + 0.4241052567958832, + 0.7000749707221985, + 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": [ + -0.2537572632068824, + -0.07606126187620954, + 2.8593890388268024 + ], + "ori": [ + -9.119631772674538, + 9.365656349095111, + -15.698188607538023 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "color_temperature": 6695.744995827175, + "color": [ + 0.926973800365059, + 0.8786527350207017, + 0.8583776461201759 + ], + "intensity": 14131.974628359598, + "width": 2.3992875356273347, + "height": 1.3958149563660558 + } + }, + "key": { + "type": "disk", + "pose": { + "pos": [ + -0.8300732207573759, + 0.9034704415839789, + 2.097930060371371 + ], + "ori": [ + -17.52034989542456, + -36.50735188575293, + 11.425642049583978 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "color_temperature": 4049.142259517923, + "color": [ + 0.9825921630045986, + 0.9161759080469806, + 0.962031546862155 + ], + "intensity": 4468.72076222782, + "radius": 0.3395142450138873 + } + } + }, + {}, + {} + ], + "background": { + "type": "dome", + "pose": { + "pos": null, + "ori": null, + "scale": null + }, + "dr": { + "intensity": 1570.1341681066326, + "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": [ + [ + 1.216019868850708, + -1.474572777748108, + 2.2156600952148438, + -2.3117754459381104, + -1.5708651542663574, + 2.732736587524414, + 0.007784656248986721, + 0.007243732456117868 + ], + [ + 0.9141026735305786, + -1.7193979024887085, + 2.090498447418213, + -1.9419000148773193, + -1.5707999467849731, + 2.4849014282226562, + 0.01799999736249447, + 0.018000001087784767 + ], + [ + 1.2549715042114258, + -1.310837745666504, + 2.28085994720459, + -2.541179895401001, + -1.5706977844238281, + 5.970569610595703, + 0.017999986186623573, + 0.017999986186623573 + ], + [ + 1.2526744604110718, + -1.3138409852981567, + 2.281520366668701, + -2.5381531715393066, + -1.5707529783248901, + 2.802586317062378, + 0.017999988049268723, + 0.018000010401010513 + ] + ], + "joint_vel": [ + [ + 0.00044432375580072403, + -0.016811024397611618, + -0.010363523848354816, + 0.024762222543358803, + 0.000657654891256243, + 0.003441337961703539, + -0.00647661043331027, + 0.00037650566082447767 + ], + [ + -2.5364903502743514e-38, + 1.5564056690036953e-38, + 3.8666073367665536e-38, + 5.2181081378243525e-37, + -3.978467948499132e-38, + 4.506896478357249e-37, + 2.5990388508034812e-08, + -2.5990386731677972e-08 + ], + [ + 1.0217898307018913e-05, + 3.4059191875712713e-06, + 6.811931598349474e-06, + -4.316887559224769e-12, + 3.4059776226058602e-06, + -1.3623911399918143e-05, + 1.8192287143392605e-07, + 1.8192271511452418e-07 + ], + [ + 4.271531361155212e-05, + -0.004537106025964022, + -0.001307537080720067, + 0.00553980702534318, + 8.7459175119875e-06, + -6.674914402537979e-06, + 2.0572526864270912e-06, + -2.057119672826957e-06 + ] + ] + } + }, + "cameras": { + "cameras": { + "camera0": [ + [ + 0.047732818871736526, + 0.002052833093330264, + -0.030868150293827057, + -0.2779301404953003, + 0.6535351872444153, + 0.6481136083602905, + -0.2749461531639099 + ], + [ + 0.050485994666814804, + -0.0015380475670099258, + -0.03014025092124939, + -0.289742648601532, + 0.6406607031822205, + 0.65131014585495, + -0.28530359268188477 + ], + [ + 0.047223351895809174, + -0.0029296891298145056, + -0.025603773072361946, + -0.27062809467315674, + 0.6650618314743042, + 0.6379261612892151, + -0.27839425206184387 + ], + [ + 0.051403045654296875, + 0.00046755411312915385, + -0.028824346140027046, + -0.28825896978378296, + 0.6451063752174377, + 0.652134358882904, + -0.27470943331718445 + ] + ], + "camera1": [ + [ + 0.0712307021021843, + 0.5728806257247925, + 1.9576637744903564, + 0.034133411943912506, + 0.003127296455204487, + 0.27131086587905884, + 0.9618812799453735 + ], + [ + 0.06482504308223724, + 0.6007570624351501, + 1.9288239479064941, + 0.02774667926132679, + 0.021900612860918045, + 0.28125154972076416, + 0.9589828252792358 + ], + [ + 0.03005197085440159, + 0.5780656933784485, + 1.9264494180679321, + 0.03981369361281395, + 0.02990436926484108, + 0.26339179277420044, + 0.9634029865264893 + ], + [ + 0.043939054012298584, + 0.5806123614311218, + 1.9319745302200317, + 0.03292841836810112, + 0.0211325753480196, + 0.2832922339439392, + 0.9582351446151733 + ] + ] + } + } + } +} \ No newline at end of file diff --git a/episodes/c1_p004_e004/wrist.mp4 b/episodes/c1_p004_e004/wrist.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..df6f2b9e6dfa780bf9c26fe8d882595877cf2bae --- /dev/null +++ b/episodes/c1_p004_e004/wrist.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:dd5a8d7864f1dee70671016fb819cf1803f3ee7baee45fb9a91abecd68bf5cf1 +size 7047191 diff --git a/episodes/c1_p004_e005/data.npz b/episodes/c1_p004_e005/data.npz new file mode 100644 index 0000000000000000000000000000000000000000..b8264cd7b81038dfcc2d84af1effed278b25dd69 --- /dev/null +++ b/episodes/c1_p004_e005/data.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:2748fc2c72d54c7b868884cf68056b742336c1c19469515c3a11ab60d5a0659e +size 206025 diff --git a/episodes/c1_p004_e005/device_events.jsonl b/episodes/c1_p004_e005/device_events.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..b7d8427ae98441d0bfb7b79bd12b8c74d93a444c --- /dev/null +++ b/episodes/c1_p004_e005/device_events.jsonl @@ -0,0 +1,36 @@ +{"env_id": 0, "seq": 1, "step": 40, "t": 0.2, "topic": "conveyor_1.belt.station.pick.captured", "source": "conveyor_1.belt", "data": {"rider": "carrier_4"}, "cause": null} +{"env_id": 0, "seq": 2, "step": 40, "t": 0.2, "topic": "conveyor_1.belt.state.changed", "source": "conveyor_1.belt", "data": {"from": "running", "to": "at_station"}, "cause": null} +{"env_id": 0, "seq": 3, "step": 45, "t": 0.225, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_4"}, "cause": null} +{"env_id": 0, "seq": 4, "step": 882, "t": 4.41, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_4"}, "cause": null} +{"env_id": 0, "seq": 5, "step": 5799, "t": 28.995, "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": 6412, "t": 32.06, "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": 6412, "t": 32.06, "topic": "a4s_sealer_1.seal.started", "source": "a4s_sealer_1", "data": {"dwell": 4.617363289314243}, "cause": "task-0-1"} +{"env_id": 0, "seq": 8, "step": 6412, "t": 32.06, "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": 6412, "t": 32.06, "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": 6412, "t": 32.06, "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": 6831, "t": 34.155, "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": 6831, "t": 34.155, "topic": "a4s_sealer_1.drawer.reached", "source": "a4s_sealer_1.drawer", "data": {"position": "in", "q": 0.29999998211860657}, "cause": "program-0-2"} +{"env_id": 0, "seq": 13, "step": 6831, "t": 34.155, "topic": "a4s_sealer_1.drawer.at_in", "source": "a4s_sealer_1.drawer", "data": {"q": 0.29999998211860657}, "cause": "program-0-2"} +{"env_id": 0, "seq": 14, "step": 6831, "t": 34.155, "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": 6831, "t": 34.155, "topic": "labware.plate_4.changed", "source": "labware.plate_4", "data": {"key": "sealed", "value": true}, "cause": "task-0-1"} +{"env_id": 0, "seq": 16, "step": 6831, "t": 34.155, "topic": "a4s_sealer_1.sealed", "source": "a4s_sealer_1", "data": {"plate": "plate_4"}, "cause": "task-0-1"} +{"env_id": 0, "seq": 17, "step": 6831, "t": 34.155, "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": 6831, "t": 34.155, "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": 6831, "t": 34.155, "topic": "a4s_sealer_1.heater.started", "source": "a4s_sealer_1.heater", "data": {"duration": 4.617363289314243}, "cause": "program-0-3"} +{"env_id": 0, "seq": 20, "step": 7755, "t": 38.775, "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": 7755, "t": 38.775, "topic": "a4s_sealer_1.heater.finished", "source": "a4s_sealer_1.heater", "data": {"elapsed": 4.6200000000023635}, "cause": "program-0-3"} +{"env_id": 0, "seq": 22, "step": 7755, "t": 38.775, "topic": "a4s_sealer_1.heater.command.succeeded", "source": "a4s_sealer_1.heater", "data": {"command_id": "program-0-3", "name": "run", "source": "program:seal", "result": {"elapsed": 4.6200000000023635}}, "cause": "program-0-3"} +{"env_id": 0, "seq": 23, "step": 7755, "t": 38.775, "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": 7755, "t": 38.775, "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": 7755, "t": 38.775, "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": 8174, "t": 40.87, "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": 8174, "t": 40.87, "topic": "a4s_sealer_1.drawer.reached", "source": "a4s_sealer_1.drawer", "data": {"position": "out", "q": 2.891239603286522e-07}, "cause": "program-0-4"} +{"env_id": 0, "seq": 28, "step": 8174, "t": 40.87, "topic": "a4s_sealer_1.drawer.at_out", "source": "a4s_sealer_1.drawer", "data": {"q": 2.891239603286522e-07}, "cause": "program-0-4"} +{"env_id": 0, "seq": 29, "step": 8174, "t": 40.87, "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": 8174, "t": 40.87, "topic": "a4s_sealer_1.seal.finished", "source": "a4s_sealer_1", "data": {}, "cause": "task-0-1"} +{"env_id": 0, "seq": 31, "step": 8174, "t": 40.87, "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": 8749, "t": 43.745, "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": 10964, "t": 54.82, "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": 10964, "t": 54.82, "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": 10964, "t": 54.82, "topic": "conveyor_1.belt.state.changed", "source": "conveyor_1.belt", "data": {"from": "at_station", "to": "running"}, "cause": null} +{"env_id": 0, "seq": 36, "step": 10964, "t": 54.82, "topic": "conveyor_1.belt.command.succeeded", "source": "conveyor_1.belt", "data": {"command_id": "task-0-5", "name": "release", "source": "task", "result": {"state": "running"}}, "cause": "task-0-5"} diff --git a/episodes/c1_p004_e005/env.mp4 b/episodes/c1_p004_e005/env.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..5bdb37a317e475f2fd72bfc9b3de027fd21a98f9 --- /dev/null +++ b/episodes/c1_p004_e005/env.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:0da0e9a9a863aaa38b25802e535cec6ae27b10ad04681a41a48019e276f25fe9 +size 1371039 diff --git a/episodes/c1_p004_e005/meta.json b/episodes/c1_p004_e005/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..fb9ae9f5beb3fe768594effd2d44667ef0631aa3 --- /dev/null +++ b/episodes/c1_p004_e005/meta.json @@ -0,0 +1,32 @@ +{ + "source": "raw/c1_p004/magicsim/5", + "fps": 25, + "frames": 1318, + "kept_ticks": "even", + "video_frames": { + "wrist": 1318, + "env": 1318 + }, + "joint_target_source": "joint_pos_target", + "fk_vs_recorded_eef_max_m": 0.0, + "curobo_joints": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "joint_order": [ + "shoulder_pan", + "shoulder_lift", + "elbow", + "wrist_1", + "wrist_2", + "wrist_3", + "finger_left", + "finger_right" + ], + "frames_note": "eef / actions in the robot base frame; camera_pose = local pose (wrist: in plate_gripper_base, env: env frame), pos + quat wxyz", + "dr_version": "v2" +} \ No newline at end of file diff --git a/episodes/c1_p004_e005/scene_snapshot.json b/episodes/c1_p004_e005/scene_snapshot.json new file mode 100644 index 0000000000000000000000000000000000000000..15f4b975d53251443940cf34caddc3738f5ddf29 --- /dev/null +++ b/episodes/c1_p004_e005/scene_snapshot.json @@ -0,0 +1,1558 @@ +{ + "trajectory_id": 5, + "env_id": 0, + "run_id": "c1_p004", + "task_type": "BioPlateCell", + "success": true, + "timing": { + "fps": 50.0, + "sim_dt": 0.005, + "decimation": 4 + }, + "restore_interface": { + "scene": "scene_manager.reset_to(snapshot['scene'], env_ids=[env_id])", + "robots": "robot_manager.set_state({'robots': snapshot['robots']}, env_ids=[env_id])" + }, + "snapshot": { + "env_id": 0, + "scene": { + "objects": [ + { + "rac_cell": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/rac_cell.usd", + "pose": { + "pos": [ + 0.0, + 0.0, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "physics_material": { + "static_friction": 0.6, + "dynamic_friction": 0.5, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "robot_mount": [ + { + "asset": "Cube", + "pose": { + "pos": [ + 0.0, + 0.0, + 0.9075 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": "color", + "value": [ + 0.55, + 0.56, + 0.58 + ], + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": { + "size": [ + 0.2, + 0.2, + 0.015 + ] + } + }, + "type_specific": {} + } + ], + "plate_rack": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/plate_hotel.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 0.9 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "physics_material": { + "static_friction": 0.6, + "dynamic_friction": 0.5, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "hotel_plate": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_96_black/plate_96_black.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 0.9605 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_96_white/plate_96_white.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.0285 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/pcr_384_red/pcr_384_red.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.0965 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_24_clear/plate_24_clear.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.1645 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_48_clear/plate_48_clear.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.2325 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "a4s_sealer": [ + { + "asset": "$MAGICSIM_ASSETS/Articulated/A4SSealer/Object.usd", + "pose": { + "pos": [ + 0.4648113250732422, + 0.12581157684326172, + 0.8999999761581421 + ], + "ori": [ + 0.7221215963363647, + 0.0, + 0.0, + -0.6917661428451538 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "articulation", + "solver_position_iteration_count": 16.0, + "solver_velocity_iteration_count": 1.0, + "enabled_self_collisions": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "joint_position": [ + 6.055498116830371e-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": 0.29521137147959586, + "direction": [ + 1.0, + 0.0, + 0.0 + ], + "enabled": true, + "drive": "surface_velocity", + "lines": null, + "station_line": null, + "riders": [ + "carrier" + ], + "stations": { + "pick": { + "position": -0.2637160096787162, + "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": 0.29521137147959586, + "holds": [], + "station": "pick", + "rider": "carrier_4", + "arrived": true, + "applied_speed": 0.0 + } + } + } + ], + "carrier": [ + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + 1.5565900802612305, + 0.5223112106323242, + 0.8999999761581421 + ], + "ori": [ + 0.9565324187278748, + -1.952833450502567e-09, + 1.1739003724642316e-07, + 0.2916260063648224 + ], + "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": [ + -6.842810762464069e-10, + -1.1937117960769683e-11, + 3.725290298461914e-09 + ], + "angular_velocity": [ + -2.106753527186811e-08, + -7.652124622836709e-08, + -6.179789124871604e-09 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + -0.016862869262695312, + 1.1499996185302734, + 0.8999999761581421 + ], + "ori": [ + 7.211289812403265e-06, + 5.302470129642245e-10, + -1.2952673655863833e-10, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 3.790107117040975e-10, + -1.276990513332521e-09, + 3.725290298461914e-09 + ], + "angular_velocity": [ + 1.1194741489362059e-07, + 4.194778568944457e-08, + -3.861226449686228e-09 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + -0.935725212097168, + 1.1499948501586914, + 0.8999999761581421 + ], + "ori": [ + -2.8346838007564656e-05, + -1.448728775832464e-10, + 3.1091753616152573e-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": [ + -2.798693499173055e-10, + -3.3914071551066627e-10, + 3.725290298461914e-09 + ], + "angular_velocity": [ + 2.30168666348618e-08, + -2.013162969660698e-08, + -2.3330870568827322e-09 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + -0.11304283142089844, + 0.4499979019165039, + 0.8999999761581421 + ], + "ori": [ + 1.0, + -1.8707950744101254e-09, + -4.333790215582667e-09, + 2.1279536667861976e-05 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 4.361284666742904e-10, + 4.021796673470135e-09, + 1.1175870895385742e-08 + ], + "angular_velocity": [ + -2.450194074299361e-07, + 1.1118338250071247e-08, + 3.1243065912178736e-09 + ] + } + } + ], + "plate": [ + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_6_clear/Object.usd", + "pose": { + "pos": [ + 1.5594940185546875, + 0.524806022644043, + 0.9179999828338623 + ], + "ori": [ + 0.9758511185646057, + -1.2445660502180544e-08, + 1.2020701944948087e-07, + 0.21843665838241577 + ], + "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": [ + -8.631604941911064e-08, + -4.9317463890474755e-08, + 1.564621925354004e-07 + ], + "angular_velocity": [ + 1.8313621694687754e-06, + -2.909931936301291e-06, + 3.220122835045913e-07 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_96_black/Object.usd", + "pose": { + "pos": [ + -0.015199661254882812, + 1.1503772735595703, + 0.9180000424385071 + ], + "ori": [ + 0.02198088727891445, + -5.036812633640864e-10, + -9.855705140893178e-10, + 0.9997583627700806 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 1.6313688178115626e-08, + -1.3255871955664134e-08, + -4.861503839492798e-06 + ], + "angular_velocity": [ + -3.694889727512418e-09, + 1.2714262993540615e-06, + 1.205113306923522e-07 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/pcr_96_blue/Object.usd", + "pose": { + "pos": [ + -0.9360370635986328, + 1.1577033996582031, + 0.9180000424385071 + ], + "ori": [ + 0.006374790333211422, + -6.911095029593639e-10, + 3.255313352212852e-09, + 0.9999796748161316 + ], + "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": [ + 1.9723625399592493e-08, + -1.2052860931532905e-08, + -5.729496479034424e-06 + ], + "angular_velocity": [ + -4.0981183246913133e-07, + 1.148202272815979e-06, + 1.8098432974511525e-07 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/deep_well_96_2ml/Object.usd", + "pose": { + "pos": [ + -0.1156015396118164, + 0.4415273666381836, + 0.9179999828338623 + ], + "ori": [ + 0.9996398687362671, + -3.0832205677455704e-09, + -4.843300871471001e-09, + 0.02683454565703869 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -5.645543410537357e-08, + 4.639137429762741e-08, + -9.350478649139404e-07 + ], + "angular_velocity": [ + -1.0660018006092287e-06, + -2.2932194951863494e-06, + 1.1846525893588478e-07 + ] + } + } + ], + "deco_hub_west": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/hub_d.usd", + "pose": { + "pos": [ + -3.36, + 0.0, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_hub_east": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/hub_e.usd", + "pose": { + "pos": [ + 3.36, + 0.0, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_hub_back": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/hub_b.usd", + "pose": { + "pos": [ + -3.0, + -2.1, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_bench_east": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/bench_a.usd", + "pose": { + "pos": [ + 2.6, + -2.5, + 0.0 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_bench_gap": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/bench_b.usd", + "pose": { + "pos": [ + -0.1, + -2.9, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ] + }, + {}, + {}, + {} + ], + "devices": { + "hub": [ + { + "t": 2.259999999999974, + "step": 452, + "counter": 0, + "devices": { + "a4s_sealer_1": { + "mode": "auto", + "units": { + "drawer": { + "state": "at_out", + "active": null, + "target": 0.0, + "goal_name": "out", + "profile": null, + "q_start": null, + "reversing": false, + "blocked_for": 0.0, + "settled_for": 0.0, + "last_q": 6.055498116830371e-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": 0.29521137147959586, + "holds": [], + "station": "pick", + "rider": "carrier_4", + "arrived": true, + "settle_count": 411, + "released": { + "pick": [] + }, + "last_pos": { + "carrier_1": [ + 1.406590074300766, + 0.07231122255325317, + 0.0 + ], + "carrier_2": [ + -0.1668628752231598, + 0.6999996304512024, + 0.0 + ], + "carrier_3": [ + -1.0857252180576324, + 0.6999948620796204, + 0.0 + ], + "carrier_4": [ + -0.2630428373813629, + -2.086162567138672e-06, + 0.0 + ] + }, + "command": 0.0 + }, + "belt": { + "target_speed": 0.0, + "command_speed": 0.0 + }, + "seen": { + "state": "at_station", + "station": "pick", + "rider": "carrier_4", + "arrived": true + } + } + }, + "queues": {}, + "program": null, + "sensors": {}, + "interlocks": {} + } + }, + "zones": {}, + "labware": { + "plate_1": { + "sealed": false + }, + "plate_2": { + "sealed": false + }, + "plate_3": { + "sealed": false + }, + "plate_4": { + "sealed": false + } + }, + "rules": {}, + "records": [], + "bus": { + "seq": 3, + "queue": [] + } + }, + null, + null, + null + ], + "drives": [ + {}, + null, + null, + null + ] + }, + "artifacts": [ + { + "ceiling": { + "type": "rect", + "pose": { + "pos": [ + 0.48069359286053903, + 0.577587932534533, + 3.190443234820564 + ], + "ori": [ + 11.561935551493217, + 3.245932256783391, + 19.27089655633764 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "color_temperature": 3402.0616493158855, + "color": [ + 0.9970678068183737, + 0.9104541182961386, + 0.8344359317194497 + ], + "intensity": 4191.208676651931, + "width": 2.634311082783811, + "height": 1.228671038253083 + } + }, + "key": { + "type": "sphere", + "pose": { + "pos": [ + -1.2414899317966923, + 1.5023412170050066, + 2.7010436811664276 + ], + "ori": [ + 0.510724295932107, + 35.5416694771271, + 17.07225836021577 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "color_temperature": 7257.475314937709, + "color": [ + 0.7646278044503734, + 0.949373407638203, + 0.9152267137318504 + ], + "intensity": 8375.134953093508, + "radius": 0.1482135784656629 + } + } + }, + {}, + {}, + {} + ], + "background": { + "type": "dome", + "pose": { + "pos": null, + "ori": null, + "scale": null + }, + "dr": { + "intensity": 1570.1341681066326, + "texture": null, + "color": [ + 0.92, + 0.94, + 0.96 + ] + } + } + }, + "robots": { + "UR5e": { + "root_pose": [ + [ + 11.0, + -11.0, + 0.9150000214576721, + 1.0, + 0.0, + 0.0, + 0.0 + ], + [ + 11.0, + 11.0, + 0.9150000214576721, + 1.0, + 0.0, + 0.0, + 0.0 + ], + [ + -11.0, + -11.0, + 0.9150000214576721, + 1.0, + 0.0, + 0.0, + 0.0 + ], + [ + -11.0, + 11.0, + 0.9150000214576721, + 1.0, + 0.0, + 0.0, + 0.0 + ] + ], + "root_vel": [ + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + ], + "joint_pos": [ + [ + 0.9141026735305786, + -1.7193981409072876, + 2.0904994010925293, + -1.9419013261795044, + -1.5707999467849731, + 2.484900712966919, + 0.01799999736249447, + 0.018000001087784767 + ], + [ + 1.1400034427642822, + -1.3787790536880493, + 2.2520151138305664, + -2.443023204803467, + -1.5717442035675049, + 2.7186684608459473, + 0.017999928444623947, + 0.018000071868300438 + ], + [ + -0.24652807414531708, + -2.3486392498016357, + 2.461399555206299, + -1.683509111404419, + -1.5708153247833252, + 4.527556419372559, + 0.007770387455821037, + 0.006993483752012253 + ], + [ + 0.038252197206020355, + -1.9963092803955078, + 2.3439974784851074, + -1.9188579320907593, + -1.570923089981079, + 4.120448112487793, + 0.006770504638552666, + 0.008186801336705685 + ] + ], + "joint_vel": [ + [ + -2.424550705308385e-38, + 2.199683499959103e-38, + 1.8024520993427826e-38, + 5.931964551961084e-37, + -5.959138531781271e-37, + 2.6884651372076288e-36, + 2.5990400942532688e-08, + -2.599039206074849e-08 + ], + [ + -0.0004050007846672088, + -0.020445439964532852, + -0.007151026278734207, + 0.026324285194277763, + 0.00029316911241039634, + -0.0005514055374078453, + 6.336136721074581e-06, + -6.3597954067518e-06 + ], + [ + 0.01709180697798729, + 0.009345663711428642, + -0.0036960430443286896, + -0.006064275745302439, + -0.000247762945946306, + 0.01686026155948639, + -0.009661544114351273, + 0.0003885097976308316 + ], + [ + 0.06083941459655762, + 0.024593990296125412, + 0.0004112888127565384, + -0.011364882811903954, + -1.2606302334461361e-05, + -0.06458967924118042, + -0.008424757048487663, + 0.0003786206943914294 + ] + ] + } + }, + "cameras": { + "cameras": { + "camera0": [ + [ + 0.04791441187262535, + 0.0009511327371001244, + -0.030413156375288963, + -0.27306172251701355, + 0.6600595116615295, + 0.6433070302009583, + -0.27552640438079834 + ], + [ + 0.047641169279813766, + 0.0032673082314431667, + -0.03220967575907707, + -0.2661561667919159, + 0.6585496664047241, + 0.6429815888404846, + -0.2864399552345276 + ], + [ + 0.048713888972997665, + -0.0006687194691039622, + -0.02799249440431595, + -0.26737141609191895, + 0.6630012392997742, + 0.6398805975914001, + -0.281948059797287 + ], + [ + 0.05084379017353058, + 0.002242581220343709, + -0.027848152443766594, + -0.289353609085083, + 0.6464966535568237, + 0.6507146954536438, + -0.27365487813949585 + ] + ], + "camera1": [ + [ + 0.0712307021021843, + 0.5728806257247925, + 1.9576637744903564, + 0.034133411943912506, + 0.003127296455204487, + 0.27131086587905884, + 0.9618812799453735 + ], + [ + 0.058075740933418274, + 0.5581880807876587, + 1.957568883895874, + 0.042336657643318176, + 0.006234105210751295, + 0.2851470708847046, + 0.9575279951095581 + ], + [ + 0.03005197085440159, + 0.5780656933784485, + 1.9264494180679321, + 0.03981369361281395, + 0.02990436926484108, + 0.26339179277420044, + 0.9634029865264893 + ], + [ + 0.043939054012298584, + 0.5806123614311218, + 1.9319745302200317, + 0.03292841836810112, + 0.0211325753480196, + 0.2832922339439392, + 0.9582351446151733 + ] + ] + } + } + } +} \ No newline at end of file diff --git a/episodes/c1_p004_e005/wrist.mp4 b/episodes/c1_p004_e005/wrist.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..95afcf4bf4f9e7875df82f9a0081f22121346ef0 --- /dev/null +++ b/episodes/c1_p004_e005/wrist.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:a8f89b3407292a93df401f14505ba20834bcbb09af573c5d5fd366fe17d9e231 +size 7116609 diff --git a/episodes/c1_p004_e006/data.npz b/episodes/c1_p004_e006/data.npz new file mode 100644 index 0000000000000000000000000000000000000000..0e7c37a854b6a5e1a34f4e81403799b2141ec1e9 --- /dev/null +++ b/episodes/c1_p004_e006/data.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:621168ba46ba88bb48629699c14f52bcff2f3aac755db599e8ce0b6e6a97ee73 +size 188018 diff --git a/episodes/c1_p004_e006/device_events.jsonl b/episodes/c1_p004_e006/device_events.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..c14b90bf577704c08c9ef5cceed702d6689f22fc --- /dev/null +++ b/episodes/c1_p004_e006/device_events.jsonl @@ -0,0 +1,37 @@ +{"env_id": 2, "seq": 1, "step": 83, "t": 0.415, "topic": "conveyor_1.belt.station.pick.captured", "source": "conveyor_1.belt", "data": {"rider": "carrier_4"}, "cause": null} +{"env_id": 2, "seq": 2, "step": 83, "t": 0.415, "topic": "conveyor_1.belt.state.changed", "source": "conveyor_1.belt", "data": {"from": "running", "to": "at_station"}, "cause": null} +{"env_id": 2, "seq": 3, "step": 88, "t": 0.44, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_4"}, "cause": null} +{"env_id": 2, "seq": 4, "step": 2065, "t": 10.325, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_4"}, "cause": null} +{"env_id": 2, "seq": 5, "step": 2081, "t": 10.405, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_4"}, "cause": null} +{"env_id": 2, "seq": 6, "step": 6766, "t": 33.83, "topic": "a4s_sealer_1.plate_present.present", "source": "a4s_sealer_1.plate_present", "data": {"object": "plate_4"}, "cause": null} +{"env_id": 2, "seq": 7, "step": 7376, "t": 36.88, "topic": "a4s_sealer_1.command.started", "source": "a4s_sealer_1", "data": {"command_id": "task-2-1", "name": "seal", "source": "task"}, "cause": "task-2-1"} +{"env_id": 2, "seq": 8, "step": 7376, "t": 36.88, "topic": "a4s_sealer_1.seal.started", "source": "a4s_sealer_1", "data": {"dwell": 2.8963928180704306}, "cause": "task-2-1"} +{"env_id": 2, "seq": 9, "step": 7376, "t": 36.88, "topic": "a4s_sealer_1.drawer.command.started", "source": "a4s_sealer_1.drawer", "data": {"command_id": "program-2-2", "name": "close", "source": "program:seal"}, "cause": "program-2-2"} +{"env_id": 2, "seq": 10, "step": 7376, "t": 36.88, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "at_out", "to": "moving"}, "cause": null} +{"env_id": 2, "seq": 11, "step": 7376, "t": 36.88, "topic": "a4s_sealer_1.drawer.moving", "source": "a4s_sealer_1.drawer", "data": {"target": 0.3, "goal": "in"}, "cause": "program-2-2"} +{"env_id": 2, "seq": 12, "step": 7795, "t": 38.975, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "moving", "to": "at_in"}, "cause": null} +{"env_id": 2, "seq": 13, "step": 7795, "t": 38.975, "topic": "a4s_sealer_1.drawer.reached", "source": "a4s_sealer_1.drawer", "data": {"position": "in", "q": 0.30000001192092896}, "cause": "program-2-2"} +{"env_id": 2, "seq": 14, "step": 7795, "t": 38.975, "topic": "a4s_sealer_1.drawer.at_in", "source": "a4s_sealer_1.drawer", "data": {"q": 0.30000001192092896}, "cause": "program-2-2"} +{"env_id": 2, "seq": 15, "step": 7795, "t": 38.975, "topic": "a4s_sealer_1.drawer.command.succeeded", "source": "a4s_sealer_1.drawer", "data": {"command_id": "program-2-2", "name": "close", "source": "program:seal", "result": {"position": "in"}}, "cause": "program-2-2"} +{"env_id": 2, "seq": 16, "step": 7795, "t": 38.975, "topic": "labware.plate_4.changed", "source": "labware.plate_4", "data": {"key": "sealed", "value": true}, "cause": "task-2-1"} +{"env_id": 2, "seq": 17, "step": 7795, "t": 38.975, "topic": "a4s_sealer_1.sealed", "source": "a4s_sealer_1", "data": {"plate": "plate_4"}, "cause": "task-2-1"} +{"env_id": 2, "seq": 18, "step": 7795, "t": 38.975, "topic": "a4s_sealer_1.heater.command.started", "source": "a4s_sealer_1.heater", "data": {"command_id": "program-2-3", "name": "run", "source": "program:seal"}, "cause": "program-2-3"} +{"env_id": 2, "seq": 19, "step": 7795, "t": 38.975, "topic": "a4s_sealer_1.heater.state.changed", "source": "a4s_sealer_1.heater", "data": {"from": "ready", "to": "running"}, "cause": null} +{"env_id": 2, "seq": 20, "step": 7795, "t": 38.975, "topic": "a4s_sealer_1.heater.started", "source": "a4s_sealer_1.heater", "data": {"duration": 2.8963928180704306}, "cause": "program-2-3"} +{"env_id": 2, "seq": 21, "step": 8375, "t": 41.875, "topic": "a4s_sealer_1.heater.state.changed", "source": "a4s_sealer_1.heater", "data": {"from": "running", "to": "ready"}, "cause": null} +{"env_id": 2, "seq": 22, "step": 8375, "t": 41.875, "topic": "a4s_sealer_1.heater.finished", "source": "a4s_sealer_1.heater", "data": {"elapsed": 2.9000000000014836}, "cause": "program-2-3"} +{"env_id": 2, "seq": 23, "step": 8375, "t": 41.875, "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": 2.9000000000014836}}, "cause": "program-2-3"} +{"env_id": 2, "seq": 24, "step": 8375, "t": 41.875, "topic": "a4s_sealer_1.drawer.command.started", "source": "a4s_sealer_1.drawer", "data": {"command_id": "program-2-4", "name": "open", "source": "program:seal"}, "cause": "program-2-4"} +{"env_id": 2, "seq": 25, "step": 8375, "t": 41.875, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "at_in", "to": "moving"}, "cause": null} +{"env_id": 2, "seq": 26, "step": 8375, "t": 41.875, "topic": "a4s_sealer_1.drawer.moving", "source": "a4s_sealer_1.drawer", "data": {"target": 0.0, "goal": "out"}, "cause": "program-2-4"} +{"env_id": 2, "seq": 27, "step": 8795, "t": 43.975, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "moving", "to": "at_out"}, "cause": null} +{"env_id": 2, "seq": 28, "step": 8795, "t": 43.975, "topic": "a4s_sealer_1.drawer.reached", "source": "a4s_sealer_1.drawer", "data": {"position": "out", "q": 4.715938306532053e-09}, "cause": "program-2-4"} +{"env_id": 2, "seq": 29, "step": 8795, "t": 43.975, "topic": "a4s_sealer_1.drawer.at_out", "source": "a4s_sealer_1.drawer", "data": {"q": 4.715938306532053e-09}, "cause": "program-2-4"} +{"env_id": 2, "seq": 30, "step": 8795, "t": 43.975, "topic": "a4s_sealer_1.drawer.command.succeeded", "source": "a4s_sealer_1.drawer", "data": {"command_id": "program-2-4", "name": "open", "source": "program:seal", "result": {"position": "out"}}, "cause": "program-2-4"} +{"env_id": 2, "seq": 31, "step": 8795, "t": 43.975, "topic": "a4s_sealer_1.seal.finished", "source": "a4s_sealer_1", "data": {}, "cause": "task-2-1"} +{"env_id": 2, "seq": 32, "step": 8795, "t": 43.975, "topic": "a4s_sealer_1.command.succeeded", "source": "a4s_sealer_1", "data": {"command_id": "task-2-1", "name": "seal", "source": "task"}, "cause": "task-2-1"} +{"env_id": 2, "seq": 33, "step": 9375, "t": 46.875, "topic": "a4s_sealer_1.plate_present.absent", "source": "a4s_sealer_1.plate_present", "data": {"object": "plate_4"}, "cause": null} +{"env_id": 2, "seq": 34, "step": 11092, "t": 55.46, "topic": "conveyor_1.belt.command.started", "source": "conveyor_1.belt", "data": {"command_id": "task-2-5", "name": "release", "source": "task"}, "cause": "task-2-5"} +{"env_id": 2, "seq": 35, "step": 11092, "t": 55.46, "topic": "conveyor_1.belt.station.pick.released", "source": "conveyor_1.belt", "data": {"rider": "carrier_4"}, "cause": "task-2-5"} +{"env_id": 2, "seq": 36, "step": 11092, "t": 55.46, "topic": "conveyor_1.belt.state.changed", "source": "conveyor_1.belt", "data": {"from": "at_station", "to": "running"}, "cause": null} +{"env_id": 2, "seq": 37, "step": 11092, "t": 55.46, "topic": "conveyor_1.belt.command.succeeded", "source": "conveyor_1.belt", "data": {"command_id": "task-2-5", "name": "release", "source": "task", "result": {"state": "running"}}, "cause": "task-2-5"} diff --git a/episodes/c1_p004_e006/env.mp4 b/episodes/c1_p004_e006/env.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..9b590d4a857f1b56b9c1fdae90cd31c4f1564c3d --- /dev/null +++ b/episodes/c1_p004_e006/env.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:6c2b25f8f65fd5ca9e24e0b9a1aa6d48cf4414e4039ccd3952fe01d3bfa1eaba +size 1280758 diff --git a/episodes/c1_p004_e006/meta.json b/episodes/c1_p004_e006/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..6c45a7596d3b3a1efac59a7524e712a7be521154 --- /dev/null +++ b/episodes/c1_p004_e006/meta.json @@ -0,0 +1,32 @@ +{ + "source": "raw/c1_p004/magicsim/6", + "fps": 25, + "frames": 1192, + "kept_ticks": "even", + "video_frames": { + "wrist": 1192, + "env": 1192 + }, + "joint_target_source": "joint_pos_target", + "fk_vs_recorded_eef_max_m": 0.0, + "curobo_joints": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "joint_order": [ + "shoulder_pan", + "shoulder_lift", + "elbow", + "wrist_1", + "wrist_2", + "wrist_3", + "finger_left", + "finger_right" + ], + "frames_note": "eef / actions in the robot base frame; camera_pose = local pose (wrist: in plate_gripper_base, env: env frame), pos + quat wxyz", + "dr_version": "v2" +} \ No newline at end of file diff --git a/episodes/c1_p004_e006/scene_snapshot.json b/episodes/c1_p004_e006/scene_snapshot.json new file mode 100644 index 0000000000000000000000000000000000000000..84596fbb6e83680fde2a980cb7b3c6e861979d83 --- /dev/null +++ b/episodes/c1_p004_e006/scene_snapshot.json @@ -0,0 +1,1558 @@ +{ + "trajectory_id": 6, + "env_id": 2, + "run_id": "c1_p004", + "task_type": "BioPlateCell", + "success": true, + "timing": { + "fps": 50.0, + "sim_dt": 0.005, + "decimation": 4 + }, + "restore_interface": { + "scene": "scene_manager.reset_to(snapshot['scene'], env_ids=[env_id])", + "robots": "robot_manager.set_state({'robots': snapshot['robots']}, env_ids=[env_id])" + }, + "snapshot": { + "env_id": 2, + "scene": { + "objects": [ + {}, + {}, + { + "rac_cell": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/rac_cell.usd", + "pose": { + "pos": [ + 0.0, + 0.0, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "physics_material": { + "static_friction": 0.6, + "dynamic_friction": 0.5, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "robot_mount": [ + { + "asset": "Cube", + "pose": { + "pos": [ + 0.0, + 0.0, + 0.9075 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": "color", + "value": [ + 0.55, + 0.56, + 0.58 + ], + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": { + "size": [ + 0.2, + 0.2, + 0.015 + ] + } + }, + "type_specific": {} + } + ], + "plate_rack": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/plate_hotel.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 0.9 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "physics_material": { + "static_friction": 0.6, + "dynamic_friction": 0.5, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "hotel_plate": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_6_clear/plate_6_clear.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 0.9605 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_96_clear/plate_96_clear.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.0285 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_96_clear/plate_96_clear.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.0965 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_12_clear/plate_12_clear.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.1645 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_12_clear/plate_12_clear.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.2325 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "a4s_sealer": [ + { + "asset": "$MAGICSIM_ASSETS/Articulated/A4SSealer/Object.usd", + "pose": { + "pos": [ + 0.4877500534057617, + 0.10293388366699219, + 0.8999999761581421 + ], + "ori": [ + -0.6928829550743103, + 0.0, + 0.0, + 0.7210500836372375 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "articulation", + "solver_position_iteration_count": 16.0, + "solver_velocity_iteration_count": 1.0, + "enabled_self_collisions": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "joint_position": [ + 2.6913323999955274e-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": 0.2425470229824222, + "direction": [ + 1.0, + 0.0, + 0.0 + ], + "enabled": true, + "drive": "surface_velocity", + "lines": null, + "station_line": null, + "riders": [ + "carrier" + ], + "stations": { + "pick": { + "position": -0.2725311351712379, + "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": 0.2425470229824222, + "holds": [], + "station": "pick", + "rider": "carrier_4", + "arrived": true, + "applied_speed": 0.0 + } + } + } + ], + "carrier": [ + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + 1.3109636306762695, + 0.44980907440185547, + 0.8999999761581421 + ], + "ori": [ + 0.9999989867210388, + -6.522650863871604e-09, + -1.4698669303925271e-07, + -0.0014222520403563976 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -1.3556119711211068e-06, + -6.154139953196136e-08, + -2.9802322387695312e-06 + ], + "angular_velocity": [ + 3.3531655390106607e-06, + -0.00011777178588090464, + 4.538132998277433e-07 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + -1.3963966369628906, + 0.7825508117675781, + 0.8999999761581421 + ], + "ori": [ + -0.7163884043693542, + 1.820294137644396e-08, + -4.019335086979936e-09, + 0.6977016925811768 + ], + "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": [ + 9.380830834349041e-11, + -3.457062969225433e-10, + 0.0 + ], + "angular_velocity": [ + 2.5981790940932115e-08, + 1.758768064519245e-08, + 2.368771401251024e-09 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + 0.6757478713989258, + 1.1515741348266602, + 0.8999999761581421 + ], + "ori": [ + -0.02012716978788376, + -8.7718783348123e-09, + -2.934218423789048e-09, + 0.999797523021698 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 4.62335947304382e-10, + 6.535596952517153e-09, + 0.0 + ], + "angular_velocity": [ + -2.778625969312998e-07, + 1.1195105287242768e-08, + 1.861833531791035e-08 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + -0.12224960327148438, + 0.4500007629394531, + 0.8999999761581421 + ], + "ori": [ + 1.0, + 2.367189999574748e-09, + -2.487869910083873e-10, + 4.4874410377815366e-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": [ + 8.799960760086378e-10, + 1.3820228295102766e-10, + 1.1175870895385742e-08 + ], + "angular_velocity": [ + 1.4967094230655675e-08, + 9.419606783467316e-08, + -1.0015176243882706e-08 + ] + } + } + ], + "plate": [ + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_24_clear/Object.usd", + "pose": { + "pos": [ + 1.3038501739501953, + 0.4506874084472656, + 0.9179999828338623 + ], + "ori": [ + 0.9985098242759705, + -2.4856205982359825e-08, + -9.321567517872609e-08, + 0.054573092609643936 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -3.2453867788717616e-06, + -2.6097627596755046e-06, + -8.620321750640869e-06 + ], + "angular_velocity": [ + -6.377436511684209e-05, + -0.00013163749827072024, + -9.06594141270034e-06 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_384_black/Object.usd", + "pose": { + "pos": [ + -1.401742935180664, + 0.7979049682617188, + 0.9180000424385071 + ], + "ori": [ + -0.7172189354896545, + 1.8690620606776065e-08, + -3.5742597770394013e-09, + 0.6968479752540588 + ], + "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": [ + 3.032376350020627e-09, + 1.286888817730869e-08, + -4.913657903671265e-06 + ], + "angular_velocity": [ + -1.6701948197805905e-06, + -4.000350770638761e-07, + 7.360791443034032e-08 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_1536_black/Object.usd", + "pose": { + "pos": [ + 0.6629142761230469, + 1.1587400436401367, + 0.9180000424385071 + ], + "ori": [ + 0.08363781124353409, + -9.22252230139975e-09, + -2.7184237083588414e-09, + 0.9964962601661682 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 1.8845106808385026e-08, + 5.214086939986373e-08, + -5.3122639656066895e-06 + ], + "angular_velocity": [ + -5.041594590693421e-07, + 1.9466885987640126e-06, + -8.551089791808408e-08 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/deep_well_24_10ml/Object.usd", + "pose": { + "pos": [ + -0.13281536102294922, + 0.4613075256347656, + 0.9179999828338623 + ], + "ori": [ + 0.9972925782203674, + 2.854684044706346e-09, + -6.64704624675494e-10, + 0.07353580743074417 + ], + "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": [ + -1.3250980757106845e-08, + -8.318917821270588e-08, + -1.3746321201324463e-06 + ], + "angular_velocity": [ + 4.655516931961756e-06, + -1.8361313323111972e-06, + -1.2821416817132558e-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": 7.979999999999852, + "step": 1596, + "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": 2.6913323999955274e-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": 0.2425470229824222, + "holds": [], + "station": "pick", + "rider": "carrier_4", + "arrived": true, + "settle_count": 1512, + "released": { + "pick": [] + }, + "last_pos": { + "carrier_1": [ + 1.160963624715805, + -0.00019091367721557617, + 0.0 + ], + "carrier_2": [ + -1.546396642923355, + 0.3325508236885071, + 0.0 + ], + "carrier_3": [ + 0.5257478654384613, + 0.7015741467475891, + 0.0 + ], + "carrier_4": [ + -0.27224960923194885, + 7.748603820800781e-07, + 0.0 + ] + }, + "command": 0.0 + }, + "belt": { + "target_speed": 0.0, + "command_speed": 0.0 + }, + "seen": { + "state": "at_station", + "station": "pick", + "rider": "carrier_4", + "arrived": true + } + } + }, + "queues": {}, + "program": null, + "sensors": {}, + "interlocks": {} + } + }, + "zones": {}, + "labware": { + "plate_1": { + "sealed": false + }, + "plate_2": { + "sealed": false + }, + "plate_3": { + "sealed": false + }, + "plate_4": { + "sealed": false + } + }, + "rules": {}, + "records": [], + "bus": { + "seq": 3, + "queue": [] + } + }, + null + ], + "drives": [ + null, + null, + {}, + null + ] + }, + "artifacts": [ + {}, + {}, + { + "ceiling": { + "type": "rect", + "pose": { + "pos": [ + -0.4326064039074544, + 0.5813476460884699, + 3.090176946701799 + ], + "ori": [ + 6.323217867072348, + -7.2710768759383, + 12.209420193485258 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "color_temperature": 6810.715598106077, + "color": [ + 0.9637373353616527, + 0.8755256376999216, + 0.8580632899056755 + ], + "intensity": 8841.411242467606, + "width": 2.1348615369716604, + "height": 1.2517708686793563 + } + }, + "key": { + "type": "sphere", + "pose": { + "pos": [ + -0.4806933303421159, + 1.5820194673482215, + 1.7137957730899336 + ], + "ori": [ + -22.23372413726862, + -7.545931023147929, + 26.563941720783774 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "color_temperature": 5806.478537320422, + "color": [ + 0.9112164251233865, + 0.929676113076599, + 0.8651694505752919 + ], + "intensity": 9551.567585555094, + "radius": 0.15961953341395066 + } + } + }, + {} + ], + "background": { + "type": "dome", + "pose": { + "pos": null, + "ori": null, + "scale": null + }, + "dr": { + "intensity": 1570.1341681066326, + "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": [ + [ + 2.529017448425293, + -1.9788179397583008, + 2.7050583362579346, + -2.296396017074585, + -1.5709595680236816, + 4.100199222564697, + 0.01799999549984932, + 0.018000002950429916 + ], + [ + 2.7367939949035645, + -1.8749293088912964, + 1.8849130868911743, + -1.5791831016540527, + -1.5705056190490723, + 4.306112289428711, + 0.0077284458093345165, + 0.007041530217975378 + ], + [ + 0.9141079187393188, + -1.719396948814392, + 2.0904994010925293, + -1.9419007301330566, + -1.5707999467849731, + 2.484901189804077, + 0.01799999736249447, + 0.018000001087784767 + ], + [ + 0.8209096193313599, + -1.3991978168487549, + 2.060642957687378, + -2.232196569442749, + -1.5707963705062866, + 2.4464800357818604, + 0.01800004206597805, + 0.017999958246946335 + ] + ], + "joint_vel": [ + [ + 6.811923867644509e-06, + 6.811833372921683e-06, + 1.3623856830236036e-05, + 6.8119470597594045e-06, + 2.2440713566898585e-13, + -1.362391503789695e-05, + 5.1984894611223353e-08, + -5.1975444392837744e-08 + ], + [ + 0.008526196703314781, + 0.022350924089550972, + -0.014863995835185051, + -0.0070248995907604694, + -0.00017323110660072416, + 0.009345360100269318, + -0.008569955825805664, + 0.00031960586784407496 + ], + [ + 3.405965117053711e-06, + 6.811890216340544e-06, + -6.811954335717019e-06, + -3.91749011160146e-14, + 1.3551000802697853e-14, + 7.950448567724255e-13, + 2.5989995933173304e-08, + -2.5990503971229373e-08 + ], + [ + -0.00012724655971396714, + 0.012907525524497032, + 0.009278809651732445, + -0.020961124449968338, + -1.0309753633919172e-05, + -1.3999033399159089e-05, + -5.835200227011228e-06, + 5.810656148241833e-06 + ] + ] + } + }, + "cameras": { + "cameras": { + "camera0": [ + [ + 0.04797426611185074, + -0.0016235416987910867, + -0.031273551285266876, + -0.2735070586204529, + 0.6580865979194641, + 0.6438841223716736, + -0.27844056487083435 + ], + [ + 0.048337288200855255, + -0.00011902095866389573, + -0.031380411237478256, + -0.2907107174396515, + 0.6376755237579346, + 0.6558074355125427, + -0.28066664934158325 + ], + [ + 0.051443733274936676, + 0.00017083893180824816, + -0.0319681391119957, + -0.2763292193412781, + 0.6525574922561646, + 0.645476758480072, + -0.2849045395851135 + ], + [ + 0.04723874479532242, + 0.004333843477070332, + -0.02684878557920456, + -0.2880091667175293, + 0.649195671081543, + 0.6450217962265015, + -0.28203290700912476 + ] + ], + "camera1": [ + [ + 0.0712307021021843, + 0.5728806257247925, + 1.9576637744903564, + 0.034133411943912506, + 0.003127296455204487, + 0.27131086587905884, + 0.9618812799453735 + ], + [ + 0.06482504308223724, + 0.6007570624351501, + 1.9288239479064941, + 0.02774667926132679, + 0.021900612860918045, + 0.28125154972076416, + 0.9589828252792358 + ], + [ + 0.05380244553089142, + 0.5824821591377258, + 1.9316447973251343, + 0.05502988025546074, + 0.01337659452110529, + 0.2752581238746643, + 0.959700882434845 + ], + [ + 0.05310022830963135, + 0.5781185626983643, + 1.9749940633773804, + 0.030498221516609192, + 0.022480763494968414, + 0.2720647156238556, + 0.9615327715873718 + ] + ] + } + } + } +} \ No newline at end of file diff --git a/episodes/c1_p004_e006/wrist.mp4 b/episodes/c1_p004_e006/wrist.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..5ecb182cdfb528c49936e427fccbcc995db7a75a --- /dev/null +++ b/episodes/c1_p004_e006/wrist.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:287d9804bb939c2a6816fdb596ed34d75860ebadaf52a35c45f291907030703d +size 6665436 diff --git a/episodes/c1_p004_e007/data.npz b/episodes/c1_p004_e007/data.npz new file mode 100644 index 0000000000000000000000000000000000000000..c07a693bf052873a7b0275cfc83100e7be44d725 --- /dev/null +++ b/episodes/c1_p004_e007/data.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:eae979eb0746dca683554dfd923b017c39beee83ea81b1b3f0ceae848fead71b +size 190013 diff --git a/episodes/c1_p004_e007/device_events.jsonl b/episodes/c1_p004_e007/device_events.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..aa8e03018a8b3c610ae61dc31018f7851311af15 --- /dev/null +++ b/episodes/c1_p004_e007/device_events.jsonl @@ -0,0 +1,35 @@ +{"env_id": 3, "seq": 1, "step": 0, "t": 0.0, "topic": "conveyor_1.belt.station.pick.captured", "source": "conveyor_1.belt", "data": {"rider": "carrier_1"}, "cause": null} +{"env_id": 3, "seq": 2, "step": 0, "t": 0.0, "topic": "conveyor_1.belt.state.changed", "source": "conveyor_1.belt", "data": {"from": "running", "to": "at_station"}, "cause": null} +{"env_id": 3, "seq": 3, "step": 6, "t": 0.03, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_1"}, "cause": null} +{"env_id": 3, "seq": 4, "step": 6930, "t": 34.65, "topic": "a4s_sealer_1.plate_present.present", "source": "a4s_sealer_1.plate_present", "data": {"object": "plate_1"}, "cause": null} +{"env_id": 3, "seq": 5, "step": 7544, "t": 37.72, "topic": "a4s_sealer_1.command.started", "source": "a4s_sealer_1", "data": {"command_id": "task-3-1", "name": "seal", "source": "task"}, "cause": "task-3-1"} +{"env_id": 3, "seq": 6, "step": 7544, "t": 37.72, "topic": "a4s_sealer_1.seal.started", "source": "a4s_sealer_1", "data": {"dwell": 3.1394807078821843}, "cause": "task-3-1"} +{"env_id": 3, "seq": 7, "step": 7544, "t": 37.72, "topic": "a4s_sealer_1.drawer.command.started", "source": "a4s_sealer_1.drawer", "data": {"command_id": "program-3-2", "name": "close", "source": "program:seal"}, "cause": "program-3-2"} +{"env_id": 3, "seq": 8, "step": 7544, "t": 37.72, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "at_out", "to": "moving"}, "cause": null} +{"env_id": 3, "seq": 9, "step": 7544, "t": 37.72, "topic": "a4s_sealer_1.drawer.moving", "source": "a4s_sealer_1.drawer", "data": {"target": 0.3, "goal": "in"}, "cause": "program-3-2"} +{"env_id": 3, "seq": 10, "step": 7963, "t": 39.815, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "moving", "to": "at_in"}, "cause": null} +{"env_id": 3, "seq": 11, "step": 7963, "t": 39.815, "topic": "a4s_sealer_1.drawer.reached", "source": "a4s_sealer_1.drawer", "data": {"position": "in", "q": 0.30000001192092896}, "cause": "program-3-2"} +{"env_id": 3, "seq": 12, "step": 7963, "t": 39.815, "topic": "a4s_sealer_1.drawer.at_in", "source": "a4s_sealer_1.drawer", "data": {"q": 0.30000001192092896}, "cause": "program-3-2"} +{"env_id": 3, "seq": 13, "step": 7963, "t": 39.815, "topic": "a4s_sealer_1.drawer.command.succeeded", "source": "a4s_sealer_1.drawer", "data": {"command_id": "program-3-2", "name": "close", "source": "program:seal", "result": {"position": "in"}}, "cause": "program-3-2"} +{"env_id": 3, "seq": 14, "step": 7963, "t": 39.815, "topic": "labware.plate_1.changed", "source": "labware.plate_1", "data": {"key": "sealed", "value": true}, "cause": "task-3-1"} +{"env_id": 3, "seq": 15, "step": 7963, "t": 39.815, "topic": "a4s_sealer_1.sealed", "source": "a4s_sealer_1", "data": {"plate": "plate_1"}, "cause": "task-3-1"} +{"env_id": 3, "seq": 16, "step": 7963, "t": 39.815, "topic": "a4s_sealer_1.heater.command.started", "source": "a4s_sealer_1.heater", "data": {"command_id": "program-3-3", "name": "run", "source": "program:seal"}, "cause": "program-3-3"} +{"env_id": 3, "seq": 17, "step": 7963, "t": 39.815, "topic": "a4s_sealer_1.heater.state.changed", "source": "a4s_sealer_1.heater", "data": {"from": "ready", "to": "running"}, "cause": null} +{"env_id": 3, "seq": 18, "step": 7963, "t": 39.815, "topic": "a4s_sealer_1.heater.started", "source": "a4s_sealer_1.heater", "data": {"duration": 3.1394807078821843}, "cause": "program-3-3"} +{"env_id": 3, "seq": 19, "step": 8591, "t": 42.955, "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": 8591, "t": 42.955, "topic": "a4s_sealer_1.heater.finished", "source": "a4s_sealer_1.heater", "data": {"elapsed": 3.1400000000016064}, "cause": "program-3-3"} +{"env_id": 3, "seq": 21, "step": 8591, "t": 42.955, "topic": "a4s_sealer_1.heater.command.succeeded", "source": "a4s_sealer_1.heater", "data": {"command_id": "program-3-3", "name": "run", "source": "program:seal", "result": {"elapsed": 3.1400000000016064}}, "cause": "program-3-3"} +{"env_id": 3, "seq": 22, "step": 8591, "t": 42.955, "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": 8591, "t": 42.955, "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": 8591, "t": 42.955, "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": 9011, "t": 45.055, "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": 9011, "t": 45.055, "topic": "a4s_sealer_1.drawer.reached", "source": "a4s_sealer_1.drawer", "data": {"position": "out", "q": 1.1433446411857062e-09}, "cause": "program-3-4"} +{"env_id": 3, "seq": 27, "step": 9011, "t": 45.055, "topic": "a4s_sealer_1.drawer.at_out", "source": "a4s_sealer_1.drawer", "data": {"q": 1.1433446411857062e-09}, "cause": "program-3-4"} +{"env_id": 3, "seq": 28, "step": 9011, "t": 45.055, "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": 9011, "t": 45.055, "topic": "a4s_sealer_1.seal.finished", "source": "a4s_sealer_1", "data": {}, "cause": "task-3-1"} +{"env_id": 3, "seq": 30, "step": 9011, "t": 45.055, "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": 9591, "t": 47.955, "topic": "a4s_sealer_1.plate_present.absent", "source": "a4s_sealer_1.plate_present", "data": {"object": "plate_1"}, "cause": null} +{"env_id": 3, "seq": 32, "step": 11344, "t": 56.72, "topic": "conveyor_1.belt.command.started", "source": "conveyor_1.belt", "data": {"command_id": "task-3-5", "name": "release", "source": "task"}, "cause": "task-3-5"} +{"env_id": 3, "seq": 33, "step": 11344, "t": 56.72, "topic": "conveyor_1.belt.station.pick.released", "source": "conveyor_1.belt", "data": {"rider": "carrier_1"}, "cause": "task-3-5"} +{"env_id": 3, "seq": 34, "step": 11344, "t": 56.72, "topic": "conveyor_1.belt.state.changed", "source": "conveyor_1.belt", "data": {"from": "at_station", "to": "running"}, "cause": null} +{"env_id": 3, "seq": 35, "step": 11344, "t": 56.72, "topic": "conveyor_1.belt.command.succeeded", "source": "conveyor_1.belt", "data": {"command_id": "task-3-5", "name": "release", "source": "task", "result": {"state": "running"}}, "cause": "task-3-5"} diff --git a/episodes/c1_p004_e007/env.mp4 b/episodes/c1_p004_e007/env.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..d2552e191e51bb4c7120a3d39655b64772a21bbb --- /dev/null +++ b/episodes/c1_p004_e007/env.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:5e2703da5f95e558198c2401d2f7bd9e4047ebae1f8c97143ff87cb1767cca80 +size 1301795 diff --git a/episodes/c1_p004_e007/meta.json b/episodes/c1_p004_e007/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..b1d3d3881573da06617c3d72ef79bd1253d8584a --- /dev/null +++ b/episodes/c1_p004_e007/meta.json @@ -0,0 +1,32 @@ +{ + "source": "raw/c1_p004/magicsim/7", + "fps": 25, + "frames": 1245, + "kept_ticks": "even", + "video_frames": { + "wrist": 1245, + "env": 1245 + }, + "joint_target_source": "joint_pos_target", + "fk_vs_recorded_eef_max_m": 0.0, + "curobo_joints": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "joint_order": [ + "shoulder_pan", + "shoulder_lift", + "elbow", + "wrist_1", + "wrist_2", + "wrist_3", + "finger_left", + "finger_right" + ], + "frames_note": "eef / actions in the robot base frame; camera_pose = local pose (wrist: in plate_gripper_base, env: env frame), pos + quat wxyz", + "dr_version": "v2" +} \ No newline at end of file diff --git a/episodes/c1_p004_e007/scene_snapshot.json b/episodes/c1_p004_e007/scene_snapshot.json new file mode 100644 index 0000000000000000000000000000000000000000..2b11a1f17b7bb38331d1cd7eecd7ba8060e8a1d4 --- /dev/null +++ b/episodes/c1_p004_e007/scene_snapshot.json @@ -0,0 +1,1558 @@ +{ + "trajectory_id": 7, + "env_id": 3, + "run_id": "c1_p004", + "task_type": "BioPlateCell", + "success": true, + "timing": { + "fps": 50.0, + "sim_dt": 0.005, + "decimation": 4 + }, + "restore_interface": { + "scene": "scene_manager.reset_to(snapshot['scene'], env_ids=[env_id])", + "robots": "robot_manager.set_state({'robots': snapshot['robots']}, env_ids=[env_id])" + }, + "snapshot": { + "env_id": 3, + "scene": { + "objects": [ + {}, + {}, + {}, + { + "rac_cell": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/rac_cell.usd", + "pose": { + "pos": [ + 0.0, + 0.0, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "physics_material": { + "static_friction": 0.6, + "dynamic_friction": 0.5, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "robot_mount": [ + { + "asset": "Cube", + "pose": { + "pos": [ + 0.0, + 0.0, + 0.9075 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": "color", + "value": [ + 0.55, + 0.56, + 0.58 + ], + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": { + "size": [ + 0.2, + 0.2, + 0.015 + ] + } + }, + "type_specific": {} + } + ], + "plate_rack": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/plate_hotel.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 0.9 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "physics_material": { + "static_friction": 0.6, + "dynamic_friction": 0.5, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "hotel_plate": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_6_clear/plate_6_clear.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 0.9605 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_96_white/plate_96_white.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.0285 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_96_white/plate_96_white.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.0965 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/deep_well_24_10ml/deep_well_24_10ml.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.1645 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/deep_well_24_10ml/deep_well_24_10ml.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.2325 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "a4s_sealer": [ + { + "asset": "$MAGICSIM_ASSETS/Articulated/A4SSealer/Object.usd", + "pose": { + "pos": [ + 0.48879337310791016, + 0.054409027099609375, + 0.8999999761581421 + ], + "ori": [ + -0.6974012851715088, + 0.0, + 0.0, + 0.7166808843612671 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "articulation", + "solver_position_iteration_count": 16.0, + "solver_velocity_iteration_count": 1.0, + "enabled_self_collisions": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "joint_position": [ + 5.382666101033662e-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": 0.21389673571407988, + "direction": [ + 1.0, + 0.0, + 0.0 + ], + "enabled": true, + "drive": "surface_velocity", + "lines": null, + "station_line": null, + "riders": [ + "carrier" + ], + "stations": { + "pick": { + "position": -0.09306488413938813, + "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": 0.21389673571407988, + "holds": [], + "station": "pick", + "rider": "carrier_1", + "arrived": true, + "applied_speed": 0.0 + } + } + } + ], + "carrier": [ + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + 0.07998371124267578, + 0.4499998092651367, + 0.8999999761581421 + ], + "ori": [ + 1.0, + -5.334617192431779e-09, + 2.2275624900203184e-08, + 2.1467629451876746e-08 + ], + "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": [ + -2.091494311073916e-09, + 5.767382127430665e-09, + 1.1175870895385742e-08 + ], + "angular_velocity": [ + -3.5463763481402566e-08, + -1.32722533408014e-07, + 4.848313395200421e-08 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + -1.3408889770507812, + 0.6069011688232422, + 0.9000002145767212 + ], + "ori": [ + 0.8813385963439941, + -1.7644268154981546e-05, + 2.142152879969217e-05, + -0.47248539328575134 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -5.03060182381887e-05, + -1.908741978695616e-05, + -9.254366159439087e-05 + ], + "angular_velocity": [ + 0.0016930667916312814, + -0.004184552934020758, + 8.258002708316781e-07 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + 0.15873241424560547, + 1.1499996185302734, + 0.8999999761581421 + ], + "ori": [ + -3.026632455771505e-08, + 2.089900030810554e-09, + -1.1866974070073866e-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": [ + -1.022332440925311e-09, + 1.3356362682515055e-09, + 1.4901161193847656e-08 + ], + "angular_velocity": [ + 3.9005254137691736e-08, + -1.4882760979162413e-07, + 5.712398554180709e-09 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + 1.6902217864990234, + 0.8777980804443359, + 0.8999999165534973 + ], + "ori": [ + 0.6210401654243469, + -3.2656996609148337e-06, + -2.30493401431886e-06, + 0.7837788462638855 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 1.5725443518022075e-05, + 4.327280294091906e-06, + -7.239356637001038e-05 + ], + "angular_velocity": [ + -0.0008399871294386685, + 0.001479671336710453, + -8.55431062518619e-05 + ] + } + } + ], + "plate": [ + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_48_clear/Object.usd", + "pose": { + "pos": [ + 0.09105491638183594, + 0.4510011672973633, + 0.9179999828338623 + ], + "ori": [ + 0.9996238350868225, + -5.611582309938967e-09, + 2.1504899194724203e-08, + -0.027426626533269882 + ], + "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": [ + -7.400941370860892e-08, + -1.3629064987696893e-08, + 1.7136335372924805e-07 + ], + "angular_velocity": [ + 5.176342483537155e-07, + -3.40894507644407e-06, + 2.9044770144537324e-07 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_384_white/Object.usd", + "pose": { + "pos": [ + -1.3446283340454102, + 0.6175966262817383, + 0.918000340461731 + ], + "ori": [ + 0.8334065675735474, + -2.495138323865831e-05, + 2.14060019061435e-05, + -0.552660346031189 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -9.355253860121593e-05, + -5.1411381718935445e-05, + -0.0001367628574371338 + ], + "angular_velocity": [ + 0.0020997789688408375, + -0.004390145651996136, + 4.2032537749037147e-05 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_96_clear/Object.usd", + "pose": { + "pos": [ + 0.15334320068359375, + 1.1531915664672852, + 0.9180000424385071 + ], + "ori": [ + -0.011315509676933289, + 2.7956803538842223e-09, + 9.007899981483547e-10, + 0.9999359846115112 + ], + "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": [ + -4.143192011696328e-09, + 7.207106023088272e-09, + -5.5246055126190186e-06 + ], + "angular_velocity": [ + -6.402219128176512e-07, + 1.78082223101228e-06, + -1.056794403098138e-07 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/reservoir_12ch/Object.usd", + "pose": { + "pos": [ + 1.6819915771484375, + 0.8752765655517578, + 0.917999804019928 + ], + "ori": [ + 0.6871882081031799, + -1.5157531379372813e-05, + -1.9586488633649424e-05, + 0.7264795303344727 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 7.909935084171593e-05, + 3.864711106871255e-05, + -0.00022200867533683777 + ], + "angular_velocity": [ + -0.001459237071685493, + 0.003839998971670866, + 1.7403293895768e-05 + ] + } + } + ], + "deco_hub_west": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/hub_e.usd", + "pose": { + "pos": [ + -3.36, + 0.0, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_hub_east": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/hub_d.usd", + "pose": { + "pos": [ + 3.36, + 0.0, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_hub_back": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/hub_a.usd", + "pose": { + "pos": [ + -3.0, + -2.1, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_bench_east": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/bench_c.usd", + "pose": { + "pos": [ + 2.6, + -2.5, + 0.0 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_bench_gap": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/bench_b.usd", + "pose": { + "pos": [ + -0.1, + -2.9, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ] + } + ], + "devices": { + "hub": [ + null, + null, + null, + { + "t": 7.13999999999987, + "step": 1428, + "counter": 0, + "devices": { + "a4s_sealer_1": { + "mode": "auto", + "units": { + "drawer": { + "state": "at_out", + "active": null, + "target": 0.0, + "goal_name": "out", + "profile": null, + "q_start": null, + "reversing": false, + "blocked_for": 0.0, + "settled_for": 0.0, + "last_q": 5.382666101033662e-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": 0.21389673571407988, + "holds": [], + "station": "pick", + "rider": "carrier_1", + "arrived": true, + "settle_count": 1426, + "released": { + "pick": [] + }, + "last_pos": { + "carrier_1": [ + -0.0700162947177887, + -1.7881393432617188e-07, + 0.0 + ], + "carrier_2": [ + -1.4908889830112457, + 0.15690118074417114, + 2.384185791015625e-07 + ], + "carrier_3": [ + 0.008732408285140991, + 0.6999996304512024, + 0.0 + ], + "carrier_4": [ + 1.540221780538559, + 0.4277980923652649, + -1.1920928955078125e-07 + ] + }, + "command": 0.0 + }, + "belt": { + "target_speed": 0.0, + "command_speed": 0.0 + }, + "seen": { + "state": "at_station", + "station": "pick", + "rider": "carrier_1", + "arrived": true + } + } + }, + "queues": {}, + "program": null, + "sensors": {}, + "interlocks": {} + } + }, + "zones": {}, + "labware": { + "plate_1": { + "sealed": false + }, + "plate_2": { + "sealed": false + }, + "plate_3": { + "sealed": false + }, + "plate_4": { + "sealed": false + } + }, + "rules": {}, + "records": [], + "bus": { + "seq": 3, + "queue": [] + } + } + ], + "drives": [ + null, + null, + null, + {} + ] + }, + "artifacts": [ + {}, + {}, + {}, + { + "ceiling": { + "type": "rect", + "pose": { + "pos": [ + 0.3608438975132654, + 0.1392261487760481, + 3.1133033523155276 + ], + "ori": [ + 9.892422497934646, + -11.117218363201369, + -7.714455946262827 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "color_temperature": 4359.294463033933, + "color": [ + 0.9340914485216949, + 0.8665629618925935, + 0.8511902745076677 + ], + "intensity": 6916.632739265037, + "width": 1.4158809652089623, + "height": 1.4502609424139261 + } + }, + "key": { + "type": "disk", + "pose": { + "pos": [ + 0.30705255075447546, + -0.888397730171052, + 1.9393530365429232 + ], + "ori": [ + -36.77147891948, + 26.146163190007073, + 26.76719174800199 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "color_temperature": 4884.387029486885, + "color": [ + 0.8640987601009709, + 0.8209429863118685, + 0.8557601240779613 + ], + "intensity": 9677.0052335483, + "radius": 0.25055227062302965 + } + } + } + ], + "background": { + "type": "dome", + "pose": { + "pos": null, + "ori": null, + "scale": null + }, + "dr": { + "intensity": 1570.1341681066326, + "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": [ + [ + 2.70168137550354, + -1.6381038427352905, + 2.48626971244812, + -2.4183053970336914, + -1.5708481073379517, + 4.272858142852783, + 0.01800001971423626, + 0.017999978736042976 + ], + [ + 2.4799227714538574, + -2.2815771102905273, + 2.07797908782959, + -1.366170883178711, + -1.5710781812667847, + 4.048983097076416, + 0.007710389327257872, + 0.007057739421725273 + ], + [ + 0.9141066670417786, + -1.7193970680236816, + 2.0904994010925293, + -1.941900610923767, + -1.5707999467849731, + 2.484900712966919, + 0.017999999225139618, + 0.017999999225139618 + ], + [ + 0.9141013026237488, + -1.7193976640701294, + 2.09049916267395, + -1.941900610923767, + -1.5707999467849731, + 2.4849002361297607, + 0.018000001087784767, + 0.01799999736249447 + ] + ], + "joint_vel": [ + [ + -0.009975901804864407, + -0.022009048610925674, + 0.019525647163391113, + 0.0024121871683746576, + -1.945382791745942e-05, + -0.010082030668854713, + -3.6815181374549866e-06, + 3.68146356777288e-06 + ], + [ + 0.025685617700219154, + 0.027488714084029198, + -0.007670211140066385, + -0.01936792954802513, + -0.00012683827662840486, + 0.026171673089265823, + -0.008169079199433327, + 0.0003055613487958908 + ], + [ + 1.4729577500802096e-21, + -5.197594225738351e-21, + -2.5995453316605596e-21, + -4.48234552878924e-22, + 8.231931415581889e-23, + 3.770670718839578e-24, + 7.256551606841697e-23, + -7.25659578305239e-23 + ], + [ + 0.0, + -2.454379024679696e-38, + -1.6918571403831822e-38, + -3.603107173534915e-37, + 5.968267374705023e-37, + -2.6944321126972536e-36, + -2.5990388508034812e-08, + 2.5990388508034812e-08 + ] + ] + } + }, + "cameras": { + "cameras": { + "camera0": [ + [ + 0.048513397574424744, + 0.0003484978515189141, + -0.03186164051294327, + -0.2755821645259857, + 0.6578724980354309, + 0.6430305242538452, + -0.2788727879524231 + ], + [ + 0.04904143884778023, + -0.0016197542427107692, + -0.032667648047208786, + -0.2888573706150055, + 0.636415958404541, + 0.6568149924278259, + -0.2830727994441986 + ], + [ + 0.05027943104505539, + 0.002394752111285925, + -0.029996510595083237, + -0.2773863971233368, + 0.6554683446884155, + 0.6417179107666016, + -0.2856854498386383 + ], + [ + 0.04869581758975983, + 0.0033023771829903126, + -0.02945035509765148, + -0.2797780930995941, + 0.6511587500572205, + 0.6446611285209656, + -0.2865806818008423 + ] + ], + "camera1": [ + [ + 0.0712307021021843, + 0.5728806257247925, + 1.9576637744903564, + 0.034133411943912506, + 0.003127296455204487, + 0.27131086587905884, + 0.9618812799453735 + ], + [ + 0.06482504308223724, + 0.6007570624351501, + 1.9288239479064941, + 0.02774667926132679, + 0.021900612860918045, + 0.28125154972076416, + 0.9589828252792358 + ], + [ + 0.05380244553089142, + 0.5824821591377258, + 1.9316447973251343, + 0.05502988025546074, + 0.01337659452110529, + 0.2752581238746643, + 0.959700882434845 + ], + [ + 0.05310022830963135, + 0.5781185626983643, + 1.9749940633773804, + 0.030498221516609192, + 0.022480763494968414, + 0.2720647156238556, + 0.9615327715873718 + ] + ] + } + } + } +} \ No newline at end of file diff --git a/episodes/c1_p004_e007/wrist.mp4 b/episodes/c1_p004_e007/wrist.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..d480217d844d318ac0891591493e09ef66d94b5e --- /dev/null +++ b/episodes/c1_p004_e007/wrist.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:e23a6d3cf65396382e9cb67dd6e1e0f60dba7f3ca64a5cd26f6f8122daa56cf0 +size 7048710 diff --git a/episodes/c2_p006_e020/data.npz b/episodes/c2_p006_e020/data.npz new file mode 100644 index 0000000000000000000000000000000000000000..5bf6bb7e1ed9fbdacba62b4ea287eaaf7386f823 --- /dev/null +++ b/episodes/c2_p006_e020/data.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:b0c283f4917b7728a242b755513931dae78659fd79552b252b9418323faceaa4 +size 202728 diff --git a/episodes/c2_p006_e020/device_events.jsonl b/episodes/c2_p006_e020/device_events.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..3a99ed9d01e224802f2a8fe6f88b191ea92dc17d --- /dev/null +++ b/episodes/c2_p006_e020/device_events.jsonl @@ -0,0 +1,35 @@ +{"env_id": 2, "seq": 1, "step": 85, "t": 0.425, "topic": "conveyor_1.belt.station.pick.captured", "source": "conveyor_1.belt", "data": {"rider": "carrier_2"}, "cause": null} +{"env_id": 2, "seq": 2, "step": 85, "t": 0.425, "topic": "conveyor_1.belt.state.changed", "source": "conveyor_1.belt", "data": {"from": "running", "to": "at_station"}, "cause": null} +{"env_id": 2, "seq": 3, "step": 90, "t": 0.45, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_2"}, "cause": null} +{"env_id": 2, "seq": 4, "step": 5338, "t": 26.69, "topic": "a4s_sealer_1.plate_present.present", "source": "a4s_sealer_1.plate_present", "data": {"object": "plate_2"}, "cause": null} +{"env_id": 2, "seq": 5, "step": 5952, "t": 29.76, "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": 5952, "t": 29.76, "topic": "a4s_sealer_1.seal.started", "source": "a4s_sealer_1", "data": {"dwell": 4.058456641899018}, "cause": "task-2-1"} +{"env_id": 2, "seq": 7, "step": 5952, "t": 29.76, "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": 5952, "t": 29.76, "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": 5952, "t": 29.76, "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": 6371, "t": 31.855, "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": 6371, "t": 31.855, "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": 6371, "t": 31.855, "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": 6371, "t": 31.855, "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": 6371, "t": 31.855, "topic": "labware.plate_2.changed", "source": "labware.plate_2", "data": {"key": "sealed", "value": true}, "cause": "task-2-1"} +{"env_id": 2, "seq": 15, "step": 6371, "t": 31.855, "topic": "a4s_sealer_1.sealed", "source": "a4s_sealer_1", "data": {"plate": "plate_2"}, "cause": "task-2-1"} +{"env_id": 2, "seq": 16, "step": 6371, "t": 31.855, "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": 6371, "t": 31.855, "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": 6371, "t": 31.855, "topic": "a4s_sealer_1.heater.started", "source": "a4s_sealer_1.heater", "data": {"duration": 4.058456641899018}, "cause": "program-2-3"} +{"env_id": 2, "seq": 19, "step": 7183, "t": 35.915, "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": 7183, "t": 35.915, "topic": "a4s_sealer_1.heater.finished", "source": "a4s_sealer_1.heater", "data": {"elapsed": 4.060000000001974}, "cause": "program-2-3"} +{"env_id": 2, "seq": 21, "step": 7183, "t": 35.915, "topic": "a4s_sealer_1.heater.command.succeeded", "source": "a4s_sealer_1.heater", "data": {"command_id": "program-2-3", "name": "run", "source": "program:seal", "result": {"elapsed": 4.060000000001974}}, "cause": "program-2-3"} +{"env_id": 2, "seq": 22, "step": 7183, "t": 35.915, "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": 7183, "t": 35.915, "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": 7183, "t": 35.915, "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": 7603, "t": 38.015, "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": 7603, "t": 38.015, "topic": "a4s_sealer_1.drawer.reached", "source": "a4s_sealer_1.drawer", "data": {"position": "out", "q": 4.0026972847329034e-09}, "cause": "program-2-4"} +{"env_id": 2, "seq": 27, "step": 7603, "t": 38.015, "topic": "a4s_sealer_1.drawer.at_out", "source": "a4s_sealer_1.drawer", "data": {"q": 4.0026972847329034e-09}, "cause": "program-2-4"} +{"env_id": 2, "seq": 28, "step": 7603, "t": 38.015, "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": 7603, "t": 38.015, "topic": "a4s_sealer_1.seal.finished", "source": "a4s_sealer_1", "data": {}, "cause": "task-2-1"} +{"env_id": 2, "seq": 30, "step": 7603, "t": 38.015, "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": 8178, "t": 40.89, "topic": "a4s_sealer_1.plate_present.absent", "source": "a4s_sealer_1.plate_present", "data": {"object": "plate_2"}, "cause": null} +{"env_id": 2, "seq": 32, "step": 10464, "t": 52.32, "topic": "conveyor_1.belt.command.started", "source": "conveyor_1.belt", "data": {"command_id": "task-2-5", "name": "release", "source": "task"}, "cause": "task-2-5"} +{"env_id": 2, "seq": 33, "step": 10464, "t": 52.32, "topic": "conveyor_1.belt.station.pick.released", "source": "conveyor_1.belt", "data": {"rider": "carrier_2"}, "cause": "task-2-5"} +{"env_id": 2, "seq": 34, "step": 10464, "t": 52.32, "topic": "conveyor_1.belt.state.changed", "source": "conveyor_1.belt", "data": {"from": "at_station", "to": "running"}, "cause": null} +{"env_id": 2, "seq": 35, "step": 10464, "t": 52.32, "topic": "conveyor_1.belt.command.succeeded", "source": "conveyor_1.belt", "data": {"command_id": "task-2-5", "name": "release", "source": "task", "result": {"state": "running"}}, "cause": "task-2-5"} diff --git a/episodes/c2_p006_e020/env.mp4 b/episodes/c2_p006_e020/env.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..6bcad002289cae9b9e69557fc516b0896e2e99d4 --- /dev/null +++ b/episodes/c2_p006_e020/env.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:8bf54dc4106fe684820971c94c94935eb81e950f25735ff9e3e2e276df1ca288 +size 1496551 diff --git a/episodes/c2_p006_e020/meta.json b/episodes/c2_p006_e020/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..6a325bc97422afc2d7c01a292e661449aaa72b74 --- /dev/null +++ b/episodes/c2_p006_e020/meta.json @@ -0,0 +1,32 @@ +{ + "source": "raw/c2_p006/magicsim/20", + "fps": 25, + "frames": 1275, + "kept_ticks": "even", + "video_frames": { + "wrist": 1275, + "env": 1275 + }, + "joint_target_source": "joint_pos_target", + "fk_vs_recorded_eef_max_m": 0.0, + "curobo_joints": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "joint_order": [ + "shoulder_pan", + "shoulder_lift", + "elbow", + "wrist_1", + "wrist_2", + "wrist_3", + "finger_left", + "finger_right" + ], + "frames_note": "eef / actions in the robot base frame; camera_pose = local pose (wrist: in plate_gripper_base, env: env frame), pos + quat wxyz", + "dr_version": "v2" +} \ No newline at end of file diff --git a/episodes/c2_p006_e020/scene_snapshot.json b/episodes/c2_p006_e020/scene_snapshot.json new file mode 100644 index 0000000000000000000000000000000000000000..22725d72481bdddad8f7343dffac8d98adfc866c --- /dev/null +++ b/episodes/c2_p006_e020/scene_snapshot.json @@ -0,0 +1,1558 @@ +{ + "trajectory_id": 20, + "env_id": 2, + "run_id": "c2_p006", + "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": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_96_black/plate_96_black.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 0.9605 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_48_clear/plate_48_clear.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.0285 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_96_black/plate_96_black.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.0965 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/deep_well_96_2ml/deep_well_96_2ml.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.1645 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/pcr_384_red/pcr_384_red.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.2325 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "a4s_sealer": [ + { + "asset": "$MAGICSIM_ASSETS/Articulated/A4SSealer/Object.usd", + "pose": { + "pos": [ + 0.5104236602783203, + 0.09545230865478516, + 0.8999999761581421 + ], + "ori": [ + -0.6867352724075317, + 0.0, + 0.0, + 0.7269076108932495 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "articulation", + "solver_position_iteration_count": 16.0, + "solver_velocity_iteration_count": 1.0, + "enabled_self_collisions": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "joint_position": [ + 4.037000334716767e-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": 0.2800023944775906, + "direction": [ + 1.0, + 0.0, + 0.0 + ], + "enabled": true, + "drive": "surface_velocity", + "lines": null, + "station_line": null, + "riders": [ + "carrier" + ], + "stations": { + "pick": { + "position": -0.17646994888023937, + "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": 0.2800023944775906, + "holds": [], + "station": "pick", + "rider": "carrier_2", + "arrived": true, + "applied_speed": 0.0 + } + } + } + ], + "carrier": [ + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + 1.6713571548461914, + 0.6683378219604492, + 0.8999999761581421 + ], + "ori": [ + 0.8352716565132141, + -3.757633848522346e-08, + 3.562618644536997e-08, + 0.5498374700546265 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 3.5325129488228413e-09, + 1.2373657654052295e-10, + 3.725290298461914e-09 + ], + "angular_velocity": [ + 8.160640163623611e-09, + 9.008164170154487e-08, + 3.267871306888992e-08 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + -0.02636241912841797, + 0.45000171661376953, + 0.8999999761581421 + ], + "ori": [ + 1.0, + 1.2944347815846413e-09, + -3.577235174745397e-10, + -4.19694661104586e-05 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 2.367488871612977e-09, + 2.3521748993005076e-09, + 1.1175870895385742e-08 + ], + "angular_velocity": [ + -1.2126771764542355e-07, + 2.1114900050633878e-07, + -2.7107512678981038e-08 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + 0.17357826232910156, + 1.1499958038330078, + 0.8999999761581421 + ], + "ori": [ + 7.430966797983274e-05, + -2.4987059643599707e-10, + 1.8529429379743334e-10, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -8.190526035178891e-11, + -1.7239738525631765e-09, + 3.725290298461914e-09 + ], + "angular_velocity": [ + 1.704532763824318e-07, + 7.0875181279461685e-09, + -7.842320570716765e-09 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + -1.3391695022583008, + 0.6073112487792969, + 0.8999999761581421 + ], + "ori": [ + -0.8758617043495178, + -6.322988355123016e-08, + 1.551102357666423e-08, + 0.48256227374076843 + ], + "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": [ + 2.139442623061427e-09, + -1.0686864726494605e-09, + 0.0 + ], + "angular_velocity": [ + 1.5489661109313602e-07, + 2.224583397492097e-07, + 5.0129331796711085e-09 + ] + } + } + ], + "plate": [ + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_24_clear/Object.usd", + "pose": { + "pos": [ + 1.668726921081543, + 0.6547393798828125, + 0.9179999828338623 + ], + "ori": [ + 0.8633595108985901, + -6.90496619881742e-08, + 1.2388852610456524e-08, + 0.5045892596244812 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 1.051592334988527e-06, + -2.646987695698044e-07, + -3.4980475902557373e-06 + ], + "angular_velocity": [ + 3.183117587468587e-05, + 7.28479353711009e-05, + -2.8572358132805675e-06 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_384_black/Object.usd", + "pose": { + "pos": [ + -0.028903961181640625, + 0.43845176696777344, + 0.9180000424385071 + ], + "ori": [ + 0.9991163611412048, + 1.7751597969350996e-09, + -1.6043467665483035e-09, + -0.04203033074736595 + ], + "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": [ + -4.9117838685219795e-09, + 3.0794026883995684e-08, + -5.230307579040527e-06 + ], + "angular_velocity": [ + -8.062134497777151e-07, + -1.712225639494136e-06, + -2.878760341218367e-08 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_1536_black/Object.usd", + "pose": { + "pos": [ + 0.1728048324584961, + 1.151289939880371, + 0.9180000424385071 + ], + "ori": [ + -0.05991417169570923, + -8.277550173074744e-11, + -1.5840385669818602e-09, + 0.9982036352157593 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 1.3765565576306926e-08, + -1.388980130911932e-08, + -5.774199962615967e-06 + ], + "angular_velocity": [ + -2.3530685666628415e-07, + 1.461878810005146e-06, + 9.137430367900379e-08 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/deep_well_24_10ml/Object.usd", + "pose": { + "pos": [ + -1.3392753601074219, + 0.6214704513549805, + 0.9179999828338623 + ], + "ori": [ + -0.8594953417778015, + -6.441950262114915e-08, + 1.5831885136208257e-08, + 0.5111436247825623 + ], + "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": [ + -4.329913139144992e-08, + -9.885638974083122e-08, + -1.1771917343139648e-06 + ], + "angular_velocity": [ + 5.971825203232584e-07, + -2.351205239392584e-06, + -4.248335017109639e-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": 1.4599999999999909, + "step": 292, + "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": 4.037000334716767e-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": 0.2800023944775906, + "holds": [], + "station": "pick", + "rider": "carrier_2", + "arrived": true, + "settle_count": 206, + "released": { + "pick": [] + }, + "last_pos": { + "carrier_1": [ + 1.521357148885727, + 0.21833783388137817, + 0.0 + ], + "carrier_2": [ + -0.17636242508888245, + 1.7285346984863281e-06, + 0.0 + ], + "carrier_3": [ + 0.023578256368637085, + 0.6999958157539368, + 0.0 + ], + "carrier_4": [ + -1.4891695082187653, + 0.15731126070022583, + 0.0 + ] + }, + "command": 0.0 + }, + "belt": { + "target_speed": 0.0, + "command_speed": 0.0 + }, + "seen": { + "state": "at_station", + "station": "pick", + "rider": "carrier_2", + "arrived": true + } + } + }, + "queues": {}, + "program": null, + "sensors": {}, + "interlocks": {} + } + }, + "zones": {}, + "labware": { + "plate_1": { + "sealed": false + }, + "plate_2": { + "sealed": false + }, + "plate_3": { + "sealed": false + }, + "plate_4": { + "sealed": false + } + }, + "rules": {}, + "records": [], + "bus": { + "seq": 3, + "queue": [] + } + }, + null + ], + "drives": [ + null, + null, + {}, + null + ] + }, + "artifacts": [ + {}, + {}, + { + "ceiling": { + "type": "rect", + "pose": { + "pos": [ + 0.40654872645064566, + -0.14439392177927707, + 3.152771612413347 + ], + "ori": [ + 2.7028152271223504, + 10.615363480813684, + 3.939503946060924 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "color_temperature": 3431.413607903861, + "color": [ + 0.869770504144378, + 0.8976774381297872, + 0.9489098321168796 + ], + "intensity": 10798.659430914402, + "width": 1.9894468644663954, + "height": 0.9998632920677544 + } + }, + "key": { + "type": "disk", + "pose": { + "pos": [ + -1.3576206866524967, + 1.470001532427834, + 1.8038006612545532 + ], + "ori": [ + 21.98706721606883, + -23.10179707963746, + 28.830793175854538 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "color_temperature": 6209.825569396662, + "color": [ + 0.8536510175405886, + 0.9772017788839357, + 0.9628959926220091 + ], + "intensity": 7738.736876657051, + "radius": 0.18173719790859577 + } + } + }, + {} + ], + "background": { + "type": "dome", + "pose": { + "pos": null, + "ori": null, + "scale": null + }, + "dr": { + "intensity": 1052.2264660449014, + "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": [ + [ + 1.5081791877746582, + -1.2895158529281616, + 2.2441365718841553, + -2.5233676433563232, + -1.5663707256317139, + 6.225668430328369, + 0.017999986186623573, + 0.017999986186623573 + ], + [ + 0.04118045046925545, + -2.013265371322632, + 2.349848508834839, + -1.9087681770324707, + -1.5711748600006104, + 4.721993923187256, + 0.007219698280096054, + 0.00747712654992938 + ], + [ + 0.9141018986701965, + -1.719398021697998, + 2.09049916267395, + -1.9419001340866089, + -1.5707999467849731, + 2.484900712966919, + 0.01799999736249447, + 0.018000001087784767 + ], + [ + -0.21193666756153107, + -2.2581918239593506, + 2.4380605220794678, + -1.7514784336090088, + -1.5705875158309937, + 4.56232213973999, + 0.007107086014002562, + 0.008097156882286072 + ] + ], + "joint_vel": [ + [ + 1.0217894669040106e-05, + 3.405920551813324e-06, + 6.811926596128615e-06, + -4.257754305375672e-12, + 6.811957518948475e-06, + -2.7247837351751514e-05, + 1.819433066430065e-07, + 1.8190705475262803e-07 + ], + [ + 0.056617848575115204, + 0.02410631999373436, + 0.004581090994179249, + -0.014628036879003048, + 0.009775529615581036, + 0.03172362968325615, + -0.00745506351813674, + 8.93607793841511e-05 + ], + [ + -2.887758320481739e-38, + 1.6217030945846102e-38, + 2.6142711030948575e-38, + 5.260335426267702e-37, + -2.0629669363260236e-37, + 2.9093763200466938e-37, + 2.5990388508034812e-08, + -2.5990386731677972e-08 + ], + [ + 0.0001667386677581817, + 0.001128002884797752, + 0.005774918012320995, + -0.0002628716465551406, + -0.003551253117620945, + 0.008009661920368671, + -0.005131331272423267, + 0.0003035838599316776 + ] + ] + } + }, + "cameras": { + "cameras": { + "camera0": [ + [ + 0.053021661937236786, + -8.932787022786215e-05, + -0.03220164775848389, + -0.26377707719802856, + 0.6526886820793152, + 0.6518236994743347, + -0.28203731775283813 + ], + [ + 0.0519603006541729, + -0.0003651711158454418, + -0.028491726145148277, + -0.27267780900001526, + 0.6438103318214417, + 0.6603277921676636, + -0.2740844488143921 + ], + [ + 0.05123768001794815, + -0.0004728480998892337, + -0.02556305006146431, + -0.27297350764274597, + 0.6570644974708557, + 0.6446986198425293, + -0.2794913053512573 + ], + [ + 0.049678802490234375, + 0.0003261132806073874, + -0.02740180492401123, + -0.2800055742263794, + 0.6411654949188232, + 0.6581519246101379, + -0.27810025215148926 + ] + ], + "camera1": [ + [ + 0.03844340518116951, + 0.5770515203475952, + 1.9462283849716187, + 0.0503259003162384, + -0.0017439379589632154, + 0.27564799785614014, + 0.9599387645721436 + ], + [ + 0.06605285406112671, + 0.589656412601471, + 1.9589149951934814, + 0.03824615851044655, + 0.0019188724691048265, + 0.2817726731300354, + 0.9587166905403137 + ], + [ + 0.07279425859451294, + 0.5843784809112549, + 1.9321978092193604, + 0.048283759504556656, + 0.015067461878061295, + 0.2663729190826416, + 0.9625419974327087 + ], + [ + 0.03268776088953018, + 0.5988296270370483, + 1.9423192739486694, + 0.03266121819615364, + 0.028113029897212982, + 0.27816909551620483, + 0.9595649242401123 + ] + ] + } + } + } +} \ No newline at end of file diff --git a/episodes/c2_p006_e020/wrist.mp4 b/episodes/c2_p006_e020/wrist.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..4c9b0d054b63e5564abd169220e2283ac5145f51 --- /dev/null +++ b/episodes/c2_p006_e020/wrist.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:68d1af21396056274a1f5dad6c10973c70e28b6f6db1e95bfa65e0620e6387fa +size 6659502 diff --git a/episodes/c2_p006_e021/data.npz b/episodes/c2_p006_e021/data.npz new file mode 100644 index 0000000000000000000000000000000000000000..16673e629e423bafa140f97692b540734a3125ad --- /dev/null +++ b/episodes/c2_p006_e021/data.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:c868d4d104b54a7a15f4863ace333ae706641df38ac3f2b52241e6cbdfa8e86d +size 189944 diff --git a/episodes/c2_p006_e021/device_events.jsonl b/episodes/c2_p006_e021/device_events.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..5478ccba3f24b63d2e25b82b01f6405bbc3af099 --- /dev/null +++ b/episodes/c2_p006_e021/device_events.jsonl @@ -0,0 +1,38 @@ +{"env_id": 0, "seq": 1, "step": 84, "t": 0.42, "topic": "conveyor_1.belt.station.pick.captured", "source": "conveyor_1.belt", "data": {"rider": "carrier_2"}, "cause": null} +{"env_id": 0, "seq": 2, "step": 84, "t": 0.42, "topic": "conveyor_1.belt.state.changed", "source": "conveyor_1.belt", "data": {"from": "running", "to": "at_station"}, "cause": null} +{"env_id": 0, "seq": 3, "step": 89, "t": 0.445, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_2"}, "cause": null} +{"env_id": 0, "seq": 4, "step": 1675, "t": 8.375, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_2"}, "cause": null} +{"env_id": 0, "seq": 5, "step": 1774, "t": 8.87, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_2"}, "cause": null} +{"env_id": 0, "seq": 6, "step": 1782, "t": 8.91, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_2"}, "cause": null} +{"env_id": 0, "seq": 7, "step": 6574, "t": 32.87, "topic": "a4s_sealer_1.plate_present.present", "source": "a4s_sealer_1.plate_present", "data": {"object": "plate_2"}, "cause": null} +{"env_id": 0, "seq": 8, "step": 7188, "t": 35.94, "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": 9, "step": 7188, "t": 35.94, "topic": "a4s_sealer_1.seal.started", "source": "a4s_sealer_1", "data": {"dwell": 3.2506827260379776}, "cause": "task-0-1"} +{"env_id": 0, "seq": 10, "step": 7188, "t": 35.94, "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": 11, "step": 7188, "t": 35.94, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "at_out", "to": "moving"}, "cause": null} +{"env_id": 0, "seq": 12, "step": 7188, "t": 35.94, "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": 13, "step": 7607, "t": 38.035, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "moving", "to": "at_in"}, "cause": null} +{"env_id": 0, "seq": 14, "step": 7607, "t": 38.035, "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": 15, "step": 7607, "t": 38.035, "topic": "a4s_sealer_1.drawer.at_in", "source": "a4s_sealer_1.drawer", "data": {"q": 0.30000001192092896}, "cause": "program-0-2"} +{"env_id": 0, "seq": 16, "step": 7607, "t": 38.035, "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": 17, "step": 7607, "t": 38.035, "topic": "labware.plate_2.changed", "source": "labware.plate_2", "data": {"key": "sealed", "value": true}, "cause": "task-0-1"} +{"env_id": 0, "seq": 18, "step": 7607, "t": 38.035, "topic": "a4s_sealer_1.sealed", "source": "a4s_sealer_1", "data": {"plate": "plate_2"}, "cause": "task-0-1"} +{"env_id": 0, "seq": 19, "step": 7607, "t": 38.035, "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": 20, "step": 7607, "t": 38.035, "topic": "a4s_sealer_1.heater.state.changed", "source": "a4s_sealer_1.heater", "data": {"from": "ready", "to": "running"}, "cause": null} +{"env_id": 0, "seq": 21, "step": 7607, "t": 38.035, "topic": "a4s_sealer_1.heater.started", "source": "a4s_sealer_1.heater", "data": {"duration": 3.2506827260379776}, "cause": "program-0-3"} +{"env_id": 0, "seq": 22, "step": 8258, "t": 41.29, "topic": "a4s_sealer_1.heater.state.changed", "source": "a4s_sealer_1.heater", "data": {"from": "running", "to": "ready"}, "cause": null} +{"env_id": 0, "seq": 23, "step": 8258, "t": 41.29, "topic": "a4s_sealer_1.heater.finished", "source": "a4s_sealer_1.heater", "data": {"elapsed": 3.2550000000016652}, "cause": "program-0-3"} +{"env_id": 0, "seq": 24, "step": 8258, "t": 41.29, "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": 3.2550000000016652}}, "cause": "program-0-3"} +{"env_id": 0, "seq": 25, "step": 8258, "t": 41.29, "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": 26, "step": 8258, "t": 41.29, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "at_in", "to": "moving"}, "cause": null} +{"env_id": 0, "seq": 27, "step": 8258, "t": 41.29, "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": 28, "step": 8678, "t": 43.39, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "moving", "to": "at_out"}, "cause": null} +{"env_id": 0, "seq": 29, "step": 8678, "t": 43.39, "topic": "a4s_sealer_1.drawer.reached", "source": "a4s_sealer_1.drawer", "data": {"position": "out", "q": 0.0}, "cause": "program-0-4"} +{"env_id": 0, "seq": 30, "step": 8678, "t": 43.39, "topic": "a4s_sealer_1.drawer.at_out", "source": "a4s_sealer_1.drawer", "data": {"q": 0.0}, "cause": "program-0-4"} +{"env_id": 0, "seq": 31, "step": 8678, "t": 43.39, "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": 32, "step": 8678, "t": 43.39, "topic": "a4s_sealer_1.seal.finished", "source": "a4s_sealer_1", "data": {}, "cause": "task-0-1"} +{"env_id": 0, "seq": 33, "step": 8678, "t": 43.39, "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": 34, "step": 9260, "t": 46.3, "topic": "a4s_sealer_1.plate_present.absent", "source": "a4s_sealer_1.plate_present", "data": {"object": "plate_2"}, "cause": null} +{"env_id": 0, "seq": 35, "step": 10964, "t": 54.82, "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": 36, "step": 10964, "t": 54.82, "topic": "conveyor_1.belt.station.pick.released", "source": "conveyor_1.belt", "data": {"rider": "carrier_2"}, "cause": "task-0-5"} +{"env_id": 0, "seq": 37, "step": 10964, "t": 54.82, "topic": "conveyor_1.belt.state.changed", "source": "conveyor_1.belt", "data": {"from": "at_station", "to": "running"}, "cause": null} +{"env_id": 0, "seq": 38, "step": 10964, "t": 54.82, "topic": "conveyor_1.belt.command.succeeded", "source": "conveyor_1.belt", "data": {"command_id": "task-0-5", "name": "release", "source": "task", "result": {"state": "running"}}, "cause": "task-0-5"} diff --git a/episodes/c2_p006_e021/env.mp4 b/episodes/c2_p006_e021/env.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..2ad47a9183f376402c33274a7b4d1b087fa2a1d2 --- /dev/null +++ b/episodes/c2_p006_e021/env.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:ce1ee95db94ec7badd46c5cd62dd82d22e845ef571cb356af8f75d8bb6d8773a +size 1353822 diff --git a/episodes/c2_p006_e021/meta.json b/episodes/c2_p006_e021/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..1c94690929261212a19dfee4bf8b4ff4f208dd4b --- /dev/null +++ b/episodes/c2_p006_e021/meta.json @@ -0,0 +1,32 @@ +{ + "source": "raw/c2_p006/magicsim/21", + "fps": 25, + "frames": 1219, + "kept_ticks": "even", + "video_frames": { + "wrist": 1219, + "env": 1219 + }, + "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_p006_e021/scene_snapshot.json b/episodes/c2_p006_e021/scene_snapshot.json new file mode 100644 index 0000000000000000000000000000000000000000..85353d3533fbe2af9d080a3fc01de47040f3a47d --- /dev/null +++ b/episodes/c2_p006_e021/scene_snapshot.json @@ -0,0 +1,1558 @@ +{ + "trajectory_id": 21, + "env_id": 0, + "run_id": "c2_p006", + "task_type": "BioPlateCell", + "success": true, + "timing": { + "fps": 50.0, + "sim_dt": 0.005, + "decimation": 4 + }, + "restore_interface": { + "scene": "scene_manager.reset_to(snapshot['scene'], env_ids=[env_id])", + "robots": "robot_manager.set_state({'robots': snapshot['robots']}, env_ids=[env_id])" + }, + "snapshot": { + "env_id": 0, + "scene": { + "objects": [ + { + "rac_cell": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/rac_cell.usd", + "pose": { + "pos": [ + 0.0, + 0.0, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "physics_material": { + "static_friction": 0.6, + "dynamic_friction": 0.5, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "robot_mount": [ + { + "asset": "Cube", + "pose": { + "pos": [ + 0.0, + 0.0, + 0.9075 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": "color", + "value": [ + 0.55, + 0.56, + 0.58 + ], + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": { + "size": [ + 0.2, + 0.2, + 0.015 + ] + } + }, + "type_specific": {} + } + ], + "plate_rack": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/plate_hotel.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 0.9 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "physics_material": { + "static_friction": 0.6, + "dynamic_friction": 0.5, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "hotel_plate": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/pcr_96_blue/pcr_96_blue.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 0.9605 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_12_clear/plate_12_clear.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.0285 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_48_clear/plate_48_clear.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.0965 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_96_black/plate_96_black.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.1645 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/deep_well_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": [ + 0.49597930908203125, + 0.11912250518798828, + 0.8999999761581421 + ], + "ori": [ + 0.7368243932723999, + 0.0, + 0.0, + -0.6760841608047485 + ], + "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": 0.22558970295941141, + "direction": [ + 1.0, + 0.0, + 0.0 + ], + "enabled": true, + "drive": "surface_velocity", + "lines": null, + "station_line": null, + "riders": [ + "carrier" + ], + "stations": { + "pick": { + "position": -0.05798695679589169, + "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": 0.22558970295941141, + "holds": [], + "station": "pick", + "rider": "carrier_2", + "arrived": true, + "applied_speed": 0.0 + } + } + } + ], + "carrier": [ + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + 0.23725414276123047, + 1.149998664855957, + 0.8999999761581421 + ], + "ori": [ + -1.4895219919708325e-06, + -7.423789916138901e-10, + -2.348027550169718e-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": [ + -2.6927293728107315e-10, + -1.5916192808163032e-09, + 3.725290298461914e-09 + ], + "angular_velocity": [ + 1.2101664026431536e-07, + -1.0079499901394229e-08, + -5.288979920692327e-09 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + 0.09222888946533203, + 0.45000171661376953, + 0.8999999761581421 + ], + "ori": [ + 1.0, + 1.2742054078529463e-09, + -5.734121621969734e-09, + 3.17898957291618e-05 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 1.708105656916814e-09, + 3.7523961715635323e-10, + 7.450580596923828e-09 + ], + "angular_velocity": [ + 8.778130222708569e-09, + 1.5136785691538535e-07, + -1.5065698022453944e-08 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + 1.6942529678344727, + 0.8450345993041992, + 0.8999999761581421 + ], + "ori": [ + 0.6706533432006836, + 6.426381560231675e-08, + -4.0352293950718376e-08, + 0.7417709827423096 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -7.50929429749192e-10, + 2.862501624623093e-10, + 0.0 + ], + "angular_velocity": [ + -4.768979877667334e-08, + -6.49307452249559e-08, + -4.71334082874364e-10 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + -1.3165950775146484, + 1.0220108032226562, + 0.8999999761581421 + ], + "ori": [ + -0.41911637783050537, + 7.243667710099544e-08, + 3.549727978224837e-08, + 0.9079325795173645 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 1.2281891059728878e-09, + -2.2701629465160522e-09, + 3.725290298461914e-09 + ], + "angular_velocity": [ + 2.97983859809392e-07, + -1.8093217590831046e-08, + -2.2575509461830734e-08 + ] + } + } + ], + "plate": [ + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_6_clear/Object.usd", + "pose": { + "pos": [ + 0.2507925033569336, + 1.1614160537719727, + 0.9179999828338623 + ], + "ori": [ + 0.0347568541765213, + -7.086866649075318e-10, + -1.903090462995749e-10, + 0.9993957877159119 + ], + "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": [ + 2.3658467185327936e-08, + -3.327901509919684e-08, + 1.1920928955078125e-07 + ], + "angular_velocity": [ + 8.611785347056866e-07, + 1.5568105027341517e-06, + 1.4023243011251907e-07 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_96_black/Object.usd", + "pose": { + "pos": [ + 0.08337974548339844, + 0.44470882415771484, + 0.9180000424385071 + ], + "ori": [ + 0.9968694448471069, + 1.4181993357453848e-09, + -6.077812919613734e-09, + -0.07906654477119446 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -6.725335843782432e-09, + 1.7168472865591866e-08, + -5.558133125305176e-06 + ], + "angular_velocity": [ + -4.0148549373952847e-08, + -1.5691572343712323e-06, + -9.166995162956937e-09 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/pcr_96_blue/Object.usd", + "pose": { + "pos": [ + 1.7050247192382812, + 0.8317232131958008, + 0.9180000424385071 + ], + "ori": [ + 0.6897333264350891, + 6.480055958490993e-08, + -3.919780056094169e-08, + 0.7240635752677917 + ], + "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": [ + 1.0862419852486482e-09, + -2.61563997128178e-08, + -6.210058927536011e-06 + ], + "angular_velocity": [ + 1.4860850114928326e-06, + 4.457035061022907e-07, + 6.23132550003902e-08 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/deep_well_96_2ml/Object.usd", + "pose": { + "pos": [ + -1.3078880310058594, + 1.0339641571044922, + 0.9179999828338623 + ], + "ori": [ + -0.42109957337379456, + 7.364615584037892e-08, + 3.381220636811122e-08, + 0.9070144891738892 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 1.8893944186970657e-08, + 9.209887963379515e-09, + -1.8328428268432617e-06 + ], + "angular_velocity": [ + -1.3669504141944344e-06, + 5.585025064647198e-07, + -8.595453238058326e-08 + ] + } + } + ], + "deco_hub_west": [ + { + "asset": "$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": 6.259999999999889, + "step": 1252, + "counter": 0, + "devices": { + "a4s_sealer_1": { + "mode": "auto", + "units": { + "drawer": { + "state": "at_out", + "active": null, + "target": 0.0, + "goal_name": "out", + "profile": null, + "q_start": null, + "reversing": false, + "blocked_for": 0.0, + "settled_for": 0.0, + "last_q": 0.0 + }, + "heater": { + "state": "ready", + "active": null, + "duration": 0.0, + "t_start": null, + "elapsed": 0.0 + } + }, + "queues": {}, + "program": null, + "sensors": { + "plate_present": { + "occupants": [], + "pending": {} + } + }, + "interlocks": {} + }, + "conveyor_1": { + "mode": "auto", + "units": { + "belt": { + "state": "at_station", + "active": null, + "controller": { + "speed": 0.22558970295941141, + "holds": [], + "station": "pick", + "rider": "carrier_2", + "arrived": true, + "settle_count": 1167, + "released": { + "pick": [] + }, + "last_pos": { + "carrier_1": [ + 0.08725413680076599, + 0.699998676776886, + 0.0 + ], + "carrier_2": [ + -0.057771116495132446, + 1.7285346984863281e-06, + 0.0 + ], + "carrier_3": [ + 1.5442529618740082, + 0.3950346112251282, + 0.0 + ], + "carrier_4": [ + -1.466595083475113, + 0.5720108151435852, + 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": [ + -0.09319792896878532, + -0.45494318503864817, + 2.941857547458968 + ], + "ori": [ + 1.8363687133759043, + 12.478519609010721, + -14.660623088605568 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "color_temperature": 3350.4901251258248, + "color": [ + 0.9129080676096606, + 0.8223065535117299, + 0.9926359283007524 + ], + "intensity": 6095.8547565118915, + "width": 2.1587630827940067, + "height": 1.7878077611291006 + } + }, + "key": { + "type": "disk", + "pose": { + "pos": [ + 0.39184131754832396, + -0.14035911050992378, + 2.388162574889768 + ], + "ori": [ + 9.646724119191575, + 0.5610337931823111, + -7.480156970378495 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "color_temperature": 6287.280955540105, + "color": [ + 0.9829603378580554, + 0.8242112514504437, + 0.8074175460961187 + ], + "intensity": 10244.28364698482, + "radius": 0.40777556175489094 + } + } + }, + {}, + {}, + {} + ], + "background": { + "type": "dome", + "pose": { + "pos": null, + "ori": null, + "scale": null + }, + "dr": { + "intensity": 435.8186618141035, + "texture": null, + "color": [ + 0.92, + 0.94, + 0.96 + ] + } + } + }, + "robots": { + "UR5e": { + "root_pose": [ + [ + 11.0, + -11.0, + 0.9150000214576721, + 1.0, + 0.0, + 0.0, + 0.0 + ], + [ + 11.0, + 11.0, + 0.9150000214576721, + 1.0, + 0.0, + 0.0, + 0.0 + ], + [ + -11.0, + -11.0, + 0.9150000214576721, + 1.0, + 0.0, + 0.0, + 0.0 + ], + [ + -11.0, + 11.0, + 0.9150000214576721, + 1.0, + 0.0, + 0.0, + 0.0 + ] + ], + "root_vel": [ + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + ], + "joint_pos": [ + [ + 0.9141120910644531, + -1.7193936109542847, + 2.0904970169067383, + -1.941900372505188, + -1.5707999467849731, + 2.4849066734313965, + 0.01799999363720417, + 0.018000004813075066 + ], + [ + 0.9141024351119995, + -1.719397783279419, + 2.09049916267395, + -1.9419002532958984, + -1.5707999467849731, + 2.484900951385498, + 0.018000001087784767, + 0.01799999736249447 + ], + [ + 2.298736095428467, + -2.418813467025757, + 2.112344741821289, + -1.2644414901733398, + -1.5699114799499512, + 3.872274875640869, + 0.007499993778765202, + 0.0075424243696033955 + ], + [ + 1.5594489574432373, + -1.389599084854126, + 2.1901748180389404, + -2.3710408210754395, + -1.5712922811508179, + -0.006428500637412071, + 0.0180000439286232, + 0.017999958246946335 + ] + ], + "joint_vel": [ + [ + 5.108947789267404e-06, + 3.4059537483699387e-06, + -6.81194978824351e-06, + 1.6143008154181904e-12, + 2.015064107057079e-14, + 1.4924212039801876e-12, + 7.797103052098464e-08, + -7.797154211175439e-08 + ], + [ + 2.752842425375317e-38, + -2.872402331390282e-38, + -1.5454197693030816e-38, + -3.3353367494150315e-37, + 6.405865755975394e-37, + -1.966546615800516e-37, + -2.5990388508034812e-08, + 2.5990388508034812e-08 + ], + [ + 0.01597016118466854, + -0.011335787363350391, + -0.005638252943754196, + 0.011223800480365753, + 0.0003308841260150075, + 0.01438453234732151, + -0.0060062045231461525, + 0.00027855730149894953 + ], + [ + 0.0001504220417700708, + -0.017781376838684082, + -0.008577649481594563, + 0.025052716955542564, + -6.128390850790311e-06, + 1.6644804645693512e-06, + -8.472905392409302e-06, + 8.423486178799067e-06 + ] + ] + } + }, + "cameras": { + "cameras": { + "camera0": [ + [ + 0.05399024859070778, + -0.00038034573663026094, + -0.026791729032993317, + -0.28408268094062805, + 0.6530733108520508, + 0.6432296633720398, + -0.2811545729637146 + ], + [ + 0.04965929687023163, + -0.0006719667580910027, + -0.028912752866744995, + -0.2836526930332184, + 0.6512745022773743, + 0.6483038067817688, + -0.2740160822868347 + ], + [ + 0.05313393473625183, + -0.00017916897195391357, + -0.026771945878863335, + -0.2737857401371002, + 0.6560708284378052, + 0.6455651521682739, + -0.2790304720401764 + ], + [ + 0.046712398529052734, + 0.0004805625940207392, + -0.02817985601723194, + -0.2778968811035156, + 0.6439947485923767, + 0.6549220681190491, + -0.28128471970558167 + ] + ], + "camera1": [ + [ + 0.03285811468958855, + 0.5870434641838074, + 1.9370967149734497, + 0.028072619810700417, + 0.007757985033094883, + 0.2863509953022003, + 0.9576820135116577 + ], + [ + 0.06741869449615479, + 0.5845708250999451, + 1.958926796913147, + 0.02616044506430626, + -0.0013355922419577837, + 0.2593175172805786, + 0.9654368162155151 + ], + [ + 0.07279425859451294, + 0.5843784809112549, + 1.9321978092193604, + 0.048283759504556656, + 0.015067461878061295, + 0.2663729190826416, + 0.9625419974327087 + ], + [ + 0.03268776088953018, + 0.5988296270370483, + 1.9423192739486694, + 0.03266121819615364, + 0.028113029897212982, + 0.27816909551620483, + 0.9595649242401123 + ] + ] + } + } + } +} \ No newline at end of file diff --git a/episodes/c2_p006_e021/wrist.mp4 b/episodes/c2_p006_e021/wrist.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..c24b6ae66d95b72fee1fcafb9f9ae38c9e06db10 --- /dev/null +++ b/episodes/c2_p006_e021/wrist.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:9a9253b9e0cce02bc2c5632837d5dd365077fc2245e6222ee3667b2b9f5410e6 +size 6403758 diff --git a/episodes/c2_p006_e022/data.npz b/episodes/c2_p006_e022/data.npz new file mode 100644 index 0000000000000000000000000000000000000000..6583a6b600abf319dfe52fa5d9e9ae9a853bfc09 --- /dev/null +++ b/episodes/c2_p006_e022/data.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:8438d00af6c20b4b55c1ea90427ce87c7c9324a8e921043c12cafe26c4428cb3 +size 201012 diff --git a/episodes/c2_p006_e022/device_events.jsonl b/episodes/c2_p006_e022/device_events.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..96b51ce18489b6f85feb330b8c960a6e02a27af4 --- /dev/null +++ b/episodes/c2_p006_e022/device_events.jsonl @@ -0,0 +1,35 @@ +{"env_id": 1, "seq": 1, "step": 40, "t": 0.2, "topic": "conveyor_1.belt.station.pick.captured", "source": "conveyor_1.belt", "data": {"rider": "carrier_1"}, "cause": null} +{"env_id": 1, "seq": 2, "step": 40, "t": 0.2, "topic": "conveyor_1.belt.state.changed", "source": "conveyor_1.belt", "data": {"from": "running", "to": "at_station"}, "cause": null} +{"env_id": 1, "seq": 3, "step": 45, "t": 0.225, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_1"}, "cause": null} +{"env_id": 1, "seq": 4, "step": 6058, "t": 30.29, "topic": "a4s_sealer_1.plate_present.present", "source": "a4s_sealer_1.plate_present", "data": {"object": "plate_1"}, "cause": null} +{"env_id": 1, "seq": 5, "step": 6672, "t": 33.36, "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": 6672, "t": 33.36, "topic": "a4s_sealer_1.seal.started", "source": "a4s_sealer_1", "data": {"dwell": 3.052213353081053}, "cause": "task-1-1"} +{"env_id": 1, "seq": 7, "step": 6672, "t": 33.36, "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": 6672, "t": 33.36, "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": 6672, "t": 33.36, "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": 7091, "t": 35.455, "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": 7091, "t": 35.455, "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": 7091, "t": 35.455, "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": 7091, "t": 35.455, "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": 7091, "t": 35.455, "topic": "labware.plate_1.changed", "source": "labware.plate_1", "data": {"key": "sealed", "value": true}, "cause": "task-1-1"} +{"env_id": 1, "seq": 15, "step": 7091, "t": 35.455, "topic": "a4s_sealer_1.sealed", "source": "a4s_sealer_1", "data": {"plate": "plate_1"}, "cause": "task-1-1"} +{"env_id": 1, "seq": 16, "step": 7091, "t": 35.455, "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": 7091, "t": 35.455, "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": 7091, "t": 35.455, "topic": "a4s_sealer_1.heater.started", "source": "a4s_sealer_1.heater", "data": {"duration": 3.052213353081053}, "cause": "program-1-3"} +{"env_id": 1, "seq": 19, "step": 7702, "t": 38.51, "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": 7702, "t": 38.51, "topic": "a4s_sealer_1.heater.finished", "source": "a4s_sealer_1.heater", "data": {"elapsed": 3.055000000001563}, "cause": "program-1-3"} +{"env_id": 1, "seq": 21, "step": 7702, "t": 38.51, "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": 3.055000000001563}}, "cause": "program-1-3"} +{"env_id": 1, "seq": 22, "step": 7702, "t": 38.51, "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": 7702, "t": 38.51, "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": 7702, "t": 38.51, "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": 8122, "t": 40.61, "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": 8122, "t": 40.61, "topic": "a4s_sealer_1.drawer.reached", "source": "a4s_sealer_1.drawer", "data": {"position": "out", "q": 5.403166802864234e-09}, "cause": "program-1-4"} +{"env_id": 1, "seq": 27, "step": 8122, "t": 40.61, "topic": "a4s_sealer_1.drawer.at_out", "source": "a4s_sealer_1.drawer", "data": {"q": 5.403166802864234e-09}, "cause": "program-1-4"} +{"env_id": 1, "seq": 28, "step": 8122, "t": 40.61, "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": 8122, "t": 40.61, "topic": "a4s_sealer_1.seal.finished", "source": "a4s_sealer_1", "data": {}, "cause": "task-1-1"} +{"env_id": 1, "seq": 30, "step": 8122, "t": 40.61, "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": 8703, "t": 43.515, "topic": "a4s_sealer_1.plate_present.absent", "source": "a4s_sealer_1.plate_present", "data": {"object": "plate_1"}, "cause": null} +{"env_id": 1, "seq": 32, "step": 10920, "t": 54.6, "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": 10920, "t": 54.6, "topic": "conveyor_1.belt.station.pick.released", "source": "conveyor_1.belt", "data": {"rider": "carrier_1"}, "cause": "task-1-5"} +{"env_id": 1, "seq": 34, "step": 10920, "t": 54.6, "topic": "conveyor_1.belt.state.changed", "source": "conveyor_1.belt", "data": {"from": "at_station", "to": "running"}, "cause": null} +{"env_id": 1, "seq": 35, "step": 10920, "t": 54.6, "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_p006_e022/env.mp4 b/episodes/c2_p006_e022/env.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..187557ec3a198edb0f1f824f1deaaf82684573ce --- /dev/null +++ b/episodes/c2_p006_e022/env.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:a6cb176ae293af472f44c3679d2a38d09ac1744319f3cea08968f2d86b1b8e57 +size 1380550 diff --git a/episodes/c2_p006_e022/meta.json b/episodes/c2_p006_e022/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..468175d23657a97c99f984a89795f59312e95cd3 --- /dev/null +++ b/episodes/c2_p006_e022/meta.json @@ -0,0 +1,32 @@ +{ + "source": "raw/c2_p006/magicsim/22", + "fps": 25, + "frames": 1252, + "kept_ticks": "even", + "video_frames": { + "wrist": 1252, + "env": 1252 + }, + "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_p006_e022/scene_snapshot.json b/episodes/c2_p006_e022/scene_snapshot.json new file mode 100644 index 0000000000000000000000000000000000000000..2216656d218fd7db66116f0e2577df76bc43d612 --- /dev/null +++ b/episodes/c2_p006_e022/scene_snapshot.json @@ -0,0 +1,1558 @@ +{ + "trajectory_id": 22, + "env_id": 1, + "run_id": "c2_p006", + "task_type": "BioPlateCell", + "success": true, + "timing": { + "fps": 50.0, + "sim_dt": 0.005, + "decimation": 4 + }, + "restore_interface": { + "scene": "scene_manager.reset_to(snapshot['scene'], env_ids=[env_id])", + "robots": "robot_manager.set_state({'robots': snapshot['robots']}, env_ids=[env_id])" + }, + "snapshot": { + "env_id": 1, + "scene": { + "objects": [ + {}, + { + "rac_cell": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/rac_cell.usd", + "pose": { + "pos": [ + 0.0, + 0.0, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "physics_material": { + "static_friction": 0.6, + "dynamic_friction": 0.5, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "robot_mount": [ + { + "asset": "Cube", + "pose": { + "pos": [ + 0.0, + 0.0, + 0.9075 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": "color", + "value": [ + 0.55, + 0.56, + 0.58 + ], + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": { + "size": [ + 0.2, + 0.2, + 0.015 + ] + } + }, + "type_specific": {} + } + ], + "plate_rack": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/plate_hotel.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 0.9 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "physics_material": { + "static_friction": 0.6, + "dynamic_friction": 0.5, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "hotel_plate": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_12_clear/plate_12_clear.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 0.9605 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/deep_well_24_10ml/deep_well_24_10ml.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.0285 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_6_clear/plate_6_clear.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.0965 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/deep_well_24_10ml/deep_well_24_10ml.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.1645 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/pcr_384_red/pcr_384_red.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.2325 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "a4s_sealer": [ + { + "asset": "$MAGICSIM_ASSETS/Articulated/A4SSealer/Object.usd", + "pose": { + "pos": [ + 0.4996671676635742, + 0.1175851821899414, + 0.8999999761581421 + ], + "ori": [ + 0.7093530893325806, + 0.0, + 0.0, + -0.7048532962799072 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "articulation", + "solver_position_iteration_count": 16.0, + "solver_velocity_iteration_count": 1.0, + "enabled_self_collisions": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "joint_position": [ + 1.6820837257791599e-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": 0.2767210853585701, + "direction": [ + 1.0, + 0.0, + 0.0 + ], + "enabled": true, + "drive": "surface_velocity", + "lines": null, + "station_line": null, + "riders": [ + "carrier" + ], + "stations": { + "pick": { + "position": -0.19389168619378344, + "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": 0.2767210853585701, + "holds": [], + "station": "pick", + "rider": "carrier_1", + "arrived": true, + "applied_speed": 0.0 + } + } + } + ], + "carrier": [ + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + -0.043628692626953125, + 0.4499979019165039, + 0.8999999761581421 + ], + "ori": [ + 1.0, + 1.1816472245129717e-09, + 3.8143332936613206e-09, + 2.0578185285557993e-05 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 1.3556797906488782e-09, + 3.949042204354214e-10, + 0.0 + ], + "angular_velocity": [ + -3.9231897730473975e-09, + 1.04925845789694e-07, + 4.875619907807049e-10 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + 0.6946296691894531, + 1.1499958038330078, + 0.8999999761581421 + ], + "ori": [ + -2.299261359439697e-05, + -1.0770397906867402e-08, + -1.5185317892019157e-08, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 8.420194319569418e-09, + 1.0383079995790467e-07, + -1.4901161193847656e-08 + ], + "angular_velocity": [ + -3.3294677450612653e-06, + -1.1702957891657206e-07, + 1.4238692074286519e-06 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + -1.357527732849121, + 0.9639654159545898, + 0.9000001549720764 + ], + "ori": [ + -0.5074695944786072, + 6.3691754803585354e-06, + -5.862960279046092e-06, + 0.8616697192192078 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -2.9609509510919452e-05, + 7.098958121787291e-06, + -5.180761218070984e-05 + ], + "angular_velocity": [ + -0.0007598183583468199, + -0.0028087205719202757, + -7.650066982023418e-05 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + 1.6643705368041992, + 0.9417247772216797, + 0.9000018835067749 + ], + "ori": [ + 0.5716161727905273, + -2.0047616999363527e-05, + -6.231194856809452e-05, + 0.8205211758613586 + ], + "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": [ + 0.00017185788601636887, + 0.0001411039847880602, + -0.00031565502285957336 + ], + "angular_velocity": [ + -0.012022866867482662, + 0.01514921523630619, + -9.018380660563707e-05 + ] + } + } + ], + "plate": [ + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_12_clear/Object.usd", + "pose": { + "pos": [ + -0.049391746520996094, + 0.458038330078125, + 0.9179999828338623 + ], + "ori": [ + 0.9996160864830017, + 1.1086394025028312e-09, + 4.419972832181429e-09, + 0.027709951624274254 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -2.4945704168999328e-08, + -1.8314253225071297e-08, + 1.0058283805847168e-07 + ], + "angular_velocity": [ + 9.256635848942096e-07, + -1.6023370790207991e-06, + 6.95616151347167e-08 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_96_white/Object.usd", + "pose": { + "pos": [ + 0.6829147338867188, + 1.150496482849121, + 0.9180000424385071 + ], + "ori": [ + 0.059054531157016754, + -2.1593832499888777e-08, + -1.5353555227193283e-07, + 0.9982548356056213 + ], + "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": [ + -6.402128747140523e-07, + 3.7307477214199025e-06, + -5.900859832763672e-06 + ], + "angular_velocity": [ + 2.0323683202150278e-05, + -9.194635822495911e-06, + -2.4730225050006993e-05 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/pcr_384_red/Object.usd", + "pose": { + "pos": [ + -1.3616704940795898, + 0.9748258590698242, + 0.9180001616477966 + ], + "ori": [ + -0.4899648427963257, + 3.926414592569927e-06, + -5.3311127885535825e-06, + 0.871742308139801 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -3.909075167030096e-05, + 1.4117041246208828e-05, + -8.933991193771362e-05 + ], + "angular_velocity": [ + -0.0006908965879119933, + -0.0020495206117630005, + 2.010894604609348e-05 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/deep_well_96_1ml/Object.usd", + "pose": { + "pos": [ + 1.6769990921020508, + 0.9406814575195312, + 0.9180022478103638 + ], + "ori": [ + 0.546034574508667, + -3.891198866767809e-05, + -7.165386341512203e-05, + 0.8377626538276672 + ], + "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": [ + 0.00038003295776434243, + 0.00031375797698274255, + -0.0005444735288619995 + ], + "angular_velocity": [ + -0.010494815185666084, + 0.015819290652871132, + 0.0005250514950603247 + ] + } + } + ], + "deco_hub_west": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/hub_a.usd", + "pose": { + "pos": [ + -3.36, + 0.0, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_hub_east": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/hub_c.usd", + "pose": { + "pos": [ + 3.36, + 0.0, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_hub_back": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/hub_d.usd", + "pose": { + "pos": [ + -3.0, + -2.1, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_bench_east": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/bench_c.usd", + "pose": { + "pos": [ + 2.6, + -2.5, + 0.0 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_bench_gap": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/bench_b.usd", + "pose": { + "pos": [ + -0.1, + -2.9, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ] + }, + {}, + {} + ], + "devices": { + "hub": [ + null, + { + "t": 4.6799999999999224, + "step": 936, + "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": 1.6820837257791599e-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": 0.2767210853585701, + "holds": [], + "station": "pick", + "rider": "carrier_1", + "arrived": true, + "settle_count": 895, + "released": { + "pick": [] + }, + "last_pos": { + "carrier_1": [ + -0.1936286985874176, + -2.086162567138672e-06, + 0.0 + ], + "carrier_2": [ + 0.5446296632289886, + 0.6999958157539368, + 0.0 + ], + "carrier_3": [ + -1.5075277388095856, + 0.5139654278755188, + 2.384185791015625e-07 + ], + "carrier_4": [ + 1.5143705308437347, + 0.49172478914260864, + 1.9073486328125e-06 + ] + }, + "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": [ + -0.28197563328840225, + -0.3380168087588651, + 3.1788069234563725 + ], + "ori": [ + 13.975277143982478, + -11.207586337499329, + 13.728991016164976 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "color_temperature": 6682.933848566414, + "color": [ + 0.8717467482500969, + 0.9709641342149751, + 0.9610200635525679 + ], + "intensity": 5630.508790075168, + "width": 2.0821928103760943, + "height": 1.0259977351076985 + } + }, + "key": { + "type": "sphere", + "pose": { + "pos": [ + -0.01098461594850475, + -0.8461927105527223, + 1.6802791425945853 + ], + "ori": [ + 27.9176082176606, + -16.910935304040944, + -10.903933427208827 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "color_temperature": 6382.650895369468, + "color": [ + 0.850014223209111, + 0.7734802869394759, + 0.8217632703279582 + ], + "intensity": 9544.498074111798, + "radius": 0.18233338188964482 + } + } + }, + {}, + {} + ], + "background": { + "type": "dome", + "pose": { + "pos": null, + "ori": null, + "scale": null + }, + "dr": { + "intensity": 435.8186618141035, + "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": [ + [ + 0.8047539591789246, + -1.2556748390197754, + 2.2098236083984375, + -2.5249316692352295, + -1.5708178281784058, + 2.5337653160095215, + 0.007594927679747343, + 0.006919712759554386 + ], + [ + 0.9141024351119995, + -1.719397783279419, + 2.09049916267395, + -1.9419002532958984, + -1.5707999467849731, + 2.484900951385498, + 0.018000001087784767, + 0.01799999736249447 + ], + [ + 2.7868258953094482, + -1.7513508796691895, + 1.795261025428772, + -1.6165213584899902, + -1.57381272315979, + 4.359001159667969, + 0.007814907468855381, + 0.007042286917567253 + ], + [ + 0.9140999913215637, + -1.7194000482559204, + 2.0905001163482666, + -1.9419000148773193, + -1.5707999467849731, + 2.4848999977111816, + 0.017999999225139618, + 0.017999999225139618 + ] + ], + "joint_vel": [ + [ + -0.0004615485086105764, + -5.226323992246762e-05, + -2.5907729650498368e-05, + -0.00122694275341928, + 0.0009892466478049755, + 0.0028075322043150663, + -0.008962702937424183, + 0.00036262968205846846 + ], + [ + 2.586170304470366e-38, + -1.8851774739245053e-38, + 1.2294292076753783e-38, + -4.610974614730599e-37, + -9.45467508475423e-38, + -2.3289264792560417e-36, + -2.5990388508034812e-08, + 2.5990388508034812e-08 + ], + [ + 0.006248096935451031, + 0.021357959136366844, + -0.016965629532933235, + -0.004350405186414719, + -0.0013682759599760175, + 0.009708831086754799, + -0.009477944113314152, + 0.00036109256325289607 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + ] + } + }, + "cameras": { + "cameras": { + "camera0": [ + [ + 0.0498541034758091, + -0.002434772439301014, + -0.027756217867136, + -0.2862772047519684, + 0.6554244160652161, + 0.6378100514411926, + -0.28576648235321045 + ], + [ + 0.051790740340948105, + -0.002837885869666934, + -0.029660923406481743, + -0.28760936856269836, + 0.6433422565460205, + 0.6523258090019226, + -0.27903878688812256 + ], + [ + 0.050006743520498276, + 0.0012671863660216331, + -0.02794543094933033, + -0.27349692583084106, + 0.6527702212333679, + 0.6480176448822021, + -0.2813602685928345 + ], + [ + 0.04818026348948479, + -0.002311618998646736, + -0.02824932336807251, + -0.2873503267765045, + 0.6510416865348816, + 0.647999107837677, + -0.2714252173900604 + ] + ], + "camera1": [ + [ + 0.03285811468958855, + 0.5870434641838074, + 1.9370967149734497, + 0.028072619810700417, + 0.007757985033094883, + 0.2863509953022003, + 0.9576820135116577 + ], + [ + 0.06741869449615479, + 0.5845708250999451, + 1.958926796913147, + 0.02616044506430626, + -0.0013355922419577837, + 0.2593175172805786, + 0.9654368162155151 + ], + [ + 0.07279425859451294, + 0.5843784809112549, + 1.9321978092193604, + 0.048283759504556656, + 0.015067461878061295, + 0.2663729190826416, + 0.9625419974327087 + ], + [ + 0.03021577000617981, + 0.5893056988716125, + 1.9300841093063354, + 0.055852461606264114, + 0.011745420284569263, + 0.25599074363708496, + 0.964992880821228 + ] + ] + } + } + } +} \ No newline at end of file diff --git a/episodes/c2_p006_e022/wrist.mp4 b/episodes/c2_p006_e022/wrist.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..3c856e9d0bdc3b4186c6c920b6659470fa8141fc --- /dev/null +++ b/episodes/c2_p006_e022/wrist.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:7e96dd8a46f1b175ed211dbf796c42b517e8997eb494ec370df4ba037e42640b +size 7022976 diff --git a/episodes/c3_p004_e021/data.npz b/episodes/c3_p004_e021/data.npz new file mode 100644 index 0000000000000000000000000000000000000000..b28dcc99304dfcf49d4c1e3a7eb8aba0ca1af955 --- /dev/null +++ b/episodes/c3_p004_e021/data.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:a151550bb0fccecc84112678a150e11d47c3e9ee6b017a46cfb3614aec84ddec +size 200934 diff --git a/episodes/c3_p004_e021/device_events.jsonl b/episodes/c3_p004_e021/device_events.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..c39e4b296b03e33d5859a7277a418d6418f4f947 --- /dev/null +++ b/episodes/c3_p004_e021/device_events.jsonl @@ -0,0 +1,39 @@ +{"env_id": 3, "seq": 1, "step": 99, "t": 0.495, "topic": "conveyor_1.belt.station.pick.captured", "source": "conveyor_1.belt", "data": {"rider": "carrier_2"}, "cause": null} +{"env_id": 3, "seq": 2, "step": 99, "t": 0.495, "topic": "conveyor_1.belt.state.changed", "source": "conveyor_1.belt", "data": {"from": "running", "to": "at_station"}, "cause": null} +{"env_id": 3, "seq": 3, "step": 104, "t": 0.52, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_2"}, "cause": null} +{"env_id": 3, "seq": 4, "step": 1733, "t": 8.665, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_2"}, "cause": null} +{"env_id": 3, "seq": 5, "step": 1748, "t": 8.74, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_2"}, "cause": null} +{"env_id": 3, "seq": 6, "step": 1882, "t": 9.41, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_2"}, "cause": null} +{"env_id": 3, "seq": 7, "step": 1904, "t": 9.52, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_2"}, "cause": null} +{"env_id": 3, "seq": 8, "step": 6623, "t": 33.115, "topic": "a4s_sealer_1.plate_present.present", "source": "a4s_sealer_1.plate_present", "data": {"object": "plate_2"}, "cause": null} +{"env_id": 3, "seq": 9, "step": 7236, "t": 36.18, "topic": "a4s_sealer_1.command.started", "source": "a4s_sealer_1", "data": {"command_id": "task-3-1", "name": "seal", "source": "task"}, "cause": "task-3-1"} +{"env_id": 3, "seq": 10, "step": 7236, "t": 36.18, "topic": "a4s_sealer_1.seal.started", "source": "a4s_sealer_1", "data": {"dwell": 1.535765919447173}, "cause": "task-3-1"} +{"env_id": 3, "seq": 11, "step": 7236, "t": 36.18, "topic": "a4s_sealer_1.drawer.command.started", "source": "a4s_sealer_1.drawer", "data": {"command_id": "program-3-2", "name": "close", "source": "program:seal"}, "cause": "program-3-2"} +{"env_id": 3, "seq": 12, "step": 7236, "t": 36.18, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "at_out", "to": "moving"}, "cause": null} +{"env_id": 3, "seq": 13, "step": 7236, "t": 36.18, "topic": "a4s_sealer_1.drawer.moving", "source": "a4s_sealer_1.drawer", "data": {"target": 0.3, "goal": "in"}, "cause": "program-3-2"} +{"env_id": 3, "seq": 14, "step": 7655, "t": 38.275, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "moving", "to": "at_in"}, "cause": null} +{"env_id": 3, "seq": 15, "step": 7655, "t": 38.275, "topic": "a4s_sealer_1.drawer.reached", "source": "a4s_sealer_1.drawer", "data": {"position": "in", "q": 0.30000001192092896}, "cause": "program-3-2"} +{"env_id": 3, "seq": 16, "step": 7655, "t": 38.275, "topic": "a4s_sealer_1.drawer.at_in", "source": "a4s_sealer_1.drawer", "data": {"q": 0.30000001192092896}, "cause": "program-3-2"} +{"env_id": 3, "seq": 17, "step": 7655, "t": 38.275, "topic": "a4s_sealer_1.drawer.command.succeeded", "source": "a4s_sealer_1.drawer", "data": {"command_id": "program-3-2", "name": "close", "source": "program:seal", "result": {"position": "in"}}, "cause": "program-3-2"} +{"env_id": 3, "seq": 18, "step": 7655, "t": 38.275, "topic": "labware.plate_2.changed", "source": "labware.plate_2", "data": {"key": "sealed", "value": true}, "cause": "task-3-1"} +{"env_id": 3, "seq": 19, "step": 7655, "t": 38.275, "topic": "a4s_sealer_1.sealed", "source": "a4s_sealer_1", "data": {"plate": "plate_2"}, "cause": "task-3-1"} +{"env_id": 3, "seq": 20, "step": 7655, "t": 38.275, "topic": "a4s_sealer_1.heater.command.started", "source": "a4s_sealer_1.heater", "data": {"command_id": "program-3-3", "name": "run", "source": "program:seal"}, "cause": "program-3-3"} +{"env_id": 3, "seq": 21, "step": 7655, "t": 38.275, "topic": "a4s_sealer_1.heater.state.changed", "source": "a4s_sealer_1.heater", "data": {"from": "ready", "to": "running"}, "cause": null} +{"env_id": 3, "seq": 22, "step": 7655, "t": 38.275, "topic": "a4s_sealer_1.heater.started", "source": "a4s_sealer_1.heater", "data": {"duration": 1.535765919447173}, "cause": "program-3-3"} +{"env_id": 3, "seq": 23, "step": 7963, "t": 39.815, "topic": "a4s_sealer_1.heater.state.changed", "source": "a4s_sealer_1.heater", "data": {"from": "running", "to": "ready"}, "cause": null} +{"env_id": 3, "seq": 24, "step": 7963, "t": 39.815, "topic": "a4s_sealer_1.heater.finished", "source": "a4s_sealer_1.heater", "data": {"elapsed": 1.5400000000007878}, "cause": "program-3-3"} +{"env_id": 3, "seq": 25, "step": 7963, "t": 39.815, "topic": "a4s_sealer_1.heater.command.succeeded", "source": "a4s_sealer_1.heater", "data": {"command_id": "program-3-3", "name": "run", "source": "program:seal", "result": {"elapsed": 1.5400000000007878}}, "cause": "program-3-3"} +{"env_id": 3, "seq": 26, "step": 7963, "t": 39.815, "topic": "a4s_sealer_1.drawer.command.started", "source": "a4s_sealer_1.drawer", "data": {"command_id": "program-3-4", "name": "open", "source": "program:seal"}, "cause": "program-3-4"} +{"env_id": 3, "seq": 27, "step": 7963, "t": 39.815, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "at_in", "to": "moving"}, "cause": null} +{"env_id": 3, "seq": 28, "step": 7963, "t": 39.815, "topic": "a4s_sealer_1.drawer.moving", "source": "a4s_sealer_1.drawer", "data": {"target": 0.0, "goal": "out"}, "cause": "program-3-4"} +{"env_id": 3, "seq": 29, "step": 8383, "t": 41.915, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "moving", "to": "at_out"}, "cause": null} +{"env_id": 3, "seq": 30, "step": 8383, "t": 41.915, "topic": "a4s_sealer_1.drawer.reached", "source": "a4s_sealer_1.drawer", "data": {"position": "out", "q": 1.6482526454808522e-09}, "cause": "program-3-4"} +{"env_id": 3, "seq": 31, "step": 8383, "t": 41.915, "topic": "a4s_sealer_1.drawer.at_out", "source": "a4s_sealer_1.drawer", "data": {"q": 1.6482526454808522e-09}, "cause": "program-3-4"} +{"env_id": 3, "seq": 32, "step": 8383, "t": 41.915, "topic": "a4s_sealer_1.drawer.command.succeeded", "source": "a4s_sealer_1.drawer", "data": {"command_id": "program-3-4", "name": "open", "source": "program:seal", "result": {"position": "out"}}, "cause": "program-3-4"} +{"env_id": 3, "seq": 33, "step": 8383, "t": 41.915, "topic": "a4s_sealer_1.seal.finished", "source": "a4s_sealer_1", "data": {}, "cause": "task-3-1"} +{"env_id": 3, "seq": 34, "step": 8383, "t": 41.915, "topic": "a4s_sealer_1.command.succeeded", "source": "a4s_sealer_1", "data": {"command_id": "task-3-1", "name": "seal", "source": "task"}, "cause": "task-3-1"} +{"env_id": 3, "seq": 35, "step": 8962, "t": 44.81, "topic": "a4s_sealer_1.plate_present.absent", "source": "a4s_sealer_1.plate_present", "data": {"object": "plate_2"}, "cause": null} +{"env_id": 3, "seq": 36, "step": 11236, "t": 56.18, "topic": "conveyor_1.belt.command.started", "source": "conveyor_1.belt", "data": {"command_id": "task-3-5", "name": "release", "source": "task"}, "cause": "task-3-5"} +{"env_id": 3, "seq": 37, "step": 11236, "t": 56.18, "topic": "conveyor_1.belt.station.pick.released", "source": "conveyor_1.belt", "data": {"rider": "carrier_2"}, "cause": "task-3-5"} +{"env_id": 3, "seq": 38, "step": 11236, "t": 56.18, "topic": "conveyor_1.belt.state.changed", "source": "conveyor_1.belt", "data": {"from": "at_station", "to": "running"}, "cause": null} +{"env_id": 3, "seq": 39, "step": 11236, "t": 56.18, "topic": "conveyor_1.belt.command.succeeded", "source": "conveyor_1.belt", "data": {"command_id": "task-3-5", "name": "release", "source": "task", "result": {"state": "running"}}, "cause": "task-3-5"} diff --git a/episodes/c3_p004_e021/env.mp4 b/episodes/c3_p004_e021/env.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..1c9c6828a2c9a24dbe540d77022ce8b11df4ad6e --- /dev/null +++ b/episodes/c3_p004_e021/env.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:b63543f29ec0db546306519743825b0ce415c9b69b3f293add9bd08db9108338 +size 1283889 diff --git a/episodes/c3_p004_e021/meta.json b/episodes/c3_p004_e021/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..202e855d7aff18eb7c047cb3d54ccb9442752989 --- /dev/null +++ b/episodes/c3_p004_e021/meta.json @@ -0,0 +1,32 @@ +{ + "source": "raw/c3_p004/magicsim/21", + "fps": 25, + "frames": 1243, + "kept_ticks": "even", + "video_frames": { + "wrist": 1243, + "env": 1243 + }, + "joint_target_source": "joint_pos_target", + "fk_vs_recorded_eef_max_m": 0.0, + "curobo_joints": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "joint_order": [ + "shoulder_pan", + "shoulder_lift", + "elbow", + "wrist_1", + "wrist_2", + "wrist_3", + "finger_left", + "finger_right" + ], + "frames_note": "eef / actions in the robot base frame; camera_pose = local pose (wrist: in plate_gripper_base, env: env frame), pos + quat wxyz", + "dr_version": "v2" +} \ No newline at end of file diff --git a/episodes/c3_p004_e021/scene_snapshot.json b/episodes/c3_p004_e021/scene_snapshot.json new file mode 100644 index 0000000000000000000000000000000000000000..7dfa5c31e47046fae1b67e1feca043ad2c44107d --- /dev/null +++ b/episodes/c3_p004_e021/scene_snapshot.json @@ -0,0 +1,1558 @@ +{ + "trajectory_id": 21, + "env_id": 3, + "run_id": "c3_p004", + "task_type": "BioPlateCell", + "success": true, + "timing": { + "fps": 50.0, + "sim_dt": 0.005, + "decimation": 4 + }, + "restore_interface": { + "scene": "scene_manager.reset_to(snapshot['scene'], env_ids=[env_id])", + "robots": "robot_manager.set_state({'robots': snapshot['robots']}, env_ids=[env_id])" + }, + "snapshot": { + "env_id": 3, + "scene": { + "objects": [ + {}, + {}, + {}, + { + "rac_cell": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/rac_cell.usd", + "pose": { + "pos": [ + 0.0, + 0.0, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "physics_material": { + "static_friction": 0.6, + "dynamic_friction": 0.5, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "robot_mount": [ + { + "asset": "Cube", + "pose": { + "pos": [ + 0.0, + 0.0, + 0.9075 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": "color", + "value": [ + 0.55, + 0.56, + 0.58 + ], + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": { + "size": [ + 0.2, + 0.2, + 0.015 + ] + } + }, + "type_specific": {} + } + ], + "plate_rack": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/plate_hotel.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 0.9 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "physics_material": { + "static_friction": 0.6, + "dynamic_friction": 0.5, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "hotel_plate": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_96_clear/plate_96_clear.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 0.9605 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_6_clear/plate_6_clear.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.0285 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/pcr_384_red/pcr_384_red.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.0965 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_96_black/plate_96_black.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.1645 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/deep_well_96_2ml/deep_well_96_2ml.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.2325 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "a4s_sealer": [ + { + "asset": "$MAGICSIM_ASSETS/Articulated/A4SSealer/Object.usd", + "pose": { + "pos": [ + 0.4623851776123047, + 0.08329963684082031, + 0.8999999761581421 + ], + "ori": [ + -0.6992065906524658, + 0.0, + 0.0, + 0.7149196863174438 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "articulation", + "solver_position_iteration_count": 16.0, + "solver_velocity_iteration_count": 1.0, + "enabled_self_collisions": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "joint_position": [ + 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": 0.29990512211277787, + "direction": [ + 1.0, + 0.0, + 0.0 + ], + "enabled": true, + "drive": "surface_velocity", + "lines": null, + "station_line": null, + "riders": [ + "carrier" + ], + "stations": { + "pick": { + "position": -0.1964435375487455, + "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": 0.29990512211277787, + "holds": [], + "station": "pick", + "rider": "carrier_2", + "arrived": true, + "applied_speed": 0.0 + } + } + } + ], + "carrier": [ + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + -1.3557415008544922, + 0.964686393737793, + 0.8999999761581421 + ], + "ori": [ + -0.5041318535804749, + -4.245646501033207e-09, + -1.127397197819846e-07, + 0.8636267781257629 + ], + "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": [ + -6.868726387665447e-08, + 5.7309726742005296e-08, + 5.21540641784668e-08 + ], + "angular_velocity": [ + -2.4193641365855e-06, + -2.320678049727576e-06, + -9.522802884021075e-07 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + -0.04592132568359375, + 0.447509765625, + 0.8999999761581421 + ], + "ori": [ + 0.9999449253082275, + -3.717397234481723e-08, + 1.0593167587558128e-07, + 0.010504764504730701 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 9.67861865319719e-07, + -5.049705098514323e-09, + -3.91155481338501e-06 + ], + "angular_velocity": [ + -1.5370781056844862e-06, + 8.184208127204329e-05, + 2.428460845749214e-07 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + -0.004712104797363281, + 1.1499958038330078, + 0.8999999761581421 + ], + "ori": [ + 1.287529357796302e-05, + 7.167439419752952e-10, + 7.599739726416033e-10, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -4.692994881594359e-10, + -6.083165082770847e-10, + 0.0 + ], + "angular_velocity": [ + 5.175907347165776e-08, + -2.8698018184059038e-08, + -4.932174224592245e-09 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + 1.5047321319580078, + 0.4896249771118164, + 0.8999999761581421 + ], + "ori": [ + 0.974780261516571, + -8.048544053451678e-10, + -2.3296211182355364e-08, + 0.22316695749759674 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -1.4129493131065374e-09, + 2.6565000865730326e-08, + -1.1175870895385742e-08 + ], + "angular_velocity": [ + -7.135392934287665e-07, + -1.3025712064518302e-07, + 3.146841720536031e-07 + ] + } + } + ], + "plate": [ + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_48_clear/Object.usd", + "pose": { + "pos": [ + -1.3606758117675781, + 0.9598302841186523, + 0.9180000424385071 + ], + "ori": [ + -0.5330595970153809, + 5.888448129098833e-08, + -1.6579437556174526e-07, + 0.8460777997970581 + ], + "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": [ + 6.942972277101944e-07, + 1.3095620943204267e-07, + -7.711350917816162e-07 + ], + "angular_velocity": [ + 3.938762347388547e-06, + -2.7998280529573094e-06, + 4.914477813144913e-06 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_384_white/Object.usd", + "pose": { + "pos": [ + -0.045058250427246094, + 0.4440174102783203, + 0.9179999828338623 + ], + "ori": [ + 0.9999971985816956, + -4.056400371155178e-08, + 1.0291343244261952e-07, + -0.00239167339168489 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 1.946677457453916e-06, + 3.45967414716597e-08, + -9.43988561630249e-06 + ], + "angular_velocity": [ + -3.6177964375383453e-06, + 8.141895523294806e-05, + 2.790154383092158e-07 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_96_clear/Object.usd", + "pose": { + "pos": [ + -0.0011739730834960938, + 1.1528091430664062, + 0.9180000424385071 + ], + "ori": [ + -0.054756585508584976, + 1.4625951560987005e-09, + 2.9765273579229756e-10, + 0.9984998106956482 + ], + "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": [ + 1.4477302023863103e-08, + -1.283124362316812e-08, + -5.234032869338989e-06 + ], + "angular_velocity": [ + -5.554241511163127e-08, + 1.1237809758313233e-06, + 1.0728945909477261e-07 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/reservoir_12ch/Object.usd", + "pose": { + "pos": [ + 1.5215950012207031, + 0.48915863037109375, + 0.9179999828338623 + ], + "ori": [ + 0.9594199657440186, + 5.942160896665882e-07, + 3.227492939572585e-08, + 0.28198105096817017 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -3.721977464010706e-06, + 4.757401711685816e-06, + -6.0498714447021484e-06 + ], + "angular_velocity": [ + -0.00021851954807061702, + -0.0001027039106702432, + 1.9111583242192864e-05 + ] + } + } + ], + "deco_hub_west": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/hub_e.usd", + "pose": { + "pos": [ + -3.36, + 0.0, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_hub_east": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/hub_d.usd", + "pose": { + "pos": [ + 3.36, + 0.0, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_hub_back": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/hub_a.usd", + "pose": { + "pos": [ + -3.0, + -2.1, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_bench_east": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/bench_c.usd", + "pose": { + "pos": [ + 2.6, + -2.5, + 0.0 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_bench_gap": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/bench_b.usd", + "pose": { + "pos": [ + -0.1, + -2.9, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ] + } + ], + "devices": { + "hub": [ + null, + null, + null, + { + "t": 6.5999999999998815, + "step": 1320, + "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": 0.29990512211277787, + "holds": [], + "station": "pick", + "rider": "carrier_2", + "arrived": true, + "settle_count": 1220, + "released": { + "pick": [] + }, + "last_pos": { + "carrier_1": [ + -1.5057415068149567, + 0.5146864056587219, + 0.0 + ], + "carrier_2": [ + -0.19592133164405823, + -0.002490222454071045, + 0.0 + ], + "carrier_3": [ + -0.15471211075782776, + 0.6999958157539368, + 0.0 + ], + "carrier_4": [ + 1.3547321259975433, + 0.03962498903274536, + 0.0 + ] + }, + "command": 0.0 + }, + "belt": { + "target_speed": 0.0, + "command_speed": 0.0 + }, + "seen": { + "state": "at_station", + "station": "pick", + "rider": "carrier_2", + "arrived": true + } + } + }, + "queues": {}, + "program": null, + "sensors": {}, + "interlocks": {} + } + }, + "zones": {}, + "labware": { + "plate_1": { + "sealed": false + }, + "plate_2": { + "sealed": false + }, + "plate_3": { + "sealed": false + }, + "plate_4": { + "sealed": false + } + }, + "rules": {}, + "records": [], + "bus": { + "seq": 3, + "queue": [] + } + } + ], + "drives": [ + null, + null, + null, + {} + ] + }, + "artifacts": [ + {}, + {}, + {}, + { + "ceiling": { + "type": "rect", + "pose": { + "pos": [ + -0.08777211676079055, + 0.11000807609275653, + 3.0559552622838186 + ], + "ori": [ + -4.212454642267046, + -12.45911582925167, + 26.862251194948946 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "color_temperature": 4646.966772966612, + "color": [ + 0.8207881962290371, + 0.8910113188901433, + 0.9517210345405471 + ], + "intensity": 4031.394894642047, + "width": 2.3292522770251907, + "height": 1.254809505665881 + } + }, + "key": { + "type": "sphere", + "pose": { + "pos": [ + 0.9654947394119078, + -0.8394783499490186, + 2.226140113829192 + ], + "ori": [ + 0.23088699466050144, + -30.555851412228947, + 19.24213244537296 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "color_temperature": 5559.725170458858, + "color": [ + 0.7533444389570734, + 0.9297141098915604, + 0.9566733506485144 + ], + "intensity": 9173.679208456004, + "radius": 0.13135470323155943 + } + } + } + ], + "background": { + "type": "dome", + "pose": { + "pos": null, + "ori": null, + "scale": null + }, + "dr": { + "intensity": 1245.2181866142341, + "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": [ + [ + 0.8319144248962402, + -1.168365478515625, + 2.0671470165252686, + -2.4696199893951416, + -1.5707871913909912, + 2.29988169670105, + 0.007819216698408127, + 0.0071762241423130035 + ], + [ + 0.5676873922348022, + -1.8401564359664917, + 2.28717303276062, + -2.0173163414001465, + -1.5709288120269775, + 5.268002986907959, + 0.00769274216145277, + 0.007111003622412682 + ], + [ + 0.9141014218330383, + -1.7193976640701294, + 2.090498685836792, + -1.9419002532958984, + -1.5707999467849731, + 2.4849002361297607, + 0.017999999225139618, + 0.017999999225139618 + ], + [ + 0.9141024947166443, + -1.719398021697998, + 2.0904994010925293, + -1.941900610923767, + -1.5707999467849731, + 2.484900951385498, + 0.01799999736249447, + 0.018000001087784767 + ] + ], + "joint_vel": [ + [ + -0.0004471942374948412, + 7.842582272132859e-05, + -9.480126755079255e-05, + -0.001690568751655519, + 0.0016625192947685719, + 0.0037848681677132845, + -0.007849283516407013, + 0.0002620358136482537 + ], + [ + 0.0713891014456749, + 0.027640391141176224, + -0.010305720381438732, + -0.01720592938363552, + -0.0003485791094135493, + 0.07311473041772842, + -0.007678552996367216, + 0.0004426574450917542 + ], + [ + 2.1748976129818184e-38, + -2.152402568734012e-38, + -1.830305428658474e-38, + -3.328417473909827e-37, + 5.7534516832403425e-37, + 3.3397498306427604e-37, + 3.079174009150352e-38, + -3.447564165033632e-38 + ], + [ + -2.416954546592973e-38, + 1.6633121301455e-38, + 0.0, + 6.485297182334936e-37, + 3.701221607851853e-38, + 4.6326277028091006e-37, + 2.5990372520823257e-08, + -2.5990400942532688e-08 + ] + ] + } + }, + "cameras": { + "cameras": { + "camera0": [ + [ + 0.05089026317000389, + -0.002598676597699523, + -0.02660394087433815, + -0.26943880319595337, + 0.6546637415885925, + 0.6510334610939026, + -0.2738129198551178 + ], + [ + 0.05008718743920326, + -0.003486263332888484, + -0.030566712841391563, + -0.27623653411865234, + 0.6459265351295471, + 0.6586175560951233, + -0.26962050795555115 + ], + [ + 0.04748071730136871, + 0.0014218922005966306, + -0.032618824392557144, + -0.2783629298210144, + 0.6500768065452576, + 0.6525124311447144, + -0.27228987216949463 + ], + [ + 0.05159485712647438, + -0.0034987935796380043, + -0.030507991090416908, + -0.2867248058319092, + 0.6495566368103027, + 0.6424180865287781, + -0.28838181495666504 + ] + ], + "camera1": [ + [ + 0.06102379038929939, + 0.5583392381668091, + 1.946767807006836, + 0.04267491400241852, + 0.010056002996861935, + 0.26749059557914734, + 0.9625624418258667 + ], + [ + 0.06474465876817703, + 0.591728925704956, + 1.9337869882583618, + 0.023517750203609467, + -0.0010980716906487942, + 0.28078988194465637, + 0.9594804644584656 + ], + [ + 0.0469818152487278, + 0.5849985480308533, + 1.9310753345489502, + 0.05266832932829857, + 0.015880180522799492, + 0.28510400652885437, + 0.9569166898727417 + ], + [ + 0.042407114058732986, + 0.5778331160545349, + 1.939860463142395, + 0.03129710257053375, + 0.006420868448913097, + 0.27933651208877563, + 0.959661602973938 + ] + ] + } + } + } +} \ No newline at end of file diff --git a/episodes/c3_p004_e021/wrist.mp4 b/episodes/c3_p004_e021/wrist.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..0da078df0d99d0c9d8be3ae1f23e65da55fd2839 --- /dev/null +++ b/episodes/c3_p004_e021/wrist.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:aea2eaf0a0b0e2014f359385c105f7846c4ae34606282c5023c32c3b24bb2378 +size 6867083 diff --git a/episodes/c3_p004_e022/data.npz b/episodes/c3_p004_e022/data.npz new file mode 100644 index 0000000000000000000000000000000000000000..7ee8ef8d038dcedf20b9be8ff920e88d3c0fa56f --- /dev/null +++ b/episodes/c3_p004_e022/data.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:c96d0f717244a80c2d49e2f3e1fabe126a16fad736d9bbe0071d2c7d56c251c1 +size 186005 diff --git a/episodes/c3_p004_e022/device_events.jsonl b/episodes/c3_p004_e022/device_events.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..cd84b21482b6ab02fb735b1387fd2b4c0fd07c9f --- /dev/null +++ b/episodes/c3_p004_e022/device_events.jsonl @@ -0,0 +1,36 @@ +{"env_id": 2, "seq": 1, "step": 148, "t": 0.74, "topic": "conveyor_1.belt.station.pick.captured", "source": "conveyor_1.belt", "data": {"rider": "carrier_4"}, "cause": null} +{"env_id": 2, "seq": 2, "step": 148, "t": 0.74, "topic": "conveyor_1.belt.state.changed", "source": "conveyor_1.belt", "data": {"from": "running", "to": "at_station"}, "cause": null} +{"env_id": 2, "seq": 3, "step": 153, "t": 0.765, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_4"}, "cause": null} +{"env_id": 2, "seq": 4, "step": 1413, "t": 7.065, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_4"}, "cause": null} +{"env_id": 2, "seq": 5, "step": 6102, "t": 30.51, "topic": "a4s_sealer_1.plate_present.present", "source": "a4s_sealer_1.plate_present", "data": {"object": "plate_4"}, "cause": null} +{"env_id": 2, "seq": 6, "step": 6716, "t": 33.58, "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": 6716, "t": 33.58, "topic": "a4s_sealer_1.seal.started", "source": "a4s_sealer_1", "data": {"dwell": 3.1174894607635144}, "cause": "task-2-1"} +{"env_id": 2, "seq": 8, "step": 6716, "t": 33.58, "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": 6716, "t": 33.58, "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": 6716, "t": 33.58, "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": 7135, "t": 35.675, "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": 7135, "t": 35.675, "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": 7135, "t": 35.675, "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": 7135, "t": 35.675, "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": 7135, "t": 35.675, "topic": "labware.plate_4.changed", "source": "labware.plate_4", "data": {"key": "sealed", "value": true}, "cause": "task-2-1"} +{"env_id": 2, "seq": 16, "step": 7135, "t": 35.675, "topic": "a4s_sealer_1.sealed", "source": "a4s_sealer_1", "data": {"plate": "plate_4"}, "cause": "task-2-1"} +{"env_id": 2, "seq": 17, "step": 7135, "t": 35.675, "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": 7135, "t": 35.675, "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": 7135, "t": 35.675, "topic": "a4s_sealer_1.heater.started", "source": "a4s_sealer_1.heater", "data": {"duration": 3.1174894607635144}, "cause": "program-2-3"} +{"env_id": 2, "seq": 20, "step": 7759, "t": 38.795, "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": 7759, "t": 38.795, "topic": "a4s_sealer_1.heater.finished", "source": "a4s_sealer_1.heater", "data": {"elapsed": 3.120000000001596}, "cause": "program-2-3"} +{"env_id": 2, "seq": 22, "step": 7759, "t": 38.795, "topic": "a4s_sealer_1.heater.command.succeeded", "source": "a4s_sealer_1.heater", "data": {"command_id": "program-2-3", "name": "run", "source": "program:seal", "result": {"elapsed": 3.120000000001596}}, "cause": "program-2-3"} +{"env_id": 2, "seq": 23, "step": 7759, "t": 38.795, "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": 7759, "t": 38.795, "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": 7759, "t": 38.795, "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": 8179, "t": 40.895, "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": 8179, "t": 40.895, "topic": "a4s_sealer_1.drawer.reached", "source": "a4s_sealer_1.drawer", "data": {"position": "out", "q": 9.774845821652889e-09}, "cause": "program-2-4"} +{"env_id": 2, "seq": 28, "step": 8179, "t": 40.895, "topic": "a4s_sealer_1.drawer.at_out", "source": "a4s_sealer_1.drawer", "data": {"q": 9.774845821652889e-09}, "cause": "program-2-4"} +{"env_id": 2, "seq": 29, "step": 8179, "t": 40.895, "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": 8179, "t": 40.895, "topic": "a4s_sealer_1.seal.finished", "source": "a4s_sealer_1", "data": {}, "cause": "task-2-1"} +{"env_id": 2, "seq": 31, "step": 8179, "t": 40.895, "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": 8758, "t": 43.79, "topic": "a4s_sealer_1.plate_present.absent", "source": "a4s_sealer_1.plate_present", "data": {"object": "plate_4"}, "cause": null} +{"env_id": 2, "seq": 33, "step": 10492, "t": 52.46, "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": 10492, "t": 52.46, "topic": "conveyor_1.belt.station.pick.released", "source": "conveyor_1.belt", "data": {"rider": "carrier_4"}, "cause": "task-2-5"} +{"env_id": 2, "seq": 35, "step": 10492, "t": 52.46, "topic": "conveyor_1.belt.state.changed", "source": "conveyor_1.belt", "data": {"from": "at_station", "to": "running"}, "cause": null} +{"env_id": 2, "seq": 36, "step": 10492, "t": 52.46, "topic": "conveyor_1.belt.command.succeeded", "source": "conveyor_1.belt", "data": {"command_id": "task-2-5", "name": "release", "source": "task", "result": {"state": "running"}}, "cause": "task-2-5"} diff --git a/episodes/c3_p004_e022/env.mp4 b/episodes/c3_p004_e022/env.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..0a9702dae86c6ea2bcdf41d25958825e0913fbf1 --- /dev/null +++ b/episodes/c3_p004_e022/env.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:6d86877fc2db9007a867c1e5d9902c0f7238499a04af725e645a13758d5b4aab +size 1271215 diff --git a/episodes/c3_p004_e022/meta.json b/episodes/c3_p004_e022/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..cd1d2cb950e73f78c2e810b314e1eabcf462b047 --- /dev/null +++ b/episodes/c3_p004_e022/meta.json @@ -0,0 +1,32 @@ +{ + "source": "raw/c3_p004/magicsim/22", + "fps": 25, + "frames": 1190, + "kept_ticks": "even", + "video_frames": { + "wrist": 1190, + "env": 1190 + }, + "joint_target_source": "joint_pos_target", + "fk_vs_recorded_eef_max_m": 0.0, + "curobo_joints": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "joint_order": [ + "shoulder_pan", + "shoulder_lift", + "elbow", + "wrist_1", + "wrist_2", + "wrist_3", + "finger_left", + "finger_right" + ], + "frames_note": "eef / actions in the robot base frame; camera_pose = local pose (wrist: in plate_gripper_base, env: env frame), pos + quat wxyz", + "dr_version": "v2" +} \ No newline at end of file diff --git a/episodes/c3_p004_e022/scene_snapshot.json b/episodes/c3_p004_e022/scene_snapshot.json new file mode 100644 index 0000000000000000000000000000000000000000..f843af7d8b188829e82f8d945c5e96285f03cf6c --- /dev/null +++ b/episodes/c3_p004_e022/scene_snapshot.json @@ -0,0 +1,1558 @@ +{ + "trajectory_id": 22, + "env_id": 2, + "run_id": "c3_p004", + "task_type": "BioPlateCell", + "success": true, + "timing": { + "fps": 50.0, + "sim_dt": 0.005, + "decimation": 4 + }, + "restore_interface": { + "scene": "scene_manager.reset_to(snapshot['scene'], env_ids=[env_id])", + "robots": "robot_manager.set_state({'robots': snapshot['robots']}, env_ids=[env_id])" + }, + "snapshot": { + "env_id": 2, + "scene": { + "objects": [ + {}, + {}, + { + "rac_cell": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/rac_cell.usd", + "pose": { + "pos": [ + 0.0, + 0.0, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "physics_material": { + "static_friction": 0.6, + "dynamic_friction": 0.5, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "robot_mount": [ + { + "asset": "Cube", + "pose": { + "pos": [ + 0.0, + 0.0, + 0.9075 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": "color", + "value": [ + 0.55, + 0.56, + 0.58 + ], + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": { + "size": [ + 0.2, + 0.2, + 0.015 + ] + } + }, + "type_specific": {} + } + ], + "plate_rack": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/plate_hotel.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 0.9 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "physics_material": { + "static_friction": 0.6, + "dynamic_friction": 0.5, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "hotel_plate": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_12_clear/plate_12_clear.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 0.9605 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/deep_well_24_10ml/deep_well_24_10ml.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.0285 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/deep_well_96_2ml/deep_well_96_2ml.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.0965 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_24_clear/plate_24_clear.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.1645 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_96_black/plate_96_black.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.2325 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "a4s_sealer": [ + { + "asset": "$MAGICSIM_ASSETS/Articulated/A4SSealer/Object.usd", + "pose": { + "pos": [ + 0.5018272399902344, + 0.11866378784179688, + 0.8999999761581421 + ], + "ori": [ + -0.7068486213684082, + 0.0, + 0.0, + 0.7073648571968079 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "articulation", + "solver_position_iteration_count": 16.0, + "solver_velocity_iteration_count": 1.0, + "enabled_self_collisions": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "joint_position": [ + 1.3456659831573292e-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": 0.24690311086799072, + "direction": [ + 1.0, + 0.0, + 0.0 + ], + "enabled": true, + "drive": "surface_velocity", + "lines": null, + "station_line": null, + "riders": [ + "carrier" + ], + "stations": { + "pick": { + "position": -0.13914818556093725, + "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": 0.24690311086799072, + "holds": [], + "station": "pick", + "rider": "carrier_4", + "arrived": true, + "applied_speed": 0.0 + } + } + } + ], + "carrier": [ + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + 1.5941839218139648, + 1.0475873947143555, + 0.8999999761581421 + ], + "ori": [ + 0.389148086309433, + 1.3175583717384143e-06, + 2.758151595116942e-06, + 0.9211751818656921 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -5.1244624046375975e-06, + -5.346844318410149e-06, + -1.1175870895385742e-08 + ], + "angular_velocity": [ + 0.0003867324849124998, + -0.0003977442975156009, + 1.1004691259586252e-05 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + -1.364253044128418, + 0.9477653503417969, + 0.8999999761581421 + ], + "ori": [ + -0.5340138673782349, + 6.975835020739396e-08, + 2.2275426658779907e-07, + 0.8454757332801819 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -7.056646378345022e-10, + -5.06547248591005e-10, + 0.0 + ], + "angular_velocity": [ + 4.3151402451258036e-08, + -6.211681835566196e-08, + 9.47137035467449e-10 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + 0.14022350311279297, + 1.1528139114379883, + 0.8999999761581421 + ], + "ori": [ + -0.0070588914677500725, + -1.2917162450776232e-08, + -2.687666089684626e-09, + 0.9999751448631287 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 1.1797585131034793e-10, + 2.916313857070918e-09, + 7.450580596923828e-09 + ], + "angular_velocity": [ + 7.1720194227964384e-09, + -3.032718964846026e-08, + 2.5773006839813206e-08 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + 0.010788917541503906, + 0.4472770690917969, + 0.8999999761581421 + ], + "ori": [ + 0.9999504089355469, + -7.985453964742817e-10, + 7.281052150087675e-11, + 0.009964141063392162 + ], + "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": [ + -1.4186927188575282e-09, + 5.915601342110222e-09, + 1.862645149230957e-08 + ], + "angular_velocity": [ + -1.3683751376447617e-07, + -1.2651710790123616e-07, + 9.183910520960126e-08 + ] + } + } + ], + "plate": [ + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_24_clear/Object.usd", + "pose": { + "pos": [ + 1.5865163803100586, + 1.0493335723876953, + 0.9179998636245728 + ], + "ori": [ + 0.44455721974372864, + -2.013021003222093e-06, + -5.490741386893205e-06, + 0.8957505226135254 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -4.055822500959039e-06, + -6.5424092099419795e-06, + -6.512179970741272e-05 + ], + "angular_velocity": [ + -0.00047113612527027726, + 0.0004590119933709502, + 2.8418209694791585e-05 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_384_black/Object.usd", + "pose": { + "pos": [ + -1.3561697006225586, + 0.9477128982543945, + 0.9180000424385071 + ], + "ori": [ + -0.5807363390922546, + 8.196511203095724e-08, + 2.172656934362749e-07, + 0.814091682434082 + ], + "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": [ + -2.955092526235603e-08, + 3.165972373153636e-08, + -5.3942203521728516e-06 + ], + "angular_velocity": [ + -2.2420001641876297e-06, + -1.2609986015377217e-06, + 2.8787880523850617e-08 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_1536_black/Object.usd", + "pose": { + "pos": [ + 0.13386917114257812, + 1.1643352508544922, + 0.9180000424385071 + ], + "ori": [ + -0.10026152431964874, + -1.312336994629959e-08, + -3.8989411699219545e-09, + 0.994961142539978 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 1.6844040828800644e-08, + 2.2697911106206448e-08, + -5.759298801422119e-06 + ], + "angular_velocity": [ + -6.030946906321333e-07, + 1.5491185649807448e-06, + 7.23231963206672e-08 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/deep_well_24_10ml/Object.usd", + "pose": { + "pos": [ + 0.0001125335693359375, + 0.4384126663208008, + 0.9179999828338623 + ], + "ori": [ + 0.9985563158988953, + -4.979100465263286e-10, + -6.335594826545332e-10, + 0.05371469259262085 + ], + "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": [ + -7.022049430815969e-08, + 2.9470353268834515e-08, + -1.3187527656555176e-06 + ], + "angular_velocity": [ + -4.6789693897153484e-07, + -2.851845010809484e-06, + 1.8789623368320463e-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": 5.039999999999915, + "step": 1008, + "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": 1.3456659831573292e-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": 0.24690311086799072, + "holds": [], + "station": "pick", + "rider": "carrier_4", + "arrived": true, + "settle_count": 859, + "released": { + "pick": [] + }, + "last_pos": { + "carrier_1": [ + 1.4441839158535004, + 0.5975874066352844, + 0.0 + ], + "carrier_2": [ + -1.5142530500888824, + 0.49776536226272583, + 0.0 + ], + "carrier_3": [ + -0.009776502847671509, + 0.7028139233589172, + 0.0 + ], + "carrier_4": [ + -0.13921108841896057, + -0.00272291898727417, + 0.0 + ] + }, + "command": 0.0 + }, + "belt": { + "target_speed": 0.0, + "command_speed": 0.0 + }, + "seen": { + "state": "at_station", + "station": "pick", + "rider": "carrier_4", + "arrived": true + } + } + }, + "queues": {}, + "program": null, + "sensors": {}, + "interlocks": {} + } + }, + "zones": {}, + "labware": { + "plate_1": { + "sealed": false + }, + "plate_2": { + "sealed": false + }, + "plate_3": { + "sealed": false + }, + "plate_4": { + "sealed": false + } + }, + "rules": {}, + "records": [], + "bus": { + "seq": 3, + "queue": [] + } + }, + null + ], + "drives": [ + null, + null, + {}, + null + ] + }, + "artifacts": [ + {}, + {}, + { + "ceiling": { + "type": "rect", + "pose": { + "pos": [ + 0.4861302244344602, + 0.017128278666159624, + 3.104330372290633 + ], + "ori": [ + -1.0383895700451315, + -10.611691689885955, + 7.566692086755424 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "color_temperature": 5359.930035796342, + "color": [ + 0.8445955896726437, + 0.8835782488195696, + 0.8219815163482933 + ], + "intensity": 10704.701425448588, + "width": 2.090489759327385, + "height": 1.2990833907010024 + } + }, + "key": { + "type": "disk", + "pose": { + "pos": [ + -0.1908082680535057, + 0.08299227598590053, + 2.0313304178829075 + ], + "ori": [ + 11.763806277558658, + 11.714924113804457, + 12.96903166821481 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "color_temperature": 7029.33829048754, + "color": [ + 0.9519213013592002, + 0.8671211856534745, + 0.7592160808478309 + ], + "intensity": 2103.8013665187227, + "radius": 0.3190839754976772 + } + } + }, + {} + ], + "background": { + "type": "dome", + "pose": { + "pos": null, + "ori": null, + "scale": null + }, + "dr": { + "intensity": 1245.2181866142341, + "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": [ + [ + 0.8910215497016907, + -1.4201351404190063, + 1.9587411880493164, + -2.109398126602173, + -1.5707706212997437, + 2.3631227016448975, + 0.007799438200891018, + 0.007138607557862997 + ], + [ + 1.38863205909729, + -1.3766127824783325, + 2.2492291927337646, + -2.442492723464966, + -1.5709129571914673, + 6.102325439453125, + 0.018000038340687752, + 0.017999961972236633 + ], + [ + 0.9141044616699219, + -1.7193959951400757, + 2.0904972553253174, + -1.9419002532958984, + -1.5707999467849731, + 2.484900951385498, + 0.017999999225139618, + 0.017999999225139618 + ], + [ + 1.0614211559295654, + -1.4686996936798096, + 2.2043817043304443, + -2.306527614593506, + -1.5707792043685913, + 2.637070894241333, + 0.007707880809903145, + 0.007053597364574671 + ] + ], + "joint_vel": [ + [ + 0.028289997950196266, + -0.020388217642903328, + 0.0024841453414410353, + 0.01636284962296486, + 0.00023036374477669597, + 0.028843441978096962, + -0.007850898429751396, + 0.00036402317346073687 + ], + [ + 0.00016063025395851582, + -0.019848594442009926, + -0.007806920446455479, + 0.0263651292771101, + -5.8364234973851126e-06, + 1.2801701814169064e-05, + -9.388721991854254e-06, + 9.365246114612091e-06 + ], + [ + 0.0, + -2.6843477972181987e-38, + -1.5070819248773118e-38, + -2.3930684613856007e-37, + 2.3824981868095057e-37, + 3.5816897278061745e-37, + -2.6603415927064646e-38, + -3.3213138996305945e-38 + ], + [ + 0.00029281253227964044, + -0.01696496270596981, + -0.010515240021049976, + 0.025254348292946815, + 0.0005992018850520253, + 0.0024616906885057688, + -0.008228465914726257, + 0.0002907873422373086 + ] + ] + } + }, + "cameras": { + "cameras": { + "camera0": [ + [ + 0.050099752843379974, + -0.0009133570129051805, + -0.027408910915255547, + -0.264207124710083, + 0.6573677062988281, + 0.6506109833717346, + -0.27343669533729553 + ], + [ + 0.05123693868517876, + -0.00127907854039222, + -0.028305398300290108, + -0.2794940173625946, + 0.6458081603050232, + 0.65535569190979, + -0.2744518518447876 + ], + [ + 0.047210436314344406, + 0.0012688225833699107, + -0.03377344831824303, + -0.2842123806476593, + 0.6520755887031555, + 0.6501094102859497, + -0.2671676278114319 + ], + [ + 0.05244788900017738, + -0.0014578765258193016, + -0.02663622610270977, + -0.29098084568977356, + 0.6497091054916382, + 0.6407699584960938, + -0.28744053840637207 + ] + ], + "camera1": [ + [ + 0.06102379038929939, + 0.5583392381668091, + 1.946767807006836, + 0.04267491400241852, + 0.010056002996861935, + 0.26749059557914734, + 0.9625624418258667 + ], + [ + 0.06474465876817703, + 0.591728925704956, + 1.9337869882583618, + 0.023517750203609467, + -0.0010980716906487942, + 0.28078988194465637, + 0.9594804644584656 + ], + [ + 0.0469818152487278, + 0.5849985480308533, + 1.9310753345489502, + 0.05266832932829857, + 0.015880180522799492, + 0.28510400652885437, + 0.9569166898727417 + ], + [ + 0.042407114058732986, + 0.5778331160545349, + 1.939860463142395, + 0.03129710257053375, + 0.006420868448913097, + 0.27933651208877563, + 0.959661602973938 + ] + ] + } + } + } +} \ No newline at end of file diff --git a/episodes/c3_p004_e022/wrist.mp4 b/episodes/c3_p004_e022/wrist.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..5ed9ad85a270518e31543247148c5c94ba8e3172 --- /dev/null +++ b/episodes/c3_p004_e022/wrist.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:9750146f6de5769285da9afd3d7af11a244483155f963a0d8257d906cb7ad44b +size 5976752 diff --git a/episodes/c3_p004_e023/data.npz b/episodes/c3_p004_e023/data.npz new file mode 100644 index 0000000000000000000000000000000000000000..8826e5cff65859ff6b1c65b558c98ff462ed4c6d --- /dev/null +++ b/episodes/c3_p004_e023/data.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:35523ebc60d3a9a0fd24000e9f7be90e3e315ceaf29e21c1c36de53ac826e4e8 +size 187227 diff --git a/episodes/c3_p004_e023/device_events.jsonl b/episodes/c3_p004_e023/device_events.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..8e845e5b62e72e1a8980a20cc7f0729cb6ac8d6d --- /dev/null +++ b/episodes/c3_p004_e023/device_events.jsonl @@ -0,0 +1,35 @@ +{"env_id": 1, "seq": 1, "step": 149, "t": 0.745, "topic": "conveyor_1.belt.station.pick.captured", "source": "conveyor_1.belt", "data": {"rider": "carrier_3"}, "cause": null} +{"env_id": 1, "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": 1, "seq": 3, "step": 154, "t": 0.77, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_3"}, "cause": null} +{"env_id": 1, "seq": 4, "step": 7098, "t": 35.49, "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": 7708, "t": 38.54, "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": 7708, "t": 38.54, "topic": "a4s_sealer_1.seal.started", "source": "a4s_sealer_1", "data": {"dwell": 2.9229830432559667}, "cause": "task-1-1"} +{"env_id": 1, "seq": 7, "step": 7708, "t": 38.54, "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": 7708, "t": 38.54, "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": 7708, "t": 38.54, "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": 8127, "t": 40.635, "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": 8127, "t": 40.635, "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": 8127, "t": 40.635, "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": 8127, "t": 40.635, "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": 8127, "t": 40.635, "topic": "labware.plate_3.changed", "source": "labware.plate_3", "data": {"key": "sealed", "value": true}, "cause": "task-1-1"} +{"env_id": 1, "seq": 15, "step": 8127, "t": 40.635, "topic": "a4s_sealer_1.sealed", "source": "a4s_sealer_1", "data": {"plate": "plate_3"}, "cause": "task-1-1"} +{"env_id": 1, "seq": 16, "step": 8127, "t": 40.635, "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": 8127, "t": 40.635, "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": 8127, "t": 40.635, "topic": "a4s_sealer_1.heater.started", "source": "a4s_sealer_1.heater", "data": {"duration": 2.9229830432559667}, "cause": "program-1-3"} +{"env_id": 1, "seq": 19, "step": 8712, "t": 43.56, "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": 8712, "t": 43.56, "topic": "a4s_sealer_1.heater.finished", "source": "a4s_sealer_1.heater", "data": {"elapsed": 2.9250000000014964}, "cause": "program-1-3"} +{"env_id": 1, "seq": 21, "step": 8712, "t": 43.56, "topic": "a4s_sealer_1.heater.command.succeeded", "source": "a4s_sealer_1.heater", "data": {"command_id": "program-1-3", "name": "run", "source": "program:seal", "result": {"elapsed": 2.9250000000014964}}, "cause": "program-1-3"} +{"env_id": 1, "seq": 22, "step": 8712, "t": 43.56, "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": 8712, "t": 43.56, "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": 8712, "t": 43.56, "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": 9132, "t": 45.66, "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": 9132, "t": 45.66, "topic": "a4s_sealer_1.drawer.reached", "source": "a4s_sealer_1.drawer", "data": {"position": "out", "q": 1.6117140955174136e-10}, "cause": "program-1-4"} +{"env_id": 1, "seq": 27, "step": 9132, "t": 45.66, "topic": "a4s_sealer_1.drawer.at_out", "source": "a4s_sealer_1.drawer", "data": {"q": 1.6117140955174136e-10}, "cause": "program-1-4"} +{"env_id": 1, "seq": 28, "step": 9132, "t": 45.66, "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": 9132, "t": 45.66, "topic": "a4s_sealer_1.seal.finished", "source": "a4s_sealer_1", "data": {}, "cause": "task-1-1"} +{"env_id": 1, "seq": 30, "step": 9132, "t": 45.66, "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": 9711, "t": 48.555, "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": 11436, "t": 57.18, "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": 11436, "t": 57.18, "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": 11436, "t": 57.18, "topic": "conveyor_1.belt.state.changed", "source": "conveyor_1.belt", "data": {"from": "at_station", "to": "running"}, "cause": null} +{"env_id": 1, "seq": 35, "step": 11436, "t": 57.18, "topic": "conveyor_1.belt.command.succeeded", "source": "conveyor_1.belt", "data": {"command_id": "task-1-5", "name": "release", "source": "task", "result": {"state": "running"}}, "cause": "task-1-5"} diff --git a/episodes/c3_p004_e023/env.mp4 b/episodes/c3_p004_e023/env.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..2d7b40ccdaafbeabc9b1268a590085b08ac0cd81 --- /dev/null +++ b/episodes/c3_p004_e023/env.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:dbbfe4cb882787174aac7c26f0020e5bf1c1b8dbd2622e43ce64b82cdac2f91a +size 1346912 diff --git a/episodes/c3_p004_e023/meta.json b/episodes/c3_p004_e023/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..3755057ef963d4bebdef0115a5075fdf4b5faa60 --- /dev/null +++ b/episodes/c3_p004_e023/meta.json @@ -0,0 +1,32 @@ +{ + "source": "raw/c3_p004/magicsim/23", + "fps": 25, + "frames": 1238, + "kept_ticks": "even", + "video_frames": { + "wrist": 1238, + "env": 1238 + }, + "joint_target_source": "joint_pos_target", + "fk_vs_recorded_eef_max_m": 0.0, + "curobo_joints": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "joint_order": [ + "shoulder_pan", + "shoulder_lift", + "elbow", + "wrist_1", + "wrist_2", + "wrist_3", + "finger_left", + "finger_right" + ], + "frames_note": "eef / actions in the robot base frame; camera_pose = local pose (wrist: in plate_gripper_base, env: env frame), pos + quat wxyz", + "dr_version": "v2" +} \ No newline at end of file diff --git a/episodes/c3_p004_e023/scene_snapshot.json b/episodes/c3_p004_e023/scene_snapshot.json new file mode 100644 index 0000000000000000000000000000000000000000..672af08a8c2debe07b1ef0f91eb73b2efefaf07c --- /dev/null +++ b/episodes/c3_p004_e023/scene_snapshot.json @@ -0,0 +1,1558 @@ +{ + "trajectory_id": 23, + "env_id": 1, + "run_id": "c3_p004", + "task_type": "BioPlateCell", + "success": true, + "timing": { + "fps": 50.0, + "sim_dt": 0.005, + "decimation": 4 + }, + "restore_interface": { + "scene": "scene_manager.reset_to(snapshot['scene'], env_ids=[env_id])", + "robots": "robot_manager.set_state({'robots': snapshot['robots']}, env_ids=[env_id])" + }, + "snapshot": { + "env_id": 1, + "scene": { + "objects": [ + {}, + { + "rac_cell": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/rac_cell.usd", + "pose": { + "pos": [ + 0.0, + 0.0, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "physics_material": { + "static_friction": 0.6, + "dynamic_friction": 0.5, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "robot_mount": [ + { + "asset": "Cube", + "pose": { + "pos": [ + 0.0, + 0.0, + 0.9075 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": "color", + "value": [ + 0.55, + 0.56, + 0.58 + ], + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": { + "size": [ + 0.2, + 0.2, + 0.015 + ] + } + }, + "type_specific": {} + } + ], + "plate_rack": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/plate_hotel.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 0.9 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "physics_material": { + "static_friction": 0.6, + "dynamic_friction": 0.5, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "hotel_plate": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/pcr_96_blue/pcr_96_blue.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 0.9605 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_384_white/plate_384_white.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.0285 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/deep_well_24_10ml/deep_well_24_10ml.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.0965 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_48_clear/plate_48_clear.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.1645 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_96_black/plate_96_black.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.2325 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "a4s_sealer": [ + { + "asset": "$MAGICSIM_ASSETS/Articulated/A4SSealer/Object.usd", + "pose": { + "pos": [ + 0.5093593597412109, + 0.1066446304321289, + 0.8999999761581421 + ], + "ori": [ + -0.7055394649505615, + 0.0, + 0.0, + 0.7086706161499023 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "articulation", + "solver_position_iteration_count": 16.0, + "solver_velocity_iteration_count": 1.0, + "enabled_self_collisions": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "joint_position": [ + 6.391915642611767e-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": 0.28489872716578846, + "direction": [ + 1.0, + 0.0, + 0.0 + ], + "enabled": true, + "drive": "surface_velocity", + "lines": null, + "station_line": null, + "riders": [ + "carrier" + ], + "stations": { + "pick": { + "position": -0.28313932847639367, + "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": 0.28489872716578846, + "holds": [], + "station": "pick", + "rider": "carrier_3", + "arrived": true, + "applied_speed": 0.0 + } + } + } + ], + "carrier": [ + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + -1.3878507614135742, + 0.7159404754638672, + 0.8999999761581421 + ], + "ori": [ + -0.784282922744751, + 1.966723850443941e-08, + -9.088867614082119e-08, + 0.6204034090042114 + ], + "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": [ + 1.4397750547345822e-08, + 4.074803550135897e-10, + 4.842877388000488e-08 + ], + "angular_velocity": [ + 3.931334191520364e-08, + 1.0187752650381299e-06, + -6.840308230948722e-08 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + 0.09315776824951172, + 1.152688980102539, + 0.8999999761581421 + ], + "ori": [ + -0.009881509467959404, + -1.7618269509966922e-08, + -3.541807958029608e-09, + 0.9999512434005737 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 8.309875010326095e-10, + -5.717165629803844e-10, + 3.725290298461914e-09 + ], + "angular_velocity": [ + 2.646774888148684e-08, + 5.7610293424659176e-08, + -9.227296260405637e-09 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + -0.1326131820678711, + 0.44736671447753906, + 0.8999999761581421 + ], + "ori": [ + -0.9999391436576843, + 1.1892230533661063e-09, + -4.1934784533737e-09, + -0.011041793040931225 + ], + "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": [ + 3.040780960361644e-10, + 9.662584066205682e-10, + 3.725290298461914e-09 + ], + "angular_velocity": [ + -4.2594255234007505e-08, + 2.968675971715129e-08, + -3.0656508442916675e-09 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + 1.5960559844970703, + 0.5542430877685547, + 0.8999999761581421 + ], + "ori": [ + 0.9251059889793396, + -3.23126947421315e-09, + -5.6800143255486546e-08, + 0.3797091245651245 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 1.1738909844183354e-09, + 9.362147723734893e-10, + 3.725290298461914e-09 + ], + "angular_velocity": [ + -1.5558819654870604e-07, + -1.7323884549114155e-08, + 4.201913483825592e-08 + ] + } + } + ], + "plate": [ + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_12_clear/Object.usd", + "pose": { + "pos": [ + -1.3912620544433594, + 0.7041845321655273, + 0.9179999828338623 + ], + "ori": [ + -0.7304077744483948, + 1.582230026997422e-07, + -4.85602917876804e-08, + 0.6830113530158997 + ], + "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": [ + 2.7544939484869246e-07, + -1.3249751873445348e-07, + -2.384185791015625e-07 + ], + "angular_velocity": [ + 3.937556357413996e-06, + 4.9415311877965e-06, + 1.2449318091967143e-06 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_96_white/Object.usd", + "pose": { + "pos": [ + 0.09961986541748047, + 1.141463279724121, + 0.9180000424385071 + ], + "ori": [ + 0.023225655779242516, + -1.7188202861007085e-08, + -2.230871931629963e-09, + 0.9997302293777466 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 1.424294282514893e-08, + 1.0661915794685228e-08, + -5.2228569984436035e-06 + ], + "angular_velocity": [ + -6.704921133859898e-07, + 1.240866481566627e-06, + 2.5880229514996245e-08 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/pcr_384_red/Object.usd", + "pose": { + "pos": [ + -0.12489795684814453, + 0.44356536865234375, + 0.9179999828338623 + ], + "ori": [ + -0.9970518946647644, + 8.781241289668174e-10, + -3.6092200339510327e-09, + 0.07673101872205734 + ], + "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": [ + -8.955353791861853e-09, + 1.825411999334392e-08, + -5.554407835006714e-06 + ], + "angular_velocity": [ + 3.0789090033067623e-07, + -1.7735800383889e-06, + 1.1027418622688856e-07 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/deep_well_96_1ml/Object.usd", + "pose": { + "pos": [ + 1.5855274200439453, + 0.5517988204956055, + 0.9179999828338623 + ], + "ori": [ + 0.9015487432479858, + -9.777759935047925e-09, + -5.927942225980587e-08, + 0.43267762660980225 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 6.778404504359514e-09, + -6.058547796783387e-08, + 1.6763806343078613e-07 + ], + "angular_velocity": [ + 3.4705883535934845e-06, + 3.1169938097264094e-07, + 1.4644041357314563e-07 + ] + } + } + ], + "deco_hub_west": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/hub_a.usd", + "pose": { + "pos": [ + -3.36, + 0.0, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_hub_east": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/hub_c.usd", + "pose": { + "pos": [ + 3.36, + 0.0, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_hub_back": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/hub_d.usd", + "pose": { + "pos": [ + -3.0, + -2.1, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_bench_east": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/bench_c.usd", + "pose": { + "pos": [ + 2.6, + -2.5, + 0.0 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_bench_gap": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/bench_b.usd", + "pose": { + "pos": [ + -0.1, + -2.9, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ] + }, + {}, + {} + ], + "devices": { + "hub": [ + null, + { + "t": 7.799999999999856, + "step": 1560, + "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": 6.391915642611767e-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": 0.28489872716578846, + "holds": [], + "station": "pick", + "rider": "carrier_3", + "arrived": true, + "settle_count": 1410, + "released": { + "pick": [] + }, + "last_pos": { + "carrier_1": [ + -1.5378507673740387, + 0.26594048738479614, + 0.0 + ], + "carrier_2": [ + -0.05684223771095276, + 0.702688992023468, + 0.0 + ], + "carrier_3": [ + -0.28261318802833557, + -0.0026332736015319824, + 0.0 + ], + "carrier_4": [ + 1.4460559785366058, + 0.10424309968948364, + 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": [ + 0.14445379616605603, + -0.20371513226581311, + 2.9409906229536587 + ], + "ori": [ + -2.6431416865563655, + 13.974901554885573, + 9.598463287709656 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "color_temperature": 4377.375906794405, + "color": [ + 0.9786196372568378, + 0.8574350992386192, + 0.9187945248926372 + ], + "intensity": 5594.519099441873, + "width": 1.5947576283052722, + "height": 1.8089524435459488 + } + }, + "key": { + "type": "disk", + "pose": { + "pos": [ + 0.9551492197188747, + -0.9101358522077847, + 2.1475208406820814 + ], + "ori": [ + -39.717821665463056, + 24.56156827414786, + -29.858665197373007 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "color_temperature": 5066.586567945222, + "color": [ + 0.9045811253223743, + 0.9160799657475376, + 0.9128636858023274 + ], + "intensity": 4230.562608054853, + "radius": 0.23898712986355042 + } + } + }, + {}, + {} + ], + "background": { + "type": "dome", + "pose": { + "pos": null, + "ori": null, + "scale": null + }, + "dr": { + "intensity": 1245.2181866142341, + "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": [ + [ + 2.529456853866577, + -2.2353081703186035, + 2.063974380493164, + -1.3987219333648682, + -1.5698152780532837, + 4.100816249847412, + 0.01799999549984932, + 0.018000002950429916 + ], + [ + 0.9141042232513428, + -1.7193963527679443, + 2.09049654006958, + -1.9418995380401611, + -1.5707999467849731, + 2.4849016666412354, + 0.017999999225139618, + 0.017999999225139618 + ], + [ + 2.5748391151428223, + -2.1830172538757324, + 2.2184340953826904, + -1.6053684949874878, + -1.570640206336975, + 4.146209239959717, + 0.007846732623875141, + 0.007199536077678204 + ], + [ + 2.674323320388794, + -2.0069446563720703, + 2.1363916397094727, + -1.6982799768447876, + -1.572801947593689, + 4.244454860687256, + 0.018000023439526558, + 0.017999975010752678 + ] + ], + "joint_vel": [ + [ + 6.8119070419925265e-06, + -2.022348261077056e-11, + 6.811936600570334e-06, + 3.405973302506027e-06, + 4.2613948394304435e-13, + -1.3623915947391652e-05, + 5.1973490400314404e-08, + -5.1987345983661726e-08 + ], + [ + -2.7444525712097116e-38, + 2.7096143295687466e-38, + 3.331783841236644e-38, + 7.0029063428019396e-37, + -5.833056197986198e-37, + -5.2838252242693635e-37, + 0.0, + 0.0 + ], + [ + 0.018166691064834595, + 0.02863279916346073, + -0.01144061703234911, + -0.018322575837373734, + -0.001391820376738906, + 0.022314753383398056, + -0.007652926724404097, + 0.0004419853212311864 + ], + [ + -0.01139975804835558, + -0.024415964260697365, + 0.01278150174766779, + 0.01095701102167368, + -3.1863866752246395e-05, + -0.01149885542690754, + -3.0558496746380115e-06, + 3.0559231163351797e-06 + ] + ] + } + }, + "cameras": { + "cameras": { + "camera0": [ + [ + 0.0499570332467556, + -0.00178165000397712, + -0.02960904687643051, + -0.2742058038711548, + 0.6555456519126892, + 0.6481160521507263, + -0.2738915681838989 + ], + [ + 0.05065181851387024, + 0.0023341751657426357, + -0.026420878246426582, + -0.2732555568218231, + 0.6575823426246643, + 0.6485145688056946, + -0.2689715325832367 + ], + [ + 0.048367295414209366, + 3.790736445807852e-05, + -0.032247044146060944, + -0.2867633104324341, + 0.6488896012306213, + 0.650842547416687, + -0.2703944146633148 + ], + [ + 0.05095066502690315, + -0.0012064679758623242, + -0.02808293327689171, + -0.2842869162559509, + 0.6468203663825989, + 0.6463877558708191, + -0.28807491064071655 + ] + ], + "camera1": [ + [ + 0.06102379038929939, + 0.5583392381668091, + 1.946767807006836, + 0.04267491400241852, + 0.010056002996861935, + 0.26749059557914734, + 0.9625624418258667 + ], + [ + 0.05959729105234146, + 0.5807048082351685, + 1.932054042816162, + 0.051584579050540924, + -0.0016667131567373872, + 0.2800661027431488, + 0.9585922956466675 + ], + [ + 0.0469818152487278, + 0.5849985480308533, + 1.9310753345489502, + 0.05266832932829857, + 0.015880180522799492, + 0.28510400652885437, + 0.9569166898727417 + ], + [ + 0.042407114058732986, + 0.5778331160545349, + 1.939860463142395, + 0.03129710257053375, + 0.006420868448913097, + 0.27933651208877563, + 0.959661602973938 + ] + ] + } + } + } +} \ No newline at end of file diff --git a/episodes/c3_p004_e023/wrist.mp4 b/episodes/c3_p004_e023/wrist.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..d0485ffe55a8088f415e0786065b200a4d71d3fd --- /dev/null +++ b/episodes/c3_p004_e023/wrist.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:6129700821f4020fa2eb72746542ee09f34675dff7e8389f6615822b9110914e +size 7864112 diff --git a/episodes/c4_p004_e018/data.npz b/episodes/c4_p004_e018/data.npz new file mode 100644 index 0000000000000000000000000000000000000000..f3e08c989883d16d52b5623f073a17f87e1a9483 --- /dev/null +++ b/episodes/c4_p004_e018/data.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:a0cffdc9cdaf4f8cd0c3b4c24daaeb67f511056a3d8fddd1857f873ec659e9ba +size 186627 diff --git a/episodes/c4_p004_e018/device_events.jsonl b/episodes/c4_p004_e018/device_events.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..b487cedd199acc8a3f0ef26cd8441e79bc9ee8ad --- /dev/null +++ b/episodes/c4_p004_e018/device_events.jsonl @@ -0,0 +1,37 @@ +{"env_id": 1, "seq": 1, "step": 107, "t": 0.535, "topic": "conveyor_1.belt.station.pick.captured", "source": "conveyor_1.belt", "data": {"rider": "carrier_2"}, "cause": null} +{"env_id": 1, "seq": 2, "step": 107, "t": 0.535, "topic": "conveyor_1.belt.state.changed", "source": "conveyor_1.belt", "data": {"from": "running", "to": "at_station"}, "cause": null} +{"env_id": 1, "seq": 3, "step": 112, "t": 0.56, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_2"}, "cause": null} +{"env_id": 1, "seq": 4, "step": 1360, "t": 6.8, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_2"}, "cause": null} +{"env_id": 1, "seq": 5, "step": 1397, "t": 6.985, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_2"}, "cause": null} +{"env_id": 1, "seq": 6, "step": 6054, "t": 30.27, "topic": "a4s_sealer_1.plate_present.present", "source": "a4s_sealer_1.plate_present", "data": {"object": "plate_2"}, "cause": null} +{"env_id": 1, "seq": 7, "step": 6668, "t": 33.34, "topic": "a4s_sealer_1.command.started", "source": "a4s_sealer_1", "data": {"command_id": "task-1-1", "name": "seal", "source": "task"}, "cause": "task-1-1"} +{"env_id": 1, "seq": 8, "step": 6668, "t": 33.34, "topic": "a4s_sealer_1.seal.started", "source": "a4s_sealer_1", "data": {"dwell": 4.533944221211684}, "cause": "task-1-1"} +{"env_id": 1, "seq": 9, "step": 6668, "t": 33.34, "topic": "a4s_sealer_1.drawer.command.started", "source": "a4s_sealer_1.drawer", "data": {"command_id": "program-1-2", "name": "close", "source": "program:seal"}, "cause": "program-1-2"} +{"env_id": 1, "seq": 10, "step": 6668, "t": 33.34, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "at_out", "to": "moving"}, "cause": null} +{"env_id": 1, "seq": 11, "step": 6668, "t": 33.34, "topic": "a4s_sealer_1.drawer.moving", "source": "a4s_sealer_1.drawer", "data": {"target": 0.3, "goal": "in"}, "cause": "program-1-2"} +{"env_id": 1, "seq": 12, "step": 7087, "t": 35.435, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "moving", "to": "at_in"}, "cause": null} +{"env_id": 1, "seq": 13, "step": 7087, "t": 35.435, "topic": "a4s_sealer_1.drawer.reached", "source": "a4s_sealer_1.drawer", "data": {"position": "in", "q": 0.30000001192092896}, "cause": "program-1-2"} +{"env_id": 1, "seq": 14, "step": 7087, "t": 35.435, "topic": "a4s_sealer_1.drawer.at_in", "source": "a4s_sealer_1.drawer", "data": {"q": 0.30000001192092896}, "cause": "program-1-2"} +{"env_id": 1, "seq": 15, "step": 7087, "t": 35.435, "topic": "a4s_sealer_1.drawer.command.succeeded", "source": "a4s_sealer_1.drawer", "data": {"command_id": "program-1-2", "name": "close", "source": "program:seal", "result": {"position": "in"}}, "cause": "program-1-2"} +{"env_id": 1, "seq": 16, "step": 7087, "t": 35.435, "topic": "labware.plate_2.changed", "source": "labware.plate_2", "data": {"key": "sealed", "value": true}, "cause": "task-1-1"} +{"env_id": 1, "seq": 17, "step": 7087, "t": 35.435, "topic": "a4s_sealer_1.sealed", "source": "a4s_sealer_1", "data": {"plate": "plate_2"}, "cause": "task-1-1"} +{"env_id": 1, "seq": 18, "step": 7087, "t": 35.435, "topic": "a4s_sealer_1.heater.command.started", "source": "a4s_sealer_1.heater", "data": {"command_id": "program-1-3", "name": "run", "source": "program:seal"}, "cause": "program-1-3"} +{"env_id": 1, "seq": 19, "step": 7087, "t": 35.435, "topic": "a4s_sealer_1.heater.state.changed", "source": "a4s_sealer_1.heater", "data": {"from": "ready", "to": "running"}, "cause": null} +{"env_id": 1, "seq": 20, "step": 7087, "t": 35.435, "topic": "a4s_sealer_1.heater.started", "source": "a4s_sealer_1.heater", "data": {"duration": 4.533944221211684}, "cause": "program-1-3"} +{"env_id": 1, "seq": 21, "step": 7994, "t": 39.97, "topic": "a4s_sealer_1.heater.state.changed", "source": "a4s_sealer_1.heater", "data": {"from": "running", "to": "ready"}, "cause": null} +{"env_id": 1, "seq": 22, "step": 7994, "t": 39.97, "topic": "a4s_sealer_1.heater.finished", "source": "a4s_sealer_1.heater", "data": {"elapsed": 4.53500000000232}, "cause": "program-1-3"} +{"env_id": 1, "seq": 23, "step": 7994, "t": 39.97, "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": 4.53500000000232}}, "cause": "program-1-3"} +{"env_id": 1, "seq": 24, "step": 7994, "t": 39.97, "topic": "a4s_sealer_1.drawer.command.started", "source": "a4s_sealer_1.drawer", "data": {"command_id": "program-1-4", "name": "open", "source": "program:seal"}, "cause": "program-1-4"} +{"env_id": 1, "seq": 25, "step": 7994, "t": 39.97, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "at_in", "to": "moving"}, "cause": null} +{"env_id": 1, "seq": 26, "step": 7994, "t": 39.97, "topic": "a4s_sealer_1.drawer.moving", "source": "a4s_sealer_1.drawer", "data": {"target": 0.0, "goal": "out"}, "cause": "program-1-4"} +{"env_id": 1, "seq": 27, "step": 8414, "t": 42.07, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "moving", "to": "at_out"}, "cause": null} +{"env_id": 1, "seq": 28, "step": 8414, "t": 42.07, "topic": "a4s_sealer_1.drawer.reached", "source": "a4s_sealer_1.drawer", "data": {"position": "out", "q": 1.239194524771392e-08}, "cause": "program-1-4"} +{"env_id": 1, "seq": 29, "step": 8414, "t": 42.07, "topic": "a4s_sealer_1.drawer.at_out", "source": "a4s_sealer_1.drawer", "data": {"q": 1.239194524771392e-08}, "cause": "program-1-4"} +{"env_id": 1, "seq": 30, "step": 8414, "t": 42.07, "topic": "a4s_sealer_1.drawer.command.succeeded", "source": "a4s_sealer_1.drawer", "data": {"command_id": "program-1-4", "name": "open", "source": "program:seal", "result": {"position": "out"}}, "cause": "program-1-4"} +{"env_id": 1, "seq": 31, "step": 8414, "t": 42.07, "topic": "a4s_sealer_1.seal.finished", "source": "a4s_sealer_1", "data": {}, "cause": "task-1-1"} +{"env_id": 1, "seq": 32, "step": 8414, "t": 42.07, "topic": "a4s_sealer_1.command.succeeded", "source": "a4s_sealer_1", "data": {"command_id": "task-1-1", "name": "seal", "source": "task"}, "cause": "task-1-1"} +{"env_id": 1, "seq": 33, "step": 8993, "t": 44.965, "topic": "a4s_sealer_1.plate_present.absent", "source": "a4s_sealer_1.plate_present", "data": {"object": "plate_2"}, "cause": null} +{"env_id": 1, "seq": 34, "step": 10796, "t": 53.98, "topic": "conveyor_1.belt.command.started", "source": "conveyor_1.belt", "data": {"command_id": "task-1-5", "name": "release", "source": "task"}, "cause": "task-1-5"} +{"env_id": 1, "seq": 35, "step": 10796, "t": 53.98, "topic": "conveyor_1.belt.station.pick.released", "source": "conveyor_1.belt", "data": {"rider": "carrier_2"}, "cause": "task-1-5"} +{"env_id": 1, "seq": 36, "step": 10796, "t": 53.98, "topic": "conveyor_1.belt.state.changed", "source": "conveyor_1.belt", "data": {"from": "at_station", "to": "running"}, "cause": null} +{"env_id": 1, "seq": 37, "step": 10796, "t": 53.98, "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_p004_e018/env.mp4 b/episodes/c4_p004_e018/env.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..c9b15c17e726415fb29a87e5d519232a3a917e66 --- /dev/null +++ b/episodes/c4_p004_e018/env.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:95e325377ee17d1e312367d0493a8084535977f1c0cb06c950bf8f6256c30c32 +size 1230718 diff --git a/episodes/c4_p004_e018/meta.json b/episodes/c4_p004_e018/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..c9f57d9dd37fbefe08a4c98988029d90cf36eff1 --- /dev/null +++ b/episodes/c4_p004_e018/meta.json @@ -0,0 +1,32 @@ +{ + "source": "raw/c4_p004/magicsim/18", + "fps": 25, + "frames": 1238, + "kept_ticks": "even", + "video_frames": { + "wrist": 1238, + "env": 1238 + }, + "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_p004_e018/scene_snapshot.json b/episodes/c4_p004_e018/scene_snapshot.json new file mode 100644 index 0000000000000000000000000000000000000000..159bd4ce352b03dcdbe9539e1083ae60001ee353 --- /dev/null +++ b/episodes/c4_p004_e018/scene_snapshot.json @@ -0,0 +1,1558 @@ +{ + "trajectory_id": 18, + "env_id": 1, + "run_id": "c4_p004", + "task_type": "BioPlateCell", + "success": true, + "timing": { + "fps": 50.0, + "sim_dt": 0.005, + "decimation": 4 + }, + "restore_interface": { + "scene": "scene_manager.reset_to(snapshot['scene'], env_ids=[env_id])", + "robots": "robot_manager.set_state({'robots': snapshot['robots']}, env_ids=[env_id])" + }, + "snapshot": { + "env_id": 1, + "scene": { + "objects": [ + {}, + { + "rac_cell": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/rac_cell.usd", + "pose": { + "pos": [ + 0.0, + 0.0, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "physics_material": { + "static_friction": 0.6, + "dynamic_friction": 0.5, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "robot_mount": [ + { + "asset": "Cube", + "pose": { + "pos": [ + 0.0, + 0.0, + 0.9075 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": "color", + "value": [ + 0.55, + 0.56, + 0.58 + ], + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": { + "size": [ + 0.2, + 0.2, + 0.015 + ] + } + }, + "type_specific": {} + } + ], + "plate_rack": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/plate_hotel.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 0.9 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "physics_material": { + "static_friction": 0.6, + "dynamic_friction": 0.5, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "hotel_plate": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/deep_well_24_10ml/deep_well_24_10ml.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 0.9605 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_24_clear/plate_24_clear.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.0285 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/deep_well_96_2ml/deep_well_96_2ml.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.0965 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/deep_well_24_10ml/deep_well_24_10ml.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.1645 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/deep_well_96_2ml/deep_well_96_2ml.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.2325 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "a4s_sealer": [ + { + "asset": "$MAGICSIM_ASSETS/Articulated/A4SSealer/Object.usd", + "pose": { + "pos": [ + 0.49127864837646484, + 0.06891345977783203, + 0.8999999761581421 + ], + "ori": [ + -0.6909530162811279, + 0.0, + 0.0, + 0.7228996753692627 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "articulation", + "solver_position_iteration_count": 16.0, + "solver_velocity_iteration_count": 1.0, + "enabled_self_collisions": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "joint_position": [ + 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": 0.22901266770286113, + "direction": [ + 1.0, + 0.0, + 0.0 + ], + "enabled": true, + "drive": "surface_velocity", + "lines": null, + "station_line": null, + "riders": [ + "carrier" + ], + "stations": { + "pick": { + "position": -0.22339455719528328, + "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": 0.22901266770286113, + "holds": [], + "station": "pick", + "rider": "carrier_2", + "arrived": true, + "applied_speed": 0.0 + } + } + } + ], + "carrier": [ + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + 1.656789779663086, + 0.9626789093017578, + 0.8999999761581421 + ], + "ori": [ + 0.5264224410057068, + -6.257889850758147e-08, + 1.5040686918155188e-08, + 0.850223183631897 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -5.3358706342265805e-11, + -8.25960688732863e-11, + 3.725290298461914e-09 + ], + "angular_velocity": [ + -9.005809431528178e-10, + -2.8728702972102838e-08, + 4.515486207168351e-09 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + -0.0728597640991211, + 0.45000457763671875, + 0.8999999761581421 + ], + "ori": [ + 1.0, + 4.812674703202902e-10, + -2.4433610690266505e-10, + 5.013735426473431e-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": [ + 1.074469624384733e-09, + 1.0139395989483546e-09, + 1.1175870895385742e-08 + ], + "angular_velocity": [ + -1.0349541668119855e-08, + 9.611008522369957e-08, + -2.4589638769612066e-08 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + 0.17568206787109375, + 1.1499958038330078, + 0.8999999761581421 + ], + "ori": [ + -2.5239716705982573e-05, + -3.384670321793237e-10, + 1.7615235936574436e-09, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 1.5072015857597876e-10, + -1.4561112315902847e-09, + 0.0 + ], + "angular_velocity": [ + 1.569979417581635e-07, + 1.9554232011387285e-08, + -6.235190586068029e-09 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + -1.071578025817871, + 1.1472177505493164, + 0.8999999761581421 + ], + "ori": [ + -0.0273139588534832, + 6.537490548907954e-08, + 8.119613426060823e-09, + 0.9996269345283508 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 7.87112597322448e-09, + 1.2078228905920696e-07, + 6.332993507385254e-08 + ], + "angular_velocity": [ + -1.046848228725139e-05, + 7.622119255756843e-07, + 4.101033823644684e-07 + ] + } + } + ], + "plate": [ + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_12_clear/Object.usd", + "pose": { + "pos": [ + 1.6605052947998047, + 0.9742765426635742, + 0.9179999828338623 + ], + "ori": [ + 0.4887665808200836, + -6.164994914570343e-08, + 1.7875592561722442e-08, + 0.8724146485328674 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -6.79369982492517e-09, + -3.420663929887269e-08, + 9.685754776000977e-08 + ], + "angular_velocity": [ + 1.6721471638447838e-06, + 5.008127459404932e-07, + 1.774016595845751e-07 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_96_white/Object.usd", + "pose": { + "pos": [ + -0.06545352935791016, + 0.44077205657958984, + 0.9180000424385071 + ], + "ori": [ + 0.9998577833175659, + -1.9198522771546322e-09, + -1.6054960139122443e-10, + 0.0168670192360878 + ], + "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": [ + -7.848830918533167e-09, + 1.9719035293519482e-08, + -5.368143320083618e-06 + ], + "angular_velocity": [ + -4.391220542743213e-08, + -1.5627520042471588e-06, + 1.021580064985983e-08 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/pcr_384_red/Object.usd", + "pose": { + "pos": [ + 0.1768951416015625, + 1.1530570983886719, + 0.9179999828338623 + ], + "ori": [ + -0.008258592337369919, + -5.678713055345952e-10, + 2.5580735307784153e-09, + 0.9999659657478333 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 1.2313533304109114e-08, + -1.2974172847179943e-08, + -5.666166543960571e-06 + ], + "angular_velocity": [ + -2.869736093202846e-08, + 1.1217442761335406e-06, + 1.1568405966499995e-07 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/deep_well_96_1ml/Object.usd", + "pose": { + "pos": [ + -1.0767326354980469, + 1.1387414932250977, + 0.9179999828338623 + ], + "ori": [ + -0.1135648638010025, + 1.4660894009921321e-07, + -7.781690101182903e-07, + 0.9935306310653687 + ], + "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": [ + -3.6755618566530757e-06, + 4.218433332425775e-06, + -1.6130506992340088e-06 + ], + "angular_velocity": [ + -0.00014017944340594113, + -6.41567530692555e-05, + -3.6565303162205964e-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": 4.659999999999923, + "step": 932, + "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": 0.22901266770286113, + "holds": [], + "station": "pick", + "rider": "carrier_2", + "arrived": true, + "settle_count": 824, + "released": { + "pick": [] + }, + "last_pos": { + "carrier_1": [ + 1.5067897737026215, + 0.5126789212226868, + 0.0 + ], + "carrier_2": [ + -0.22285977005958557, + 4.589557647705078e-06, + 0.0 + ], + "carrier_3": [ + 0.025682061910629272, + 0.6999958157539368, + 0.0 + ], + "carrier_4": [ + -1.2215780317783356, + 0.6972177624702454, + 0.0 + ] + }, + "command": 0.0 + }, + "belt": { + "target_speed": 0.0, + "command_speed": 0.0 + }, + "seen": { + "state": "at_station", + "station": "pick", + "rider": "carrier_2", + "arrived": true + } + } + }, + "queues": {}, + "program": null, + "sensors": {}, + "interlocks": {} + } + }, + "zones": {}, + "labware": { + "plate_1": { + "sealed": false + }, + "plate_2": { + "sealed": false + }, + "plate_3": { + "sealed": false + }, + "plate_4": { + "sealed": false + } + }, + "rules": {}, + "records": [], + "bus": { + "seq": 3, + "queue": [] + } + }, + null, + null + ], + "drives": [ + null, + {}, + null, + null + ] + }, + "artifacts": [ + {}, + { + "ceiling": { + "type": "rect", + "pose": { + "pos": [ + -0.2897862495202207, + 0.549890303729692, + 2.980454692235758 + ], + "ori": [ + -3.0215565217389297, + -4.970079223335647, + 5.779295101725154 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "color_temperature": 6766.903584459629, + "color": [ + 0.9996463448506816, + 0.9038617257250461, + 0.9479920949822043 + ], + "intensity": 13488.495561895576, + "width": 1.6018337061215604, + "height": 1.889303942341364 + } + }, + "key": { + "type": "sphere", + "pose": { + "pos": [ + -1.1090523186546815, + 0.28257746260239847, + 1.6309640926314217 + ], + "ori": [ + 24.040599118809055, + -1.1402675550469183, + -24.038090165613298 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "color_temperature": 3773.1021010950817, + "color": [ + 0.8998103638195998, + 0.8985612881259204, + 0.883719358676212 + ], + "intensity": 9430.2788079087, + "radius": 0.13836899272919617 + } + } + }, + {}, + {} + ], + "background": { + "type": "dome", + "pose": { + "pos": null, + "ori": null, + "scale": null + }, + "dr": { + "intensity": 849.6745197852705, + "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": [ + [ + 0.9141022562980652, + -1.7193983793258667, + 2.0904994010925293, + -1.9419001340866089, + -1.5707999467849731, + 2.48490047454834, + 0.01799999736249447, + 0.018000001087784767 + ], + [ + 0.9141026139259338, + -1.719398021697998, + 2.0904994010925293, + -1.9419004917144775, + -1.5707999467849731, + 2.4849014282226562, + 0.01799999736249447, + 0.018000001087784767 + ], + [ + 2.580461025238037, + -2.1776325702667236, + 2.2168776988983154, + -1.6100175380706787, + -1.5706088542938232, + 4.15181827545166, + 0.018000023439526558, + 0.017999975010752678 + ], + [ + 2.7259886264801025, + -1.8957664966583252, + 2.0729591846466064, + -1.747513771057129, + -1.5703229904174805, + 4.297648906707764, + 0.007663098629564047, + 0.006956795696169138 + ] + ], + "joint_vel": [ + [ + -2.6723271787315276e-38, + 2.8563703559196347e-38, + 1.7572787210080363e-38, + 3.322347048962372e-37, + -7.561876452949709e-37, + 2.1489553184598345e-37, + 2.5990388508034812e-08, + -2.5990388508034812e-08 + ], + [ + -2.53562154522647e-38, + 1.5558734558469447e-38, + 3.8652794663417594e-38, + 5.216359765756384e-37, + -3.9781226685575225e-38, + 4.1921442161565004e-37, + 2.5990388508034812e-08, + -2.5990386731677972e-08 + ], + [ + -0.01675567589700222, + -0.02687271311879158, + 0.009959748014807701, + 0.01626013033092022, + -1.463686021452304e-05, + -0.0167847853153944, + -1.925735659824568e-06, + 1.925904598465422e-06 + ], + [ + 0.009576959535479546, + 0.024206113070249557, + -0.015447587706148624, + -0.00827243085950613, + 0.000660716206766665, + 0.007913523353636265, + -0.008956621401011944, + 0.0002674882998690009 + ] + ] + } + }, + "cameras": { + "cameras": { + "camera0": [ + [ + 0.04790305346250534, + -0.0022331783547997475, + -0.028694022446870804, + -0.28372111916542053, + 0.6497107744216919, + 0.64982008934021, + -0.27406594157218933 + ], + [ + 0.05079016089439392, + 0.0007400686154142022, + -0.03134297579526901, + -0.2573786675930023, + 0.6656075716018677, + 0.6388067007064819, + -0.2874869704246521 + ], + [ + 0.0492505207657814, + 0.0009079199517145753, + -0.029885081574320793, + -0.27735039591789246, + 0.6493584513664246, + 0.6503127813339233, + -0.2801850140094757 + ], + [ + 0.048335857689380646, + -0.0017285131616517901, + -0.02995195798575878, + -0.27814599871635437, + 0.6445334553718567, + 0.6588587760925293, + -0.2704007625579834 + ] + ], + "camera1": [ + [ + 0.07097409665584564, + 0.5826780796051025, + 1.9411629438400269, + 0.036086276173591614, + 0.030778154730796814, + 0.2836492657661438, + 0.9577544331550598 + ], + [ + 0.05038106068968773, + 0.5909393429756165, + 1.943141222000122, + 0.03096725046634674, + 0.006029581185430288, + 0.2828909158706665, + 0.9586330652236938 + ], + [ + 0.06559417396783829, + 0.555489182472229, + 1.9738714694976807, + 0.03212831914424896, + -0.001966767478734255, + 0.2842341363430023, + 0.9582144021987915 + ], + [ + 0.04890327900648117, + 0.5815206170082092, + 1.968841552734375, + 0.026533540338277817, + 0.01287636999040842, + 0.28420987725257874, + 0.9583083391189575 + ] + ] + } + } + } +} \ No newline at end of file diff --git a/episodes/c4_p004_e018/wrist.mp4 b/episodes/c4_p004_e018/wrist.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..8ae4170dfc0563895ed5c689eeab1199e6239499 --- /dev/null +++ b/episodes/c4_p004_e018/wrist.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:e54955b11adc7823a5011ebf2ba8863b070eb8e424b2669bc9e465f7d691ca4d +size 6728028 diff --git a/episodes/c4_p004_e019/data.npz b/episodes/c4_p004_e019/data.npz new file mode 100644 index 0000000000000000000000000000000000000000..4636e191fde586d45a0e6657f95622888406d617 --- /dev/null +++ b/episodes/c4_p004_e019/data.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:49baa9be7098d832eff8ea4bf04ace8180ee48c8a8167377e388b31ecd0f6e1a +size 201214 diff --git a/episodes/c4_p004_e019/device_events.jsonl b/episodes/c4_p004_e019/device_events.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..4b7b09250b409dc8a4c2bc727ac4729aeee564eb --- /dev/null +++ b/episodes/c4_p004_e019/device_events.jsonl @@ -0,0 +1,35 @@ +{"env_id": 0, "seq": 1, "step": 136, "t": 0.68, "topic": "conveyor_1.belt.station.pick.captured", "source": "conveyor_1.belt", "data": {"rider": "carrier_3"}, "cause": null} +{"env_id": 0, "seq": 2, "step": 136, "t": 0.68, "topic": "conveyor_1.belt.state.changed", "source": "conveyor_1.belt", "data": {"from": "running", "to": "at_station"}, "cause": null} +{"env_id": 0, "seq": 3, "step": 141, "t": 0.705, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_3"}, "cause": null} +{"env_id": 0, "seq": 4, "step": 6402, "t": 32.01, "topic": "a4s_sealer_1.plate_present.present", "source": "a4s_sealer_1.plate_present", "data": {"object": "plate_3"}, "cause": null} +{"env_id": 0, "seq": 5, "step": 7016, "t": 35.08, "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": 7016, "t": 35.08, "topic": "a4s_sealer_1.seal.started", "source": "a4s_sealer_1", "data": {"dwell": 4.210251491214051}, "cause": "task-0-1"} +{"env_id": 0, "seq": 7, "step": 7016, "t": 35.08, "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": 7016, "t": 35.08, "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": 7016, "t": 35.08, "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": 7435, "t": 37.175, "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": 7435, "t": 37.175, "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": 7435, "t": 37.175, "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": 7435, "t": 37.175, "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": 7435, "t": 37.175, "topic": "labware.plate_3.changed", "source": "labware.plate_3", "data": {"key": "sealed", "value": true}, "cause": "task-0-1"} +{"env_id": 0, "seq": 15, "step": 7435, "t": 37.175, "topic": "a4s_sealer_1.sealed", "source": "a4s_sealer_1", "data": {"plate": "plate_3"}, "cause": "task-0-1"} +{"env_id": 0, "seq": 16, "step": 7435, "t": 37.175, "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": 7435, "t": 37.175, "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": 7435, "t": 37.175, "topic": "a4s_sealer_1.heater.started", "source": "a4s_sealer_1.heater", "data": {"duration": 4.210251491214051}, "cause": "program-0-3"} +{"env_id": 0, "seq": 19, "step": 8278, "t": 41.39, "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": 8278, "t": 41.39, "topic": "a4s_sealer_1.heater.finished", "source": "a4s_sealer_1.heater", "data": {"elapsed": 4.215000000002156}, "cause": "program-0-3"} +{"env_id": 0, "seq": 21, "step": 8278, "t": 41.39, "topic": "a4s_sealer_1.heater.command.succeeded", "source": "a4s_sealer_1.heater", "data": {"command_id": "program-0-3", "name": "run", "source": "program:seal", "result": {"elapsed": 4.215000000002156}}, "cause": "program-0-3"} +{"env_id": 0, "seq": 22, "step": 8278, "t": 41.39, "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": 8278, "t": 41.39, "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": 8278, "t": 41.39, "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": 8698, "t": 43.49, "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": 8698, "t": 43.49, "topic": "a4s_sealer_1.drawer.reached", "source": "a4s_sealer_1.drawer", "data": {"position": "out", "q": 6.174178945883568e-10}, "cause": "program-0-4"} +{"env_id": 0, "seq": 27, "step": 8698, "t": 43.49, "topic": "a4s_sealer_1.drawer.at_out", "source": "a4s_sealer_1.drawer", "data": {"q": 6.174178945883568e-10}, "cause": "program-0-4"} +{"env_id": 0, "seq": 28, "step": 8698, "t": 43.49, "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": 8698, "t": 43.49, "topic": "a4s_sealer_1.seal.finished", "source": "a4s_sealer_1", "data": {}, "cause": "task-0-1"} +{"env_id": 0, "seq": 30, "step": 8698, "t": 43.49, "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": 9279, "t": 46.395, "topic": "a4s_sealer_1.plate_present.absent", "source": "a4s_sealer_1.plate_present", "data": {"object": "plate_3"}, "cause": null} +{"env_id": 0, "seq": 32, "step": 11504, "t": 57.52, "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": 11504, "t": 57.52, "topic": "conveyor_1.belt.station.pick.released", "source": "conveyor_1.belt", "data": {"rider": "carrier_3"}, "cause": "task-0-5"} +{"env_id": 0, "seq": 34, "step": 11504, "t": 57.52, "topic": "conveyor_1.belt.state.changed", "source": "conveyor_1.belt", "data": {"from": "at_station", "to": "running"}, "cause": null} +{"env_id": 0, "seq": 35, "step": 11504, "t": 57.52, "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_p004_e019/env.mp4 b/episodes/c4_p004_e019/env.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..f9e4b79bb636141dc5286d237445ebe3944728b3 --- /dev/null +++ b/episodes/c4_p004_e019/env.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:4c3897edc092bcb08b3f002049f68c20e629c16369a986800dc858013680d63d +size 1412642 diff --git a/episodes/c4_p004_e019/meta.json b/episodes/c4_p004_e019/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..91027ddb38bb3088672e56bc140832916ed60a32 --- /dev/null +++ b/episodes/c4_p004_e019/meta.json @@ -0,0 +1,32 @@ +{ + "source": "raw/c4_p004/magicsim/19", + "fps": 25, + "frames": 1306, + "kept_ticks": "even", + "video_frames": { + "wrist": 1306, + "env": 1306 + }, + "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_p004_e019/scene_snapshot.json b/episodes/c4_p004_e019/scene_snapshot.json new file mode 100644 index 0000000000000000000000000000000000000000..04b82d1387461a681f31b0373e07c3b0fcd1d3d9 --- /dev/null +++ b/episodes/c4_p004_e019/scene_snapshot.json @@ -0,0 +1,1558 @@ +{ + "trajectory_id": 19, + "env_id": 0, + "run_id": "c4_p004", + "task_type": "BioPlateCell", + "success": true, + "timing": { + "fps": 50.0, + "sim_dt": 0.005, + "decimation": 4 + }, + "restore_interface": { + "scene": "scene_manager.reset_to(snapshot['scene'], env_ids=[env_id])", + "robots": "robot_manager.set_state({'robots': snapshot['robots']}, env_ids=[env_id])" + }, + "snapshot": { + "env_id": 0, + "scene": { + "objects": [ + { + "rac_cell": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/rac_cell.usd", + "pose": { + "pos": [ + 0.0, + 0.0, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "physics_material": { + "static_friction": 0.6, + "dynamic_friction": 0.5, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "robot_mount": [ + { + "asset": "Cube", + "pose": { + "pos": [ + 0.0, + 0.0, + 0.9075 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": "color", + "value": [ + 0.55, + 0.56, + 0.58 + ], + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": { + "size": [ + 0.2, + 0.2, + 0.015 + ] + } + }, + "type_specific": {} + } + ], + "plate_rack": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/plate_hotel.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 0.9 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "physics_material": { + "static_friction": 0.6, + "dynamic_friction": 0.5, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "hotel_plate": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_96_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/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": "$MAGICSIM_ASSETS/Bio/CAD/plates/deep_well_96_2ml/deep_well_96_2ml.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.1645 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/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": [ + 0.4789714813232422, + 0.05381488800048828, + 0.8999999761581421 + ], + "ori": [ + 0.7172253727912903, + 0.0, + 0.0, + -0.696841299533844 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "articulation", + "solver_position_iteration_count": 16.0, + "solver_velocity_iteration_count": 1.0, + "enabled_self_collisions": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "joint_position": [ + 3.3641665841965818e-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": 0.22975546918370332, + "direction": [ + 1.0, + 0.0, + 0.0 + ], + "enabled": true, + "drive": "surface_velocity", + "lines": null, + "station_line": null, + "riders": [ + "carrier" + ], + "stations": { + "pick": { + "position": -0.16755248049342328, + "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": 0.22975546918370332, + "holds": [], + "station": "pick", + "rider": "carrier_3", + "arrived": true, + "applied_speed": 0.0 + } + } + } + ], + "carrier": [ + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + 0.7454795837402344, + 1.1526117324829102, + 0.8999999761581421 + ], + "ori": [ + -0.011409183032810688, + -4.8616684011904e-09, + -5.949696846307972e-10, + 0.9999349117279053 + ], + "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": [ + -2.6675983644253165e-10, + -1.89621596202727e-10, + 0.0 + ], + "angular_velocity": [ + 6.165998200913236e-08, + -1.346327138662673e-08, + -6.490895376742856e-09 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + 1.6407899856567383, + 0.9905290603637695, + 0.8999999761581421 + ], + "ori": [ + 0.48356011509895325, + 7.831403081581811e-08, + 5.2139885298174704e-08, + 0.8753111362457275 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 2.7614788233876197e-10, + -1.7363151194604853e-10, + 0.0 + ], + "angular_velocity": [ + 9.020178382002086e-09, + 3.697076067510352e-08, + 4.927329211312781e-09 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + -0.01804637908935547, + 0.4471092224121094, + 0.8999999761581421 + ], + "ori": [ + 0.9999673366546631, + 2.3599500131865625e-09, + -3.961367234239788e-09, + 0.008085154928267002 + ], + "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": [ + 5.518889789613013e-10, + -2.534358278794002e-10, + 0.0 + ], + "angular_velocity": [ + 1.245707892394421e-08, + 4.353903904075196e-08, + -3.5531444453340555e-09 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + -1.1205263137817383, + 1.1404304504394531, + 0.8999999761581421 + ], + "ori": [ + -0.08604249358177185, + -2.759108674865729e-08, + 5.6964020167527e-09, + 0.9962915182113647 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -6.221632098402097e-10, + 2.2523090059678452e-09, + -3.725290298461914e-09 + ], + "angular_velocity": [ + -6.273529606914963e-08, + -5.138813108374052e-08, + -1.2396403015202395e-08 + ] + } + } + ], + "plate": [ + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_6_clear/Object.usd", + "pose": { + "pos": [ + 0.7537517547607422, + 1.1426887512207031, + 0.9179999828338623 + ], + "ori": [ + -0.028976010158658028, + -4.2731418403718635e-09, + 8.675298257543318e-10, + 0.9995801448822021 + ], + "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": [ + 1.5898093508326383e-08, + 2.909708385345766e-08, + 9.685754776000977e-08 + ], + "angular_velocity": [ + -1.4176729337123106e-06, + 1.4388753015737166e-06, + -1.621045697675072e-08 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_96_black/Object.usd", + "pose": { + "pos": [ + 1.6416006088256836, + 0.9953117370605469, + 0.9180000424385071 + ], + "ori": [ + 0.4686053693294525, + 7.960977654875023e-08, + 4.871838754638702e-08, + 0.8834076523780823 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 1.5291142574369587e-08, + -1.320114684233431e-08, + -5.617737770080566e-06 + ], + "angular_velocity": [ + 7.361279585893499e-07, + 1.2752045677189017e-06, + -7.773394372634357e-09 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/pcr_96_blue/Object.usd", + "pose": { + "pos": [ + -0.02173900604248047, + 0.4500093460083008, + 0.9180000424385071 + ], + "ori": [ + 0.9979232549667358, + 2.631962647825503e-09, + -4.310434675858232e-09, + -0.06441503763198853 + ], + "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": [ + -2.062384929502059e-08, + 1.1126376264769533e-08, + -5.692243576049805e-06 + ], + "angular_velocity": [ + 1.2621939049495268e-08, + -1.6086307823570678e-06, + 1.4491411093331408e-07 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/deep_well_96_2ml/Object.usd", + "pose": { + "pos": [ + -1.1301031112670898, + 1.1434240341186523, + 0.9179999828338623 + ], + "ori": [ + 0.017856139689683914, + -2.7662933277383672e-08, + -3.470103371316924e-10, + 0.9998406767845154 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 2.4861330771841494e-08, + 2.1939921879265967e-08, + -1.642853021621704e-06 + ], + "angular_velocity": [ + 3.922087330465729e-07, + 1.0292758361174492e-06, + -1.554130619751959e-07 + ] + } + } + ], + "deco_hub_west": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/hub_d.usd", + "pose": { + "pos": [ + -3.36, + 0.0, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_hub_east": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/hub_e.usd", + "pose": { + "pos": [ + 3.36, + 0.0, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_hub_back": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/hub_b.usd", + "pose": { + "pos": [ + -3.0, + -2.1, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_bench_east": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/bench_a.usd", + "pose": { + "pos": [ + 2.6, + -2.5, + 0.0 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_bench_gap": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/bench_b.usd", + "pose": { + "pos": [ + -0.1, + -2.9, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ] + }, + {}, + {}, + {} + ], + "devices": { + "hub": [ + { + "t": 5.459999999999906, + "step": 1092, + "counter": 0, + "devices": { + "a4s_sealer_1": { + "mode": "auto", + "units": { + "drawer": { + "state": "at_out", + "active": null, + "target": 0.0, + "goal_name": "out", + "profile": null, + "q_start": null, + "reversing": false, + "blocked_for": 0.0, + "settled_for": 0.0, + "last_q": 3.3641665841965818e-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": 0.22975546918370332, + "holds": [], + "station": "pick", + "rider": "carrier_3", + "arrived": true, + "settle_count": 955, + "released": { + "pick": [] + }, + "last_pos": { + "carrier_1": [ + 0.5954795777797699, + 0.7026117444038391, + 0.0 + ], + "carrier_2": [ + 1.4907899796962738, + 0.5405290722846985, + 0.0 + ], + "carrier_3": [ + -0.16804638504981995, + -0.00289076566696167, + 0.0 + ], + "carrier_4": [ + -1.2705263197422028, + 0.6904304623603821, + 0.0 + ] + }, + "command": 0.0 + }, + "belt": { + "target_speed": 0.0, + "command_speed": 0.0 + }, + "seen": { + "state": "at_station", + "station": "pick", + "rider": "carrier_3", + "arrived": true + } + } + }, + "queues": {}, + "program": null, + "sensors": {}, + "interlocks": {} + } + }, + "zones": {}, + "labware": { + "plate_1": { + "sealed": false + }, + "plate_2": { + "sealed": false + }, + "plate_3": { + "sealed": false + }, + "plate_4": { + "sealed": false + } + }, + "rules": {}, + "records": [], + "bus": { + "seq": 3, + "queue": [] + } + }, + null, + null, + null + ], + "drives": [ + {}, + null, + null, + null + ] + }, + "artifacts": [ + { + "ceiling": { + "type": "rect", + "pose": { + "pos": [ + -0.27934539694478766, + -0.11738041799324656, + 2.9278400966989153 + ], + "ori": [ + 11.336909166966318, + -5.228155612560505, + 26.35479153627203 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "color_temperature": 6461.882669887977, + "color": [ + 0.9742490892096847, + 0.8309228177814887, + 0.7901448508323133 + ], + "intensity": 9786.293039608201, + "width": 1.5762919928220465, + "height": 0.8278356012020481 + } + }, + "key": { + "type": "disk", + "pose": { + "pos": [ + -1.0769671112500498, + -0.5070478549376523, + 2.0388790563935926 + ], + "ori": [ + -35.023645736992925, + 20.829162443618607, + 3.5704107639999734 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "color_temperature": 6883.629961385171, + "color": [ + 0.7993557181538927, + 0.7873609192947171, + 0.9952262607191791 + ], + "intensity": 5120.410323365784, + "radius": 0.42950813438378 + } + } + }, + {}, + {}, + {} + ], + "background": { + "type": "dome", + "pose": { + "pos": null, + "ori": null, + "scale": null + }, + "dr": { + "intensity": 849.6745197852705, + "texture": null, + "color": [ + 0.92, + 0.94, + 0.96 + ] + } + } + }, + "robots": { + "UR5e": { + "root_pose": [ + [ + 11.0, + -11.0, + 0.9150000214576721, + 1.0, + 0.0, + 0.0, + 0.0 + ], + [ + 11.0, + 11.0, + 0.9150000214576721, + 1.0, + 0.0, + 0.0, + 0.0 + ], + [ + -11.0, + -11.0, + 0.9150000214576721, + 1.0, + 0.0, + 0.0, + 0.0 + ], + [ + -11.0, + 11.0, + 0.9150000214576721, + 1.0, + 0.0, + 0.0, + 0.0 + ] + ], + "root_vel": [ + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + ], + "joint_pos": [ + [ + 0.9141026735305786, + -1.7193981409072876, + 2.0904994010925293, + -1.9419001340866089, + -1.5707999467849731, + 2.48490047454834, + 0.01799999736249447, + 0.018000001087784767 + ], + [ + 0.9674285650253296, + -1.6729322671890259, + 2.107267379760742, + -2.0050909519195557, + -1.5707980394363403, + 2.528820514678955, + 0.018001310527324677, + 0.017998691648244858 + ], + [ + 2.5304510593414307, + -2.2526888847351074, + 2.2440953254699707, + -1.5621470212936401, + -1.570610523223877, + 4.101808547973633, + 0.017999975010752678, + 0.018000023439526558 + ], + [ + 2.7649078369140625, + -1.794777274131775, + 2.0022714138031006, + -1.7778984308242798, + -1.5705159902572632, + 4.336537837982178, + 0.007665191777050495, + 0.006954006850719452 + ] + ], + "joint_vel": [ + [ + -2.8261975973857927e-38, + 1.641841435075115e-38, + -1.5536795829711978e-38, + 5.006739416374157e-37, + -4.2345145491470885e-37, + 2.928749215264046e-37, + 2.5990388508034812e-08, + -2.599039206074849e-08 + ], + [ + 0.024434266611933708, + 0.021832410246133804, + 0.00809167604893446, + -0.02849922887980938, + 4.0959715988719836e-05, + 0.01986062154173851, + 3.999426553491503e-05, + -4.002562491223216e-05 + ], + [ + -0.0007870148401707411, + -0.001113606384024024, + 0.00042176968418061733, + 0.0007453173166140914, + -1.6215001323871547e-06, + -0.0007765681366436183, + 2.1829963259278884e-07, + -2.1830645380305214e-07 + ], + [ + 0.007705386262387037, + 0.02285541594028473, + -0.016965480521321297, + -0.005407234188169241, + 0.0006700262310914695, + 0.006062674801796675, + -0.009012763388454914, + 0.0002714462752919644 + ] + ] + } + }, + "cameras": { + "cameras": { + "camera0": [ + [ + 0.04740837216377258, + -0.0003967089578509331, + -0.027015596628189087, + -0.28671586513519287, + 0.6526481509208679, + 0.6450248956680298, + -0.27529504895210266 + ], + [ + 0.05259903520345688, + 0.0023847271222621202, + -0.033077020198106766, + -0.2643444538116455, + 0.6619447469711304, + 0.6419879794120789, + -0.28249359130859375 + ], + [ + 0.04887840896844864, + -0.00018394857761450112, + -0.029834037646651268, + -0.28175094723701477, + 0.6455804109573364, + 0.6537550687789917, + -0.276489794254303 + ], + [ + 0.051165591925382614, + 0.0025457418523728848, + -0.02990887314081192, + -0.28244563937187195, + 0.6439907550811768, + 0.6572352051734924, + -0.2711866796016693 + ] + ], + "camera1": [ + [ + 0.07097409665584564, + 0.5826780796051025, + 1.9411629438400269, + 0.036086276173591614, + 0.030778154730796814, + 0.2836492657661438, + 0.9577544331550598 + ], + [ + 0.05038106068968773, + 0.5909393429756165, + 1.943141222000122, + 0.03096725046634674, + 0.006029581185430288, + 0.2828909158706665, + 0.9586330652236938 + ], + [ + 0.06559417396783829, + 0.555489182472229, + 1.9738714694976807, + 0.03212831914424896, + -0.001966767478734255, + 0.2842341363430023, + 0.9582144021987915 + ], + [ + 0.04890327900648117, + 0.5815206170082092, + 1.968841552734375, + 0.026533540338277817, + 0.01287636999040842, + 0.28420987725257874, + 0.9583083391189575 + ] + ] + } + } + } +} \ No newline at end of file diff --git a/episodes/c4_p004_e019/wrist.mp4 b/episodes/c4_p004_e019/wrist.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..fdc3f4092b5450183281635d1ba2bfa61f090609 --- /dev/null +++ b/episodes/c4_p004_e019/wrist.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:43d56c86dc7e471a599baa497e9e1135f8f6856ed18ba4dc31fc1ef35583e199 +size 8230770 diff --git a/episodes/c5_p004_e000/data.npz b/episodes/c5_p004_e000/data.npz new file mode 100644 index 0000000000000000000000000000000000000000..5b1813a51b8cf8d3473123db704c47e4cb60944d --- /dev/null +++ b/episodes/c5_p004_e000/data.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:f30c4a95e51866ebaecb6c0638db59af7df2b7519936a08e1a94507e50190db0 +size 204829 diff --git a/episodes/c5_p004_e000/device_events.jsonl b/episodes/c5_p004_e000/device_events.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..2b29d5ffdf9df48918a9d1b72e1f8fe9dfe300b9 --- /dev/null +++ b/episodes/c5_p004_e000/device_events.jsonl @@ -0,0 +1,37 @@ +{"env_id": 0, "seq": 1, "step": 92, "t": 0.46, "topic": "conveyor_1.belt.station.pick.captured", "source": "conveyor_1.belt", "data": {"rider": "carrier_4"}, "cause": null} +{"env_id": 0, "seq": 2, "step": 92, "t": 0.46, "topic": "conveyor_1.belt.state.changed", "source": "conveyor_1.belt", "data": {"from": "running", "to": "at_station"}, "cause": null} +{"env_id": 0, "seq": 3, "step": 97, "t": 0.485, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_4"}, "cause": null} +{"env_id": 0, "seq": 4, "step": 745, "t": 3.725, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_4"}, "cause": null} +{"env_id": 0, "seq": 5, "step": 789, "t": 3.945, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_4"}, "cause": null} +{"env_id": 0, "seq": 6, "step": 5607, "t": 28.035, "topic": "a4s_sealer_1.plate_present.present", "source": "a4s_sealer_1.plate_present", "data": {"object": "plate_4"}, "cause": null} +{"env_id": 0, "seq": 7, "step": 6220, "t": 31.1, "topic": "a4s_sealer_1.command.started", "source": "a4s_sealer_1", "data": {"command_id": "task-0-1", "name": "seal", "source": "task"}, "cause": "task-0-1"} +{"env_id": 0, "seq": 8, "step": 6220, "t": 31.1, "topic": "a4s_sealer_1.seal.started", "source": "a4s_sealer_1", "data": {"dwell": 2.048210815855914}, "cause": "task-0-1"} +{"env_id": 0, "seq": 9, "step": 6220, "t": 31.1, "topic": "a4s_sealer_1.drawer.command.started", "source": "a4s_sealer_1.drawer", "data": {"command_id": "program-0-2", "name": "close", "source": "program:seal"}, "cause": "program-0-2"} +{"env_id": 0, "seq": 10, "step": 6220, "t": 31.1, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "at_out", "to": "moving"}, "cause": null} +{"env_id": 0, "seq": 11, "step": 6220, "t": 31.1, "topic": "a4s_sealer_1.drawer.moving", "source": "a4s_sealer_1.drawer", "data": {"target": 0.3, "goal": "in"}, "cause": "program-0-2"} +{"env_id": 0, "seq": 12, "step": 6639, "t": 33.195, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "moving", "to": "at_in"}, "cause": null} +{"env_id": 0, "seq": 13, "step": 6639, "t": 33.195, "topic": "a4s_sealer_1.drawer.reached", "source": "a4s_sealer_1.drawer", "data": {"position": "in", "q": 0.29999998211860657}, "cause": "program-0-2"} +{"env_id": 0, "seq": 14, "step": 6639, "t": 33.195, "topic": "a4s_sealer_1.drawer.at_in", "source": "a4s_sealer_1.drawer", "data": {"q": 0.29999998211860657}, "cause": "program-0-2"} +{"env_id": 0, "seq": 15, "step": 6639, "t": 33.195, "topic": "a4s_sealer_1.drawer.command.succeeded", "source": "a4s_sealer_1.drawer", "data": {"command_id": "program-0-2", "name": "close", "source": "program:seal", "result": {"position": "in"}}, "cause": "program-0-2"} +{"env_id": 0, "seq": 16, "step": 6639, "t": 33.195, "topic": "labware.plate_4.changed", "source": "labware.plate_4", "data": {"key": "sealed", "value": true}, "cause": "task-0-1"} +{"env_id": 0, "seq": 17, "step": 6639, "t": 33.195, "topic": "a4s_sealer_1.sealed", "source": "a4s_sealer_1", "data": {"plate": "plate_4"}, "cause": "task-0-1"} +{"env_id": 0, "seq": 18, "step": 6639, "t": 33.195, "topic": "a4s_sealer_1.heater.command.started", "source": "a4s_sealer_1.heater", "data": {"command_id": "program-0-3", "name": "run", "source": "program:seal"}, "cause": "program-0-3"} +{"env_id": 0, "seq": 19, "step": 6639, "t": 33.195, "topic": "a4s_sealer_1.heater.state.changed", "source": "a4s_sealer_1.heater", "data": {"from": "ready", "to": "running"}, "cause": null} +{"env_id": 0, "seq": 20, "step": 6639, "t": 33.195, "topic": "a4s_sealer_1.heater.started", "source": "a4s_sealer_1.heater", "data": {"duration": 2.048210815855914}, "cause": "program-0-3"} +{"env_id": 0, "seq": 21, "step": 7049, "t": 35.245, "topic": "a4s_sealer_1.heater.state.changed", "source": "a4s_sealer_1.heater", "data": {"from": "running", "to": "ready"}, "cause": null} +{"env_id": 0, "seq": 22, "step": 7049, "t": 35.245, "topic": "a4s_sealer_1.heater.finished", "source": "a4s_sealer_1.heater", "data": {"elapsed": 2.0500000000010488}, "cause": "program-0-3"} +{"env_id": 0, "seq": 23, "step": 7049, "t": 35.245, "topic": "a4s_sealer_1.heater.command.succeeded", "source": "a4s_sealer_1.heater", "data": {"command_id": "program-0-3", "name": "run", "source": "program:seal", "result": {"elapsed": 2.0500000000010488}}, "cause": "program-0-3"} +{"env_id": 0, "seq": 24, "step": 7049, "t": 35.245, "topic": "a4s_sealer_1.drawer.command.started", "source": "a4s_sealer_1.drawer", "data": {"command_id": "program-0-4", "name": "open", "source": "program:seal"}, "cause": "program-0-4"} +{"env_id": 0, "seq": 25, "step": 7049, "t": 35.245, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "at_in", "to": "moving"}, "cause": null} +{"env_id": 0, "seq": 26, "step": 7049, "t": 35.245, "topic": "a4s_sealer_1.drawer.moving", "source": "a4s_sealer_1.drawer", "data": {"target": 0.0, "goal": "out"}, "cause": "program-0-4"} +{"env_id": 0, "seq": 27, "step": 7468, "t": 37.34, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "moving", "to": "at_out"}, "cause": null} +{"env_id": 0, "seq": 28, "step": 7468, "t": 37.34, "topic": "a4s_sealer_1.drawer.reached", "source": "a4s_sealer_1.drawer", "data": {"position": "out", "q": 2.1291308271997877e-08}, "cause": "program-0-4"} +{"env_id": 0, "seq": 29, "step": 7468, "t": 37.34, "topic": "a4s_sealer_1.drawer.at_out", "source": "a4s_sealer_1.drawer", "data": {"q": 2.1291308271997877e-08}, "cause": "program-0-4"} +{"env_id": 0, "seq": 30, "step": 7468, "t": 37.34, "topic": "a4s_sealer_1.drawer.command.succeeded", "source": "a4s_sealer_1.drawer", "data": {"command_id": "program-0-4", "name": "open", "source": "program:seal", "result": {"position": "out"}}, "cause": "program-0-4"} +{"env_id": 0, "seq": 31, "step": 7468, "t": 37.34, "topic": "a4s_sealer_1.seal.finished", "source": "a4s_sealer_1", "data": {}, "cause": "task-0-1"} +{"env_id": 0, "seq": 32, "step": 7468, "t": 37.34, "topic": "a4s_sealer_1.command.succeeded", "source": "a4s_sealer_1", "data": {"command_id": "task-0-1", "name": "seal", "source": "task"}, "cause": "task-0-1"} +{"env_id": 0, "seq": 33, "step": 8050, "t": 40.25, "topic": "a4s_sealer_1.plate_present.absent", "source": "a4s_sealer_1.plate_present", "data": {"object": "plate_4"}, "cause": null} +{"env_id": 0, "seq": 34, "step": 10272, "t": 51.36, "topic": "conveyor_1.belt.command.started", "source": "conveyor_1.belt", "data": {"command_id": "task-0-5", "name": "release", "source": "task"}, "cause": "task-0-5"} +{"env_id": 0, "seq": 35, "step": 10272, "t": 51.36, "topic": "conveyor_1.belt.station.pick.released", "source": "conveyor_1.belt", "data": {"rider": "carrier_4"}, "cause": "task-0-5"} +{"env_id": 0, "seq": 36, "step": 10272, "t": 51.36, "topic": "conveyor_1.belt.state.changed", "source": "conveyor_1.belt", "data": {"from": "at_station", "to": "running"}, "cause": null} +{"env_id": 0, "seq": 37, "step": 10272, "t": 51.36, "topic": "conveyor_1.belt.command.succeeded", "source": "conveyor_1.belt", "data": {"command_id": "task-0-5", "name": "release", "source": "task", "result": {"state": "running"}}, "cause": "task-0-5"} diff --git a/episodes/c5_p004_e000/env.mp4 b/episodes/c5_p004_e000/env.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..66cd3469e1ddf7c1598ea38b5660cbf3081b607c --- /dev/null +++ b/episodes/c5_p004_e000/env.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:b288590f8d71b539085077858b15d5564b0e0de23cbd3605ec0f2ed8869caff4 +size 1307416 diff --git a/episodes/c5_p004_e000/meta.json b/episodes/c5_p004_e000/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..706226b26fb69e51ff19011f8f75791c3d1ff6c7 --- /dev/null +++ b/episodes/c5_p004_e000/meta.json @@ -0,0 +1,32 @@ +{ + "source": "raw/c5_p004/magicsim/0", + "fps": 25, + "frames": 1250, + "kept_ticks": "even", + "video_frames": { + "wrist": 1250, + "env": 1250 + }, + "joint_target_source": "joint_pos_target", + "fk_vs_recorded_eef_max_m": 0.0, + "curobo_joints": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "joint_order": [ + "shoulder_pan", + "shoulder_lift", + "elbow", + "wrist_1", + "wrist_2", + "wrist_3", + "finger_left", + "finger_right" + ], + "frames_note": "eef / actions in the robot base frame; camera_pose = local pose (wrist: in plate_gripper_base, env: env frame), pos + quat wxyz", + "dr_version": "v2" +} \ No newline at end of file diff --git a/episodes/c5_p004_e000/scene_snapshot.json b/episodes/c5_p004_e000/scene_snapshot.json new file mode 100644 index 0000000000000000000000000000000000000000..295daabbb40286baa0ce216c146475b8fa484400 --- /dev/null +++ b/episodes/c5_p004_e000/scene_snapshot.json @@ -0,0 +1,1558 @@ +{ + "trajectory_id": 0, + "env_id": 0, + "run_id": "c5_p004", + "task_type": "BioPlateCell", + "success": true, + "timing": { + "fps": 50.0, + "sim_dt": 0.005, + "decimation": 4 + }, + "restore_interface": { + "scene": "scene_manager.reset_to(snapshot['scene'], env_ids=[env_id])", + "robots": "robot_manager.set_state({'robots': snapshot['robots']}, env_ids=[env_id])" + }, + "snapshot": { + "env_id": 0, + "scene": { + "objects": [ + { + "rac_cell": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/rac_cell.usd", + "pose": { + "pos": [ + 0.0, + 0.0, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "physics_material": { + "static_friction": 0.6, + "dynamic_friction": 0.5, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "robot_mount": [ + { + "asset": "Cube", + "pose": { + "pos": [ + 0.0, + 0.0, + 0.9075 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": "color", + "value": [ + 0.55, + 0.56, + 0.58 + ], + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": { + "size": [ + 0.2, + 0.2, + 0.015 + ] + } + }, + "type_specific": {} + } + ], + "plate_rack": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/plate_hotel.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 0.9 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "physics_material": { + "static_friction": 0.6, + "dynamic_friction": 0.5, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "hotel_plate": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_12_clear/plate_12_clear.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 0.9605 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_96_white/plate_96_white.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.0285 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_96_black/plate_96_black.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.0965 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_96_clear/plate_96_clear.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.1645 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_384_white/plate_384_white.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.2325 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "a4s_sealer": [ + { + "asset": "$MAGICSIM_ASSETS/Articulated/A4SSealer/Object.usd", + "pose": { + "pos": [ + 0.48097991943359375, + 0.1065673828125, + 0.8999999761581421 + ], + "ori": [ + 0.726047158241272, + 0.0, + 0.0, + -0.687644898891449 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "articulation", + "solver_position_iteration_count": 16.0, + "solver_velocity_iteration_count": 1.0, + "enabled_self_collisions": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "joint_position": [ + 1.084346371374445e-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": 0.231089578900173, + "direction": [ + 1.0, + 0.0, + 0.0 + ], + "enabled": true, + "drive": "surface_velocity", + "lines": null, + "station_line": null, + "riders": [ + "carrier" + ], + "stations": { + "pick": { + "position": -0.1585636161554859, + "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": 0.231089578900173, + "holds": [], + "station": "pick", + "rider": "carrier_4", + "arrived": true, + "applied_speed": 0.0 + } + } + } + ], + "carrier": [ + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + 1.5965089797973633, + 0.5558366775512695, + 0.8999999761581421 + ], + "ori": [ + 0.9260929226875305, + 6.789989015487663e-09, + -1.67672187245671e-08, + 0.37729567289352417 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 2.2125625775970548e-09, + -2.7950495251616303e-09, + 3.725290298461914e-09 + ], + "angular_velocity": [ + 1.3136290988313704e-07, + 8.113678973131755e-08, + -2.159840839510707e-08 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + 0.19739723205566406, + 1.1500024795532227, + 0.8999999761581421 + ], + "ori": [ + -1.042763778968947e-05, + -7.53445306145295e-09, + -3.845680995873124e-10, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -8.911686943946506e-10, + -5.177858142246805e-11, + 7.450580596923828e-09 + ], + "angular_velocity": [ + -3.43022605875376e-08, + -8.453797306628985e-08, + -1.3973217249940717e-08 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + -1.3891115188598633, + 0.7175941467285156, + 0.8999999761581421 + ], + "ori": [ + -0.7856355905532837, + 4.580171975021585e-08, + 1.1250843101606733e-07, + 0.6186894774436951 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -2.4872310433465827e-08, + -6.882843184286003e-10, + 0.0 + ], + "angular_velocity": [ + 3.6431049466045806e-07, + -6.540406047861325e-07, + -1.933638600348786e-07 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + -0.008459091186523438, + 0.4499950408935547, + 0.8999999761581421 + ], + "ori": [ + 1.0, + 1.9880179724651725e-09, + 7.761027376318452e-10, + 2.208554860771983e-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": [ + 3.70948605166177e-09, + 8.876641643951189e-10, + 2.9802322387695312e-08 + ], + "angular_velocity": [ + -1.2008918304218241e-08, + 3.552400755779672e-07, + -2.4795543396294306e-08 + ] + } + } + ], + "plate": [ + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_6_clear/Object.usd", + "pose": { + "pos": [ + 1.5930519104003906, + 0.5529146194458008, + 0.9179999828338623 + ], + "ori": [ + 0.9266473650932312, + -1.1230251573124406e-07, + -7.333416363053402e-08, + 0.3759317696094513 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 3.9938049667398445e-07, + 2.1327275590010686e-07, + -9.838491678237915e-06 + ], + "angular_velocity": [ + -2.1889358322368935e-05, + -6.346347072394565e-05, + -5.763733497587964e-06 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_96_black/Object.usd", + "pose": { + "pos": [ + 0.18870067596435547, + 1.1455154418945312, + 0.9180000424385071 + ], + "ori": [ + 0.04916853457689285, + -8.095149439668603e-09, + 5.102542832702284e-10, + 0.9987905025482178 + ], + "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": [ + 8.77860184544943e-09, + -6.398687801834058e-09, + -5.472451448440552e-06 + ], + "angular_velocity": [ + -4.671597935157479e-07, + 1.6081118019428686e-06, + 2.405930565885228e-09 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/pcr_96_blue/Object.usd", + "pose": { + "pos": [ + -1.387430191040039, + 0.7189397811889648, + 0.9180000424385071 + ], + "ori": [ + -0.7358216047286987, + 2.4405173348895914e-07, + 1.3404191534505117e-08, + 0.6771755218505859 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -3.410160843486665e-06, + 1.366643118672073e-07, + -4.652887582778931e-06 + ], + "angular_velocity": [ + -2.967824912047945e-05, + 3.055810884688981e-05, + -3.7741912819910794e-05 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/deep_well_96_2ml/Object.usd", + "pose": { + "pos": [ + -0.004372596740722656, + 0.45239830017089844, + 0.9179999828338623 + ], + "ori": [ + 0.9956796169281006, + 1.8142212176996964e-09, + 9.579116388991338e-10, + -0.09285551309585571 + ], + "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": [ + -4.062887981604035e-08, + -2.8887043868053297e-09, + -1.2516975402832031e-06 + ], + "angular_velocity": [ + 5.599712267212453e-07, + -2.4350520106963813e-06, + -3.74153827920054e-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": 1.5599999999999887, + "step": 312, + "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": 1.084346371374445e-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": 0.231089578900173, + "holds": [], + "station": "pick", + "rider": "carrier_4", + "arrived": true, + "settle_count": 219, + "released": { + "pick": [] + }, + "last_pos": { + "carrier_1": [ + 1.4465089738368988, + 0.10583668947219849, + 0.0 + ], + "carrier_2": [ + 0.047397226095199585, + 0.7000024914741516, + 0.0 + ], + "carrier_3": [ + -1.5391115248203278, + 0.2675941586494446, + 0.0 + ], + "carrier_4": [ + -0.15845909714698792, + -4.947185516357422e-06, + 0.0 + ] + }, + "command": 0.0 + }, + "belt": { + "target_speed": 0.0, + "command_speed": 0.0 + }, + "seen": { + "state": "at_station", + "station": "pick", + "rider": "carrier_4", + "arrived": true + } + } + }, + "queues": {}, + "program": null, + "sensors": {}, + "interlocks": {} + } + }, + "zones": {}, + "labware": { + "plate_1": { + "sealed": false + }, + "plate_2": { + "sealed": false + }, + "plate_3": { + "sealed": false + }, + "plate_4": { + "sealed": false + } + }, + "rules": {}, + "records": [], + "bus": { + "seq": 3, + "queue": [] + } + }, + null, + null, + null + ], + "drives": [ + {}, + null, + null, + null + ] + }, + "artifacts": [ + { + "ceiling": { + "type": "rect", + "pose": { + "pos": [ + -0.09190359788923053, + 0.3877097561574113, + 2.938850935820934 + ], + "ori": [ + 13.604516060106747, + -11.729807534569002, + -3.7708067158953895 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "color_temperature": 5155.48228209703, + "color": [ + 0.831202812171726, + 0.9300398097427272, + 0.8200206412257155 + ], + "intensity": 5032.355243837303, + "width": 1.5854930016810378, + "height": 1.1427319906241007 + } + }, + "key": { + "type": "sphere", + "pose": { + "pos": [ + 0.2318986427677956, + -0.6421378310066389, + 1.7560140467083263 + ], + "ori": [ + 28.599623324702634, + 32.1955225831298, + 13.30392967534167 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "color_temperature": 6050.314465882062, + "color": [ + 0.9811932195275144, + 0.8462572108970338, + 0.9755226042580541 + ], + "intensity": 9977.106044244774, + "radius": 0.05354251317432366 + } + } + }, + {}, + {}, + {} + ], + "background": { + "type": "dome", + "pose": { + "pos": null, + "ori": null, + "scale": null + }, + "dr": { + "intensity": 762.1810653784096, + "texture": null, + "color": [ + 0.92, + 0.94, + 0.96 + ] + } + } + }, + "robots": { + "UR5e": { + "root_pose": [ + [ + 11.0, + -11.0, + 0.9150000214576721, + 1.0, + 0.0, + 0.0, + 0.0 + ], + [ + 11.0, + 11.0, + 0.9150000214576721, + 1.0, + 0.0, + 0.0, + 0.0 + ], + [ + -11.0, + -11.0, + 0.9150000214576721, + 1.0, + 0.0, + 0.0, + 0.0 + ], + [ + -11.0, + 11.0, + 0.9150000214576721, + 1.0, + 0.0, + 0.0, + 0.0 + ] + ], + "root_vel": [ + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + ], + "joint_pos": [ + [ + 0.9140999913215637, + -1.7194000482559204, + 2.0905001163482666, + -1.9419000148773193, + -1.5707999467849731, + 2.4848999977111816, + 0.017999999225139618, + 0.017999999225139618 + ], + [ + 0.9140999913215637, + -1.7194000482559204, + 2.0905001163482666, + -1.9419000148773193, + -1.5707999467849731, + 2.4848999977111816, + 0.017999999225139618, + 0.017999999225139618 + ], + [ + 0.9140999913215637, + -1.7194000482559204, + 2.0905001163482666, + -1.9419000148773193, + -1.5707999467849731, + 2.4848999977111816, + 0.017999999225139618, + 0.017999999225139618 + ], + [ + 0.9140999913215637, + -1.7194000482559204, + 2.0905001163482666, + -1.9419000148773193, + -1.5707999467849731, + 2.4848999977111816, + 0.017999999225139618, + 0.017999999225139618 + ] + ], + "joint_vel": [ + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + ] + } + }, + "cameras": { + "cameras": { + "camera0": [ + [ + 0.04670463874936104, + 0.003580409800633788, + -0.03000061586499214, + -0.27102652192115784, + 0.6499234437942505, + 0.6482416391372681, + -0.2897014319896698 + ], + [ + 0.04991970211267471, + 0.0014170244103297591, + -0.03183487802743912, + -0.28633660078048706, + 0.6486223936080933, + 0.6496302485466003, + -0.2743735909461975 + ], + [ + 0.050316475331783295, + -0.001942607224918902, + -0.027880044654011726, + -0.2871954143047333, + 0.643456220626831, + 0.6513500809669495, + -0.2814711332321167 + ], + [ + 0.05085776373744011, + 0.0023058494552969933, + -0.028402242809534073, + -0.28377917408943176, + 0.6553251147270203, + 0.6423633694648743, + -0.2781863510608673 + ] + ], + "camera1": [ + [ + 0.06910013407468796, + 0.5963714122772217, + 1.93790864944458, + 0.04611107334494591, + 0.019101649522781372, + 0.2663973271846771, + 0.9625701904296875 + ], + [ + 0.06726635992527008, + 0.5963900089263916, + 1.9332629442214966, + 0.033412594348192215, + 0.011381831020116806, + 0.2559410631656647, + 0.9660477042198181 + ], + [ + 0.038197871297597885, + 0.5860756039619446, + 1.9552947282791138, + 0.025488832965493202, + -0.0020175257232040167, + 0.2721899449825287, + 0.9619037508964539 + ], + [ + 0.05462867021560669, + 0.5636265873908997, + 1.9369630813598633, + 0.031964559108018875, + 0.004581105429679155, + 0.26209378242492676, + 0.9645020365715027 + ] + ] + } + } + } +} \ No newline at end of file diff --git a/episodes/c5_p004_e000/wrist.mp4 b/episodes/c5_p004_e000/wrist.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..b0eae7ffc4c1a13ab82bfdb26bade395f2f2a141 --- /dev/null +++ b/episodes/c5_p004_e000/wrist.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:bea64c7538a542f202030029f6b65319063171708aa97daa8ba4df66b8ce0d74 +size 6037845 diff --git a/episodes/c5_p004_e001/data.npz b/episodes/c5_p004_e001/data.npz new file mode 100644 index 0000000000000000000000000000000000000000..e6ce572235143e630f61c669dd1822cf281cacda --- /dev/null +++ b/episodes/c5_p004_e001/data.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:387ad5c8e425fe89cd8d40e2bc28f28979aa53ca68422a7404fed50ceb90f653 +size 192898 diff --git a/episodes/c5_p004_e001/device_events.jsonl b/episodes/c5_p004_e001/device_events.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..78e578ccec05659a62d9a8f787cd63c0557fd4ba --- /dev/null +++ b/episodes/c5_p004_e001/device_events.jsonl @@ -0,0 +1,38 @@ +{"env_id": 1, "seq": 1, "step": 8, "t": 0.04, "topic": "conveyor_1.belt.station.pick.captured", "source": "conveyor_1.belt", "data": {"rider": "carrier_4"}, "cause": null} +{"env_id": 1, "seq": 2, "step": 8, "t": 0.04, "topic": "conveyor_1.belt.state.changed", "source": "conveyor_1.belt", "data": {"from": "running", "to": "at_station"}, "cause": null} +{"env_id": 1, "seq": 3, "step": 14, "t": 0.07, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_4"}, "cause": null} +{"env_id": 1, "seq": 4, "step": 1193, "t": 5.965, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_4"}, "cause": null} +{"env_id": 1, "seq": 5, "step": 1240, "t": 6.2, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_4"}, "cause": null} +{"env_id": 1, "seq": 6, "step": 1391, "t": 6.955, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_4"}, "cause": null} +{"env_id": 1, "seq": 7, "step": 6291, "t": 31.455, "topic": "a4s_sealer_1.plate_present.present", "source": "a4s_sealer_1.plate_present", "data": {"object": "plate_4"}, "cause": null} +{"env_id": 1, "seq": 8, "step": 6904, "t": 34.52, "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": 9, "step": 6904, "t": 34.52, "topic": "a4s_sealer_1.seal.started", "source": "a4s_sealer_1", "data": {"dwell": 2.9679578739395778}, "cause": "task-1-1"} +{"env_id": 1, "seq": 10, "step": 6904, "t": 34.52, "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": 11, "step": 6904, "t": 34.52, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "at_out", "to": "moving"}, "cause": null} +{"env_id": 1, "seq": 12, "step": 6904, "t": 34.52, "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": 13, "step": 7323, "t": 36.615, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "moving", "to": "at_in"}, "cause": null} +{"env_id": 1, "seq": 14, "step": 7323, "t": 36.615, "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": 15, "step": 7323, "t": 36.615, "topic": "a4s_sealer_1.drawer.at_in", "source": "a4s_sealer_1.drawer", "data": {"q": 0.30000001192092896}, "cause": "program-1-2"} +{"env_id": 1, "seq": 16, "step": 7323, "t": 36.615, "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": 17, "step": 7323, "t": 36.615, "topic": "labware.plate_4.changed", "source": "labware.plate_4", "data": {"key": "sealed", "value": true}, "cause": "task-1-1"} +{"env_id": 1, "seq": 18, "step": 7323, "t": 36.615, "topic": "a4s_sealer_1.sealed", "source": "a4s_sealer_1", "data": {"plate": "plate_4"}, "cause": "task-1-1"} +{"env_id": 1, "seq": 19, "step": 7323, "t": 36.615, "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": 20, "step": 7323, "t": 36.615, "topic": "a4s_sealer_1.heater.state.changed", "source": "a4s_sealer_1.heater", "data": {"from": "ready", "to": "running"}, "cause": null} +{"env_id": 1, "seq": 21, "step": 7323, "t": 36.615, "topic": "a4s_sealer_1.heater.started", "source": "a4s_sealer_1.heater", "data": {"duration": 2.9679578739395778}, "cause": "program-1-3"} +{"env_id": 1, "seq": 22, "step": 7917, "t": 39.585, "topic": "a4s_sealer_1.heater.state.changed", "source": "a4s_sealer_1.heater", "data": {"from": "running", "to": "ready"}, "cause": null} +{"env_id": 1, "seq": 23, "step": 7917, "t": 39.585, "topic": "a4s_sealer_1.heater.finished", "source": "a4s_sealer_1.heater", "data": {"elapsed": 2.9700000000015194}, "cause": "program-1-3"} +{"env_id": 1, "seq": 24, "step": 7917, "t": 39.585, "topic": "a4s_sealer_1.heater.command.succeeded", "source": "a4s_sealer_1.heater", "data": {"command_id": "program-1-3", "name": "run", "source": "program:seal", "result": {"elapsed": 2.9700000000015194}}, "cause": "program-1-3"} +{"env_id": 1, "seq": 25, "step": 7917, "t": 39.585, "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": 26, "step": 7917, "t": 39.585, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "at_in", "to": "moving"}, "cause": null} +{"env_id": 1, "seq": 27, "step": 7917, "t": 39.585, "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": 28, "step": 8337, "t": 41.685, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "moving", "to": "at_out"}, "cause": null} +{"env_id": 1, "seq": 29, "step": 8337, "t": 41.685, "topic": "a4s_sealer_1.drawer.reached", "source": "a4s_sealer_1.drawer", "data": {"position": "out", "q": 4.6642485429515546e-09}, "cause": "program-1-4"} +{"env_id": 1, "seq": 30, "step": 8337, "t": 41.685, "topic": "a4s_sealer_1.drawer.at_out", "source": "a4s_sealer_1.drawer", "data": {"q": 4.6642485429515546e-09}, "cause": "program-1-4"} +{"env_id": 1, "seq": 31, "step": 8337, "t": 41.685, "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": 32, "step": 8337, "t": 41.685, "topic": "a4s_sealer_1.seal.finished", "source": "a4s_sealer_1", "data": {}, "cause": "task-1-1"} +{"env_id": 1, "seq": 33, "step": 8337, "t": 41.685, "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": 34, "step": 8918, "t": 44.59, "topic": "a4s_sealer_1.plate_present.absent", "source": "a4s_sealer_1.plate_present", "data": {"object": "plate_4"}, "cause": null} +{"env_id": 1, "seq": 35, "step": 10652, "t": 53.26, "topic": "conveyor_1.belt.command.started", "source": "conveyor_1.belt", "data": {"command_id": "task-1-5", "name": "release", "source": "task"}, "cause": "task-1-5"} +{"env_id": 1, "seq": 36, "step": 10652, "t": 53.26, "topic": "conveyor_1.belt.station.pick.released", "source": "conveyor_1.belt", "data": {"rider": "carrier_4"}, "cause": "task-1-5"} +{"env_id": 1, "seq": 37, "step": 10652, "t": 53.26, "topic": "conveyor_1.belt.state.changed", "source": "conveyor_1.belt", "data": {"from": "at_station", "to": "running"}, "cause": null} +{"env_id": 1, "seq": 38, "step": 10652, "t": 53.26, "topic": "conveyor_1.belt.command.succeeded", "source": "conveyor_1.belt", "data": {"command_id": "task-1-5", "name": "release", "source": "task", "result": {"state": "running"}}, "cause": "task-1-5"} diff --git a/episodes/c5_p004_e001/env.mp4 b/episodes/c5_p004_e001/env.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..60e299af45b7d5cf2cbcbd3473fa988f7353ae1d --- /dev/null +++ b/episodes/c5_p004_e001/env.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:63b5a7d8d7e47ca6113be48a8d6a76f4b769c779124762dc661cac928f424862 +size 1282077 diff --git a/episodes/c5_p004_e001/meta.json b/episodes/c5_p004_e001/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..b920c2c67d2751d12ea5570f7a696157e85f0588 --- /dev/null +++ b/episodes/c5_p004_e001/meta.json @@ -0,0 +1,32 @@ +{ + "source": "raw/c5_p004/magicsim/1", + "fps": 25, + "frames": 1238, + "kept_ticks": "even", + "video_frames": { + "wrist": 1238, + "env": 1238 + }, + "joint_target_source": "joint_pos_target", + "fk_vs_recorded_eef_max_m": 0.0, + "curobo_joints": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "joint_order": [ + "shoulder_pan", + "shoulder_lift", + "elbow", + "wrist_1", + "wrist_2", + "wrist_3", + "finger_left", + "finger_right" + ], + "frames_note": "eef / actions in the robot base frame; camera_pose = local pose (wrist: in plate_gripper_base, env: env frame), pos + quat wxyz", + "dr_version": "v2" +} \ No newline at end of file diff --git a/episodes/c5_p004_e001/scene_snapshot.json b/episodes/c5_p004_e001/scene_snapshot.json new file mode 100644 index 0000000000000000000000000000000000000000..5159baa5454fe031db93fb3f21cc94cf84aae53e --- /dev/null +++ b/episodes/c5_p004_e001/scene_snapshot.json @@ -0,0 +1,1558 @@ +{ + "trajectory_id": 1, + "env_id": 1, + "run_id": "c5_p004", + "task_type": "BioPlateCell", + "success": true, + "timing": { + "fps": 50.0, + "sim_dt": 0.005, + "decimation": 4 + }, + "restore_interface": { + "scene": "scene_manager.reset_to(snapshot['scene'], env_ids=[env_id])", + "robots": "robot_manager.set_state({'robots': snapshot['robots']}, env_ids=[env_id])" + }, + "snapshot": { + "env_id": 1, + "scene": { + "objects": [ + {}, + { + "rac_cell": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/rac_cell.usd", + "pose": { + "pos": [ + 0.0, + 0.0, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "physics_material": { + "static_friction": 0.6, + "dynamic_friction": 0.5, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "robot_mount": [ + { + "asset": "Cube", + "pose": { + "pos": [ + 0.0, + 0.0, + 0.9075 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": "color", + "value": [ + 0.55, + 0.56, + 0.58 + ], + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": { + "size": [ + 0.2, + 0.2, + 0.015 + ] + } + }, + "type_specific": {} + } + ], + "plate_rack": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/plate_hotel.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 0.9 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "physics_material": { + "static_friction": 0.6, + "dynamic_friction": 0.5, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "hotel_plate": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_384_white/plate_384_white.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 0.9605 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/pcr_384_red/pcr_384_red.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.0285 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/pcr_96_blue/pcr_96_blue.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.0965 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_24_clear/plate_24_clear.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.1645 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/deep_well_96_2ml/deep_well_96_2ml.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.2325 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "a4s_sealer": [ + { + "asset": "$MAGICSIM_ASSETS/Articulated/A4SSealer/Object.usd", + "pose": { + "pos": [ + 0.5256032943725586, + 0.08841419219970703, + 0.8999999761581421 + ], + "ori": [ + 0.7292097806930542, + 0.0, + 0.0, + -0.6842902302742004 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "articulation", + "solver_position_iteration_count": 16.0, + "solver_velocity_iteration_count": 1.0, + "enabled_self_collisions": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "joint_position": [ + 2.530141244086459e-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": 0.20174530217770875, + "direction": [ + 1.0, + 0.0, + 0.0 + ], + "enabled": true, + "drive": "surface_velocity", + "lines": null, + "station_line": null, + "riders": [ + "carrier" + ], + "stations": { + "pick": { + "position": -0.20686387968879738, + "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": 0.20174530217770875, + "holds": [], + "station": "pick", + "rider": "carrier_4", + "arrived": true, + "applied_speed": 0.0 + } + } + } + ], + "carrier": [ + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + -1.3849678039550781, + 0.7031021118164062, + 0.9000000953674316 + ], + "ori": [ + 0.8010445833206177, + 5.915242695664347e-07, + 1.0741929123980754e-08, + -0.5986047983169556 + ], + "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": [ + 9.662371667218395e-07, + 6.951462410142994e-07, + -9.883195161819458e-06 + ], + "angular_velocity": [ + -8.33438170957379e-05, + 3.18288330163341e-05, + -4.751977485284442e-06 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + 1.5619935989379883, + 0.5266408920288086, + 0.9000000953674316 + ], + "ori": [ + 0.9362674951553345, + -4.042155978822848e-06, + -2.0733355086122174e-06, + 0.3512881100177765 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 1.3980984476802405e-05, + -9.999822395911906e-06, + -9.71183180809021e-06 + ], + "angular_velocity": [ + 0.0008460722165182233, + 0.0012403294676914811, + 7.688006917305756e-06 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + -0.237823486328125, + 1.1499996185302734, + 0.8999999761581421 + ], + "ori": [ + 1.711824353378688e-07, + 2.335789117680065e-09, + -1.1045457881664333e-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": [ + -1.0887961643391009e-09, + 5.0510640114964644e-09, + 7.450580596923828e-09 + ], + "angular_velocity": [ + -1.6851237205628422e-07, + -8.328160561177356e-08, + 2.5398930958431265e-08 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + -0.04382514953613281, + 0.4499998092651367, + 0.8999999761581421 + ], + "ori": [ + 1.0, + -1.3012364519227049e-09, + 1.4945127801979652e-08, + -3.9729110312691773e-07 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -3.944469195715783e-09, + 1.1350708817303712e-08, + 1.862645149230957e-08 + ], + "angular_velocity": [ + -1.0138306549833942e-07, + -2.6486321758056874e-07, + 9.000542888770724e-08 + ] + } + } + ], + "plate": [ + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_12_clear/Object.usd", + "pose": { + "pos": [ + -1.3906478881835938, + 0.6920948028564453, + 0.9180001020431519 + ], + "ori": [ + 0.8209830522537231, + 2.1176077780182823e-07, + 1.9768795311847498e-07, + -0.5709526538848877 + ], + "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": [ + 7.497598062400357e-07, + 1.1861520761158317e-06, + -1.280754804611206e-05 + ], + "angular_velocity": [ + -4.613821874954738e-05, + -4.2158244468737394e-05, + -6.929601568117505e-06 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_96_white/Object.usd", + "pose": { + "pos": [ + 1.547647476196289, + 0.5254926681518555, + 0.9180000424385071 + ], + "ori": [ + 0.9489562511444092, + -5.0389166972308885e-06, + -2.4873138499970082e-06, + 0.3154078722000122 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 2.1371592083596624e-05, + -2.4789147573756054e-05, + -1.231953501701355e-05 + ], + "angular_velocity": [ + 0.0011300583137199283, + 0.0014182120794430375, + 6.793429201934487e-05 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/pcr_384_red/Object.usd", + "pose": { + "pos": [ + -0.2397470474243164, + 1.1496191024780273, + 0.9179999828338623 + ], + "ori": [ + -0.022029871121048927, + 2.171492985425516e-09, + 9.678035282900677e-12, + 0.9997572898864746 + ], + "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": [ + -5.647077028214653e-09, + 1.9663605854702837e-08, + -5.498528480529785e-06 + ], + "angular_velocity": [ + -9.62766080192523e-07, + 1.7589430854059174e-06, + -3.194763564806635e-08 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/deep_well_96_1ml/Object.usd", + "pose": { + "pos": [ + -0.03511524200439453, + 0.44466590881347656, + 0.9179999828338623 + ], + "ori": [ + 0.9997079968452454, + 1.6779995171134487e-09, + 1.4567982375979227e-08, + 0.024164287373423576 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -1.5432200939358154e-07, + 6.236984262386613e-10, + 2.644956111907959e-07 + ], + "angular_velocity": [ + 1.628772849926463e-08, + -5.3235908126225695e-06, + 4.630531407201488e-07 + ] + } + } + ], + "deco_hub_west": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/hub_a.usd", + "pose": { + "pos": [ + -3.36, + 0.0, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_hub_east": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/hub_c.usd", + "pose": { + "pos": [ + 3.36, + 0.0, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_hub_back": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/hub_d.usd", + "pose": { + "pos": [ + -3.0, + -2.1, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_bench_east": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/bench_c.usd", + "pose": { + "pos": [ + 2.6, + -2.5, + 0.0 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_bench_gap": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/bench_b.usd", + "pose": { + "pos": [ + -0.1, + -2.9, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ] + }, + {}, + {} + ], + "devices": { + "hub": [ + null, + { + "t": 3.939999999999938, + "step": 788, + "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": 2.530141244086459e-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": 0.20174530217770875, + "holds": [], + "station": "pick", + "rider": "carrier_4", + "arrived": true, + "settle_count": 778, + "released": { + "pick": [] + }, + "last_pos": { + "carrier_1": [ + -1.5349678099155426, + 0.2531021237373352, + 1.1920928955078125e-07 + ], + "carrier_2": [ + 1.4119935929775238, + 0.07664090394973755, + 1.1920928955078125e-07 + ], + "carrier_3": [ + -0.3878234922885895, + 0.6999996304512024, + 0.0 + ], + "carrier_4": [ + -0.1938251554965973, + -1.7881393432617188e-07, + 0.0 + ] + }, + "command": 0.0 + }, + "belt": { + "target_speed": 0.0, + "command_speed": 0.0 + }, + "seen": { + "state": "at_station", + "station": "pick", + "rider": "carrier_4", + "arrived": true + } + } + }, + "queues": {}, + "program": null, + "sensors": {}, + "interlocks": {} + } + }, + "zones": {}, + "labware": { + "plate_1": { + "sealed": false + }, + "plate_2": { + "sealed": false + }, + "plate_3": { + "sealed": false + }, + "plate_4": { + "sealed": false + } + }, + "rules": {}, + "records": [], + "bus": { + "seq": 3, + "queue": [] + } + }, + null, + null + ], + "drives": [ + null, + {}, + null, + null + ] + }, + "artifacts": [ + {}, + { + "ceiling": { + "type": "rect", + "pose": { + "pos": [ + 0.7402233456444883, + -0.2441661279486957, + 3.055012500516506 + ], + "ori": [ + 4.036642264504895, + -7.6136794822269485, + -3.49304894806156 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "color_temperature": 5141.18193802327, + "color": [ + 0.8690264076980275, + 0.8176711442754843, + 0.7950448579962532 + ], + "intensity": 12729.561991227996, + "width": 2.4046607989358737, + "height": 1.6772641598262963 + } + }, + "key": { + "type": "sphere", + "pose": { + "pos": [ + 1.7350425970318186, + -1.045325629609158, + 2.5265779836312405 + ], + "ori": [ + 31.168656827367926, + -9.521845350298594, + -26.79380022671537 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "color_temperature": 5539.692625307267, + "color": [ + 0.956519928023879, + 0.7842427476366339, + 0.8645295560389044 + ], + "intensity": 9008.708041954409, + "radius": 0.10435711177311198 + } + } + }, + {}, + {} + ], + "background": { + "type": "dome", + "pose": { + "pos": null, + "ori": null, + "scale": null + }, + "dr": { + "intensity": 762.1810653784096, + "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": [ + [ + 0.9651068449020386, + -1.3101633787155151, + 2.293783187866211, + -2.5545153617858887, + -1.5708205699920654, + 2.7217459678649902, + 0.007790061645209789, + 0.007262943312525749 + ], + [ + 0.9141010642051697, + -1.719397783279419, + 2.09049916267395, + -1.9419004917144775, + -1.5707999467849731, + 2.4849002361297607, + 0.018000001087784767, + 0.01799999736249447 + ], + [ + 0.916627049446106, + -1.7179460525512695, + 2.0917723178863525, + -1.9446202516555786, + -1.5707998275756836, + 2.489436149597168, + 0.018000194802880287, + 0.017999805510044098 + ], + [ + 0.9141013622283936, + -1.7193995714187622, + 2.0905003547668457, + -1.9419008493423462, + -1.5707999467849731, + 2.48490047454834, + 0.01799999736249447, + 0.018000001087784767 + ] + ], + "joint_vel": [ + [ + -0.00019346964836586267, + 0.00031948034302331507, + 0.0006823997828178108, + -0.0021311992313712835, + 0.0012883949093520641, + 0.007540040649473667, + -0.006821206770837307, + 0.0003575102018658072 + ], + [ + 2.3021862405469203e-38, + -1.9620815744257298e-38, + 1.2895017518022117e-38, + -5.7362235594005475e-37, + 5.7705246553141675e-37, + -2.980420941466089e-36, + -2.5990388508034812e-08, + 2.5990388508034812e-08 + ], + [ + 0.004232088103890419, + 0.002491115825250745, + 0.002193417167291045, + -0.004470035433769226, + 8.821387382340617e-06, + 0.007480955682694912, + 7.687895049457438e-06, + -7.702509719820227e-06 + ], + [ + -2.527969334572485e-38, + 1.5499014020516852e-38, + 3.8572760902926146e-38, + 5.210929902362941e-37, + -4.883688819832621e-38, + 4.337454158544144e-37, + 2.5990399166175848e-08, + -2.5990386731677972e-08 + ] + ] + } + }, + "cameras": { + "cameras": { + "camera0": [ + [ + 0.04541787877678871, + 0.0007985374541021883, + -0.030066508799791336, + -0.2748660743236542, + 0.6477252244949341, + 0.6513093709945679, + -0.28407177329063416 + ], + [ + 0.04997910186648369, + -0.0028472458943724632, + -0.029896775260567665, + -0.28255751729011536, + 0.654388964176178, + 0.6451987028121948, + -0.27505460381507874 + ], + [ + 0.05070190504193306, + -0.0008441365789622068, + -0.028290685266256332, + -0.28227943181991577, + 0.6484278440475464, + 0.6462193131446838, + -0.2868104577064514 + ], + [ + 0.05132342875003815, + 0.0012282116804271936, + -0.03095165267586708, + -0.28510311245918274, + 0.6532739400863647, + 0.6430566310882568, + -0.28004905581474304 + ] + ], + "camera1": [ + [ + 0.06910013407468796, + 0.5963714122772217, + 1.93790864944458, + 0.04611107334494591, + 0.019101649522781372, + 0.2663973271846771, + 0.9625701904296875 + ], + [ + 0.06726635992527008, + 0.5963900089263916, + 1.9332629442214966, + 0.033412594348192215, + 0.011381831020116806, + 0.2559410631656647, + 0.9660477042198181 + ], + [ + 0.038197871297597885, + 0.5860756039619446, + 1.9552947282791138, + 0.025488832965493202, + -0.0020175257232040167, + 0.2721899449825287, + 0.9619037508964539 + ], + [ + 0.05462867021560669, + 0.5636265873908997, + 1.9369630813598633, + 0.031964559108018875, + 0.004581105429679155, + 0.26209378242492676, + 0.9645020365715027 + ] + ] + } + } + } +} \ No newline at end of file diff --git a/episodes/c5_p004_e001/wrist.mp4 b/episodes/c5_p004_e001/wrist.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..954c2c5072559e41dcd10ba574690d5eb2074870 --- /dev/null +++ b/episodes/c5_p004_e001/wrist.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:eb5e849e08193b32852173ce81013d5b10d765f6c66161295bed88ee0cec54c5 +size 7116660 diff --git a/episodes/c5_p004_e002/data.npz b/episodes/c5_p004_e002/data.npz new file mode 100644 index 0000000000000000000000000000000000000000..50bd15e71bc356b3d29efab03ab938f94dcfac67 --- /dev/null +++ b/episodes/c5_p004_e002/data.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:6a9e777ed0dfde861fe35784071a668857231c319cf84ebb7b2f0f045be2848d +size 193376 diff --git a/episodes/c5_p004_e002/device_events.jsonl b/episodes/c5_p004_e002/device_events.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..71aa3a2acf11610207baf2455fd7c883ee34754b --- /dev/null +++ b/episodes/c5_p004_e002/device_events.jsonl @@ -0,0 +1,37 @@ +{"env_id": 2, "seq": 1, "step": 133, "t": 0.665, "topic": "conveyor_1.belt.station.pick.captured", "source": "conveyor_1.belt", "data": {"rider": "carrier_4"}, "cause": null} +{"env_id": 2, "seq": 2, "step": 133, "t": 0.665, "topic": "conveyor_1.belt.state.changed", "source": "conveyor_1.belt", "data": {"from": "running", "to": "at_station"}, "cause": null} +{"env_id": 2, "seq": 3, "step": 138, "t": 0.69, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_4"}, "cause": null} +{"env_id": 2, "seq": 4, "step": 1235, "t": 6.175, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_4"}, "cause": null} +{"env_id": 2, "seq": 5, "step": 1427, "t": 7.135, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_4"}, "cause": null} +{"env_id": 2, "seq": 6, "step": 6179, "t": 30.895, "topic": "a4s_sealer_1.plate_present.present", "source": "a4s_sealer_1.plate_present", "data": {"object": "plate_4"}, "cause": null} +{"env_id": 2, "seq": 7, "step": 6788, "t": 33.94, "topic": "a4s_sealer_1.command.started", "source": "a4s_sealer_1", "data": {"command_id": "task-2-1", "name": "seal", "source": "task"}, "cause": "task-2-1"} +{"env_id": 2, "seq": 8, "step": 6788, "t": 33.94, "topic": "a4s_sealer_1.seal.started", "source": "a4s_sealer_1", "data": {"dwell": 3.7053533829481813}, "cause": "task-2-1"} +{"env_id": 2, "seq": 9, "step": 6788, "t": 33.94, "topic": "a4s_sealer_1.drawer.command.started", "source": "a4s_sealer_1.drawer", "data": {"command_id": "program-2-2", "name": "close", "source": "program:seal"}, "cause": "program-2-2"} +{"env_id": 2, "seq": 10, "step": 6788, "t": 33.94, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "at_out", "to": "moving"}, "cause": null} +{"env_id": 2, "seq": 11, "step": 6788, "t": 33.94, "topic": "a4s_sealer_1.drawer.moving", "source": "a4s_sealer_1.drawer", "data": {"target": 0.3, "goal": "in"}, "cause": "program-2-2"} +{"env_id": 2, "seq": 12, "step": 7207, "t": 36.035, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "moving", "to": "at_in"}, "cause": null} +{"env_id": 2, "seq": 13, "step": 7207, "t": 36.035, "topic": "a4s_sealer_1.drawer.reached", "source": "a4s_sealer_1.drawer", "data": {"position": "in", "q": 0.30000001192092896}, "cause": "program-2-2"} +{"env_id": 2, "seq": 14, "step": 7207, "t": 36.035, "topic": "a4s_sealer_1.drawer.at_in", "source": "a4s_sealer_1.drawer", "data": {"q": 0.30000001192092896}, "cause": "program-2-2"} +{"env_id": 2, "seq": 15, "step": 7207, "t": 36.035, "topic": "a4s_sealer_1.drawer.command.succeeded", "source": "a4s_sealer_1.drawer", "data": {"command_id": "program-2-2", "name": "close", "source": "program:seal", "result": {"position": "in"}}, "cause": "program-2-2"} +{"env_id": 2, "seq": 16, "step": 7207, "t": 36.035, "topic": "labware.plate_4.changed", "source": "labware.plate_4", "data": {"key": "sealed", "value": true}, "cause": "task-2-1"} +{"env_id": 2, "seq": 17, "step": 7207, "t": 36.035, "topic": "a4s_sealer_1.sealed", "source": "a4s_sealer_1", "data": {"plate": "plate_4"}, "cause": "task-2-1"} +{"env_id": 2, "seq": 18, "step": 7207, "t": 36.035, "topic": "a4s_sealer_1.heater.command.started", "source": "a4s_sealer_1.heater", "data": {"command_id": "program-2-3", "name": "run", "source": "program:seal"}, "cause": "program-2-3"} +{"env_id": 2, "seq": 19, "step": 7207, "t": 36.035, "topic": "a4s_sealer_1.heater.state.changed", "source": "a4s_sealer_1.heater", "data": {"from": "ready", "to": "running"}, "cause": null} +{"env_id": 2, "seq": 20, "step": 7207, "t": 36.035, "topic": "a4s_sealer_1.heater.started", "source": "a4s_sealer_1.heater", "data": {"duration": 3.7053533829481813}, "cause": "program-2-3"} +{"env_id": 2, "seq": 21, "step": 7949, "t": 39.745, "topic": "a4s_sealer_1.heater.state.changed", "source": "a4s_sealer_1.heater", "data": {"from": "running", "to": "ready"}, "cause": null} +{"env_id": 2, "seq": 22, "step": 7949, "t": 39.745, "topic": "a4s_sealer_1.heater.finished", "source": "a4s_sealer_1.heater", "data": {"elapsed": 3.710000000001898}, "cause": "program-2-3"} +{"env_id": 2, "seq": 23, "step": 7949, "t": 39.745, "topic": "a4s_sealer_1.heater.command.succeeded", "source": "a4s_sealer_1.heater", "data": {"command_id": "program-2-3", "name": "run", "source": "program:seal", "result": {"elapsed": 3.710000000001898}}, "cause": "program-2-3"} +{"env_id": 2, "seq": 24, "step": 7949, "t": 39.745, "topic": "a4s_sealer_1.drawer.command.started", "source": "a4s_sealer_1.drawer", "data": {"command_id": "program-2-4", "name": "open", "source": "program:seal"}, "cause": "program-2-4"} +{"env_id": 2, "seq": 25, "step": 7949, "t": 39.745, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "at_in", "to": "moving"}, "cause": null} +{"env_id": 2, "seq": 26, "step": 7949, "t": 39.745, "topic": "a4s_sealer_1.drawer.moving", "source": "a4s_sealer_1.drawer", "data": {"target": 0.0, "goal": "out"}, "cause": "program-2-4"} +{"env_id": 2, "seq": 27, "step": 8369, "t": 41.845, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "moving", "to": "at_out"}, "cause": null} +{"env_id": 2, "seq": 28, "step": 8369, "t": 41.845, "topic": "a4s_sealer_1.drawer.reached", "source": "a4s_sealer_1.drawer", "data": {"position": "out", "q": 8.201226364690228e-10}, "cause": "program-2-4"} +{"env_id": 2, "seq": 29, "step": 8369, "t": 41.845, "topic": "a4s_sealer_1.drawer.at_out", "source": "a4s_sealer_1.drawer", "data": {"q": 8.201226364690228e-10}, "cause": "program-2-4"} +{"env_id": 2, "seq": 30, "step": 8369, "t": 41.845, "topic": "a4s_sealer_1.drawer.command.succeeded", "source": "a4s_sealer_1.drawer", "data": {"command_id": "program-2-4", "name": "open", "source": "program:seal", "result": {"position": "out"}}, "cause": "program-2-4"} +{"env_id": 2, "seq": 31, "step": 8369, "t": 41.845, "topic": "a4s_sealer_1.seal.finished", "source": "a4s_sealer_1", "data": {}, "cause": "task-2-1"} +{"env_id": 2, "seq": 32, "step": 8369, "t": 41.845, "topic": "a4s_sealer_1.command.succeeded", "source": "a4s_sealer_1", "data": {"command_id": "task-2-1", "name": "seal", "source": "task"}, "cause": "task-2-1"} +{"env_id": 2, "seq": 33, "step": 8951, "t": 44.755, "topic": "a4s_sealer_1.plate_present.absent", "source": "a4s_sealer_1.plate_present", "data": {"object": "plate_4"}, "cause": null} +{"env_id": 2, "seq": 34, "step": 10704, "t": 53.52, "topic": "conveyor_1.belt.command.started", "source": "conveyor_1.belt", "data": {"command_id": "task-2-5", "name": "release", "source": "task"}, "cause": "task-2-5"} +{"env_id": 2, "seq": 35, "step": 10704, "t": 53.52, "topic": "conveyor_1.belt.station.pick.released", "source": "conveyor_1.belt", "data": {"rider": "carrier_4"}, "cause": "task-2-5"} +{"env_id": 2, "seq": 36, "step": 10704, "t": 53.52, "topic": "conveyor_1.belt.state.changed", "source": "conveyor_1.belt", "data": {"from": "at_station", "to": "running"}, "cause": null} +{"env_id": 2, "seq": 37, "step": 10704, "t": 53.52, "topic": "conveyor_1.belt.command.succeeded", "source": "conveyor_1.belt", "data": {"command_id": "task-2-5", "name": "release", "source": "task", "result": {"state": "running"}}, "cause": "task-2-5"} diff --git a/episodes/c5_p004_e002/env.mp4 b/episodes/c5_p004_e002/env.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..e2a90e348a3d0e9efe66d7c0f9c4491fb6616bfe --- /dev/null +++ b/episodes/c5_p004_e002/env.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:7539e293bbb63ac4dfd1e0475ffc4284fab1e34034746e1d0297313007e5e898 +size 1262829 diff --git a/episodes/c5_p004_e002/meta.json b/episodes/c5_p004_e002/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..98213267a06bbb1dff0059a5109453f4c79b7c07 --- /dev/null +++ b/episodes/c5_p004_e002/meta.json @@ -0,0 +1,32 @@ +{ + "source": "raw/c5_p004/magicsim/2", + "fps": 25, + "frames": 1247, + "kept_ticks": "even", + "video_frames": { + "wrist": 1247, + "env": 1247 + }, + "joint_target_source": "joint_pos_target", + "fk_vs_recorded_eef_max_m": 0.0, + "curobo_joints": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "joint_order": [ + "shoulder_pan", + "shoulder_lift", + "elbow", + "wrist_1", + "wrist_2", + "wrist_3", + "finger_left", + "finger_right" + ], + "frames_note": "eef / actions in the robot base frame; camera_pose = local pose (wrist: in plate_gripper_base, env: env frame), pos + quat wxyz", + "dr_version": "v2" +} \ No newline at end of file diff --git a/episodes/c5_p004_e002/scene_snapshot.json b/episodes/c5_p004_e002/scene_snapshot.json new file mode 100644 index 0000000000000000000000000000000000000000..14c992b47d1535878e8277c076bb96910aeb993c --- /dev/null +++ b/episodes/c5_p004_e002/scene_snapshot.json @@ -0,0 +1,1558 @@ +{ + "trajectory_id": 2, + "env_id": 2, + "run_id": "c5_p004", + "task_type": "BioPlateCell", + "success": true, + "timing": { + "fps": 50.0, + "sim_dt": 0.005, + "decimation": 4 + }, + "restore_interface": { + "scene": "scene_manager.reset_to(snapshot['scene'], env_ids=[env_id])", + "robots": "robot_manager.set_state({'robots': snapshot['robots']}, env_ids=[env_id])" + }, + "snapshot": { + "env_id": 2, + "scene": { + "objects": [ + {}, + {}, + { + "rac_cell": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/rac_cell.usd", + "pose": { + "pos": [ + 0.0, + 0.0, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "physics_material": { + "static_friction": 0.6, + "dynamic_friction": 0.5, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "robot_mount": [ + { + "asset": "Cube", + "pose": { + "pos": [ + 0.0, + 0.0, + 0.9075 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": "color", + "value": [ + 0.55, + 0.56, + 0.58 + ], + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": { + "size": [ + 0.2, + 0.2, + 0.015 + ] + } + }, + "type_specific": {} + } + ], + "plate_rack": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/plate_hotel.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 0.9 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "physics_material": { + "static_friction": 0.6, + "dynamic_friction": 0.5, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "hotel_plate": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_24_clear/plate_24_clear.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 0.9605 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_96_white/plate_96_white.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.0285 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_384_white/plate_384_white.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.0965 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/pcr_96_blue/pcr_96_blue.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.1645 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_96_white/plate_96_white.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.2325 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "a4s_sealer": [ + { + "asset": "$MAGICSIM_ASSETS/Articulated/A4SSealer/Object.usd", + "pose": { + "pos": [ + 0.46412086486816406, + 0.06696701049804688, + 0.8999999761581421 + ], + "ori": [ + -0.6916671991348267, + 0.0, + 0.0, + 0.7222163677215576 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "articulation", + "solver_position_iteration_count": 16.0, + "solver_velocity_iteration_count": 1.0, + "enabled_self_collisions": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "joint_position": [ + 5.060282921853787e-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": 0.21842496981467685, + "direction": [ + 1.0, + 0.0, + 0.0 + ], + "enabled": true, + "drive": "surface_velocity", + "lines": null, + "station_line": null, + "riders": [ + "carrier" + ], + "stations": { + "pick": { + "position": -0.24235117270712264, + "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": 0.21842496981467685, + "holds": [], + "station": "pick", + "rider": "carrier_4", + "arrived": true, + "applied_speed": 0.0 + } + } + } + ], + "carrier": [ + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + -1.3862857818603516, + 0.8861570358276367, + 0.8999999761581421 + ], + "ori": [ + -0.6072309613227844, + -1.136731171413885e-07, + 5.228698540804544e-08, + 0.7945253849029541 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -1.1294503110548249e-09, + 7.428297976730391e-10, + 3.725290298461914e-09 + ], + "angular_velocity": [ + -7.279595592990518e-08, + -1.1316296877339482e-07, + 3.102968548773788e-09 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + 1.603414535522461, + 0.5626916885375977, + 0.8999999761581421 + ], + "ori": [ + 0.9172571301460266, + 2.1480947509644466e-07, + -5.6764431377587243e-08, + 0.3982957601547241 + ], + "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": [ + -1.8875255136663327e-08, + 2.3911297830636613e-08, + 3.725290298461914e-08 + ], + "angular_velocity": [ + -2.976739779114723e-07, + -6.273439794313163e-07, + 2.2562875301446184e-07 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + 0.596369743347168, + 1.1525077819824219, + 0.8999999761581421 + ], + "ori": [ + -0.01068909838795662, + 1.5355310079012696e-10, + -1.3080636573903348e-09, + 0.99994295835495 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -6.680336284148325e-10, + 4.603703640526646e-09, + 1.1175870895385742e-08 + ], + "angular_velocity": [ + -1.7984244493618462e-07, + -9.849856041910243e-08, + 8.641542592613405e-09 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + -0.09204292297363281, + 0.4499626159667969, + 0.8999999761581421 + ], + "ori": [ + 0.9999892115592957, + -5.222517529546167e-08, + 3.1393437183169226e-08, + 0.004658030811697245 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -7.642925936579559e-08, + 3.0649071049992926e-06, + -8.732080459594727e-06 + ], + "angular_velocity": [ + -0.0002660929167177528, + -2.8920510430907598e-06, + 1.3002772902837023e-06 + ] + } + } + ], + "plate": [ + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_24_clear/Object.usd", + "pose": { + "pos": [ + -1.3796119689941406, + 0.8998699188232422, + 0.9179999828338623 + ], + "ori": [ + -0.6512293815612793, + -1.0404063743862935e-07, + 5.699111227386311e-08, + 0.7588810324668884 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -2.7135570235259365e-08, + 2.134538590325974e-08, + 1.1175870895385742e-07 + ], + "angular_velocity": [ + -1.8836435629054904e-06, + -1.0596595529932529e-06, + -1.2186251296952832e-07 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_384_black/Object.usd", + "pose": { + "pos": [ + 1.611490249633789, + 0.5578413009643555, + 0.9180000424385071 + ], + "ori": [ + 0.8709245920181274, + 2.1257812932162778e-07, + -7.867875240208377e-08, + 0.4914168417453766 + ], + "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": [ + -1.587561087035283e-07, + 6.927962203917559e-09, + 3.166496753692627e-07 + ], + "angular_velocity": [ + 2.9255388653837144e-06, + -3.520017344271764e-06, + 7.448163614753867e-07 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_1536_black/Object.usd", + "pose": { + "pos": [ + 0.6099252700805664, + 1.1453619003295898, + 0.9180000424385071 + ], + "ori": [ + 0.01115112379193306, + 1.347498668202718e-09, + -3.410772220213687e-10, + 0.9999378323554993 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 1.7927037632148313e-09, + 5.079906983951332e-08, + -5.677342414855957e-06 + ], + "angular_velocity": [ + -2.157490825993591e-06, + 1.9027797861781437e-06, + -8.599516831964138e-08 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/deep_well_24_10ml/Object.usd", + "pose": { + "pos": [ + -0.08033180236816406, + 0.45262622833251953, + 0.9179999828338623 + ], + "ori": [ + 0.9964821934700012, + -1.9896629055438098e-07, + 4.738728875963716e-07, + -0.08380492776632309 + ], + "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": [ + -4.0212657950178254e-06, + 6.423606464522891e-06, + -1.821666955947876e-05 + ], + "angular_velocity": [ + -0.0003674249164760113, + -2.2498781618196517e-05, + -8.31719080451876e-06 + ] + } + } + ], + "deco_hub_west": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/hub_c.usd", + "pose": { + "pos": [ + -3.36, + 0.0, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_hub_east": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/hub_a.usd", + "pose": { + "pos": [ + 3.36, + 0.0, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_hub_back": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/hub_e.usd", + "pose": { + "pos": [ + -3.0, + -2.1, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_bench_east": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/bench_a.usd", + "pose": { + "pos": [ + 2.6, + -2.5, + 0.0 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_bench_gap": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/bench_b.usd", + "pose": { + "pos": [ + -0.1, + -2.9, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ] + }, + {} + ], + "devices": { + "hub": [ + null, + null, + { + "t": 3.85999999999994, + "step": 772, + "counter": 0, + "devices": { + "a4s_sealer_1": { + "mode": "auto", + "units": { + "drawer": { + "state": "at_out", + "active": null, + "target": 0.0, + "goal_name": "out", + "profile": null, + "q_start": null, + "reversing": false, + "blocked_for": 0.0, + "settled_for": 0.0, + "last_q": 5.060282921853787e-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": 0.21842496981467685, + "holds": [], + "station": "pick", + "rider": "carrier_4", + "arrived": true, + "settle_count": 638, + "released": { + "pick": [] + }, + "last_pos": { + "carrier_1": [ + -1.536285787820816, + 0.4361570477485657, + 0.0 + ], + "carrier_2": [ + 1.4534145295619965, + 0.11269170045852661, + 0.0 + ], + "carrier_3": [ + 0.4463697373867035, + 0.7025077939033508, + 0.0 + ], + "carrier_4": [ + -0.2420429289340973, + -3.737211227416992e-05, + 0.0 + ] + }, + "command": 0.0 + }, + "belt": { + "target_speed": 0.0, + "command_speed": 0.0 + }, + "seen": { + "state": "at_station", + "station": "pick", + "rider": "carrier_4", + "arrived": true + } + } + }, + "queues": {}, + "program": null, + "sensors": {}, + "interlocks": {} + } + }, + "zones": {}, + "labware": { + "plate_1": { + "sealed": false + }, + "plate_2": { + "sealed": false + }, + "plate_3": { + "sealed": false + }, + "plate_4": { + "sealed": false + } + }, + "rules": {}, + "records": [], + "bus": { + "seq": 3, + "queue": [] + } + }, + null + ], + "drives": [ + null, + null, + {}, + null + ] + }, + "artifacts": [ + {}, + {}, + { + "ceiling": { + "type": "rect", + "pose": { + "pos": [ + 0.668460364004391, + 0.19467465752651858, + 2.8586371603278877 + ], + "ori": [ + 12.756417485490747, + -13.881086881889694, + -24.079517252050838 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "color_temperature": 3530.1222843529063, + "color": [ + 0.9125314687844648, + 0.833413863450492, + 0.9632076576059081 + ], + "intensity": 14621.666838213365, + "width": 2.7152543664414734, + "height": 1.8820702638817697 + } + }, + "key": { + "type": "sphere", + "pose": { + "pos": [ + 0.8567748519260903, + -1.0709052992152983, + 2.7080882521437424 + ], + "ori": [ + -14.87230137713258, + -33.43623113939233, + 19.76112417874718 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "color_temperature": 4291.562338190459, + "color": [ + 0.8769346658185748, + 0.8395868902918578, + 0.774890082669264 + ], + "intensity": 8176.5422796764215, + "radius": 0.09191380450419276 + } + } + }, + {} + ], + "background": { + "type": "dome", + "pose": { + "pos": null, + "ori": null, + "scale": null + }, + "dr": { + "intensity": 762.1810653784096, + "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": [ + [ + 0.9651195406913757, + -1.3101598024368286, + 2.293790340423584, + -2.554481267929077, + -1.5708404779434204, + 2.721635103225708, + 0.007782615255564451, + 0.007271226961165667 + ], + [ + 0.9141010642051697, + -1.719397783279419, + 2.09049916267395, + -1.9419004917144775, + -1.5707999467849731, + 2.4849002361297607, + 0.018000001087784767, + 0.01799999736249447 + ], + [ + 0.9141020774841309, + -1.7193984985351562, + 2.0904996395111084, + -1.9419007301330566, + -1.5707999467849731, + 2.48490047454834, + 0.017999999225139618, + 0.017999999225139618 + ], + [ + 0.9141013622283936, + -1.7193995714187622, + 2.0905003547668457, + -1.9419008493423462, + -1.5707999467849731, + 2.48490047454834, + 0.01799999736249447, + 0.018000001087784767 + ] + ], + "joint_vel": [ + [ + -0.00040518370224162936, + 0.0002875959035009146, + 0.0006896074046380818, + -0.0029480832163244486, + 0.0018227931577712297, + 0.010265713557600975, + -0.006942779757082462, + 0.00032655728864483535 + ], + [ + 2.3021862405469203e-38, + -1.9620815744257298e-38, + 1.2895017518022117e-38, + -5.7362235594005475e-37, + 5.7705246553141675e-37, + -2.980420941466089e-36, + -2.5990388508034812e-08, + 2.5990388508034812e-08 + ], + [ + 3.4059653444273863e-06, + 1.6558724877380193e-12, + 1.601420276768628e-12, + -3.405976030990132e-06, + -3.405978077353211e-06, + 7.204822133864697e-13, + 2.173044052642889e-13, + 4.998898091800562e-14 + ], + [ + -2.527969334572485e-38, + 1.5499014020516852e-38, + 3.8572760902926146e-38, + 5.210929902362941e-37, + -4.883688819832621e-38, + 4.337454158544144e-37, + 2.5990399166175848e-08, + -2.5990386731677972e-08 + ] + ] + } + }, + "cameras": { + "cameras": { + "camera0": [ + [ + 0.048459555953741074, + 0.003303330857306719, + -0.030852390453219414, + -0.277450293302536, + 0.6483832001686096, + 0.6492674946784973, + -0.2847318649291992 + ], + [ + 0.04764335975050926, + -0.0015697414055466652, + -0.02911236695945263, + -0.2831364572048187, + 0.6459061503410339, + 0.6552542448043823, + -0.27070435881614685 + ], + [ + 0.051298197358846664, + -0.0020915912464261055, + -0.026202606037259102, + -0.2858849763870239, + 0.6463419198989868, + 0.64691162109375, + -0.2863865792751312 + ], + [ + 0.05083634704351425, + 4.4133816118119285e-05, + -0.030029771849513054, + -0.2833288609981537, + 0.6547767519950867, + 0.6412465572357178, + -0.2824800908565521 + ] + ], + "camera1": [ + [ + 0.06910013407468796, + 0.5963714122772217, + 1.93790864944458, + 0.04611107334494591, + 0.019101649522781372, + 0.2663973271846771, + 0.9625701904296875 + ], + [ + 0.06726635992527008, + 0.5963900089263916, + 1.9332629442214966, + 0.033412594348192215, + 0.011381831020116806, + 0.2559410631656647, + 0.9660477042198181 + ], + [ + 0.038197871297597885, + 0.5860756039619446, + 1.9552947282791138, + 0.025488832965493202, + -0.0020175257232040167, + 0.2721899449825287, + 0.9619037508964539 + ], + [ + 0.05462867021560669, + 0.5636265873908997, + 1.9369630813598633, + 0.031964559108018875, + 0.004581105429679155, + 0.26209378242492676, + 0.9645020365715027 + ] + ] + } + } + } +} \ No newline at end of file diff --git a/episodes/c5_p004_e002/wrist.mp4 b/episodes/c5_p004_e002/wrist.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..472120ea4bcfbbe6c01ce97138c258dcf2a12c8c --- /dev/null +++ b/episodes/c5_p004_e002/wrist.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:90fcfffb340b725be8d45d4cc43881aa1e27006eb36ce585475c80e694be090f +size 6931853 diff --git a/episodes/c5_p004_e003/data.npz b/episodes/c5_p004_e003/data.npz new file mode 100644 index 0000000000000000000000000000000000000000..5b3243aa5332ad8736c584ce23fc21b27813d524 --- /dev/null +++ b/episodes/c5_p004_e003/data.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:6a1b94b9c466d40e5c4397c6a566f2b5b91093ce451bf1b832a603bb1ad50a5b +size 202006 diff --git a/episodes/c5_p004_e003/device_events.jsonl b/episodes/c5_p004_e003/device_events.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..0243395b4cab00caf66ef55ec36728bca24aea13 --- /dev/null +++ b/episodes/c5_p004_e003/device_events.jsonl @@ -0,0 +1,35 @@ +{"env_id": 3, "seq": 1, "step": 49, "t": 0.245, "topic": "conveyor_1.belt.station.pick.captured", "source": "conveyor_1.belt", "data": {"rider": "carrier_4"}, "cause": null} +{"env_id": 3, "seq": 2, "step": 49, "t": 0.245, "topic": "conveyor_1.belt.state.changed", "source": "conveyor_1.belt", "data": {"from": "running", "to": "at_station"}, "cause": null} +{"env_id": 3, "seq": 3, "step": 54, "t": 0.27, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_4"}, "cause": null} +{"env_id": 3, "seq": 4, "step": 6135, "t": 30.675, "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": 6744, "t": 33.72, "topic": "a4s_sealer_1.command.started", "source": "a4s_sealer_1", "data": {"command_id": "task-3-1", "name": "seal", "source": "task"}, "cause": "task-3-1"} +{"env_id": 3, "seq": 6, "step": 6744, "t": 33.72, "topic": "a4s_sealer_1.seal.started", "source": "a4s_sealer_1", "data": {"dwell": 2.1624232497413907}, "cause": "task-3-1"} +{"env_id": 3, "seq": 7, "step": 6744, "t": 33.72, "topic": "a4s_sealer_1.drawer.command.started", "source": "a4s_sealer_1.drawer", "data": {"command_id": "program-3-2", "name": "close", "source": "program:seal"}, "cause": "program-3-2"} +{"env_id": 3, "seq": 8, "step": 6744, "t": 33.72, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "at_out", "to": "moving"}, "cause": null} +{"env_id": 3, "seq": 9, "step": 6744, "t": 33.72, "topic": "a4s_sealer_1.drawer.moving", "source": "a4s_sealer_1.drawer", "data": {"target": 0.3, "goal": "in"}, "cause": "program-3-2"} +{"env_id": 3, "seq": 10, "step": 7163, "t": 35.815, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "moving", "to": "at_in"}, "cause": null} +{"env_id": 3, "seq": 11, "step": 7163, "t": 35.815, "topic": "a4s_sealer_1.drawer.reached", "source": "a4s_sealer_1.drawer", "data": {"position": "in", "q": 0.30000001192092896}, "cause": "program-3-2"} +{"env_id": 3, "seq": 12, "step": 7163, "t": 35.815, "topic": "a4s_sealer_1.drawer.at_in", "source": "a4s_sealer_1.drawer", "data": {"q": 0.30000001192092896}, "cause": "program-3-2"} +{"env_id": 3, "seq": 13, "step": 7163, "t": 35.815, "topic": "a4s_sealer_1.drawer.command.succeeded", "source": "a4s_sealer_1.drawer", "data": {"command_id": "program-3-2", "name": "close", "source": "program:seal", "result": {"position": "in"}}, "cause": "program-3-2"} +{"env_id": 3, "seq": 14, "step": 7163, "t": 35.815, "topic": "labware.plate_4.changed", "source": "labware.plate_4", "data": {"key": "sealed", "value": true}, "cause": "task-3-1"} +{"env_id": 3, "seq": 15, "step": 7163, "t": 35.815, "topic": "a4s_sealer_1.sealed", "source": "a4s_sealer_1", "data": {"plate": "plate_4"}, "cause": "task-3-1"} +{"env_id": 3, "seq": 16, "step": 7163, "t": 35.815, "topic": "a4s_sealer_1.heater.command.started", "source": "a4s_sealer_1.heater", "data": {"command_id": "program-3-3", "name": "run", "source": "program:seal"}, "cause": "program-3-3"} +{"env_id": 3, "seq": 17, "step": 7163, "t": 35.815, "topic": "a4s_sealer_1.heater.state.changed", "source": "a4s_sealer_1.heater", "data": {"from": "ready", "to": "running"}, "cause": null} +{"env_id": 3, "seq": 18, "step": 7163, "t": 35.815, "topic": "a4s_sealer_1.heater.started", "source": "a4s_sealer_1.heater", "data": {"duration": 2.1624232497413907}, "cause": "program-3-3"} +{"env_id": 3, "seq": 19, "step": 7596, "t": 37.98, "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": 7596, "t": 37.98, "topic": "a4s_sealer_1.heater.finished", "source": "a4s_sealer_1.heater", "data": {"elapsed": 2.1650000000011076}, "cause": "program-3-3"} +{"env_id": 3, "seq": 21, "step": 7596, "t": 37.98, "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": 2.1650000000011076}}, "cause": "program-3-3"} +{"env_id": 3, "seq": 22, "step": 7596, "t": 37.98, "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": 7596, "t": 37.98, "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": 7596, "t": 37.98, "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": 8016, "t": 40.08, "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": 8016, "t": 40.08, "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": 8016, "t": 40.08, "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": 8016, "t": 40.08, "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": 8016, "t": 40.08, "topic": "a4s_sealer_1.seal.finished", "source": "a4s_sealer_1", "data": {}, "cause": "task-3-1"} +{"env_id": 3, "seq": 30, "step": 8016, "t": 40.08, "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": 8595, "t": 42.975, "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": 10872, "t": 54.36, "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": 10872, "t": 54.36, "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": 10872, "t": 54.36, "topic": "conveyor_1.belt.state.changed", "source": "conveyor_1.belt", "data": {"from": "at_station", "to": "running"}, "cause": null} +{"env_id": 3, "seq": 35, "step": 10872, "t": 54.36, "topic": "conveyor_1.belt.command.succeeded", "source": "conveyor_1.belt", "data": {"command_id": "task-3-5", "name": "release", "source": "task", "result": {"state": "running"}}, "cause": "task-3-5"} diff --git a/episodes/c5_p004_e003/env.mp4 b/episodes/c5_p004_e003/env.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..1a2d46b5b457a9508b94cccd68e0edecd028e46d --- /dev/null +++ b/episodes/c5_p004_e003/env.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:ecceaa64cd5b3f4fc56f7bc62cce409d636520d3e68b4cfc02b063cfc14c52a1 +size 1325613 diff --git a/episodes/c5_p004_e003/meta.json b/episodes/c5_p004_e003/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..71b8f3db84d66156f7368f3c4d8ca9c596d5fdc4 --- /dev/null +++ b/episodes/c5_p004_e003/meta.json @@ -0,0 +1,32 @@ +{ + "source": "raw/c5_p004/magicsim/3", + "fps": 25, + "frames": 1232, + "kept_ticks": "even", + "video_frames": { + "wrist": 1232, + "env": 1232 + }, + "joint_target_source": "joint_pos_target", + "fk_vs_recorded_eef_max_m": 0.0, + "curobo_joints": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "joint_order": [ + "shoulder_pan", + "shoulder_lift", + "elbow", + "wrist_1", + "wrist_2", + "wrist_3", + "finger_left", + "finger_right" + ], + "frames_note": "eef / actions in the robot base frame; camera_pose = local pose (wrist: in plate_gripper_base, env: env frame), pos + quat wxyz", + "dr_version": "v2" +} \ No newline at end of file diff --git a/episodes/c5_p004_e003/scene_snapshot.json b/episodes/c5_p004_e003/scene_snapshot.json new file mode 100644 index 0000000000000000000000000000000000000000..278989813834e1dc64695967363159f18dcb6f71 --- /dev/null +++ b/episodes/c5_p004_e003/scene_snapshot.json @@ -0,0 +1,1558 @@ +{ + "trajectory_id": 3, + "env_id": 3, + "run_id": "c5_p004", + "task_type": "BioPlateCell", + "success": true, + "timing": { + "fps": 50.0, + "sim_dt": 0.005, + "decimation": 4 + }, + "restore_interface": { + "scene": "scene_manager.reset_to(snapshot['scene'], env_ids=[env_id])", + "robots": "robot_manager.set_state({'robots': snapshot['robots']}, env_ids=[env_id])" + }, + "snapshot": { + "env_id": 3, + "scene": { + "objects": [ + {}, + {}, + {}, + { + "rac_cell": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/rac_cell.usd", + "pose": { + "pos": [ + 0.0, + 0.0, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "physics_material": { + "static_friction": 0.6, + "dynamic_friction": 0.5, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "robot_mount": [ + { + "asset": "Cube", + "pose": { + "pos": [ + 0.0, + 0.0, + 0.9075 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": "color", + "value": [ + 0.55, + 0.56, + 0.58 + ], + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": { + "size": [ + 0.2, + 0.2, + 0.015 + ] + } + }, + "type_specific": {} + } + ], + "plate_rack": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/plate_hotel.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 0.9 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "physics_material": { + "static_friction": 0.6, + "dynamic_friction": 0.5, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "hotel_plate": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_24_clear/plate_24_clear.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 0.9605 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_12_clear/plate_12_clear.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.0285 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_96_clear/plate_96_clear.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.0965 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_96_black/plate_96_black.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.1645 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/deep_well_96_2ml/deep_well_96_2ml.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.2325 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "a4s_sealer": [ + { + "asset": "$MAGICSIM_ASSETS/Articulated/A4SSealer/Object.usd", + "pose": { + "pos": [ + 0.5063915252685547, + 0.09279727935791016, + 0.8999999761581421 + ], + "ori": [ + -0.6866933703422546, + 0.0, + 0.0, + 0.7269471883773804 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "articulation", + "solver_position_iteration_count": 16.0, + "solver_velocity_iteration_count": 1.0, + "enabled_self_collisions": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "joint_position": [ + 5.060284656577263e-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": 0.2034911737189809, + "direction": [ + 1.0, + 0.0, + 0.0 + ], + "enabled": true, + "drive": "surface_velocity", + "lines": null, + "station_line": null, + "riders": [ + "carrier" + ], + "stations": { + "pick": { + "position": -0.1631726195289894, + "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": 0.2034911737189809, + "holds": [], + "station": "pick", + "rider": "carrier_4", + "arrived": true, + "applied_speed": 0.0 + } + } + } + ], + "carrier": [ + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + -1.084029197692871, + 1.1455860137939453, + 0.8999999761581421 + ], + "ori": [ + -0.050249528139829636, + -1.1686341849781456e-07, + 2.3913273139442026e-08, + 0.9987367391586304 + ], + "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": [ + -1.1145745020257891e-06, + -9.677793144646785e-08, + -2.428889274597168e-06 + ], + "angular_velocity": [ + 8.905746653908864e-06, + -9.574808791512623e-05, + 7.540392488181169e-08 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + 1.590672492980957, + 0.5476617813110352, + 0.8999999761581421 + ], + "ori": [ + 0.9294765591621399, + -6.97310937880502e-08, + 2.2185724901646608e-07, + 0.3688814342021942 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -3.92901711165905e-10, + -8.82039330463158e-10, + 3.725290298461914e-09 + ], + "angular_velocity": [ + 6.487243808805943e-08, + -2.2992026060819626e-08, + 2.1607320377370343e-09 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + 0.0625314712524414, + 1.1500015258789062, + 0.8999999761581421 + ], + "ori": [ + -6.06953517490183e-06, + 4.501285177926917e-10, + -3.488604072288126e-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": [ + 5.870204322633299e-11, + -8.115499383620772e-10, + 3.725290298461914e-09 + ], + "angular_velocity": [ + 4.092247252174275e-08, + 8.561563902276248e-09, + -7.634883836260542e-10 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + -0.0131988525390625, + 0.4499931335449219, + 0.8999999761581421 + ], + "ori": [ + 1.0, + 8.269862572518605e-10, + -8.775391524551424e-11, + 3.286315404693596e-05 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -4.887281690457712e-10, + 8.172926779792533e-10, + 0.0 + ], + "angular_velocity": [ + -7.370406507334337e-08, + -6.48688214255344e-08, + -7.676034918802088e-09 + ] + } + } + ], + "plate": [ + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_48_clear/Object.usd", + "pose": { + "pos": [ + -1.07696533203125, + 1.1359682083129883, + 0.9179999828338623 + ], + "ori": [ + -0.003849107539281249, + -1.1618811868174816e-07, + 2.6544327624833386e-08, + 0.9999926686286926 + ], + "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": [ + -2.4397029392275726e-06, + -2.9880445140406664e-07, + -1.8142163753509521e-06 + ], + "angular_velocity": [ + 9.86538998404285e-06, + -9.524275810690597e-05, + 6.880159162392374e-07 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_384_white/Object.usd", + "pose": { + "pos": [ + 1.588714599609375, + 0.5336952209472656, + 0.9180000424385071 + ], + "ori": [ + 0.9418379664421082, + -7.410070423929938e-08, + 2.2287075296389958e-07, + 0.3360673487186432 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 4.828939381695818e-08, + 1.1621295925579034e-08, + 2.5704503059387207e-07 + ], + "angular_velocity": [ + 2.4358996597584337e-06, + -2.5789340725168586e-06, + -4.3143427319591865e-07 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_96_clear/Object.usd", + "pose": { + "pos": [ + 0.06288719177246094, + 1.1618289947509766, + 0.9180000424385071 + ], + "ori": [ + 0.08315573632717133, + 5.127043234409712e-10, + -2.574891855289252e-09, + 0.9965365529060364 + ], + "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": [ + 1.631323698347842e-08, + -2.914305596846134e-08, + -4.947185516357422e-06 + ], + "angular_velocity": [ + 7.715946708231058e-07, + 1.2679995506914565e-06, + 1.4282217364325334e-07 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/reservoir_12ch/Object.usd", + "pose": { + "pos": [ + -0.02074718475341797, + 0.4520139694213867, + 0.9179999828338623 + ], + "ori": [ + 0.9999325275421143, + -5.7859890212341725e-09, + -4.0025427416878756e-10, + 0.011615955270826817 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -4.236425610315564e-08, + -5.457310159329154e-09, + -2.8870999813079834e-06 + ], + "angular_velocity": [ + 4.321759092817956e-07, + -1.5580618537569535e-06, + 9.536111633678956e-08 + ] + } + } + ], + "deco_hub_west": [ + { + "asset": "$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": 5.27999999999991, + "step": 1056, + "counter": 0, + "devices": { + "a4s_sealer_1": { + "mode": "auto", + "units": { + "drawer": { + "state": "at_out", + "active": null, + "target": 0.0, + "goal_name": "out", + "profile": null, + "q_start": null, + "reversing": false, + "blocked_for": 0.0, + "settled_for": 0.0, + "last_q": 5.060284656577263e-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": 0.2034911737189809, + "holds": [], + "station": "pick", + "rider": "carrier_4", + "arrived": true, + "settle_count": 1006, + "released": { + "pick": [] + }, + "last_pos": { + "carrier_1": [ + -1.2340292036533356, + 0.6955860257148743, + 0.0 + ], + "carrier_2": [ + 1.4406724870204926, + 0.09766179323196411, + 0.0 + ], + "carrier_3": [ + -0.08746853470802307, + 0.7000015377998352, + 0.0 + ], + "carrier_4": [ + -0.16319885849952698, + -6.854534149169922e-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": [ + 0.1485659263139677, + 0.4532929433105577, + 3.061128162750712 + ], + "ori": [ + 6.513394698285495, + -8.938756712305327, + -17.423111987524727 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "color_temperature": 4738.462255082117, + "color": [ + 0.9127353179463837, + 0.9637075784619608, + 0.9855086820923947 + ], + "intensity": 15988.738234588025, + "width": 2.4131082675487203, + "height": 1.0595431023004918 + } + }, + "key": { + "type": "sphere", + "pose": { + "pos": [ + 0.9821903639297638, + -0.758173715799779, + 2.0189786926981665 + ], + "ori": [ + 11.07371370116659, + -22.378662004328753, + 1.3188097790731774 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "color_temperature": 3597.008647749072, + "color": [ + 0.8135271113630425, + 0.8613307435003693, + 0.8035212450080125 + ], + "intensity": 9746.15811853069, + "radius": 0.11853675016287016 + } + } + } + ], + "background": { + "type": "dome", + "pose": { + "pos": null, + "ori": null, + "scale": null + }, + "dr": { + "intensity": 762.1810653784096, + "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": [ + [ + 0.9651094079017639, + -1.47817862033844, + 2.2245922088623047, + -2.317262887954712, + -1.5707979202270508, + 2.721926212310791, + 0.007793263997882605, + 0.00728418305516243 + ], + [ + 1.0505777597427368, + -1.4224107265472412, + 2.1928157806396484, + -2.341156482696533, + -1.5707958936691284, + 2.573220729827881, + 0.018000049516558647, + 0.01799994893372059 + ], + [ + 1.1239542961120605, + -1.5293066501617432, + 2.2486283779144287, + -2.2900776863098145, + -1.5707968473434448, + 2.862278938293457, + 0.01800004579126835, + 0.017999952659010887 + ], + [ + 0.9141013622283936, + -1.7193995714187622, + 2.0905003547668457, + -1.9419008493423462, + -1.5707999467849731, + 2.48490047454834, + 0.01799999736249447, + 0.018000001087784767 + ] + ], + "joint_vel": [ + [ + 0.0005137153784744442, + -0.017416937276721, + -0.01051403395831585, + 0.026391232386231422, + 5.726045128540136e-05, + 0.0003042648022528738, + -0.006112235132604837, + 0.00029937029466964304 + ], + [ + -7.042419747449458e-05, + 0.016372613608837128, + 0.008721685968339443, + -0.02389923669397831, + -7.524121429014485e-06, + 4.041853753733449e-05, + -6.995504918450024e-06, + 6.996931006142404e-06 + ], + [ + -9.615095768822357e-05, + 0.015896469354629517, + 0.010077391751110554, + -0.02482709288597107, + -8.219690244004596e-06, + 6.088750160415657e-05, + -6.624135039601242e-06, + 6.626123649766669e-06 + ], + [ + -2.527969334572485e-38, + 1.5499014020516852e-38, + 3.8572760902926146e-38, + 5.210929902362941e-37, + -4.883688819832621e-38, + 4.337454158544144e-37, + 2.5990399166175848e-08, + -2.5990386731677972e-08 + ] + ] + } + }, + "cameras": { + "cameras": { + "camera0": [ + [ + 0.04858696088194847, + 0.0015555613208562136, + -0.027430687099695206, + -0.2768242359161377, + 0.6478899717330933, + 0.6492609977722168, + -0.2864735722541809 + ], + [ + 0.048611607402563095, + -0.0012193721486255527, + -0.03170584887266159, + -0.2874746024608612, + 0.6502931118011475, + 0.646867573261261, + -0.2757526934146881 + ], + [ + 0.0514523871243, + -0.0013648037565872073, + -0.027252275496721268, + -0.28595513105392456, + 0.6484584808349609, + 0.6471826434135437, + -0.280866414308548 + ], + [ + 0.05243455246090889, + -0.0003995706210844219, + -0.02897902950644493, + -0.2870735824108124, + 0.6509942412376404, + 0.6463752388954163, + -0.2756706774234772 + ] + ], + "camera1": [ + [ + 0.06910013407468796, + 0.5963714122772217, + 1.93790864944458, + 0.04611107334494591, + 0.019101649522781372, + 0.2663973271846771, + 0.9625701904296875 + ], + [ + 0.06726635992527008, + 0.5963900089263916, + 1.9332629442214966, + 0.033412594348192215, + 0.011381831020116806, + 0.2559410631656647, + 0.9660477042198181 + ], + [ + 0.038197871297597885, + 0.5860756039619446, + 1.9552947282791138, + 0.025488832965493202, + -0.0020175257232040167, + 0.2721899449825287, + 0.9619037508964539 + ], + [ + 0.05462867021560669, + 0.5636265873908997, + 1.9369630813598633, + 0.031964559108018875, + 0.004581105429679155, + 0.26209378242492676, + 0.9645020365715027 + ] + ] + } + } + } +} \ No newline at end of file diff --git a/episodes/c5_p004_e003/wrist.mp4 b/episodes/c5_p004_e003/wrist.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..3a0192cf42355645f8ec3b321fb8dc8fe1ec3b25 --- /dev/null +++ b/episodes/c5_p004_e003/wrist.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:521bc4722801213aefeed82f50304fad32d3ec7ffd92404391204781036bf824 +size 6971826 diff --git a/episodes/c6_p004_e027/data.npz b/episodes/c6_p004_e027/data.npz new file mode 100644 index 0000000000000000000000000000000000000000..33a060b5396b6fc6a821fc40d2026ab81cdeecd9 --- /dev/null +++ b/episodes/c6_p004_e027/data.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:e33c8410631d5c91a4f5f098c5838bfaffd1879fe66d71f21eac57caddbf4fe5 +size 187925 diff --git a/episodes/c6_p004_e027/device_events.jsonl b/episodes/c6_p004_e027/device_events.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..be194ac6d5e56e4a9d30133aa0bfc6b13ee8961d --- /dev/null +++ b/episodes/c6_p004_e027/device_events.jsonl @@ -0,0 +1,36 @@ +{"env_id": 1, "seq": 1, "step": 53, "t": 0.265, "topic": "conveyor_1.belt.station.pick.captured", "source": "conveyor_1.belt", "data": {"rider": "carrier_3"}, "cause": null} +{"env_id": 1, "seq": 2, "step": 53, "t": 0.265, "topic": "conveyor_1.belt.state.changed", "source": "conveyor_1.belt", "data": {"from": "running", "to": "at_station"}, "cause": null} +{"env_id": 1, "seq": 3, "step": 58, "t": 0.29, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_3"}, "cause": null} +{"env_id": 1, "seq": 4, "step": 721, "t": 3.605, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_3"}, "cause": null} +{"env_id": 1, "seq": 5, "step": 5735, "t": 28.675, "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": 6348, "t": 31.74, "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": 6348, "t": 31.74, "topic": "a4s_sealer_1.seal.started", "source": "a4s_sealer_1", "data": {"dwell": 3.725023838608333}, "cause": "task-1-1"} +{"env_id": 1, "seq": 8, "step": 6348, "t": 31.74, "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": 6348, "t": 31.74, "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": 6348, "t": 31.74, "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": 6767, "t": 33.835, "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": 6767, "t": 33.835, "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": 6767, "t": 33.835, "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": 6767, "t": 33.835, "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": 6767, "t": 33.835, "topic": "labware.plate_3.changed", "source": "labware.plate_3", "data": {"key": "sealed", "value": true}, "cause": "task-1-1"} +{"env_id": 1, "seq": 16, "step": 6767, "t": 33.835, "topic": "a4s_sealer_1.sealed", "source": "a4s_sealer_1", "data": {"plate": "plate_3"}, "cause": "task-1-1"} +{"env_id": 1, "seq": 17, "step": 6767, "t": 33.835, "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": 6767, "t": 33.835, "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": 6767, "t": 33.835, "topic": "a4s_sealer_1.heater.started", "source": "a4s_sealer_1.heater", "data": {"duration": 3.725023838608333}, "cause": "program-1-3"} +{"env_id": 1, "seq": 20, "step": 7513, "t": 37.565, "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": 7513, "t": 37.565, "topic": "a4s_sealer_1.heater.finished", "source": "a4s_sealer_1.heater", "data": {"elapsed": 3.7300000000019082}, "cause": "program-1-3"} +{"env_id": 1, "seq": 22, "step": 7513, "t": 37.565, "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": 3.7300000000019082}}, "cause": "program-1-3"} +{"env_id": 1, "seq": 23, "step": 7513, "t": 37.565, "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": 7513, "t": 37.565, "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": 7513, "t": 37.565, "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": 7933, "t": 39.665, "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": 7933, "t": 39.665, "topic": "a4s_sealer_1.drawer.reached", "source": "a4s_sealer_1.drawer", "data": {"position": "out", "q": 1.9863591660396196e-08}, "cause": "program-1-4"} +{"env_id": 1, "seq": 28, "step": 7933, "t": 39.665, "topic": "a4s_sealer_1.drawer.at_out", "source": "a4s_sealer_1.drawer", "data": {"q": 1.9863591660396196e-08}, "cause": "program-1-4"} +{"env_id": 1, "seq": 29, "step": 7933, "t": 39.665, "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": 7933, "t": 39.665, "topic": "a4s_sealer_1.seal.finished", "source": "a4s_sealer_1", "data": {}, "cause": "task-1-1"} +{"env_id": 1, "seq": 31, "step": 7933, "t": 39.665, "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": 8514, "t": 42.57, "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": 10224, "t": 51.12, "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": 10224, "t": 51.12, "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": 10224, "t": 51.12, "topic": "conveyor_1.belt.state.changed", "source": "conveyor_1.belt", "data": {"from": "at_station", "to": "running"}, "cause": null} +{"env_id": 1, "seq": 36, "step": 10224, "t": 51.12, "topic": "conveyor_1.belt.command.succeeded", "source": "conveyor_1.belt", "data": {"command_id": "task-1-5", "name": "release", "source": "task", "result": {"state": "running"}}, "cause": "task-1-5"} diff --git a/episodes/c6_p004_e027/env.mp4 b/episodes/c6_p004_e027/env.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..89d1b6b8a6a19aa93bf9e8d5b31748b7707f75e2 --- /dev/null +++ b/episodes/c6_p004_e027/env.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:6d1ec4828f20992e7af9416f257591048dd02ed7dd17ee1ad6e9096d26f7f02a +size 1224818 diff --git a/episodes/c6_p004_e027/meta.json b/episodes/c6_p004_e027/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..99f241c8d3fce4510f9efcd8c8ca2a8f41feafee --- /dev/null +++ b/episodes/c6_p004_e027/meta.json @@ -0,0 +1,32 @@ +{ + "source": "raw/c6_p004/magicsim/27", + "fps": 25, + "frames": 1252, + "kept_ticks": "even", + "video_frames": { + "wrist": 1252, + "env": 1252 + }, + "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_p004_e027/scene_snapshot.json b/episodes/c6_p004_e027/scene_snapshot.json new file mode 100644 index 0000000000000000000000000000000000000000..38c97d2b21aa63e863a167008cd2fe74e7dd665e --- /dev/null +++ b/episodes/c6_p004_e027/scene_snapshot.json @@ -0,0 +1,1558 @@ +{ + "trajectory_id": 27, + "env_id": 1, + "run_id": "c6_p004", + "task_type": "BioPlateCell", + "success": true, + "timing": { + "fps": 50.0, + "sim_dt": 0.005, + "decimation": 4 + }, + "restore_interface": { + "scene": "scene_manager.reset_to(snapshot['scene'], env_ids=[env_id])", + "robots": "robot_manager.set_state({'robots': snapshot['robots']}, env_ids=[env_id])" + }, + "snapshot": { + "env_id": 1, + "scene": { + "objects": [ + {}, + { + "rac_cell": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/rac_cell.usd", + "pose": { + "pos": [ + 0.0, + 0.0, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "physics_material": { + "static_friction": 0.6, + "dynamic_friction": 0.5, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "robot_mount": [ + { + "asset": "Cube", + "pose": { + "pos": [ + 0.0, + 0.0, + 0.9075 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": "color", + "value": [ + 0.55, + 0.56, + 0.58 + ], + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": { + "size": [ + 0.2, + 0.2, + 0.015 + ] + } + }, + "type_specific": {} + } + ], + "plate_rack": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/plate_hotel.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 0.9 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "physics_material": { + "static_friction": 0.6, + "dynamic_friction": 0.5, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "hotel_plate": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_384_white/plate_384_white.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 0.9605 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_48_clear/plate_48_clear.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.0285 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_96_white/plate_96_white.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.0965 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_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": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_96_clear/plate_96_clear.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.2325 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "a4s_sealer": [ + { + "asset": "$MAGICSIM_ASSETS/Articulated/A4SSealer/Object.usd", + "pose": { + "pos": [ + 0.4748668670654297, + 0.09039306640625, + 0.8999999761581421 + ], + "ori": [ + -0.6907240748405457, + 0.0, + 0.0, + 0.7231184244155884 + ], + "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": [ + 6.05549855051124e-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": 0.21742076508700742, + "direction": [ + 1.0, + 0.0, + 0.0 + ], + "enabled": true, + "drive": "surface_velocity", + "lines": null, + "station_line": null, + "riders": [ + "carrier" + ], + "stations": { + "pick": { + "position": -0.08171441135191945, + "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": 0.21742076508700742, + "holds": [], + "station": "pick", + "rider": "carrier_3", + "arrived": true, + "applied_speed": 0.0 + } + } + } + ], + "carrier": [ + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + 1.6277503967285156, + 0.5886211395263672, + 0.8999999761581421 + ], + "ori": [ + 0.8968258500099182, + -5.397190960820808e-08, + 1.5015315568689402e-07, + 0.4423837661743164 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 6.249894113352639e-07, + 1.0067841458294424e-06, + -2.730637788772583e-06 + ], + "angular_velocity": [ + -8.68968345457688e-05, + 6.139546167105436e-05, + 2.0497873265412636e-06 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + -0.06320762634277344, + 1.1499996185302734, + 0.8999999761581421 + ], + "ori": [ + 3.0486033210763708e-05, + 2.6071281244988143e-10, + -7.713468752612584e-12, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -4.434838052347345e-10, + -4.0034231485464034e-10, + 1.1175870895385742e-08 + ], + "angular_velocity": [ + 1.0936211936041218e-08, + -4.50299673104837e-08, + -8.55297077606565e-09 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + 0.0686960220336914, + 0.45000171661376953, + 0.8999999761581421 + ], + "ori": [ + 1.0, + -9.969801650910881e-10, + -7.450707273370938e-10, + -1.973313555936329e-05 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 4.45213643729403e-10, + 3.2994422749510477e-09, + 3.725290298461914e-09 + ], + "angular_velocity": [ + -4.19285385078183e-07, + 1.7396679652392777e-08, + -2.9594602324323205e-08 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + -1.2970123291015625, + 1.0442543029785156, + 0.9000003337860107 + ], + "ori": [ + -0.3730517327785492, + 2.7214359761273954e-06, + -7.3735891419346444e-06, + 0.927810549736023 + ], + "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": [ + -1.8705146430875175e-05, + 2.1483581804204732e-05, + -5.2850693464279175e-05 + ], + "angular_velocity": [ + -0.0018336748471483588, + -0.001617418834939599, + 4.537540007731877e-06 + ] + } + } + ], + "plate": [ + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_12_clear/Object.usd", + "pose": { + "pos": [ + 1.6281957626342773, + 0.5926780700683594, + 0.9179999828338623 + ], + "ori": [ + 0.866855800151825, + 3.8704223470631405e-07, + 4.5057583974994486e-07, + 0.4985591471195221 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -7.836752047296613e-06, + 3.0852543204673566e-06, + -4.038214683532715e-06 + ], + "angular_velocity": [ + -0.00013596740609500557, + -3.3301650546491146e-05, + 6.020018190611154e-05 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_96_white/Object.usd", + "pose": { + "pos": [ + -0.0692605972290039, + 1.141484260559082, + 0.9180000424385071 + ], + "ori": [ + 0.08768634498119354, + 8.259369854712872e-10, + -6.062772506254532e-10, + 0.9961481690406799 + ], + "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": [ + 8.578536103698298e-09, + -3.501621437251856e-09, + -5.189329385757446e-06 + ], + "angular_velocity": [ + -4.626593863577e-07, + 1.6251577790171723e-06, + -4.464759673084018e-09 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/pcr_384_red/Object.usd", + "pose": { + "pos": [ + 0.08020782470703125, + 0.4605674743652344, + 0.9179999828338623 + ], + "ori": [ + 0.999776303768158, + -1.082868905655232e-09, + -9.89610171586719e-10, + 0.021153025329113007 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -6.719112377595593e-09, + 5.95497979816173e-08, + -5.6549906730651855e-06 + ], + "angular_velocity": [ + -1.078103196050506e-06, + -9.208357028001046e-07, + 1.4006145931944047e-07 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/deep_well_96_1ml/Object.usd", + "pose": { + "pos": [ + -1.3102169036865234, + 1.0423107147216797, + 0.9180001616477966 + ], + "ori": [ + -0.28501227498054504, + 2.6970033104589675e-06, + -9.625294296711218e-06, + 0.9585238695144653 + ], + "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": [ + -3.2354859285987914e-05, + 5.654215783579275e-05, + -7.154792547225952e-05 + ], + "angular_velocity": [ + -0.001824603066779673, + -0.0013874192954972386, + 9.625199163565412e-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": 1.2399999999999956, + "step": 248, + "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": 6.05549855051124e-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": 0.21742076508700742, + "holds": [], + "station": "pick", + "rider": "carrier_3", + "arrived": true, + "settle_count": 194, + "released": { + "pick": [] + }, + "last_pos": { + "carrier_1": [ + 1.4777503907680511, + 0.13862115144729614, + 0.0 + ], + "carrier_2": [ + -0.21320763230323792, + 0.6999996304512024, + 0.0 + ], + "carrier_3": [ + -0.08130398392677307, + 1.7285346984863281e-06, + 0.0 + ], + "carrier_4": [ + -1.447012335062027, + 0.5942543148994446, + 3.5762786865234375e-07 + ] + }, + "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": [ + 0.4901588043834494, + 0.44883969471671437, + 2.8047892236009684 + ], + "ori": [ + -7.319453129803173, + -9.608454168230251, + 28.81681755792171 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "color_temperature": 6382.421238755029, + "color": [ + 0.9117098572094592, + 0.9653219192109759, + 0.7927586408885934 + ], + "intensity": 13168.309484269146, + "width": 2.512300703584862, + "height": 1.8455325839997632 + } + }, + "key": { + "type": "disk", + "pose": { + "pos": [ + 0.9044506012528362, + -0.5925264058898598, + 2.5551739046874555 + ], + "ori": [ + -20.05397297630183, + -38.77700888310467, + -18.275206712151856 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "color_temperature": 6352.226550872558, + "color": [ + 0.930583589741455, + 0.9382643778065003, + 0.9487219084056476 + ], + "intensity": 9933.720414942038, + "radius": 0.39101310320409177 + } + } + }, + {}, + {} + ], + "background": { + "type": "dome", + "pose": { + "pos": null, + "ori": null, + "scale": null + }, + "dr": { + "intensity": 865.571177148849, + "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": [ + [ + 2.2469675540924072, + -2.4473049640655518, + 2.4484479427337646, + -1.571900725364685, + -1.5707666873931885, + 3.81083083152771, + 0.007631774991750717, + 0.007019935641437769 + ], + [ + 0.9140999913215637, + -1.7194000482559204, + 2.0905001163482666, + -1.9419000148773193, + -1.5707999467849731, + 2.4848999977111816, + 0.017999999225139618, + 0.017999999225139618 + ], + [ + 0.7731915712356567, + -1.2282979488372803, + 2.1456239223480225, + -2.4881420135498047, + -1.5707875490188599, + 2.521817922592163, + 0.007659361232072115, + 0.006991913542151451 + ], + [ + 0.7817084789276123, + -1.5125155448913574, + 2.10913348197937, + -2.1674282550811768, + -1.5707792043685913, + 2.548797607421875, + 0.007729869335889816, + 0.007067546248435974 + ] + ], + "joint_vel": [ + [ + 0.03178989514708519, + -0.023868441581726074, + 0.009806127287447453, + 0.012812448665499687, + -0.00020702244364656508, + 0.03456902503967285, + -0.007987422868609428, + 0.00034055279684253037 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + [ + 0.00018731376621872187, + -0.010747925378382206, + -0.0035646038595587015, + 0.013161053881049156, + 0.00018890525097958744, + 0.0005204055923968554, + -0.008415608666837215, + 0.0003283964470028877 + ], + [ + 0.0006098170997574925, + -8.07813739811536e-06, + -0.0030680978670716286, + 0.0030493836384266615, + -6.217503687366843e-05, + 0.00013682694407179952, + -0.008153426460921764, + 0.00035763392224907875 + ] + ] + } + }, + "cameras": { + "cameras": { + "camera0": [ + [ + 0.05131707340478897, + -0.003551289439201355, + -0.030897749587893486, + -0.27853524684906006, + 0.6585050821304321, + 0.6452773213386536, + -0.26908421516418457 + ], + [ + 0.047912973910570145, + -0.00286898878403008, + -0.026215432211756706, + -0.28137415647506714, + 0.6471553444862366, + 0.6460127234458923, + -0.29100871086120605 + ], + [ + 0.04861738905310631, + -0.003522582119330764, + -0.03146267682313919, + -0.2813069820404053, + 0.6428591012954712, + 0.6556050777435303, + -0.2788916528224945 + ], + [ + 0.05335858091711998, + 0.0020470628514885902, + -0.03271760791540146, + -0.2826271653175354, + 0.6433301568031311, + 0.6590474843978882, + -0.26815035939216614 + ] + ], + "camera1": [ + [ + 0.03448519483208656, + 0.5946632027626038, + 1.9380160570144653, + 0.037156544625759125, + 0.015018770471215248, + 0.26776233315467834, + 0.9626511335372925 + ], + [ + 0.032522451132535934, + 0.5773231983184814, + 1.9410768747329712, + 0.02464364282786846, + 0.001918469788506627, + 0.26767054200172424, + 0.9631933569908142 + ], + [ + 0.06946009397506714, + 0.5554441809654236, + 1.930370807647705, + 0.056174006313085556, + 0.02301720157265663, + 0.2641047537326813, + 0.9625816345214844 + ], + [ + 0.04525453597307205, + 0.580459475517273, + 1.9314440488815308, + 0.047804348170757294, + 0.011799721978604794, + 0.2650436758995056, + 0.9629783630371094 + ] + ] + } + } + } +} \ No newline at end of file diff --git a/episodes/c6_p004_e027/wrist.mp4 b/episodes/c6_p004_e027/wrist.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..4ce57e9e4f9f8f38207da064ba7a5680cec28ee3 --- /dev/null +++ b/episodes/c6_p004_e027/wrist.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:bfec051b28d7f6b26f90a4d413e600d0d50570abd76d97c86cf40bd31eb203f2 +size 7816550 diff --git a/episodes/c7_p004_e021/data.npz b/episodes/c7_p004_e021/data.npz new file mode 100644 index 0000000000000000000000000000000000000000..123fb04b6c49e5272e2fa5e30885e1ca15131417 --- /dev/null +++ b/episodes/c7_p004_e021/data.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:8fbf843cf8507eb33f41f38cb9d7e4d3ba961eeb1c1d8bd25284ac0c3dd154c8 +size 191971 diff --git a/episodes/c7_p004_e021/device_events.jsonl b/episodes/c7_p004_e021/device_events.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..4b26fc57e04b3677de84d68341a5e6caa9a7f6ac --- /dev/null +++ b/episodes/c7_p004_e021/device_events.jsonl @@ -0,0 +1,35 @@ +{"env_id": 0, "seq": 1, "step": 77, "t": 0.385, "topic": "conveyor_1.belt.station.pick.captured", "source": "conveyor_1.belt", "data": {"rider": "carrier_4"}, "cause": null} +{"env_id": 0, "seq": 2, "step": 77, "t": 0.385, "topic": "conveyor_1.belt.state.changed", "source": "conveyor_1.belt", "data": {"from": "running", "to": "at_station"}, "cause": null} +{"env_id": 0, "seq": 3, "step": 82, "t": 0.41, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_4"}, "cause": null} +{"env_id": 0, "seq": 4, "step": 6999, "t": 34.995, "topic": "a4s_sealer_1.plate_present.present", "source": "a4s_sealer_1.plate_present", "data": {"object": "plate_4"}, "cause": null} +{"env_id": 0, "seq": 5, "step": 7608, "t": 38.04, "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": 7608, "t": 38.04, "topic": "a4s_sealer_1.seal.started", "source": "a4s_sealer_1", "data": {"dwell": 4.4174182343041135}, "cause": "task-0-1"} +{"env_id": 0, "seq": 7, "step": 7608, "t": 38.04, "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": 7608, "t": 38.04, "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": 7608, "t": 38.04, "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": 8027, "t": 40.135, "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": 8027, "t": 40.135, "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": 8027, "t": 40.135, "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": 8027, "t": 40.135, "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": 8027, "t": 40.135, "topic": "labware.plate_4.changed", "source": "labware.plate_4", "data": {"key": "sealed", "value": true}, "cause": "task-0-1"} +{"env_id": 0, "seq": 15, "step": 8027, "t": 40.135, "topic": "a4s_sealer_1.sealed", "source": "a4s_sealer_1", "data": {"plate": "plate_4"}, "cause": "task-0-1"} +{"env_id": 0, "seq": 16, "step": 8027, "t": 40.135, "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": 8027, "t": 40.135, "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": 8027, "t": 40.135, "topic": "a4s_sealer_1.heater.started", "source": "a4s_sealer_1.heater", "data": {"duration": 4.4174182343041135}, "cause": "program-0-3"} +{"env_id": 0, "seq": 19, "step": 8911, "t": 44.555, "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": 8911, "t": 44.555, "topic": "a4s_sealer_1.heater.finished", "source": "a4s_sealer_1.heater", "data": {"elapsed": 4.420000000002261}, "cause": "program-0-3"} +{"env_id": 0, "seq": 21, "step": 8911, "t": 44.555, "topic": "a4s_sealer_1.heater.command.succeeded", "source": "a4s_sealer_1.heater", "data": {"command_id": "program-0-3", "name": "run", "source": "program:seal", "result": {"elapsed": 4.420000000002261}}, "cause": "program-0-3"} +{"env_id": 0, "seq": 22, "step": 8911, "t": 44.555, "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": 8911, "t": 44.555, "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": 8911, "t": 44.555, "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": 9331, "t": 46.655, "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": 9331, "t": 46.655, "topic": "a4s_sealer_1.drawer.reached", "source": "a4s_sealer_1.drawer", "data": {"position": "out", "q": 1.9013732810435613e-09}, "cause": "program-0-4"} +{"env_id": 0, "seq": 27, "step": 9331, "t": 46.655, "topic": "a4s_sealer_1.drawer.at_out", "source": "a4s_sealer_1.drawer", "data": {"q": 1.9013732810435613e-09}, "cause": "program-0-4"} +{"env_id": 0, "seq": 28, "step": 9331, "t": 46.655, "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": 9331, "t": 46.655, "topic": "a4s_sealer_1.seal.finished", "source": "a4s_sealer_1", "data": {}, "cause": "task-0-1"} +{"env_id": 0, "seq": 30, "step": 9331, "t": 46.655, "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": 9911, "t": 49.555, "topic": "a4s_sealer_1.plate_present.absent", "source": "a4s_sealer_1.plate_present", "data": {"object": "plate_4"}, "cause": null} +{"env_id": 0, "seq": 32, "step": 11624, "t": 58.12, "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": 11624, "t": 58.12, "topic": "conveyor_1.belt.station.pick.released", "source": "conveyor_1.belt", "data": {"rider": "carrier_4"}, "cause": "task-0-5"} +{"env_id": 0, "seq": 34, "step": 11624, "t": 58.12, "topic": "conveyor_1.belt.state.changed", "source": "conveyor_1.belt", "data": {"from": "at_station", "to": "running"}, "cause": null} +{"env_id": 0, "seq": 35, "step": 11624, "t": 58.12, "topic": "conveyor_1.belt.command.succeeded", "source": "conveyor_1.belt", "data": {"command_id": "task-0-5", "name": "release", "source": "task", "result": {"state": "running"}}, "cause": "task-0-5"} diff --git a/episodes/c7_p004_e021/env.mp4 b/episodes/c7_p004_e021/env.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..c604e9da8020e16fb9d8b863ff67bb10b57278aa --- /dev/null +++ b/episodes/c7_p004_e021/env.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:1500ecce412e64bdb2de89e3be5c37be86f4c7748313aaa3531c52507b8dc2eb +size 1303902 diff --git a/episodes/c7_p004_e021/meta.json b/episodes/c7_p004_e021/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..c0bd6e355621134f894acab80f5e4c8f239eecdb --- /dev/null +++ b/episodes/c7_p004_e021/meta.json @@ -0,0 +1,32 @@ +{ + "source": "raw/c7_p004/magicsim/21", + "fps": 25, + "frames": 1254, + "kept_ticks": "even", + "video_frames": { + "wrist": 1254, + "env": 1254 + }, + "joint_target_source": "joint_pos_target", + "fk_vs_recorded_eef_max_m": 0.0, + "curobo_joints": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "joint_order": [ + "shoulder_pan", + "shoulder_lift", + "elbow", + "wrist_1", + "wrist_2", + "wrist_3", + "finger_left", + "finger_right" + ], + "frames_note": "eef / actions in the robot base frame; camera_pose = local pose (wrist: in plate_gripper_base, env: env frame), pos + quat wxyz", + "dr_version": "v2" +} \ No newline at end of file diff --git a/episodes/c7_p004_e021/scene_snapshot.json b/episodes/c7_p004_e021/scene_snapshot.json new file mode 100644 index 0000000000000000000000000000000000000000..575c30d024362574e6bf96fe34a3de1a06784e62 --- /dev/null +++ b/episodes/c7_p004_e021/scene_snapshot.json @@ -0,0 +1,1558 @@ +{ + "trajectory_id": 21, + "env_id": 0, + "run_id": "c7_p004", + "task_type": "BioPlateCell", + "success": true, + "timing": { + "fps": 50.0, + "sim_dt": 0.005, + "decimation": 4 + }, + "restore_interface": { + "scene": "scene_manager.reset_to(snapshot['scene'], env_ids=[env_id])", + "robots": "robot_manager.set_state({'robots': snapshot['robots']}, env_ids=[env_id])" + }, + "snapshot": { + "env_id": 0, + "scene": { + "objects": [ + { + "rac_cell": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/rac_cell.usd", + "pose": { + "pos": [ + 0.0, + 0.0, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "physics_material": { + "static_friction": 0.6, + "dynamic_friction": 0.5, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "robot_mount": [ + { + "asset": "Cube", + "pose": { + "pos": [ + 0.0, + 0.0, + 0.9075 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": "color", + "value": [ + 0.55, + 0.56, + 0.58 + ], + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": { + "size": [ + 0.2, + 0.2, + 0.015 + ] + } + }, + "type_specific": {} + } + ], + "plate_rack": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/plate_hotel.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 0.9 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "physics_material": { + "static_friction": 0.6, + "dynamic_friction": 0.5, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "hotel_plate": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_24_clear/plate_24_clear.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 0.9605 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_48_clear/plate_48_clear.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.0285 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_96_black/plate_96_black.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.0965 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_24_clear/plate_24_clear.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.1645 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/deep_well_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": [ + 0.5001640319824219, + 0.11996269226074219, + 0.8999999761581421 + ], + "ori": [ + 0.7301656007766724, + 0.0, + 0.0, + -0.6832702159881592 + ], + "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": [ + 2.018500384198818e-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": 0.2214912785288915, + "direction": [ + 1.0, + 0.0, + 0.0 + ], + "enabled": true, + "drive": "surface_velocity", + "lines": null, + "station_line": null, + "riders": [ + "carrier" + ], + "stations": { + "pick": { + "position": -0.2743978776035198, + "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": 0.2214912785288915, + "holds": [], + "station": "pick", + "rider": "carrier_4", + "arrived": true, + "applied_speed": 0.0 + } + } + } + ], + "carrier": [ + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + 1.439798355102539, + 0.4651947021484375, + 0.8999999761581421 + ], + "ori": [ + 0.9921911954879761, + -1.9091746850108393e-08, + 1.0765797497924723e-07, + 0.12472648918628693 + ], + "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": [ + -1.9785644234104893e-09, + 4.185738866624433e-09, + 7.450580596923828e-09 + ], + "angular_velocity": [ + -2.5728954256010184e-07, + -1.8679710933611204e-07, + 2.376742536114307e-08 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + 0.34311676025390625, + 1.1499967575073242, + 0.8999999761581421 + ], + "ori": [ + 1.1363683370291255e-05, + 4.3343592603939385e-11, + 2.5921189639177555e-09, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -1.7894181691957556e-09, + -7.586074546317434e-10, + 7.450580596923828e-09 + ], + "angular_velocity": [ + 2.0823172519612854e-08, + -1.60995995202029e-07, + -1.553489781258577e-08 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + -1.3816709518432617, + 0.902531623840332, + 0.8999999761581421 + ], + "ori": [ + -0.5814788341522217, + 3.525471470311459e-08, + 1.8489639330709906e-07, + 0.8135614991188049 + ], + "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": [ + 6.7578014295577304e-09, + 1.024376956593187e-06, + -2.998858690261841e-06 + ], + "angular_velocity": [ + -8.830575825413689e-05, + -8.518405593349598e-06, + 1.2375110145512735e-06 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + -0.12453079223632812, + 0.4499940872192383, + 0.8999999761581421 + ], + "ori": [ + 1.0, + -3.230415490662608e-09, + 2.3931643333696684e-09, + -6.694033072562888e-05 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 4.11910860975695e-09, + 9.02863739327131e-09, + 1.862645149230957e-08 + ], + "angular_velocity": [ + -1.1899880973942345e-06, + 2.6551654741524544e-07, + -8.255967998138658e-08 + ] + } + } + ], + "plate": [ + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_6_clear/Object.usd", + "pose": { + "pos": [ + 1.454071044921875, + 0.4605751037597656, + 0.9179999828338623 + ], + "ori": [ + 0.9889675974845886, + -1.3893843409107376e-08, + 1.088878178734376e-07, + 0.14813236892223358 + ], + "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": [ + -1.5294011745936587e-07, + 3.6819574944502165e-08, + 2.1979212760925293e-07 + ], + "angular_velocity": [ + -1.4452298273681663e-06, + -4.544277999229962e-06, + 8.496899681631476e-07 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_96_black/Object.usd", + "pose": { + "pos": [ + 0.34033679962158203, + 1.1566963195800781, + 0.9180000424385071 + ], + "ori": [ + 0.0384809784591198, + 4.2082959339495574e-10, + 3.751493338199907e-09, + 0.9992594122886658 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 8.561683806362907e-09, + -1.705848617916672e-08, + -5.189329385757446e-06 + ], + "angular_velocity": [ + 8.901358938828707e-08, + 1.615118662812165e-06, + -1.5098455818929324e-09 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/pcr_96_blue/Object.usd", + "pose": { + "pos": [ + -1.3825817108154297, + 0.9077863693237305, + 0.9179999828338623 + ], + "ori": [ + -0.5459194183349609, + -2.2443552438744518e-07, + 5.993014156047138e-07, + 0.8378377556800842 + ], + "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": [ + 7.79038145992672e-06, + 6.814768767071655e-07, + -5.945563316345215e-06 + ], + "angular_velocity": [ + -3.5714212572202086e-05, + 0.00010575099440757185, + 5.108798359287903e-05 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/deep_well_96_2ml/Object.usd", + "pose": { + "pos": [ + -0.1385641098022461, + 0.45879459381103516, + 0.9179999828338623 + ], + "ori": [ + 0.9962469339370728, + -4.751852245021837e-09, + 3.8489811338138225e-10, + -0.08655748516321182 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -1.57294000047159e-08, + 5.6069048071094585e-08, + -1.166015863418579e-06 + ], + "angular_velocity": [ + 8.04965907263977e-08, + -2.0313182176323608e-06, + -1.1115147913187684e-07 + ] + } + } + ], + "deco_hub_west": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/hub_d.usd", + "pose": { + "pos": [ + -3.36, + 0.0, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_hub_east": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/hub_e.usd", + "pose": { + "pos": [ + 3.36, + 0.0, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_hub_back": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/hub_b.usd", + "pose": { + "pos": [ + -3.0, + -2.1, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_bench_east": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/bench_a.usd", + "pose": { + "pos": [ + 2.6, + -2.5, + 0.0 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_bench_gap": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/bench_b.usd", + "pose": { + "pos": [ + -0.1, + -2.9, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ] + }, + {}, + {}, + {} + ], + "devices": { + "hub": [ + { + "t": 8.159999999999876, + "step": 1632, + "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": 2.018500384198818e-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": 0.2214912785288915, + "holds": [], + "station": "pick", + "rider": "carrier_4", + "arrived": true, + "settle_count": 1554, + "released": { + "pick": [] + }, + "last_pos": { + "carrier_1": [ + 1.2897983491420746, + 0.015194714069366455, + 0.0 + ], + "carrier_2": [ + 0.19311675429344177, + 0.6999967694282532, + 0.0 + ], + "carrier_3": [ + -1.5316709578037262, + 0.452531635761261, + 0.0 + ], + "carrier_4": [ + -0.2745307981967926, + -5.900859832763672e-06, + 0.0 + ] + }, + "command": 0.0 + }, + "belt": { + "target_speed": 0.0, + "command_speed": 0.0 + }, + "seen": { + "state": "at_station", + "station": "pick", + "rider": "carrier_4", + "arrived": true + } + } + }, + "queues": {}, + "program": null, + "sensors": {}, + "interlocks": {} + } + }, + "zones": {}, + "labware": { + "plate_1": { + "sealed": false + }, + "plate_2": { + "sealed": false + }, + "plate_3": { + "sealed": false + }, + "plate_4": { + "sealed": false + } + }, + "rules": {}, + "records": [], + "bus": { + "seq": 3, + "queue": [] + } + }, + null, + null, + null + ], + "drives": [ + {}, + null, + null, + null + ] + }, + "artifacts": [ + { + "ceiling": { + "type": "rect", + "pose": { + "pos": [ + -0.5092383157015099, + -0.43553255583400796, + 2.869116014035269 + ], + "ori": [ + -8.982726065022398, + -6.682412396688646, + -19.157956793360995 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "color_temperature": 4747.353711055139, + "color": [ + 0.8730683541555928, + 0.8917265788143944, + 0.8052204390584995 + ], + "intensity": 9040.629628572564, + "width": 1.7425196436635648, + "height": 0.8264430942287116 + } + }, + "key": { + "type": "sphere", + "pose": { + "pos": [ + 1.1306019022296527, + 0.9799889816264404, + 2.139686445262158 + ], + "ori": [ + -28.982456398128484, + -5.6294934836649375, + 23.38995026184263 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "color_temperature": 6897.816193239813, + "color": [ + 0.8117067867320436, + 0.7949682476096172, + 0.8959149353333998 + ], + "intensity": 8220.529679934873, + "radius": 0.06993482347440422 + } + } + }, + {}, + {}, + {} + ], + "background": { + "type": "dome", + "pose": { + "pos": null, + "ori": null, + "scale": null + }, + "dr": { + "intensity": 446.38698732963525, + "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": [ + [ + 0.9141145348548889, + -1.719393253326416, + 2.090496301651001, + -1.941900610923767, + -1.5707999467849731, + 2.4849071502685547, + 0.01799999549984932, + 0.018000002950429916 + ], + [ + 1.7528400421142578, + -1.465477705001831, + 1.9969875812530518, + -2.1029257774353027, + -1.5711650848388672, + 0.18237873911857605, + 0.018000030890107155, + 0.01799996942281723 + ], + [ + 0.9141024947166443, + -1.719398021697998, + 2.0904994010925293, + -1.941900610923767, + -1.5707999467849731, + 2.484901189804077, + 0.01799999736249447, + 0.018000001087784767 + ], + [ + 2.6288607120513916, + -2.0844192504882812, + 2.1775782108306885, + -1.664479374885559, + -1.5713047981262207, + 4.200088977813721, + 0.017999935895204544, + 0.018000062555074692 + ] + ], + "joint_vel": [ + [ + -2.3075597997680667e-38, + 1.900019466739248e-38, + 0.0, + 6.025496403988048e-37, + -6.182428827942679e-37, + 1.525892686413103e-36, + 5.1980769910642266e-08, + -5.1980773463355945e-08 + ], + [ + 0.00011232246470171958, + -0.011471444740891457, + -0.012355483137071133, + 0.022480428218841553, + -6.576940904778894e-06, + -9.232921911461744e-07, + -5.710492132493528e-06, + 5.68564428249374e-06 + ], + [ + 5.108951881993562e-06, + -3.4059735298797023e-06, + 1.3623890481540002e-05, + -3.405983079574071e-06, + -2.642518907684799e-13, + 2.043587483058218e-05, + 2.5988784457808833e-08, + -2.5990933849584508e-08 + ], + [ + 0.01979500986635685, + 0.03578184172511101, + -0.014019506052136421, + -0.020550308749079704, + 0.00022100612113717943, + 0.01965927705168724, + 8.222593237405817e-07, + -8.21170885956235e-07 + ] + ] + } + }, + "cameras": { + "cameras": { + "camera0": [ + [ + 0.049550436437129974, + -0.0010786958737298846, + -0.027532130479812622, + -0.27055731415748596, + 0.6488490104675293, + 0.6528501510620117, + -0.28210002183914185 + ], + [ + 0.04866436496376991, + 0.001122231944464147, + -0.03508381545543671, + -0.2688559293746948, + 0.6615544557571411, + 0.6388002038002014, + -0.28635039925575256 + ], + [ + 0.04756000638008118, + 0.004106669221073389, + -0.0309134591370821, + -0.28772762417793274, + 0.6545535326004028, + 0.6386864185333252, + -0.2843451201915741 + ], + [ + 0.05081385001540184, + -1.4520755939884111e-05, + -0.030346384271979332, + -0.2701912224292755, + 0.6563284993171692, + 0.6472525596618652, + -0.278017520904541 + ] + ], + "camera1": [ + [ + 0.033207934349775314, + 0.5827682614326477, + 1.950040578842163, + 0.05593845248222351, + 0.021210797131061554, + 0.2835800349712372, + 0.9570806622505188 + ], + [ + 0.06739874184131622, + 0.5951998829841614, + 1.9662164449691772, + 0.029483936727046967, + 0.02006666176021099, + 0.28682592511177063, + 0.9573186039924622 + ], + [ + 0.06889206916093826, + 0.5631369352340698, + 1.96558678150177, + 0.04027026891708374, + 0.00594929838553071, + 0.284894734621048, + 0.9576940536499023 + ], + [ + 0.06026676669716835, + 0.6024459004402161, + 1.9680054187774658, + 0.036842428147792816, + 0.005229210015386343, + 0.27576395869255066, + 0.9605048298835754 + ] + ] + } + } + } +} \ No newline at end of file diff --git a/episodes/c7_p004_e021/wrist.mp4 b/episodes/c7_p004_e021/wrist.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..2585d113ba531b982725fc6e79a306642f2c1206 --- /dev/null +++ b/episodes/c7_p004_e021/wrist.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:6481ba1a868a23865c15cd90eb90625116a6fcaa71360f873e964415aa8e18fd +size 6446874 diff --git a/episodes/c7_p004_e022/data.npz b/episodes/c7_p004_e022/data.npz new file mode 100644 index 0000000000000000000000000000000000000000..d341b455b20a533bd666c12344fe9bf3f774e680 --- /dev/null +++ b/episodes/c7_p004_e022/data.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:ec5018518fe1c6e9e7867fd98782471196c7dd855c6d8964f71aad4a38b46231 +size 190132 diff --git a/episodes/c7_p004_e022/device_events.jsonl b/episodes/c7_p004_e022/device_events.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..068502698eec12c1976dcbc0a086146f940238d2 --- /dev/null +++ b/episodes/c7_p004_e022/device_events.jsonl @@ -0,0 +1,35 @@ +{"env_id": 2, "seq": 1, "step": 93, "t": 0.465, "topic": "conveyor_1.belt.station.pick.captured", "source": "conveyor_1.belt", "data": {"rider": "carrier_2"}, "cause": null} +{"env_id": 2, "seq": 2, "step": 93, "t": 0.465, "topic": "conveyor_1.belt.state.changed", "source": "conveyor_1.belt", "data": {"from": "running", "to": "at_station"}, "cause": null} +{"env_id": 2, "seq": 3, "step": 98, "t": 0.49, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_2"}, "cause": null} +{"env_id": 2, "seq": 4, "step": 6389, "t": 31.945, "topic": "a4s_sealer_1.plate_present.present", "source": "a4s_sealer_1.plate_present", "data": {"object": "plate_2"}, "cause": null} +{"env_id": 2, "seq": 5, "step": 7000, "t": 35.0, "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": 7000, "t": 35.0, "topic": "a4s_sealer_1.seal.started", "source": "a4s_sealer_1", "data": {"dwell": 2.7359393017233993}, "cause": "task-2-1"} +{"env_id": 2, "seq": 7, "step": 7000, "t": 35.0, "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": 7000, "t": 35.0, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "at_out", "to": "moving"}, "cause": null} +{"env_id": 2, "seq": 9, "step": 7000, "t": 35.0, "topic": "a4s_sealer_1.drawer.moving", "source": "a4s_sealer_1.drawer", "data": {"target": 0.3, "goal": "in"}, "cause": "program-2-2"} +{"env_id": 2, "seq": 10, "step": 7419, "t": 37.095, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "moving", "to": "at_in"}, "cause": null} +{"env_id": 2, "seq": 11, "step": 7419, "t": 37.095, "topic": "a4s_sealer_1.drawer.reached", "source": "a4s_sealer_1.drawer", "data": {"position": "in", "q": 0.30000001192092896}, "cause": "program-2-2"} +{"env_id": 2, "seq": 12, "step": 7419, "t": 37.095, "topic": "a4s_sealer_1.drawer.at_in", "source": "a4s_sealer_1.drawer", "data": {"q": 0.30000001192092896}, "cause": "program-2-2"} +{"env_id": 2, "seq": 13, "step": 7419, "t": 37.095, "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": 7419, "t": 37.095, "topic": "labware.plate_2.changed", "source": "labware.plate_2", "data": {"key": "sealed", "value": true}, "cause": "task-2-1"} +{"env_id": 2, "seq": 15, "step": 7419, "t": 37.095, "topic": "a4s_sealer_1.sealed", "source": "a4s_sealer_1", "data": {"plate": "plate_2"}, "cause": "task-2-1"} +{"env_id": 2, "seq": 16, "step": 7419, "t": 37.095, "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": 7419, "t": 37.095, "topic": "a4s_sealer_1.heater.state.changed", "source": "a4s_sealer_1.heater", "data": {"from": "ready", "to": "running"}, "cause": null} +{"env_id": 2, "seq": 18, "step": 7419, "t": 37.095, "topic": "a4s_sealer_1.heater.started", "source": "a4s_sealer_1.heater", "data": {"duration": 2.7359393017233993}, "cause": "program-2-3"} +{"env_id": 2, "seq": 19, "step": 7967, "t": 39.835, "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": 7967, "t": 39.835, "topic": "a4s_sealer_1.heater.finished", "source": "a4s_sealer_1.heater", "data": {"elapsed": 2.7400000000014018}, "cause": "program-2-3"} +{"env_id": 2, "seq": 21, "step": 7967, "t": 39.835, "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": 2.7400000000014018}}, "cause": "program-2-3"} +{"env_id": 2, "seq": 22, "step": 7967, "t": 39.835, "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": 7967, "t": 39.835, "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": 7967, "t": 39.835, "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": 8387, "t": 41.935, "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": 8387, "t": 41.935, "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": 8387, "t": 41.935, "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": 8387, "t": 41.935, "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": 8387, "t": 41.935, "topic": "a4s_sealer_1.seal.finished", "source": "a4s_sealer_1", "data": {}, "cause": "task-2-1"} +{"env_id": 2, "seq": 30, "step": 8387, "t": 41.935, "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": 8967, "t": 44.835, "topic": "a4s_sealer_1.plate_present.absent", "source": "a4s_sealer_1.plate_present", "data": {"object": "plate_2"}, "cause": null} +{"env_id": 2, "seq": 32, "step": 10720, "t": 53.6, "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": 10720, "t": 53.6, "topic": "conveyor_1.belt.station.pick.released", "source": "conveyor_1.belt", "data": {"rider": "carrier_2"}, "cause": "task-2-5"} +{"env_id": 2, "seq": 34, "step": 10720, "t": 53.6, "topic": "conveyor_1.belt.state.changed", "source": "conveyor_1.belt", "data": {"from": "at_station", "to": "running"}, "cause": null} +{"env_id": 2, "seq": 35, "step": 10720, "t": 53.6, "topic": "conveyor_1.belt.command.succeeded", "source": "conveyor_1.belt", "data": {"command_id": "task-2-5", "name": "release", "source": "task", "result": {"state": "running"}}, "cause": "task-2-5"} diff --git a/episodes/c7_p004_e022/env.mp4 b/episodes/c7_p004_e022/env.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..5d4fe0f87565eecd1674ae481825a1e9f46d7df9 --- /dev/null +++ b/episodes/c7_p004_e022/env.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:1166fe954bb231136d79657e23e493089619c3e5914af0b30acfade9618fe6e4 +size 1254572 diff --git a/episodes/c7_p004_e022/meta.json b/episodes/c7_p004_e022/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..5adc9c77475a0cd427ed0e315d4829d793f0b633 --- /dev/null +++ b/episodes/c7_p004_e022/meta.json @@ -0,0 +1,32 @@ +{ + "source": "raw/c7_p004/magicsim/22", + "fps": 25, + "frames": 1224, + "kept_ticks": "even", + "video_frames": { + "wrist": 1224, + "env": 1224 + }, + "joint_target_source": "joint_pos_target", + "fk_vs_recorded_eef_max_m": 0.0, + "curobo_joints": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "joint_order": [ + "shoulder_pan", + "shoulder_lift", + "elbow", + "wrist_1", + "wrist_2", + "wrist_3", + "finger_left", + "finger_right" + ], + "frames_note": "eef / actions in the robot base frame; camera_pose = local pose (wrist: in plate_gripper_base, env: env frame), pos + quat wxyz", + "dr_version": "v2" +} \ No newline at end of file diff --git a/episodes/c7_p004_e022/scene_snapshot.json b/episodes/c7_p004_e022/scene_snapshot.json new file mode 100644 index 0000000000000000000000000000000000000000..c1d7ea0df5a81c8c348afe2ef0bd262d47626c56 --- /dev/null +++ b/episodes/c7_p004_e022/scene_snapshot.json @@ -0,0 +1,1558 @@ +{ + "trajectory_id": 22, + "env_id": 2, + "run_id": "c7_p004", + "task_type": "BioPlateCell", + "success": true, + "timing": { + "fps": 50.0, + "sim_dt": 0.005, + "decimation": 4 + }, + "restore_interface": { + "scene": "scene_manager.reset_to(snapshot['scene'], env_ids=[env_id])", + "robots": "robot_manager.set_state({'robots': snapshot['robots']}, env_ids=[env_id])" + }, + "snapshot": { + "env_id": 2, + "scene": { + "objects": [ + {}, + {}, + { + "rac_cell": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/rac_cell.usd", + "pose": { + "pos": [ + 0.0, + 0.0, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "physics_material": { + "static_friction": 0.6, + "dynamic_friction": 0.5, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "robot_mount": [ + { + "asset": "Cube", + "pose": { + "pos": [ + 0.0, + 0.0, + 0.9075 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": "color", + "value": [ + 0.55, + 0.56, + 0.58 + ], + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": { + "size": [ + 0.2, + 0.2, + 0.015 + ] + } + }, + "type_specific": {} + } + ], + "plate_rack": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/plate_hotel.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 0.9 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "physics_material": { + "static_friction": 0.6, + "dynamic_friction": 0.5, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "hotel_plate": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_96_black/plate_96_black.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 0.9605 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_96_white/plate_96_white.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.0285 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_48_clear/plate_48_clear.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.0965 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_96_clear/plate_96_clear.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.1645 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_384_white/plate_384_white.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.2325 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "a4s_sealer": [ + { + "asset": "$MAGICSIM_ASSETS/Articulated/A4SSealer/Object.usd", + "pose": { + "pos": [ + 0.4787302017211914, + 0.07873058319091797, + 0.8999999761581421 + ], + "ori": [ + -0.6959326267242432, + 0.0, + 0.0, + 0.7181071043014526 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "articulation", + "solver_position_iteration_count": 16.0, + "solver_velocity_iteration_count": 1.0, + "enabled_self_collisions": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "joint_position": [ + 2.3549155247354348e-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": 0.2766754703314591, + "direction": [ + 1.0, + 0.0, + 0.0 + ], + "enabled": true, + "drive": "surface_velocity", + "lines": null, + "station_line": null, + "riders": [ + "carrier" + ], + "stations": { + "pick": { + "position": -0.22013505796985627, + "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": 0.2766754703314591, + "holds": [], + "station": "pick", + "rider": "carrier_2", + "arrived": true, + "applied_speed": 0.0 + } + } + } + ], + "carrier": [ + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + 1.2981491088867188, + 0.4497518539428711, + 0.8999999761581421 + ], + "ori": [ + 0.9999980926513672, + -4.68419436572276e-08, + 6.90825245897031e-08, + -0.0019505638629198074 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 2.2282375056192905e-08, + -8.191776146304619e-09, + 6.705522537231445e-08 + ], + "angular_velocity": [ + 5.699860139429802e-08, + 1.4821816876064986e-06, + 1.249795786861796e-07 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + -0.06975364685058594, + 0.45000362396240234, + 0.8999999761581421 + ], + "ori": [ + 1.0, + -1.2314183006623125e-09, + 2.9007224400245946e-10, + -7.476904283976182e-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": [ + 8.925082894961633e-13, + 1.8015153813166762e-09, + 3.725290298461914e-09 + ], + "angular_velocity": [ + -1.0766146374407981e-07, + -1.2694602702367774e-08, + 9.738853057328356e-10 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + -1.2242612838745117, + 1.099867820739746, + 0.8999999761581421 + ], + "ori": [ + -0.2508442997932434, + 9.691903102293509e-08, + 5.690446869266452e-08, + 0.9680275321006775 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -1.5266232722410678e-10, + -1.5934659147731622e-10, + 0.0 + ], + "angular_velocity": [ + 1.140399774612888e-08, + -1.4238189294246695e-08, + 3.5280867116682657e-10 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + 0.09526824951171875, + 1.1500024795532227, + 0.8999999761581421 + ], + "ori": [ + -0.0001280728611163795, + 7.181851113813309e-09, + 4.816336662827325e-09, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -3.207268672866803e-09, + -1.9499144521262224e-09, + 2.2351741790771484e-08 + ], + "angular_velocity": [ + 9.035119319378282e-08, + -2.9392066380751203e-07, + -2.7203423513810776e-08 + ] + } + } + ], + "plate": [ + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_24_clear/Object.usd", + "pose": { + "pos": [ + 1.2834129333496094, + 0.45614147186279297, + 0.9179999828338623 + ], + "ori": [ + 0.9977211356163025, + -5.6334723552708965e-09, + -6.243614336653991e-08, + 0.06747327744960785 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 1.0863277566386387e-06, + 5.110552592668682e-06, + 1.866370439529419e-06 + ], + "angular_velocity": [ + -2.7235560992266983e-05, + 9.228062481270172e-06, + 7.1824833867140114e-06 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_384_black/Object.usd", + "pose": { + "pos": [ + -0.07027626037597656, + 0.44449329376220703, + 0.9180000424385071 + ], + "ori": [ + 0.9958577156066895, + -1.3148987454414396e-09, + 1.7807539887115809e-09, + 0.09092529118061066 + ], + "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": [ + -1.9917056448548465e-08, + 1.7241241323517897e-08, + -5.576759576797485e-06 + ], + "angular_velocity": [ + 2.0735376438096864e-07, + -1.6363111399186892e-06, + 1.167540801816358e-07 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_1536_black/Object.usd", + "pose": { + "pos": [ + -1.2219429016113281, + 1.09478759765625, + 0.9180000424385071 + ], + "ori": [ + -0.275527685880661, + 9.823514801610145e-08, + 5.3007283895567525e-08, + 0.9612931609153748 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 6.482003556129712e-08, + 3.112821644890573e-08, + -5.2675604820251465e-06 + ], + "angular_velocity": [ + -4.084878355570254e-07, + 2.697036507015582e-06, + 3.542122328781261e-07 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/deep_well_24_10ml/Object.usd", + "pose": { + "pos": [ + 0.10417747497558594, + 1.1519927978515625, + 0.9179999828338623 + ], + "ori": [ + -0.05248429998755455, + 8.345942603682488e-09, + 5.521486823312216e-09, + 0.9986217617988586 + ], + "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": [ + 7.450065897529612e-09, + -8.483680424831164e-11, + -1.1362135410308838e-06 + ], + "angular_velocity": [ + -1.2244893241586396e-06, + 1.5995183275663294e-06, + -1.13620949093729e-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": 4.79999999999992, + "step": 960, + "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": 2.3549155247354348e-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": 0.2766754703314591, + "holds": [], + "station": "pick", + "rider": "carrier_2", + "arrived": true, + "settle_count": 866, + "released": { + "pick": [] + }, + "last_pos": { + "carrier_1": [ + 1.1481491029262543, + -0.00024813413619995117, + 0.0 + ], + "carrier_2": [ + -0.21975365281105042, + 3.635883331298828e-06, + 0.0 + ], + "carrier_3": [ + -1.3742612898349762, + 0.649867832660675, + 0.0 + ], + "carrier_4": [ + -0.05473175644874573, + 0.7000024914741516, + 0.0 + ] + }, + "command": 0.0 + }, + "belt": { + "target_speed": 0.0, + "command_speed": 0.0 + }, + "seen": { + "state": "at_station", + "station": "pick", + "rider": "carrier_2", + "arrived": true + } + } + }, + "queues": {}, + "program": null, + "sensors": {}, + "interlocks": {} + } + }, + "zones": {}, + "labware": { + "plate_1": { + "sealed": false + }, + "plate_2": { + "sealed": false + }, + "plate_3": { + "sealed": false + }, + "plate_4": { + "sealed": false + } + }, + "rules": {}, + "records": [], + "bus": { + "seq": 3, + "queue": [] + } + }, + null + ], + "drives": [ + null, + null, + {}, + null + ] + }, + "artifacts": [ + {}, + {}, + { + "ceiling": { + "type": "rect", + "pose": { + "pos": [ + -0.08563229800978889, + -0.42176654690717663, + 2.7132887257326512 + ], + "ori": [ + 1.2739205520694625, + -7.368330960736088, + -11.551422631938081 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "color_temperature": 6396.228961086735, + "color": [ + 0.9540346705305672, + 0.8918669136909009, + 0.8032003587721265 + ], + "intensity": 11974.026415028111, + "width": 2.3715491395942276, + "height": 1.5783780988399165 + } + }, + "key": { + "type": "disk", + "pose": { + "pos": [ + 0.15716636857552602, + 1.4490012289207461, + 1.7177274909767117 + ], + "ori": [ + -0.2770371009636179, + -10.917730754925365, + 29.54305256419437 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "color_temperature": 4411.594133948917, + "color": [ + 0.7543762148602805, + 0.9375007583869348, + 0.9341439106336576 + ], + "intensity": 10121.920050718167, + "radius": 0.3777923722810742 + } + } + }, + {} + ], + "background": { + "type": "dome", + "pose": { + "pos": null, + "ori": null, + "scale": null + }, + "dr": { + "intensity": 446.38698732963525, + "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": [ + [ + 1.2606381177902222, + -1.3324726819992065, + 2.327117681503296, + -2.5653364658355713, + -1.5708140134811401, + 3.004354238510132, + 0.007721261121332645, + 0.0073039596900343895 + ], + [ + 0.7695783972740173, + -1.4381893873214722, + 2.099947690963745, + -2.2325100898742676, + -1.5707963705062866, + 2.496066093444824, + 0.01800004206597805, + 0.017999956384301186 + ], + [ + 0.9141024947166443, + -1.719398021697998, + 2.0904994010925293, + -1.941900610923767, + -1.5707999467849731, + 2.484901189804077, + 0.01799999736249447, + 0.018000001087784767 + ], + [ + 2.7273318767547607, + -1.886068344116211, + 2.0750813484191895, + -1.7597382068634033, + -1.5708595514297485, + 4.298117160797119, + 0.0077794017270207405, + 0.007170991040766239 + ] + ], + "joint_vel": [ + [ + -0.0005541714490391314, + 8.062714186962694e-05, + 0.00017808254051487893, + -0.0030887513421475887, + 0.0006780843250453472, + 0.01150861568748951, + -0.006460807751864195, + 0.00044029325363226235 + ], + [ + -0.00014060735702514648, + 0.01299496553838253, + 0.009453805163502693, + -0.021269645541906357, + -1.0436767297505867e-05, + 1.3257117643661331e-05, + -5.7517836467013694e-06, + 5.753075129177887e-06 + ], + [ + -2.2862337186992002e-38, + 2.883835805820401e-38, + 2.742629762167318e-38, + 4.187533159481732e-37, + -6.179504261995694e-37, + -1.0562209823173078e-37, + 2.5990374297180097e-08, + -2.599039738981901e-08 + ], + [ + -0.00867512822151184, + -0.022898059338331223, + 0.013930873945355415, + 0.00704872515052557, + -0.00030203175265341997, + -0.00847535952925682, + -0.007408741861581802, + 0.0003235514450352639 + ] + ] + } + }, + "cameras": { + "cameras": { + "camera0": [ + [ + 0.05190543830394745, + -0.0016892752610147, + -0.028360173106193542, + -0.2707764804363251, + 0.6489613652229309, + 0.651006817817688, + -0.28586602210998535 + ], + [ + 0.05068110674619675, + 0.0032055433839559555, + -0.028572503477334976, + -0.2754381000995636, + 0.6446747779846191, + 0.653145432472229, + -0.2862330675125122 + ], + [ + 0.046935632824897766, + 0.0018196528544649482, + -0.03239336982369423, + -0.28464120626449585, + 0.6513803005218506, + 0.6414178609848022, + -0.28855887055397034 + ], + [ + 0.05092417821288109, + 0.0009479107684455812, + -0.03193852677941322, + -0.2706790864467621, + 0.6592229008674622, + 0.6439652442932129, + -0.278328537940979 + ] + ], + "camera1": [ + [ + 0.033207934349775314, + 0.5827682614326477, + 1.950040578842163, + 0.05593845248222351, + 0.021210797131061554, + 0.2835800349712372, + 0.9570806622505188 + ], + [ + 0.038974229246377945, + 0.5953709483146667, + 1.9372066259384155, + 0.03932758793234825, + 0.021461045369505882, + 0.28641656041145325, + 0.9570571184158325 + ], + [ + 0.06889206916093826, + 0.5631369352340698, + 1.96558678150177, + 0.04027026891708374, + 0.00594929838553071, + 0.284894734621048, + 0.9576940536499023 + ], + [ + 0.06026676669716835, + 0.6024459004402161, + 1.9680054187774658, + 0.036842428147792816, + 0.005229210015386343, + 0.27576395869255066, + 0.9605048298835754 + ] + ] + } + } + } +} \ No newline at end of file diff --git a/episodes/c7_p004_e022/wrist.mp4 b/episodes/c7_p004_e022/wrist.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..eb1605b766b79f7718477e2b4a326c11fc9a76ce --- /dev/null +++ b/episodes/c7_p004_e022/wrist.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:d6d54b9d1e990845ec6c1ed612a610945638b42c166c4c8c394e0a5fd40f66e4 +size 6768033 diff --git a/episodes/c7_p004_e023/data.npz b/episodes/c7_p004_e023/data.npz new file mode 100644 index 0000000000000000000000000000000000000000..5886e055e21644c8554cc878db166d4a96251e2e --- /dev/null +++ b/episodes/c7_p004_e023/data.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:6a64ec4ab5842e3eb3f02f845c0874f34aa3237597aa7413ab657db5aaf919b3 +size 190623 diff --git a/episodes/c7_p004_e023/device_events.jsonl b/episodes/c7_p004_e023/device_events.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..44c12a1783cf139140f8759bc6b00deb99b37cc8 --- /dev/null +++ b/episodes/c7_p004_e023/device_events.jsonl @@ -0,0 +1,36 @@ +{"env_id": 1, "seq": 1, "step": 73, "t": 0.365, "topic": "conveyor_1.belt.station.pick.captured", "source": "conveyor_1.belt", "data": {"rider": "carrier_2"}, "cause": null} +{"env_id": 1, "seq": 2, "step": 73, "t": 0.365, "topic": "conveyor_1.belt.state.changed", "source": "conveyor_1.belt", "data": {"from": "running", "to": "at_station"}, "cause": null} +{"env_id": 1, "seq": 3, "step": 78, "t": 0.39, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_2"}, "cause": null} +{"env_id": 1, "seq": 4, "step": 785, "t": 3.925, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_2"}, "cause": null} +{"env_id": 1, "seq": 5, "step": 5815, "t": 29.075, "topic": "a4s_sealer_1.plate_present.present", "source": "a4s_sealer_1.plate_present", "data": {"object": "plate_2"}, "cause": null} +{"env_id": 1, "seq": 6, "step": 6428, "t": 32.14, "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": 6428, "t": 32.14, "topic": "a4s_sealer_1.seal.started", "source": "a4s_sealer_1", "data": {"dwell": 3.9738107088837293}, "cause": "task-1-1"} +{"env_id": 1, "seq": 8, "step": 6428, "t": 32.14, "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": 6428, "t": 32.14, "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": 6428, "t": 32.14, "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": 6847, "t": 34.235, "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": 6847, "t": 34.235, "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": 6847, "t": 34.235, "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": 6847, "t": 34.235, "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": 6847, "t": 34.235, "topic": "labware.plate_2.changed", "source": "labware.plate_2", "data": {"key": "sealed", "value": true}, "cause": "task-1-1"} +{"env_id": 1, "seq": 16, "step": 6847, "t": 34.235, "topic": "a4s_sealer_1.sealed", "source": "a4s_sealer_1", "data": {"plate": "plate_2"}, "cause": "task-1-1"} +{"env_id": 1, "seq": 17, "step": 6847, "t": 34.235, "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": 6847, "t": 34.235, "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": 6847, "t": 34.235, "topic": "a4s_sealer_1.heater.started", "source": "a4s_sealer_1.heater", "data": {"duration": 3.9738107088837293}, "cause": "program-1-3"} +{"env_id": 1, "seq": 20, "step": 7642, "t": 38.21, "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": 7642, "t": 38.21, "topic": "a4s_sealer_1.heater.finished", "source": "a4s_sealer_1.heater", "data": {"elapsed": 3.9750000000020336}, "cause": "program-1-3"} +{"env_id": 1, "seq": 22, "step": 7642, "t": 38.21, "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": 3.9750000000020336}}, "cause": "program-1-3"} +{"env_id": 1, "seq": 23, "step": 7642, "t": 38.21, "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": 7642, "t": 38.21, "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": 7642, "t": 38.21, "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": 8062, "t": 40.31, "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": 8062, "t": 40.31, "topic": "a4s_sealer_1.drawer.reached", "source": "a4s_sealer_1.drawer", "data": {"position": "out", "q": 3.73998554348276e-10}, "cause": "program-1-4"} +{"env_id": 1, "seq": 28, "step": 8062, "t": 40.31, "topic": "a4s_sealer_1.drawer.at_out", "source": "a4s_sealer_1.drawer", "data": {"q": 3.73998554348276e-10}, "cause": "program-1-4"} +{"env_id": 1, "seq": 29, "step": 8062, "t": 40.31, "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": 8062, "t": 40.31, "topic": "a4s_sealer_1.seal.finished", "source": "a4s_sealer_1", "data": {}, "cause": "task-1-1"} +{"env_id": 1, "seq": 31, "step": 8062, "t": 40.31, "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": 8643, "t": 43.215, "topic": "a4s_sealer_1.plate_present.absent", "source": "a4s_sealer_1.plate_present", "data": {"object": "plate_2"}, "cause": null} +{"env_id": 1, "seq": 33, "step": 10372, "t": 51.86, "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": 10372, "t": 51.86, "topic": "conveyor_1.belt.station.pick.released", "source": "conveyor_1.belt", "data": {"rider": "carrier_2"}, "cause": "task-1-5"} +{"env_id": 1, "seq": 35, "step": 10372, "t": 51.86, "topic": "conveyor_1.belt.state.changed", "source": "conveyor_1.belt", "data": {"from": "at_station", "to": "running"}, "cause": null} +{"env_id": 1, "seq": 36, "step": 10372, "t": 51.86, "topic": "conveyor_1.belt.command.succeeded", "source": "conveyor_1.belt", "data": {"command_id": "task-1-5", "name": "release", "source": "task", "result": {"state": "running"}}, "cause": "task-1-5"} diff --git a/episodes/c7_p004_e023/env.mp4 b/episodes/c7_p004_e023/env.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..960f9f1e8f5f7ead454dcfc7ebc0e7fb7efce939 --- /dev/null +++ b/episodes/c7_p004_e023/env.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:fd4b0e840d49d4f4fa2006d71dbbfa22a75d8f44eecce0e3530f168c8d375489 +size 1329443 diff --git a/episodes/c7_p004_e023/meta.json b/episodes/c7_p004_e023/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..51361bacfadff6f1ed4ba5552fd04fe162e00b1c --- /dev/null +++ b/episodes/c7_p004_e023/meta.json @@ -0,0 +1,32 @@ +{ + "source": "raw/c7_p004/magicsim/23", + "fps": 25, + "frames": 1257, + "kept_ticks": "even", + "video_frames": { + "wrist": 1257, + "env": 1257 + }, + "joint_target_source": "joint_pos_target", + "fk_vs_recorded_eef_max_m": 0.0, + "curobo_joints": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "joint_order": [ + "shoulder_pan", + "shoulder_lift", + "elbow", + "wrist_1", + "wrist_2", + "wrist_3", + "finger_left", + "finger_right" + ], + "frames_note": "eef / actions in the robot base frame; camera_pose = local pose (wrist: in plate_gripper_base, env: env frame), pos + quat wxyz", + "dr_version": "v2" +} \ No newline at end of file diff --git a/episodes/c7_p004_e023/scene_snapshot.json b/episodes/c7_p004_e023/scene_snapshot.json new file mode 100644 index 0000000000000000000000000000000000000000..0494ad4033457d86252a52840784da45b9b79d0f --- /dev/null +++ b/episodes/c7_p004_e023/scene_snapshot.json @@ -0,0 +1,1558 @@ +{ + "trajectory_id": 23, + "env_id": 1, + "run_id": "c7_p004", + "task_type": "BioPlateCell", + "success": true, + "timing": { + "fps": 50.0, + "sim_dt": 0.005, + "decimation": 4 + }, + "restore_interface": { + "scene": "scene_manager.reset_to(snapshot['scene'], env_ids=[env_id])", + "robots": "robot_manager.set_state({'robots': snapshot['robots']}, env_ids=[env_id])" + }, + "snapshot": { + "env_id": 1, + "scene": { + "objects": [ + {}, + { + "rac_cell": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/rac_cell.usd", + "pose": { + "pos": [ + 0.0, + 0.0, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "physics_material": { + "static_friction": 0.6, + "dynamic_friction": 0.5, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "robot_mount": [ + { + "asset": "Cube", + "pose": { + "pos": [ + 0.0, + 0.0, + 0.9075 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": "color", + "value": [ + 0.55, + 0.56, + 0.58 + ], + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": { + "size": [ + 0.2, + 0.2, + 0.015 + ] + } + }, + "type_specific": {} + } + ], + "plate_rack": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/plate_hotel.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 0.9 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "physics_material": { + "static_friction": 0.6, + "dynamic_friction": 0.5, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "hotel_plate": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_48_clear/plate_48_clear.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 0.9605 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_48_clear/plate_48_clear.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.0285 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_12_clear/plate_12_clear.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.0965 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_96_clear/plate_96_clear.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.1645 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/pcr_384_red/pcr_384_red.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.2325 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "a4s_sealer": [ + { + "asset": "$MAGICSIM_ASSETS/Articulated/A4SSealer/Object.usd", + "pose": { + "pos": [ + 0.5033798217773438, + 0.09269237518310547, + 0.8999999761581421 + ], + "ori": [ + -0.7049903869628906, + 0.0, + 0.0, + 0.709216833114624 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "articulation", + "solver_position_iteration_count": 16.0, + "solver_velocity_iteration_count": 1.0, + "enabled_self_collisions": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "joint_position": [ + 3.3641657710449524e-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": 0.23201841959851469, + "direction": [ + 1.0, + 0.0, + 0.0 + ], + "enabled": true, + "drive": "surface_velocity", + "lines": null, + "station_line": null, + "riders": [ + "carrier" + ], + "stations": { + "pick": { + "position": -0.05721164927641073, + "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": 0.23201841959851469, + "holds": [], + "station": "pick", + "rider": "carrier_2", + "arrived": true, + "applied_speed": 0.0 + } + } + } + ], + "carrier": [ + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + -1.3941869735717773, + 0.8483772277832031, + 0.8999999761581421 + ], + "ori": [ + -0.6450992822647095, + -8.148346886116542e-09, + -1.563748774913165e-08, + 0.7640988230705261 + ], + "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": [ + -2.668112397685718e-10, + -1.1145363798537034e-10, + 0.0 + ], + "angular_velocity": [ + 8.099284798390727e-09, + -1.0057213728487113e-08, + 1.712477715187788e-09 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + 0.09298896789550781, + 0.45000171661376953, + 0.8999999761581421 + ], + "ori": [ + 1.0, + -1.039798025459504e-09, + 1.4131571468567472e-09, + -2.050806870101951e-05 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -2.423219402913901e-10, + 1.6244825484790226e-09, + 3.725290298461914e-09 + ], + "angular_velocity": [ + -6.820262399287458e-08, + -2.2736600158168585e-08, + 6.025268284304275e-09 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + 1.696181297302246, + 0.8422660827636719, + 0.8999999761581421 + ], + "ori": [ + 0.6647197008132935, + 4.8677023301024747e-08, + -1.946299343913438e-09, + 0.7470929026603699 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -7.656369982456113e-10, + 2.1889301482502788e-10, + 0.0 + ], + "angular_velocity": [ + -2.2202900851198137e-08, + -6.419730169682225e-08, + -3.149898120113903e-10 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + 0.6167678833007812, + 1.1499958038330078, + 0.8999999761581421 + ], + "ori": [ + 5.520209379028529e-05, + 6.852119760480946e-09, + 3.2305821906497556e-10, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -2.7452928819116096e-11, + -2.824422917768743e-09, + 7.450580596923828e-09 + ], + "angular_velocity": [ + 2.1036315445144282e-07, + 1.8761591391580623e-08, + -5.923473267444024e-09 + ] + } + } + ], + "plate": [ + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_12_clear/Object.usd", + "pose": { + "pos": [ + -1.3928794860839844, + 0.8597745895385742, + 0.9179999828338623 + ], + "ori": [ + -0.6128419637680054, + -6.750616954320776e-09, + -1.844987274068899e-08, + 0.7902055382728577 + ], + "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": [ + -7.212145547441651e-09, + 2.5957026750234036e-08, + 5.960464477539063e-08 + ], + "angular_velocity": [ + -1.5094452692210325e-06, + -3.3352532113894995e-07, + 2.3590427389308388e-08 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_96_white/Object.usd", + "pose": { + "pos": [ + 0.10325336456298828, + 0.44116973876953125, + 0.9180000424385071 + ], + "ori": [ + 0.9969574809074402, + 1.687670420080778e-10, + 1.0643165238022334e-09, + -0.0779486894607544 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -1.7470794588803074e-08, + 2.6590438295670538e-08, + -5.602836608886719e-06 + ], + "angular_velocity": [ + -6.230496865100577e-07, + -1.2905594530820963e-06, + 1.581863529054317e-07 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/pcr_384_red/Object.usd", + "pose": { + "pos": [ + 1.7028846740722656, + 0.8393545150756836, + 0.9179999828338623 + ], + "ori": [ + 0.6343753337860107, + 4.821138688271276e-08, + -4.14614786947709e-09, + 0.7730252742767334 + ], + "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": [ + 5.715749651358237e-09, + -6.352918191510071e-09, + -5.763024091720581e-06 + ], + "angular_velocity": [ + 9.139868666352413e-07, + 4.917257570014044e-07, + -1.782545666628721e-08 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/deep_well_96_1ml/Object.usd", + "pose": { + "pos": [ + 0.6090898513793945, + 1.157547950744629, + 0.9179999828338623 + ], + "ori": [ + -0.07370924949645996, + 8.833863418544752e-09, + -3.6677620940395173e-09, + 0.9972797632217407 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 7.473130381185911e-08, + -2.2452937287198438e-08, + 1.564621925354004e-07 + ], + "angular_velocity": [ + 6.971757784413057e-07, + 2.6701461592892883e-06, + 2.6620324433679343e-07 + ] + } + } + ], + "deco_hub_west": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/hub_a.usd", + "pose": { + "pos": [ + -3.36, + 0.0, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_hub_east": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/hub_c.usd", + "pose": { + "pos": [ + 3.36, + 0.0, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_hub_back": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/hub_d.usd", + "pose": { + "pos": [ + -3.0, + -2.1, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_bench_east": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/bench_c.usd", + "pose": { + "pos": [ + 2.6, + -2.5, + 0.0 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_bench_gap": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/bench_b.usd", + "pose": { + "pos": [ + -0.1, + -2.9, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ] + }, + {}, + {} + ], + "devices": { + "hub": [ + null, + { + "t": 1.7599999999999845, + "step": 352, + "counter": 0, + "devices": { + "a4s_sealer_1": { + "mode": "auto", + "units": { + "drawer": { + "state": "at_out", + "active": null, + "target": 0.0, + "goal_name": "out", + "profile": null, + "q_start": null, + "reversing": false, + "blocked_for": 0.0, + "settled_for": 0.0, + "last_q": 3.3641657710449524e-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": 0.23201841959851469, + "holds": [], + "station": "pick", + "rider": "carrier_2", + "arrived": true, + "settle_count": 278, + "released": { + "pick": [] + }, + "last_pos": { + "carrier_1": [ + -1.5441869795322418, + 0.3983772397041321, + 0.0 + ], + "carrier_2": [ + -0.057011038064956665, + 1.7285346984863281e-06, + 0.0 + ], + "carrier_3": [ + 1.5461812913417816, + 0.39226609468460083, + 0.0 + ], + "carrier_4": [ + 0.4667678773403168, + 0.6999958157539368, + 0.0 + ] + }, + "command": 0.0 + }, + "belt": { + "target_speed": 0.0, + "command_speed": 0.0 + }, + "seen": { + "state": "at_station", + "station": "pick", + "rider": "carrier_2", + "arrived": true + } + } + }, + "queues": {}, + "program": null, + "sensors": {}, + "interlocks": {} + } + }, + "zones": {}, + "labware": { + "plate_1": { + "sealed": false + }, + "plate_2": { + "sealed": false + }, + "plate_3": { + "sealed": false + }, + "plate_4": { + "sealed": false + } + }, + "rules": {}, + "records": [], + "bus": { + "seq": 3, + "queue": [] + } + }, + null, + null + ], + "drives": [ + null, + {}, + null, + null + ] + }, + "artifacts": [ + {}, + { + "ceiling": { + "type": "rect", + "pose": { + "pos": [ + 0.8293740615038346, + 0.2533762419200114, + 3.0394309006564577 + ], + "ori": [ + 5.000864206283481, + 3.6477491985568093, + -9.194854772261753 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "color_temperature": 6601.813772151001, + "color": [ + 0.9743338869900472, + 0.8458702800097484, + 0.802097507723745 + ], + "intensity": 15647.49748118273, + "width": 2.4631548812825343, + "height": 1.2259668824671697 + } + }, + "key": { + "type": "disk", + "pose": { + "pos": [ + -0.3270647269639624, + 0.8656364372412593, + 1.9838234095741463 + ], + "ori": [ + -16.067307560731514, + -35.25304446816772, + -22.5312699810194 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "color_temperature": 7440.530898170913, + "color": [ + 0.8116478972452937, + 0.881491104420173, + 0.8881019245428323 + ], + "intensity": 4157.0989485229575, + "radius": 0.31814829087594576 + } + } + }, + {}, + {} + ], + "background": { + "type": "dome", + "pose": { + "pos": null, + "ori": null, + "scale": null + }, + "dr": { + "intensity": 446.38698732963525, + "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": [ + [ + 1.260452389717102, + -1.3616583347320557, + 2.3178772926330566, + -2.5269808769226074, + -1.5707956552505493, + 3.0045065879821777, + 0.018000025302171707, + 0.01799997314810753 + ], + [ + 0.9141023755073547, + -1.7193979024887085, + 2.090498924255371, + -1.9419001340866089, + -1.5707999467849731, + 2.484900712966919, + 0.017999999225139618, + 0.017999999225139618 + ], + [ + 0.9141024947166443, + -1.719398021697998, + 2.0904994010925293, + -1.941900610923767, + -1.5707999467849731, + 2.484901189804077, + 0.01799999736249447, + 0.018000001087784767 + ], + [ + 2.8040764331817627, + -1.6667373180389404, + 1.905993938446045, + -1.8100662231445312, + -1.570868968963623, + 4.374868392944336, + 0.007770659402012825, + 0.007174770347774029 + ] + ], + "joint_vel": [ + [ + -3.8020913052605465e-05, + 0.018168849870562553, + 0.005786968395113945, + -0.022963667288422585, + -7.544706022599712e-06, + 0.00014250259846448898, + -8.010087185539305e-06, + 8.011744284885935e-06 + ], + [ + 0.0, + 2.6358457745112953e-38, + 2.0038652117752744e-38, + 3.4355331769383246e-37, + -7.1303419946019185e-37, + -2.474948326105113e-36, + 0.0, + 0.0 + ], + [ + -2.2862337186992002e-38, + 2.883835805820401e-38, + 2.742629762167318e-38, + 4.187533159481732e-37, + -6.179504261995694e-37, + -1.0562209823173078e-37, + 2.5990374297180097e-08, + -2.599039738981901e-08 + ], + [ + -3.707544237840921e-05, + 0.00017967003805097193, + -0.0002264606737298891, + 3.1496410883846693e-06, + 0.001057534129358828, + -0.002253912156447768, + -0.007187953218817711, + 0.0003048919897992164 + ] + ] + } + }, + "cameras": { + "cameras": { + "camera0": [ + [ + 0.052609290927648544, + 0.0002558047999627888, + -0.026722755283117294, + -0.27381518483161926, + 0.6530959010124207, + 0.6478326320648193, + -0.28072023391723633 + ], + [ + 0.051854703575372696, + 0.0010074892779812217, + -0.029758578166365623, + -0.27318841218948364, + 0.6438977718353271, + 0.653772234916687, + -0.28869637846946716 + ], + [ + 0.04623330384492874, + 0.0015051019145175815, + -0.02933785691857338, + -0.283454954624176, + 0.6535086035728455, + 0.6423187851905823, + -0.28285399079322815 + ], + [ + 0.05156293883919716, + 0.000604009663220495, + -0.029547324404120445, + -0.27004024386405945, + 0.6567920446395874, + 0.649493396282196, + -0.2717735469341278 + ] + ], + "camera1": [ + [ + 0.033207934349775314, + 0.5827682614326477, + 1.950040578842163, + 0.05593845248222351, + 0.021210797131061554, + 0.2835800349712372, + 0.9570806622505188 + ], + [ + 0.038974229246377945, + 0.5953709483146667, + 1.9372066259384155, + 0.03932758793234825, + 0.021461045369505882, + 0.28641656041145325, + 0.9570571184158325 + ], + [ + 0.06889206916093826, + 0.5631369352340698, + 1.96558678150177, + 0.04027026891708374, + 0.00594929838553071, + 0.284894734621048, + 0.9576940536499023 + ], + [ + 0.06026676669716835, + 0.6024459004402161, + 1.9680054187774658, + 0.036842428147792816, + 0.005229210015386343, + 0.27576395869255066, + 0.9605048298835754 + ] + ] + } + } + } +} \ No newline at end of file diff --git a/episodes/c7_p004_e023/wrist.mp4 b/episodes/c7_p004_e023/wrist.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..69795345f8450f2759c773039cd973da3892c136 --- /dev/null +++ b/episodes/c7_p004_e023/wrist.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:f002c862747b676a43c9d1897e38b8e4ae89b0dce87b1b8a4f3c36e9338986d4 +size 7240573 diff --git a/episodes/c8_p004_e024/data.npz b/episodes/c8_p004_e024/data.npz new file mode 100644 index 0000000000000000000000000000000000000000..769ff3e97254dcf409dbec764d41f542c3d36b8b --- /dev/null +++ b/episodes/c8_p004_e024/data.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:5bf55c26ca559d017047cf325b4c09e2108e0009f040f20c9909574a2bfadd55 +size 187968 diff --git a/episodes/c8_p004_e024/device_events.jsonl b/episodes/c8_p004_e024/device_events.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..7e8d53fb33bb78dd22ff216be4cbaa68191eda37 --- /dev/null +++ b/episodes/c8_p004_e024/device_events.jsonl @@ -0,0 +1,36 @@ +{"env_id": 0, "seq": 1, "step": 162, "t": 0.81, "topic": "conveyor_1.belt.station.pick.captured", "source": "conveyor_1.belt", "data": {"rider": "carrier_4"}, "cause": null} +{"env_id": 0, "seq": 2, "step": 162, "t": 0.81, "topic": "conveyor_1.belt.state.changed", "source": "conveyor_1.belt", "data": {"from": "running", "to": "at_station"}, "cause": null} +{"env_id": 0, "seq": 3, "step": 167, "t": 0.835, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_4"}, "cause": null} +{"env_id": 0, "seq": 4, "step": 824, "t": 4.12, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_4"}, "cause": null} +{"env_id": 0, "seq": 5, "step": 5415, "t": 27.075, "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": 6028, "t": 30.14, "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": 6028, "t": 30.14, "topic": "a4s_sealer_1.seal.started", "source": "a4s_sealer_1", "data": {"dwell": 2.8390945260654648}, "cause": "task-0-1"} +{"env_id": 0, "seq": 8, "step": 6028, "t": 30.14, "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": 6028, "t": 30.14, "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": 6028, "t": 30.14, "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": 6447, "t": 32.235, "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": 6447, "t": 32.235, "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": 6447, "t": 32.235, "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": 6447, "t": 32.235, "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": 6447, "t": 32.235, "topic": "labware.plate_4.changed", "source": "labware.plate_4", "data": {"key": "sealed", "value": true}, "cause": "task-0-1"} +{"env_id": 0, "seq": 16, "step": 6447, "t": 32.235, "topic": "a4s_sealer_1.sealed", "source": "a4s_sealer_1", "data": {"plate": "plate_4"}, "cause": "task-0-1"} +{"env_id": 0, "seq": 17, "step": 6447, "t": 32.235, "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": 6447, "t": 32.235, "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": 6447, "t": 32.235, "topic": "a4s_sealer_1.heater.started", "source": "a4s_sealer_1.heater", "data": {"duration": 2.8390945260654648}, "cause": "program-0-3"} +{"env_id": 0, "seq": 20, "step": 7015, "t": 35.075, "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": 7015, "t": 35.075, "topic": "a4s_sealer_1.heater.finished", "source": "a4s_sealer_1.heater", "data": {"elapsed": 2.840000000001453}, "cause": "program-0-3"} +{"env_id": 0, "seq": 22, "step": 7015, "t": 35.075, "topic": "a4s_sealer_1.heater.command.succeeded", "source": "a4s_sealer_1.heater", "data": {"command_id": "program-0-3", "name": "run", "source": "program:seal", "result": {"elapsed": 2.840000000001453}}, "cause": "program-0-3"} +{"env_id": 0, "seq": 23, "step": 7015, "t": 35.075, "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": 7015, "t": 35.075, "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": 7015, "t": 35.075, "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": 7435, "t": 37.175, "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": 7435, "t": 37.175, "topic": "a4s_sealer_1.drawer.reached", "source": "a4s_sealer_1.drawer", "data": {"position": "out", "q": 4.1477904444420233e-10}, "cause": "program-0-4"} +{"env_id": 0, "seq": 28, "step": 7435, "t": 37.175, "topic": "a4s_sealer_1.drawer.at_out", "source": "a4s_sealer_1.drawer", "data": {"q": 4.1477904444420233e-10}, "cause": "program-0-4"} +{"env_id": 0, "seq": 29, "step": 7435, "t": 37.175, "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": 7435, "t": 37.175, "topic": "a4s_sealer_1.seal.finished", "source": "a4s_sealer_1", "data": {}, "cause": "task-0-1"} +{"env_id": 0, "seq": 31, "step": 7435, "t": 37.175, "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": 8015, "t": 40.075, "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": 9724, "t": 48.62, "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": 9724, "t": 48.62, "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": 9724, "t": 48.62, "topic": "conveyor_1.belt.state.changed", "source": "conveyor_1.belt", "data": {"from": "at_station", "to": "running"}, "cause": null} +{"env_id": 0, "seq": 36, "step": 9724, "t": 48.62, "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/c8_p004_e024/env.mp4 b/episodes/c8_p004_e024/env.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..e729e963b08baae8601257495597d7eb08521e02 --- /dev/null +++ b/episodes/c8_p004_e024/env.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:406b5bfbb265879ecaf5af0f695fe5cfddf9c1e8370fde7f7331aa01b02c669e +size 1247570 diff --git a/episodes/c8_p004_e024/meta.json b/episodes/c8_p004_e024/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..3f356112297d0f863ad67282be516ee286b8ef5c --- /dev/null +++ b/episodes/c8_p004_e024/meta.json @@ -0,0 +1,32 @@ +{ + "source": "raw/c8_p004/magicsim/24", + "fps": 25, + "frames": 1170, + "kept_ticks": "even", + "video_frames": { + "wrist": 1170, + "env": 1170 + }, + "joint_target_source": "joint_pos_target", + "fk_vs_recorded_eef_max_m": 0.0, + "curobo_joints": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "joint_order": [ + "shoulder_pan", + "shoulder_lift", + "elbow", + "wrist_1", + "wrist_2", + "wrist_3", + "finger_left", + "finger_right" + ], + "frames_note": "eef / actions in the robot base frame; camera_pose = local pose (wrist: in plate_gripper_base, env: env frame), pos + quat wxyz", + "dr_version": "v2" +} \ No newline at end of file diff --git a/episodes/c8_p004_e024/scene_snapshot.json b/episodes/c8_p004_e024/scene_snapshot.json new file mode 100644 index 0000000000000000000000000000000000000000..60d64e001bec580837de392f635166e7142ad7f1 --- /dev/null +++ b/episodes/c8_p004_e024/scene_snapshot.json @@ -0,0 +1,1558 @@ +{ + "trajectory_id": 24, + "env_id": 0, + "run_id": "c8_p004", + "task_type": "BioPlateCell", + "success": true, + "timing": { + "fps": 50.0, + "sim_dt": 0.005, + "decimation": 4 + }, + "restore_interface": { + "scene": "scene_manager.reset_to(snapshot['scene'], env_ids=[env_id])", + "robots": "robot_manager.set_state({'robots': snapshot['robots']}, env_ids=[env_id])" + }, + "snapshot": { + "env_id": 0, + "scene": { + "objects": [ + { + "rac_cell": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/rac_cell.usd", + "pose": { + "pos": [ + 0.0, + 0.0, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "physics_material": { + "static_friction": 0.6, + "dynamic_friction": 0.5, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "robot_mount": [ + { + "asset": "Cube", + "pose": { + "pos": [ + 0.0, + 0.0, + 0.9075 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": "color", + "value": [ + 0.55, + 0.56, + 0.58 + ], + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": { + "size": [ + 0.2, + 0.2, + 0.015 + ] + } + }, + "type_specific": {} + } + ], + "plate_rack": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/plate_hotel.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 0.9 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "physics_material": { + "static_friction": 0.6, + "dynamic_friction": 0.5, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "hotel_plate": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/pcr_384_red/pcr_384_red.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 0.9605 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_96_clear/plate_96_clear.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.0285 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_24_clear/plate_24_clear.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.0965 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/deep_well_24_10ml/deep_well_24_10ml.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.1645 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/deep_well_24_10ml/deep_well_24_10ml.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.2325 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "a4s_sealer": [ + { + "asset": "$MAGICSIM_ASSETS/Articulated/A4SSealer/Object.usd", + "pose": { + "pos": [ + 0.48504161834716797, + 0.08316230773925781, + 0.8999999761581421 + ], + "ori": [ + -0.6887111067771912, + 0.0, + 0.0, + 0.7250358462333679 + ], + "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": [ + 1.6820822078961184e-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": 0.16976430173393575, + "direction": [ + 1.0, + 0.0, + 0.0 + ], + "enabled": true, + "drive": "surface_velocity", + "lines": null, + "station_line": null, + "riders": [ + "carrier" + ], + "stations": { + "pick": { + "position": -0.1299780641917627, + "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": 0.16976430173393575, + "holds": [], + "station": "pick", + "rider": "carrier_4", + "arrived": true, + "applied_speed": 0.0 + } + } + } + ], + "carrier": [ + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + 1.5535917282104492, + 0.5190725326538086, + 0.8999999761581421 + ], + "ori": [ + 0.9519444108009338, + 6.422710185916003e-08, + -9.833296843453354e-08, + 0.30627119541168213 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -2.27336567348857e-08, + 7.654493039410681e-09, + 5.21540641784668e-08 + ], + "angular_velocity": [ + -1.0571170605544467e-07, + -1.1199879281775793e-06, + 1.3093068673697417e-07 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + -1.3963689804077148, + 0.8302726745605469, + 0.8999999761581421 + ], + "ori": [ + -0.677204430103302, + 3.590607633441323e-08, + 2.0044970483468205e-07, + 0.7357950210571289 + ], + "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": [ + 1.0008669448779983e-09, + -5.722995410906151e-10, + 3.725290298461914e-09 + ], + "angular_velocity": [ + 4.168396117165685e-08, + 5.330855401552981e-08, + -4.769276529259514e-09 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + 0.6682252883911133, + 1.1527767181396484, + 0.8999999761581421 + ], + "ori": [ + -0.009134073741734028, + -7.843408589280898e-09, + -3.461687825279114e-09, + 0.999958336353302 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -6.879321556851892e-10, + -1.4338861209495235e-09, + 7.450580596923828e-09 + ], + "angular_velocity": [ + 6.606142477494359e-08, + -5.6899985168001876e-08, + -1.842498420501215e-08 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + 0.019689559936523438, + 0.45000171661376953, + 0.8999999761581421 + ], + "ori": [ + 1.0, + -3.0775904047430913e-09, + 5.965594684909092e-10, + 6.0381917137419805e-05 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -3.62175622825589e-09, + -2.6472823932977008e-09, + 2.2351741790771484e-08 + ], + "angular_velocity": [ + 1.7080930092561175e-07, + -3.2745097655606514e-07, + -1.9339504220283743e-08 + ] + } + } + ], + "plate": [ + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_6_clear/Object.usd", + "pose": { + "pos": [ + 1.5452690124511719, + 0.5101184844970703, + 0.9179999828338623 + ], + "ori": [ + 0.918219804763794, + 2.8890221415167616e-07, + 1.4119048330485384e-07, + 0.39607107639312744 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -8.54856534715509e-06, + -1.1740216905309353e-06, + -2.0600855350494385e-06 + ], + "angular_velocity": [ + -4.5433789637172595e-05, + -9.768000018084422e-05, + 4.7174144128803164e-05 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_96_black/Object.usd", + "pose": { + "pos": [ + -1.3991260528564453, + 0.8337888717651367, + 0.9180000424385071 + ], + "ori": [ + -0.7476117610931396, + -1.1745583350375455e-07, + 1.1822687895346462e-07, + 0.6641360521316528 + ], + "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": [ + 4.196567715553101e-06, + 3.38255949827726e-06, + -1.4081597328186035e-06 + ], + "angular_velocity": [ + -2.1626809029839933e-05, + 3.261128222220577e-05, + 5.319275805959478e-05 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/pcr_96_blue/Object.usd", + "pose": { + "pos": [ + 0.6632518768310547, + 1.1636791229248047, + 0.9180000424385071 + ], + "ori": [ + -0.039770159870386124, + -7.762224640828208e-09, + -4.1049039722906855e-09, + 0.999208927154541 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 1.2412119332338989e-08, + -1.9300429698887456e-08, + -5.256384611129761e-06 + ], + "angular_velocity": [ + 1.480487981098122e-07, + 1.774608790583443e-06, + 3.031057715929819e-08 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/deep_well_96_2ml/Object.usd", + "pose": { + "pos": [ + 0.010037422180175781, + 0.4528484344482422, + 0.9179999828338623 + ], + "ori": [ + 0.9985886812210083, + -4.234310679862574e-09, + -5.82944803539931e-11, + -0.053111568093299866 + ], + "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": [ + -9.12802704533533e-08, + -4.3155907292202755e-08, + -1.1548399925231934e-06 + ], + "angular_velocity": [ + 9.604618753655814e-07, + -2.9300294954737183e-06, + 3.3039118108035836e-08 + ] + } + } + ], + "deco_hub_west": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/hub_d.usd", + "pose": { + "pos": [ + -3.36, + 0.0, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_hub_east": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/hub_e.usd", + "pose": { + "pos": [ + 3.36, + 0.0, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_hub_back": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/hub_b.usd", + "pose": { + "pos": [ + -3.0, + -2.1, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_bench_east": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/bench_a.usd", + "pose": { + "pos": [ + 2.6, + -2.5, + 0.0 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_bench_gap": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/bench_b.usd", + "pose": { + "pos": [ + -0.1, + -2.9, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ] + }, + {}, + {}, + {} + ], + "devices": { + "hub": [ + { + "t": 2.079999999999978, + "step": 416, + "counter": 0, + "devices": { + "a4s_sealer_1": { + "mode": "auto", + "units": { + "drawer": { + "state": "at_out", + "active": null, + "target": 0.0, + "goal_name": "out", + "profile": null, + "q_start": null, + "reversing": false, + "blocked_for": 0.0, + "settled_for": 0.0, + "last_q": 1.6820822078961184e-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": 0.16976430173393575, + "holds": [], + "station": "pick", + "rider": "carrier_4", + "arrived": true, + "settle_count": 253, + "released": { + "pick": [] + }, + "last_pos": { + "carrier_1": [ + 1.4035917222499847, + 0.06907254457473755, + 0.0 + ], + "carrier_2": [ + -1.5463689863681793, + 0.38027268648147583, + 0.0 + ], + "carrier_3": [ + 0.5182252824306488, + 0.7027767300605774, + 0.0 + ], + "carrier_4": [ + -0.13031044602394104, + 1.7285346984863281e-06, + 0.0 + ] + }, + "command": 0.0 + }, + "belt": { + "target_speed": 0.0, + "command_speed": 0.0 + }, + "seen": { + "state": "at_station", + "station": "pick", + "rider": "carrier_4", + "arrived": true + } + } + }, + "queues": {}, + "program": null, + "sensors": {}, + "interlocks": {} + } + }, + "zones": {}, + "labware": { + "plate_1": { + "sealed": false + }, + "plate_2": { + "sealed": false + }, + "plate_3": { + "sealed": false + }, + "plate_4": { + "sealed": false + } + }, + "rules": {}, + "records": [], + "bus": { + "seq": 3, + "queue": [] + } + }, + null, + null, + null + ], + "drives": [ + {}, + null, + null, + null + ] + }, + "artifacts": [ + { + "ceiling": { + "type": "rect", + "pose": { + "pos": [ + 0.21206471597182797, + -0.1638380919402091, + 2.8440139964190636 + ], + "ori": [ + -2.8767670070731803, + 4.847728954726115, + -21.71905783699496 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "color_temperature": 3973.8379751775833, + "color": [ + 0.9407864617590931, + 0.8314158702839821, + 0.8061838385950416 + ], + "intensity": 7164.369681200953, + "width": 2.799240722247138, + "height": 1.4408072044858382 + } + }, + "key": { + "type": "sphere", + "pose": { + "pos": [ + 1.0374216952632462, + -0.8948031783814795, + 1.8994546580831677 + ], + "ori": [ + 17.929255660099123, + 39.841971648650954, + -38.77601658029504 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "color_temperature": 4538.213070872811, + "color": [ + 0.8924608918073225, + 0.8349751989269512, + 0.7925136317211321 + ], + "intensity": 7110.810499806389, + "radius": 0.06744536804412078 + } + } + }, + {}, + {}, + {} + ], + "background": { + "type": "dome", + "pose": { + "pos": null, + "ori": null, + "scale": null + }, + "dr": { + "intensity": 636.6606194897254, + "texture": null, + "color": [ + 0.92, + 0.94, + 0.96 + ] + } + } + }, + "robots": { + "UR5e": { + "root_pose": [ + [ + 11.0, + -11.0, + 0.9150000214576721, + 1.0, + 0.0, + 0.0, + 0.0 + ], + [ + 11.0, + 11.0, + 0.9150000214576721, + 1.0, + 0.0, + 0.0, + 0.0 + ], + [ + -11.0, + -11.0, + 0.9150000214576721, + 1.0, + 0.0, + 0.0, + 0.0 + ], + [ + -11.0, + 11.0, + 0.9150000214576721, + 1.0, + 0.0, + 0.0, + 0.0 + ] + ], + "root_vel": [ + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + ], + "joint_pos": [ + [ + 0.9140999913215637, + -1.7194000482559204, + 2.0905001163482666, + -1.9419000148773193, + -1.5707999467849731, + 2.4848999977111816, + 0.017999999225139618, + 0.017999999225139618 + ], + [ + -0.10418281704187393, + -1.9557439088821411, + 2.6662068367004395, + -2.281303882598877, + -1.5706712007522583, + 4.551197052001953, + 0.007695526350289583, + 0.006840214133262634 + ], + [ + -0.13406512141227722, + -1.8584156036376953, + 2.6157188415527344, + -2.3281540870666504, + -1.570605754852295, + 4.54966926574707, + 0.007734806276857853, + 0.007005695719271898 + ], + [ + 0.7294961810112, + -1.7981740236282349, + 2.2131459712982178, + -1.985933542251587, + -1.5705369710922241, + 2.477700710296631, + 0.007714088074862957, + 0.007146805990487337 + ] + ], + "joint_vel": [ + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + [ + -0.0010005268268287182, + -0.00016522100486326963, + 0.0007179270614869893, + 5.213463737163693e-05, + -0.005040034651756287, + 0.011468878015875816, + -0.011857238598167896, + 0.0003581530472729355 + ], + [ + -0.0008588049677200615, + -0.00011518493556650355, + 0.0007803773623891175, + -0.00023276351566892117, + -0.0064852917566895485, + 0.014756823889911175, + -0.010084914043545723, + 0.00037831644294783473 + ], + [ + 0.036938343197107315, + 0.014146069996058941, + -0.0073454724624753, + -0.0062945825047791, + -0.0003567278909031302, + -0.07351551949977875, + -0.007154539693146944, + 0.0002115216921083629 + ] + ] + } + }, + "cameras": { + "cameras": { + "camera0": [ + [ + 0.05129791796207428, + -7.315186667256057e-05, + -0.03347931057214737, + -0.27837303280830383, + 0.6552615761756897, + 0.6461260914802551, + -0.27506694197654724 + ], + [ + 0.05022060498595238, + 0.00196978822350502, + -0.029800130054354668, + -0.28044506907463074, + 0.6471892595291138, + 0.6591273546218872, + -0.2608596384525299 + ], + [ + 0.050912097096443176, + 0.0030986981000751257, + -0.028886660933494568, + -0.2731174826622009, + 0.6597709059715271, + 0.6378769278526306, + -0.2884826958179474 + ], + [ + 0.04935270547866821, + -0.0046619633212685585, + -0.030583461746573448, + -0.2725811004638672, + 0.6618719696998596, + 0.6352840065956116, + -0.28989526629447937 + ] + ], + "camera1": [ + [ + 0.03999532386660576, + 0.594179093837738, + 1.936532735824585, + 0.03618047386407852, + 0.0009058440919034183, + 0.25557368993759155, + 0.9661118984222412 + ], + [ + 0.042388368397951126, + 0.5591687560081482, + 1.9679481983184814, + 0.028884531930088997, + -0.002240237779915333, + 0.27109387516975403, + 0.9621168375015259 + ], + [ + 0.06027113273739815, + 0.5890265107154846, + 1.932159662246704, + 0.041046593338251114, + 0.01392423640936613, + 0.268069326877594, + 0.962424099445343 + ], + [ + 0.049138836562633514, + 0.5563530921936035, + 1.9445369243621826, + 0.047931306064128876, + 0.016560258343815804, + 0.275546669960022, + 0.9599491357803345 + ] + ] + } + } + } +} \ No newline at end of file diff --git a/episodes/c8_p004_e024/wrist.mp4 b/episodes/c8_p004_e024/wrist.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..720a07e2e0a0e643bd54f3665a7d2775efcb756b --- /dev/null +++ b/episodes/c8_p004_e024/wrist.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:49814a99a984a4055f3fc040d17ed22f4bbd79eef7f3221bb340a96c0c89df15 +size 6560815 diff --git a/episodes/c8_p004_e025/data.npz b/episodes/c8_p004_e025/data.npz new file mode 100644 index 0000000000000000000000000000000000000000..eb9102b0b46815a2f610a4ba0a4817195bfcd11f --- /dev/null +++ b/episodes/c8_p004_e025/data.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:ab9f5e44234af7b209718d52d2e3adafb911393dde3024790afd2c1309fe9300 +size 185527 diff --git a/episodes/c8_p004_e025/device_events.jsonl b/episodes/c8_p004_e025/device_events.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..1d49d8ca9b16bc79fb4fac9e3df693df799544c8 --- /dev/null +++ b/episodes/c8_p004_e025/device_events.jsonl @@ -0,0 +1,36 @@ +{"env_id": 3, "seq": 1, "step": 85, "t": 0.425, "topic": "conveyor_1.belt.station.pick.captured", "source": "conveyor_1.belt", "data": {"rider": "carrier_1"}, "cause": null} +{"env_id": 3, "seq": 2, "step": 85, "t": 0.425, "topic": "conveyor_1.belt.state.changed", "source": "conveyor_1.belt", "data": {"from": "running", "to": "at_station"}, "cause": null} +{"env_id": 3, "seq": 3, "step": 90, "t": 0.45, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_1"}, "cause": null} +{"env_id": 3, "seq": 4, "step": 1301, "t": 6.505, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_1"}, "cause": null} +{"env_id": 3, "seq": 5, "step": 6055, "t": 30.275, "topic": "a4s_sealer_1.plate_present.present", "source": "a4s_sealer_1.plate_present", "data": {"object": "plate_1"}, "cause": null} +{"env_id": 3, "seq": 6, "step": 6668, "t": 33.34, "topic": "a4s_sealer_1.command.started", "source": "a4s_sealer_1", "data": {"command_id": "task-3-1", "name": "seal", "source": "task"}, "cause": "task-3-1"} +{"env_id": 3, "seq": 7, "step": 6668, "t": 33.34, "topic": "a4s_sealer_1.seal.started", "source": "a4s_sealer_1", "data": {"dwell": 2.762918657369979}, "cause": "task-3-1"} +{"env_id": 3, "seq": 8, "step": 6668, "t": 33.34, "topic": "a4s_sealer_1.drawer.command.started", "source": "a4s_sealer_1.drawer", "data": {"command_id": "program-3-2", "name": "close", "source": "program:seal"}, "cause": "program-3-2"} +{"env_id": 3, "seq": 9, "step": 6668, "t": 33.34, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "at_out", "to": "moving"}, "cause": null} +{"env_id": 3, "seq": 10, "step": 6668, "t": 33.34, "topic": "a4s_sealer_1.drawer.moving", "source": "a4s_sealer_1.drawer", "data": {"target": 0.3, "goal": "in"}, "cause": "program-3-2"} +{"env_id": 3, "seq": 11, "step": 7087, "t": 35.435, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "moving", "to": "at_in"}, "cause": null} +{"env_id": 3, "seq": 12, "step": 7087, "t": 35.435, "topic": "a4s_sealer_1.drawer.reached", "source": "a4s_sealer_1.drawer", "data": {"position": "in", "q": 0.30000001192092896}, "cause": "program-3-2"} +{"env_id": 3, "seq": 13, "step": 7087, "t": 35.435, "topic": "a4s_sealer_1.drawer.at_in", "source": "a4s_sealer_1.drawer", "data": {"q": 0.30000001192092896}, "cause": "program-3-2"} +{"env_id": 3, "seq": 14, "step": 7087, "t": 35.435, "topic": "a4s_sealer_1.drawer.command.succeeded", "source": "a4s_sealer_1.drawer", "data": {"command_id": "program-3-2", "name": "close", "source": "program:seal", "result": {"position": "in"}}, "cause": "program-3-2"} +{"env_id": 3, "seq": 15, "step": 7087, "t": 35.435, "topic": "labware.plate_1.changed", "source": "labware.plate_1", "data": {"key": "sealed", "value": true}, "cause": "task-3-1"} +{"env_id": 3, "seq": 16, "step": 7087, "t": 35.435, "topic": "a4s_sealer_1.sealed", "source": "a4s_sealer_1", "data": {"plate": "plate_1"}, "cause": "task-3-1"} +{"env_id": 3, "seq": 17, "step": 7087, "t": 35.435, "topic": "a4s_sealer_1.heater.command.started", "source": "a4s_sealer_1.heater", "data": {"command_id": "program-3-3", "name": "run", "source": "program:seal"}, "cause": "program-3-3"} +{"env_id": 3, "seq": 18, "step": 7087, "t": 35.435, "topic": "a4s_sealer_1.heater.state.changed", "source": "a4s_sealer_1.heater", "data": {"from": "ready", "to": "running"}, "cause": null} +{"env_id": 3, "seq": 19, "step": 7087, "t": 35.435, "topic": "a4s_sealer_1.heater.started", "source": "a4s_sealer_1.heater", "data": {"duration": 2.762918657369979}, "cause": "program-3-3"} +{"env_id": 3, "seq": 20, "step": 7640, "t": 38.2, "topic": "a4s_sealer_1.heater.state.changed", "source": "a4s_sealer_1.heater", "data": {"from": "running", "to": "ready"}, "cause": null} +{"env_id": 3, "seq": 21, "step": 7640, "t": 38.2, "topic": "a4s_sealer_1.heater.finished", "source": "a4s_sealer_1.heater", "data": {"elapsed": 2.7650000000014145}, "cause": "program-3-3"} +{"env_id": 3, "seq": 22, "step": 7640, "t": 38.2, "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": 2.7650000000014145}}, "cause": "program-3-3"} +{"env_id": 3, "seq": 23, "step": 7640, "t": 38.2, "topic": "a4s_sealer_1.drawer.command.started", "source": "a4s_sealer_1.drawer", "data": {"command_id": "program-3-4", "name": "open", "source": "program:seal"}, "cause": "program-3-4"} +{"env_id": 3, "seq": 24, "step": 7640, "t": 38.2, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "at_in", "to": "moving"}, "cause": null} +{"env_id": 3, "seq": 25, "step": 7640, "t": 38.2, "topic": "a4s_sealer_1.drawer.moving", "source": "a4s_sealer_1.drawer", "data": {"target": 0.0, "goal": "out"}, "cause": "program-3-4"} +{"env_id": 3, "seq": 26, "step": 8060, "t": 40.3, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "moving", "to": "at_out"}, "cause": null} +{"env_id": 3, "seq": 27, "step": 8060, "t": 40.3, "topic": "a4s_sealer_1.drawer.reached", "source": "a4s_sealer_1.drawer", "data": {"position": "out", "q": 0.0}, "cause": "program-3-4"} +{"env_id": 3, "seq": 28, "step": 8060, "t": 40.3, "topic": "a4s_sealer_1.drawer.at_out", "source": "a4s_sealer_1.drawer", "data": {"q": 0.0}, "cause": "program-3-4"} +{"env_id": 3, "seq": 29, "step": 8060, "t": 40.3, "topic": "a4s_sealer_1.drawer.command.succeeded", "source": "a4s_sealer_1.drawer", "data": {"command_id": "program-3-4", "name": "open", "source": "program:seal", "result": {"position": "out"}}, "cause": "program-3-4"} +{"env_id": 3, "seq": 30, "step": 8060, "t": 40.3, "topic": "a4s_sealer_1.seal.finished", "source": "a4s_sealer_1", "data": {}, "cause": "task-3-1"} +{"env_id": 3, "seq": 31, "step": 8060, "t": 40.3, "topic": "a4s_sealer_1.command.succeeded", "source": "a4s_sealer_1", "data": {"command_id": "task-3-1", "name": "seal", "source": "task"}, "cause": "task-3-1"} +{"env_id": 3, "seq": 32, "step": 8638, "t": 43.19, "topic": "a4s_sealer_1.plate_present.absent", "source": "a4s_sealer_1.plate_present", "data": {"object": "plate_1"}, "cause": null} +{"env_id": 3, "seq": 33, "step": 10304, "t": 51.52, "topic": "conveyor_1.belt.command.started", "source": "conveyor_1.belt", "data": {"command_id": "task-3-5", "name": "release", "source": "task"}, "cause": "task-3-5"} +{"env_id": 3, "seq": 34, "step": 10304, "t": 51.52, "topic": "conveyor_1.belt.station.pick.released", "source": "conveyor_1.belt", "data": {"rider": "carrier_1"}, "cause": "task-3-5"} +{"env_id": 3, "seq": 35, "step": 10304, "t": 51.52, "topic": "conveyor_1.belt.state.changed", "source": "conveyor_1.belt", "data": {"from": "at_station", "to": "running"}, "cause": null} +{"env_id": 3, "seq": 36, "step": 10304, "t": 51.52, "topic": "conveyor_1.belt.command.succeeded", "source": "conveyor_1.belt", "data": {"command_id": "task-3-5", "name": "release", "source": "task", "result": {"state": "running"}}, "cause": "task-3-5"} diff --git a/episodes/c8_p004_e025/env.mp4 b/episodes/c8_p004_e025/env.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..1bad61a854cd64af4d3a8320661da3747a9eaf69 --- /dev/null +++ b/episodes/c8_p004_e025/env.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:5ff549bdad0a077e04109862adcc7eae08b1e3eb5b249dcdab16a80f18dd50d8 +size 1324550 diff --git a/episodes/c8_p004_e025/meta.json b/episodes/c8_p004_e025/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..dc33242e4de62375f382cffd4345531fe7429bba --- /dev/null +++ b/episodes/c8_p004_e025/meta.json @@ -0,0 +1,32 @@ +{ + "source": "raw/c8_p004/magicsim/25", + "fps": 25, + "frames": 1185, + "kept_ticks": "even", + "video_frames": { + "wrist": 1185, + "env": 1185 + }, + "joint_target_source": "joint_pos_target", + "fk_vs_recorded_eef_max_m": 0.0, + "curobo_joints": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "joint_order": [ + "shoulder_pan", + "shoulder_lift", + "elbow", + "wrist_1", + "wrist_2", + "wrist_3", + "finger_left", + "finger_right" + ], + "frames_note": "eef / actions in the robot base frame; camera_pose = local pose (wrist: in plate_gripper_base, env: env frame), pos + quat wxyz", + "dr_version": "v2" +} \ No newline at end of file diff --git a/episodes/c8_p004_e025/scene_snapshot.json b/episodes/c8_p004_e025/scene_snapshot.json new file mode 100644 index 0000000000000000000000000000000000000000..15f57e0b8e724f76b20eb4c9bf2f669ad7035e04 --- /dev/null +++ b/episodes/c8_p004_e025/scene_snapshot.json @@ -0,0 +1,1558 @@ +{ + "trajectory_id": 25, + "env_id": 3, + "run_id": "c8_p004", + "task_type": "BioPlateCell", + "success": true, + "timing": { + "fps": 50.0, + "sim_dt": 0.005, + "decimation": 4 + }, + "restore_interface": { + "scene": "scene_manager.reset_to(snapshot['scene'], env_ids=[env_id])", + "robots": "robot_manager.set_state({'robots': snapshot['robots']}, env_ids=[env_id])" + }, + "snapshot": { + "env_id": 3, + "scene": { + "objects": [ + {}, + {}, + {}, + { + "rac_cell": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/rac_cell.usd", + "pose": { + "pos": [ + 0.0, + 0.0, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "physics_material": { + "static_friction": 0.6, + "dynamic_friction": 0.5, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "robot_mount": [ + { + "asset": "Cube", + "pose": { + "pos": [ + 0.0, + 0.0, + 0.9075 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": "color", + "value": [ + 0.55, + 0.56, + 0.58 + ], + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": { + "size": [ + 0.2, + 0.2, + 0.015 + ] + } + }, + "type_specific": {} + } + ], + "plate_rack": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/plate_hotel.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 0.9 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "physics_material": { + "static_friction": 0.6, + "dynamic_friction": 0.5, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "hotel_plate": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_12_clear/plate_12_clear.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 0.9605 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/pcr_384_red/pcr_384_red.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.0285 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/deep_well_24_10ml/deep_well_24_10ml.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.0965 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/pcr_96_blue/pcr_96_blue.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.1645 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/pcr_96_blue/pcr_96_blue.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.2325 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "a4s_sealer": [ + { + "asset": "$MAGICSIM_ASSETS/Articulated/A4SSealer/Object.usd", + "pose": { + "pos": [ + 0.4953346252441406, + 0.08161735534667969, + 0.8999999761581421 + ], + "ori": [ + -0.677407443523407, + 0.0, + 0.0, + 0.7356080412864685 + ], + "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": [ + 6.728328289483387e-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": 0.2987661431626888, + "direction": [ + 1.0, + 0.0, + 0.0 + ], + "enabled": true, + "drive": "surface_velocity", + "lines": null, + "station_line": null, + "riders": [ + "carrier" + ], + "stations": { + "pick": { + "position": -0.04261438885708052, + "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": 0.2987661431626888, + "holds": [], + "station": "pick", + "rider": "carrier_1", + "arrived": true, + "applied_speed": 0.0 + } + } + } + ], + "carrier": [ + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + 0.10736656188964844, + 0.4499988555908203, + 0.8999999761581421 + ], + "ori": [ + 1.0, + 1.8755903496980864e-09, + -3.9764609383041716e-09, + 4.947642810293473e-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": [ + 1.2642407121177257e-09, + 6.163525245739265e-10, + 1.1175870895385742e-08 + ], + "angular_velocity": [ + -9.419842683655588e-10, + 1.1429959556608082e-07, + -1.7887909820046843e-08 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + 0.5049972534179688, + 1.1536951065063477, + 0.8999999761581421 + ], + "ori": [ + -0.001257595606148243, + 5.46807703283303e-11, + -4.896580030333553e-09, + 0.9999992251396179 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 2.605608617756161e-09, + 4.9551243108680865e-09, + 1.862645149230957e-08 + ], + "angular_velocity": [ + -1.92935914355985e-07, + 2.033289376868197e-07, + -4.1072137690889576e-08 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + -1.1807432174682617, + 1.1211175918579102, + 0.8999999761581421 + ], + "ori": [ + -0.181824192404747, + 1.1816607070613827e-07, + -1.7670867435981563e-08, + 0.9833311438560486 + ], + "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": [ + 1.6521205736808042e-08, + 2.423491807235223e-08, + -7.82310962677002e-08 + ], + "angular_velocity": [ + -2.215728954979568e-06, + 1.4640070276072947e-06, + -1.902180102320017e-08 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + 1.4968252182006836, + 0.48589420318603516, + 0.8999999761581421 + ], + "ori": [ + 0.9783416986465454, + -5.054535456849862e-09, + 1.0055796195729272e-08, + 0.20699670910835266 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -1.385387360386403e-10, + -6.242793504362965e-10, + 0.0 + ], + "angular_velocity": [ + -4.4467437732009785e-08, + -2.251134034736424e-08, + -1.3272309473677524e-08 + ] + } + } + ], + "plate": [ + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_48_clear/Object.usd", + "pose": { + "pos": [ + 0.10276031494140625, + 0.4520912170410156, + 0.9179999828338623 + ], + "ori": [ + 0.9969037175178528, + 2.0439374637248875e-09, + -3.871753140316514e-09, + 0.0786321684718132 + ], + "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": [ + -8.66581473246697e-09, + -9.267589362593753e-09, + 1.3783574104309082e-07 + ], + "angular_velocity": [ + 1.2032708127662772e-06, + -1.565838829264976e-06, + -6.107654115794503e-08 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_384_white/Object.usd", + "pose": { + "pos": [ + 0.5078144073486328, + 1.160421371459961, + 0.9180000424385071 + ], + "ori": [ + -0.05461246147751808, + 3.2597349819418753e-10, + -5.5573416979370904e-09, + 0.9985076785087585 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 5.4442260477571836e-08, + 2.993226289049744e-08, + -4.947185516357422e-06 + ], + "angular_velocity": [ + -9.133161711361026e-07, + 2.8706740522466134e-06, + 4.2195239302600385e-08 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_96_clear/Object.usd", + "pose": { + "pos": [ + -1.1692314147949219, + 1.1341266632080078, + 0.9180000424385071 + ], + "ori": [ + -0.15272146463394165, + 1.1437624891641462e-07, + -1.6784660772373172e-08, + 0.9882692694664001 + ], + "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": [ + 5.441161832209218e-08, + 7.360927156696562e-08, + -5.930662155151367e-06 + ], + "angular_velocity": [ + -3.5635878248285735e-06, + 4.771397925651399e-06, + 4.3031178620367427e-10 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/reservoir_12ch/Object.usd", + "pose": { + "pos": [ + 1.4969635009765625, + 0.4770383834838867, + 0.9179999828338623 + ], + "ori": [ + 0.982140839099884, + 1.2435902307927904e-09, + 9.832024971956344e-09, + 0.1881473958492279 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -5.203315822654986e-08, + -3.0067752732065856e-08, + -2.5331974029541016e-06 + ], + "angular_velocity": [ + 6.327695700747427e-07, + -1.4540802339979564e-06, + 3.673196857789662e-08 + ] + } + } + ], + "deco_hub_west": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/hub_e.usd", + "pose": { + "pos": [ + -3.36, + 0.0, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_hub_east": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/hub_d.usd", + "pose": { + "pos": [ + 3.36, + 0.0, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_hub_back": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/hub_a.usd", + "pose": { + "pos": [ + -3.0, + -2.1, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_bench_east": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/bench_c.usd", + "pose": { + "pos": [ + 2.6, + -2.5, + 0.0 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_bench_gap": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/bench_b.usd", + "pose": { + "pos": [ + -0.1, + -2.9, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ] + } + ], + "devices": { + "hub": [ + null, + null, + null, + { + "t": 4.259999999999931, + "step": 852, + "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": 6.728328289483387e-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": 0.2987661431626888, + "holds": [], + "station": "pick", + "rider": "carrier_1", + "arrived": true, + "settle_count": 766, + "released": { + "pick": [] + }, + "last_pos": { + "carrier_1": [ + -0.04263344407081604, + -1.1324882507324219e-06, + 0.0 + ], + "carrier_2": [ + 0.3549972474575043, + 0.7036951184272766, + 0.0 + ], + "carrier_3": [ + -1.3307432234287262, + 0.6711176037788391, + 0.0 + ], + "carrier_4": [ + 1.3468252122402191, + 0.03589421510696411, + 0.0 + ] + }, + "command": 0.0 + }, + "belt": { + "target_speed": 0.0, + "command_speed": 0.0 + }, + "seen": { + "state": "at_station", + "station": "pick", + "rider": "carrier_1", + "arrived": true + } + } + }, + "queues": {}, + "program": null, + "sensors": {}, + "interlocks": {} + } + }, + "zones": {}, + "labware": { + "plate_1": { + "sealed": false + }, + "plate_2": { + "sealed": false + }, + "plate_3": { + "sealed": false + }, + "plate_4": { + "sealed": false + } + }, + "rules": {}, + "records": [], + "bus": { + "seq": 3, + "queue": [] + } + } + ], + "drives": [ + null, + null, + null, + {} + ] + }, + "artifacts": [ + {}, + {}, + {}, + { + "ceiling": { + "type": "rect", + "pose": { + "pos": [ + 0.3637846819434889, + -0.3027976996083892, + 2.600158213870678 + ], + "ori": [ + 6.667565282727988, + -5.326357963023225, + -25.48849064474073 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "color_temperature": 3752.3414899926092, + "color": [ + 0.878149976062151, + 0.8620180016587804, + 0.8579952692793928 + ], + "intensity": 5647.953525989911, + "width": 2.47969816142526, + "height": 1.8238391054381482 + } + }, + "key": { + "type": "sphere", + "pose": { + "pos": [ + 0.47890092811550655, + 0.6645563960329095, + 2.747595978329964 + ], + "ori": [ + 31.99544381211301, + 4.4693379165327585, + -23.45003956447048 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "color_temperature": 6271.283985829963, + "color": [ + 0.7764804826457129, + 0.8983934263415513, + 0.783986753845741 + ], + "intensity": 9160.901036858093, + "radius": 0.09162035457638569 + } + } + } + ], + "background": { + "type": "dome", + "pose": { + "pos": null, + "ori": null, + "scale": null + }, + "dr": { + "intensity": 636.6606194897254, + "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": [ + [ + 2.801429510116577, + -1.3931636810302734, + 2.2216453552246094, + -2.399101972579956, + -1.5705775022506714, + 4.372378826141357, + 0.007803355809301138, + 0.007265184540301561 + ], + [ + 0.9140999913215637, + -1.7194000482559204, + 2.0905001163482666, + -1.9419000148773193, + -1.5707999467849731, + 2.4848999977111816, + 0.017999999225139618, + 0.017999999225139618 + ], + [ + 0.9140999913215637, + -1.7194000482559204, + 2.0905001163482666, + -1.9419000148773193, + -1.5707999467849731, + 2.4848999977111816, + 0.017999999225139618, + 0.017999999225139618 + ], + [ + 0.9141028523445129, + -1.7193982601165771, + 2.0904996395111084, + -1.9419007301330566, + -1.5707999467849731, + 2.48490047454834, + 0.017999999225139618, + 0.017999999225139618 + ] + ], + "joint_vel": [ + [ + 0.0017345722299069166, + 0.005010700318962336, + -0.007015815004706383, + 0.0005703427596017718, + -0.0008067403687164187, + 0.0035814994480460882, + -0.006563622038811445, + 0.00027264663367532194 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + [ + -2.587474072561574e-38, + 1.4961644085417571e-38, + -1.9132516478781744e-38, + 4.1747510754095465e-37, + -1.1358893962731366e-37, + 2.6400481004499897e-37, + -1.2747163714454277e-38, + 9.201520988344394e-38 + ] + ] + } + }, + "cameras": { + "cameras": { + "camera0": [ + [ + 0.05205211415886879, + -0.0010708665940910578, + -0.033189807087183, + -0.27742472290992737, + 0.6546823978424072, + 0.6481229662895203, + -0.27269604802131653 + ], + [ + 0.04997926577925682, + -0.0020002969540655613, + -0.02822078764438629, + -0.27345845103263855, + 0.6520987749099731, + 0.6496589779853821, + -0.2791609764099121 + ], + [ + 0.051538288593292236, + 0.00045394059270620346, + -0.02705497294664383, + -0.2752491235733032, + 0.6466255187988281, + 0.6512667536735535, + -0.2862953245639801 + ], + [ + 0.04882730171084404, + -0.000420064345235005, + -0.03421975299715996, + -0.26988571882247925, + 0.6553005576133728, + 0.6480386257171631, + -0.27890655398368835 + ] + ], + "camera1": [ + [ + 0.03999532386660576, + 0.594179093837738, + 1.936532735824585, + 0.03618047386407852, + 0.0009058440919034183, + 0.25557368993759155, + 0.9661118984222412 + ], + [ + 0.06915207207202911, + 0.5973067879676819, + 1.9267983436584473, + 0.02227656915783882, + 0.006327059585601091, + 0.2874835431575775, + 0.9575055837631226 + ], + [ + 0.06244208291172981, + 0.5815514326095581, + 1.9398084878921509, + 0.02914087474346161, + 0.00483666779473424, + 0.26127907633781433, + 0.9648112058639526 + ], + [ + 0.04403630271553993, + 0.5986007452011108, + 1.9484952688217163, + 0.046921469271183014, + -0.006664630025625229, + 0.2545922100543976, + 0.9658865332603455 + ] + ] + } + } + } +} \ No newline at end of file diff --git a/episodes/c8_p004_e025/wrist.mp4 b/episodes/c8_p004_e025/wrist.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..20310c4db3e48209405a0eb0246253b769a3be14 --- /dev/null +++ b/episodes/c8_p004_e025/wrist.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:44c6d274484c943d5e4c9bf189615e4da1d03444bf3d52cb42aea4197fdc5e62 +size 7099286 diff --git a/episodes/c9_p006_e027/data.npz b/episodes/c9_p006_e027/data.npz new file mode 100644 index 0000000000000000000000000000000000000000..041753f78076c99cffc3263a68da16b8ba2b53a7 --- /dev/null +++ b/episodes/c9_p006_e027/data.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:65de468a6f60669bf8b63c741736f059a64965829ca1c8d5da57a3eacebe9771 +size 190405 diff --git a/episodes/c9_p006_e027/device_events.jsonl b/episodes/c9_p006_e027/device_events.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..a09ae6d57f51e1c34a282c029345a69418f061ee --- /dev/null +++ b/episodes/c9_p006_e027/device_events.jsonl @@ -0,0 +1,35 @@ +{"env_id": 2, "seq": 1, "step": 132, "t": 0.66, "topic": "conveyor_1.belt.station.pick.captured", "source": "conveyor_1.belt", "data": {"rider": "carrier_3"}, "cause": null} +{"env_id": 2, "seq": 2, "step": 132, "t": 0.66, "topic": "conveyor_1.belt.state.changed", "source": "conveyor_1.belt", "data": {"from": "running", "to": "at_station"}, "cause": null} +{"env_id": 2, "seq": 3, "step": 137, "t": 0.685, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_3"}, "cause": null} +{"env_id": 2, "seq": 4, "step": 7091, "t": 35.455, "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": 7704, "t": 38.52, "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": 7704, "t": 38.52, "topic": "a4s_sealer_1.seal.started", "source": "a4s_sealer_1", "data": {"dwell": 3.8815161595968375}, "cause": "task-2-1"} +{"env_id": 2, "seq": 7, "step": 7704, "t": 38.52, "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": 7704, "t": 38.52, "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": 7704, "t": 38.52, "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": 8123, "t": 40.615, "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": 8123, "t": 40.615, "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": 8123, "t": 40.615, "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": 8123, "t": 40.615, "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": 8123, "t": 40.615, "topic": "labware.plate_3.changed", "source": "labware.plate_3", "data": {"key": "sealed", "value": true}, "cause": "task-2-1"} +{"env_id": 2, "seq": 15, "step": 8123, "t": 40.615, "topic": "a4s_sealer_1.sealed", "source": "a4s_sealer_1", "data": {"plate": "plate_3"}, "cause": "task-2-1"} +{"env_id": 2, "seq": 16, "step": 8123, "t": 40.615, "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": 8123, "t": 40.615, "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": 8123, "t": 40.615, "topic": "a4s_sealer_1.heater.started", "source": "a4s_sealer_1.heater", "data": {"duration": 3.8815161595968375}, "cause": "program-2-3"} +{"env_id": 2, "seq": 19, "step": 8900, "t": 44.5, "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": 8900, "t": 44.5, "topic": "a4s_sealer_1.heater.finished", "source": "a4s_sealer_1.heater", "data": {"elapsed": 3.8850000000019875}, "cause": "program-2-3"} +{"env_id": 2, "seq": 21, "step": 8900, "t": 44.5, "topic": "a4s_sealer_1.heater.command.succeeded", "source": "a4s_sealer_1.heater", "data": {"command_id": "program-2-3", "name": "run", "source": "program:seal", "result": {"elapsed": 3.8850000000019875}}, "cause": "program-2-3"} +{"env_id": 2, "seq": 22, "step": 8900, "t": 44.5, "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": 8900, "t": 44.5, "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": 8900, "t": 44.5, "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": 9320, "t": 46.6, "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": 9320, "t": 46.6, "topic": "a4s_sealer_1.drawer.reached", "source": "a4s_sealer_1.drawer", "data": {"position": "out", "q": 1.510602132270833e-08}, "cause": "program-2-4"} +{"env_id": 2, "seq": 27, "step": 9320, "t": 46.6, "topic": "a4s_sealer_1.drawer.at_out", "source": "a4s_sealer_1.drawer", "data": {"q": 1.510602132270833e-08}, "cause": "program-2-4"} +{"env_id": 2, "seq": 28, "step": 9320, "t": 46.6, "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": 9320, "t": 46.6, "topic": "a4s_sealer_1.seal.finished", "source": "a4s_sealer_1", "data": {}, "cause": "task-2-1"} +{"env_id": 2, "seq": 30, "step": 9320, "t": 46.6, "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": 9898, "t": 49.49, "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": 11616, "t": 58.08, "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": 11616, "t": 58.08, "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": 11616, "t": 58.08, "topic": "conveyor_1.belt.state.changed", "source": "conveyor_1.belt", "data": {"from": "at_station", "to": "running"}, "cause": null} +{"env_id": 2, "seq": 35, "step": 11616, "t": 58.08, "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_p006_e027/env.mp4 b/episodes/c9_p006_e027/env.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..c472dd827e29c176c0e3f2b93b5b0a68f425c11d --- /dev/null +++ b/episodes/c9_p006_e027/env.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:817bfcdbe614194034a634653bef0fe4bdef417f62b788530b466517a42e8ada +size 1271610 diff --git a/episodes/c9_p006_e027/meta.json b/episodes/c9_p006_e027/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..698d78208ad77dec2e67ad3bad790f735446cb2d --- /dev/null +++ b/episodes/c9_p006_e027/meta.json @@ -0,0 +1,32 @@ +{ + "source": "raw/c9_p006/magicsim/27", + "fps": 25, + "frames": 1268, + "kept_ticks": "even", + "video_frames": { + "wrist": 1268, + "env": 1268 + }, + "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_p006_e027/scene_snapshot.json b/episodes/c9_p006_e027/scene_snapshot.json new file mode 100644 index 0000000000000000000000000000000000000000..caacbd8fec06d7753da55007f7fb512ff28b1a28 --- /dev/null +++ b/episodes/c9_p006_e027/scene_snapshot.json @@ -0,0 +1,1558 @@ +{ + "trajectory_id": 27, + "env_id": 2, + "run_id": "c9_p006", + "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/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": "$MAGICSIM_ASSETS/Bio/CAD/plates/deep_well_24_10ml/deep_well_24_10ml.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.0965 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/deep_well_24_10ml/deep_well_24_10ml.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.1645 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_384_white/plate_384_white.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.2325 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "a4s_sealer": [ + { + "asset": "$MAGICSIM_ASSETS/Articulated/A4SSealer/Object.usd", + "pose": { + "pos": [ + 0.49117279052734375, + 0.08234405517578125, + 0.8999999761581421 + ], + "ori": [ + 0.7138956785202026, + 0.0, + 0.0, + -0.7002520561218262 + ], + "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": [ + 6.7283353367975085e-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": 0.21568016955947095, + "direction": [ + 1.0, + 0.0, + 0.0 + ], + "enabled": true, + "drive": "surface_velocity", + "lines": null, + "station_line": null, + "riders": [ + "carrier" + ], + "stations": { + "pick": { + "position": -0.08612536365596685, + "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": 0.21568016955947095, + "holds": [], + "station": "pick", + "rider": "carrier_3", + "arrived": true, + "applied_speed": 0.0 + } + } + } + ], + "carrier": [ + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + -1.3907279968261719, + 0.7319307327270508, + 0.8999999761581421 + ], + "ori": [ + -0.7684339880943298, + 3.282420379946416e-08, + 5.751222076355589e-08, + 0.6399290561676025 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 3.08585712538445e-10, + -8.553512342857061e-10, + 3.725290298461914e-09 + ], + "angular_velocity": [ + 9.945898682417464e-08, + 4.938210906857421e-08, + 4.4520391817570726e-09 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + 1.5608253479003906, + 0.5245752334594727, + 0.8999999761581421 + ], + "ori": [ + 0.9493486881256104, + -6.804286911687996e-09, + -1.0203781819484448e-08, + 0.3142245411872864 + ], + "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": [ + 3.184973673686642e-10, + -5.5979726409916e-10, + 0.0 + ], + "angular_velocity": [ + -1.755439171802209e-08, + -1.7020649778487495e-08, + 1.0832565067175892e-08 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + 0.06354331970214844, + 0.4499969482421875, + 0.8999999761581421 + ], + "ori": [ + 1.0, + -4.624639338146608e-09, + 4.484464015408474e-12, + 2.384482286288403e-05 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -2.3641999469248276e-10, + 1.4972449946526467e-09, + 7.450580596923828e-09 + ], + "angular_velocity": [ + -2.2492848472666083e-08, + -2.3568734519585632e-08, + 1.0050514198667315e-08 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + 0.2079010009765625, + 1.1500053405761719, + 0.8999999761581421 + ], + "ori": [ + -9.949829291144852e-06, + -8.473542578713023e-08, + 1.085928857946783e-08, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -8.281618590899598e-08, + -1.7409371366738924e-07, + 5.960464477539063e-08 + ], + "angular_velocity": [ + 7.315456969081424e-06, + 2.0000097720185295e-06, + 1.6804065126052592e-06 + ] + } + } + ], + "plate": [ + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_24_clear/Object.usd", + "pose": { + "pos": [ + -1.3870296478271484, + 0.7211275100708008, + 0.9179999828338623 + ], + "ori": [ + -0.7376956343650818, + 2.9708333570965806e-08, + 5.899947552734375e-08, + 0.6751335263252258 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -5.032276373384548e-09, + 4.250132690231112e-08, + 9.685754776000977e-08 + ], + "angular_velocity": [ + -1.739974322845228e-06, + -9.321770448877942e-07, + 1.1995714999102347e-07 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_384_black/Object.usd", + "pose": { + "pos": [ + 1.5492496490478516, + 0.5302066802978516, + 0.9180000424385071 + ], + "ori": [ + 0.9424854516983032, + -6.783537287446961e-09, + -1.1098864938219322e-08, + 0.3342471718788147 + ], + "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": [ + 1.8504973109401135e-09, + -2.5419284455097113e-08, + -5.412846803665161e-06 + ], + "angular_velocity": [ + 1.9139977212034864e-06, + -1.2409851990469178e-07, + 1.688744077910087e-08 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_1536_black/Object.usd", + "pose": { + "pos": [ + 0.07328510284423828, + 0.4386787414550781, + 0.9180000424385071 + ], + "ori": [ + 0.9995214939117432, + -7.01171964934133e-09, + 6.763575810531108e-12, + 0.030932532623410225 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -1.8309751936840257e-08, + 2.7097000199205468e-08, + -5.666166543960571e-06 + ], + "angular_velocity": [ + -4.888772195954516e-07, + -1.6084463823062833e-06, + 1.540811638278683e-07 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/deep_well_24_10ml/Object.usd", + "pose": { + "pos": [ + 0.21014118194580078, + 1.1386699676513672, + 0.9179999828338623 + ], + "ori": [ + -0.042178068310022354, + 5.009575829717505e-07, + -1.3052225256160455e-07, + 0.9991101026535034 + ], + "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": [ + -8.671609066368546e-06, + -2.0045808923896402e-07, + -6.619840860366821e-06 + ], + "angular_velocity": [ + -0.0003019055584445596, + -0.00011721542978193611, + -3.765654400922358e-05 + ] + } + } + ], + "deco_hub_west": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/hub_c.usd", + "pose": { + "pos": [ + -3.36, + 0.0, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_hub_east": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/hub_a.usd", + "pose": { + "pos": [ + 3.36, + 0.0, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_hub_back": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/hub_e.usd", + "pose": { + "pos": [ + -3.0, + -2.1, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_bench_east": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/bench_a.usd", + "pose": { + "pos": [ + 2.6, + -2.5, + 0.0 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_bench_gap": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/bench_b.usd", + "pose": { + "pos": [ + -0.1, + -2.9, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ] + }, + {} + ], + "devices": { + "hub": [ + null, + null, + { + "t": 7.579999999999861, + "step": 1516, + "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": 6.7283353367975085e-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": 0.21568016955947095, + "holds": [], + "station": "pick", + "rider": "carrier_3", + "arrived": true, + "settle_count": 1383, + "released": { + "pick": [] + }, + "last_pos": { + "carrier_1": [ + -1.5407280027866364, + 0.28193074464797974, + 0.0 + ], + "carrier_2": [ + 1.4108253419399261, + 0.07457524538040161, + 0.0 + ], + "carrier_3": [ + -0.08645668625831604, + -3.039836883544922e-06, + 0.0 + ], + "carrier_4": [ + 0.05790099501609802, + 0.7000053524971008, + 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": [ + 0.2822704036437693, + -0.05352079343877225, + 2.7898500997589113 + ], + "ori": [ + 12.575432080203953, + 11.832395817745333, + 2.4591052722398743 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "color_temperature": 3583.6835524397156, + "color": [ + 0.8274453496379424, + 0.8687347749489476, + 0.8695205571766914 + ], + "intensity": 9452.038272915259, + "width": 2.4239160804833473, + "height": 1.746734593380489 + } + }, + "key": { + "type": "disk", + "pose": { + "pos": [ + 0.27380034079985793, + -0.5218410689583652, + 1.9720520032490427 + ], + "ori": [ + -2.8097777534067063, + 15.101110148052712, + -39.11056743682784 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "color_temperature": 7189.133429459555, + "color": [ + 0.8280088782229451, + 0.8248882087350413, + 0.876182074369358 + ], + "intensity": 8405.09626038709, + "radius": 0.497068143618418 + } + } + }, + {} + ], + "background": { + "type": "dome", + "pose": { + "pos": null, + "ori": null, + "scale": null + }, + "dr": { + "intensity": 1537.2411795986045, + "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": [ + [ + 2.611358642578125, + -1.9898616075515747, + 2.4973862171173096, + -2.0791993141174316, + -1.572206735610962, + 4.1818389892578125, + 0.018000025302171707, + 0.01799997314810753 + ], + [ + -0.26694756746292114, + -2.0392072200775146, + 2.57201886177063, + -2.1036460399627686, + -1.5714328289031982, + 4.498422622680664, + 0.018000008538365364, + 0.017999989911913872 + ], + [ + 0.914104700088501, + -1.7193962335586548, + 2.090498685836792, + -1.9419008493423462, + -1.5707999467849731, + 2.4849019050598145, + 0.017999999225139618, + 0.017999999225139618 + ], + [ + 2.6452245712280273, + -2.062328577041626, + 1.9932297468185425, + -1.5014984607696533, + -1.5699162483215332, + 4.215328693389893, + 0.007736679166555405, + 0.007181869354099035 + ] + ], + "joint_vel": [ + [ + -0.014287891797721386, + -0.029754549264907837, + 0.014578431844711304, + 0.014781220816075802, + -4.347192316345172e-06, + -0.014387097209692001, + -2.7056723865825916e-06, + 2.7057296847488033e-06 + ], + [ + 0.00012055646948283538, + -0.01922791078686714, + -0.017544105648994446, + 0.03574918955564499, + 5.9542362578213215e-06, + -4.456303770439263e-08, + 1.4632722411533905e-07, + -1.4611654819418618e-07 + ], + [ + 2.5744019197072736e-38, + -2.625080999708352e-38, + -1.9588134661472315e-38, + -3.407328065656149e-37, + 7.138227829735876e-37, + 2.4430091243583062e-36, + 0.0, + 0.0 + ], + [ + 0.013564454391598701, + 0.02415652573108673, + -0.011725807562470436, + -0.011359442956745625, + 0.0007165710558183491, + 0.011105479672551155, + -0.006839421112090349, + 0.00025443683261983097 + ] + ] + } + }, + "cameras": { + "cameras": { + "camera0": [ + [ + 0.04708012193441391, + 0.001052423962391913, + -0.02832140028476715, + -0.2854347825050354, + 0.6467597484588623, + 0.6444767117500305, + -0.29133936762809753 + ], + [ + 0.05278497189283371, + -0.0021615445148199797, + -0.03289870545268059, + -0.27734771370887756, + 0.6476733088493347, + 0.6525014638900757, + -0.27899715304374695 + ], + [ + 0.0475633479654789, + -0.0019730855710804462, + -0.029653456062078476, + -0.2701294422149658, + 0.6515909433364868, + 0.6516445875167847, + -0.27896007895469666 + ], + [ + 0.05032673850655556, + 0.002077401615679264, + -0.028922785073518753, + -0.2723497152328491, + 0.6472787261009216, + 0.6547078490257263, + -0.2796667516231537 + ] + ], + "camera1": [ + [ + 0.05869622528553009, + 0.5765658020973206, + 1.960420846939087, + 0.03595508262515068, + 0.02347860299050808, + 0.2725600004196167, + 0.9611800312995911 + ], + [ + 0.03728748857975006, + 0.585342288017273, + 1.9449563026428223, + 0.057232484221458435, + 0.005130124744027853, + 0.26362141966819763, + 0.9629132151603699 + ], + [ + 0.03198450803756714, + 0.5968307256698608, + 1.9593476057052612, + 0.04415442422032356, + 0.007855045609176159, + 0.26338452100753784, + 0.9636479020118713 + ], + [ + 0.04478166252374649, + 0.6043323278427124, + 1.9670583009719849, + 0.06057489290833473, + 0.017978806048631668, + 0.26403146982192993, + 0.9624421000480652 + ] + ] + } + } + } +} \ No newline at end of file diff --git a/episodes/c9_p006_e027/wrist.mp4 b/episodes/c9_p006_e027/wrist.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..190f9747ffadb4cb007d6715d2dbdef9f9d4dc5c --- /dev/null +++ b/episodes/c9_p006_e027/wrist.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:b522f433337a5d40b48f5fdf760eeb1930e3b43f77697b6d7b833dae2509b261 +size 6643808 diff --git a/episodes/c9_p006_e028/data.npz b/episodes/c9_p006_e028/data.npz new file mode 100644 index 0000000000000000000000000000000000000000..ea2f31552e87e5a57ce04f390816730bc1b5e928 --- /dev/null +++ b/episodes/c9_p006_e028/data.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:5d0f9328087185bdb82202082c964f0ae0cc33b5758fdcb6f32c1a2c66438527 +size 194049 diff --git a/episodes/c9_p006_e028/device_events.jsonl b/episodes/c9_p006_e028/device_events.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..facde0a0f20670fdaa4f62e1aac1e7b70d6b3f37 --- /dev/null +++ b/episodes/c9_p006_e028/device_events.jsonl @@ -0,0 +1,36 @@ +{"env_id": 1, "seq": 1, "step": 88, "t": 0.44, "topic": "conveyor_1.belt.station.pick.captured", "source": "conveyor_1.belt", "data": {"rider": "carrier_2"}, "cause": null} +{"env_id": 1, "seq": 2, "step": 88, "t": 0.44, "topic": "conveyor_1.belt.state.changed", "source": "conveyor_1.belt", "data": {"from": "running", "to": "at_station"}, "cause": null} +{"env_id": 1, "seq": 3, "step": 93, "t": 0.465, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_2"}, "cause": null} +{"env_id": 1, "seq": 4, "step": 984, "t": 4.92, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_2"}, "cause": null} +{"env_id": 1, "seq": 5, "step": 5838, "t": 29.19, "topic": "a4s_sealer_1.plate_present.present", "source": "a4s_sealer_1.plate_present", "data": {"object": "plate_2"}, "cause": null} +{"env_id": 1, "seq": 6, "step": 6452, "t": 32.26, "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": 6452, "t": 32.26, "topic": "a4s_sealer_1.seal.started", "source": "a4s_sealer_1", "data": {"dwell": 4.152936135546336}, "cause": "task-1-1"} +{"env_id": 1, "seq": 8, "step": 6452, "t": 32.26, "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": 6452, "t": 32.26, "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": 6452, "t": 32.26, "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": 6871, "t": 34.355, "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": 6871, "t": 34.355, "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": 6871, "t": 34.355, "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": 6871, "t": 34.355, "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": 6871, "t": 34.355, "topic": "labware.plate_2.changed", "source": "labware.plate_2", "data": {"key": "sealed", "value": true}, "cause": "task-1-1"} +{"env_id": 1, "seq": 16, "step": 6871, "t": 34.355, "topic": "a4s_sealer_1.sealed", "source": "a4s_sealer_1", "data": {"plate": "plate_2"}, "cause": "task-1-1"} +{"env_id": 1, "seq": 17, "step": 6871, "t": 34.355, "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": 6871, "t": 34.355, "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": 6871, "t": 34.355, "topic": "a4s_sealer_1.heater.started", "source": "a4s_sealer_1.heater", "data": {"duration": 4.152936135546336}, "cause": "program-1-3"} +{"env_id": 1, "seq": 20, "step": 7702, "t": 38.51, "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": 7702, "t": 38.51, "topic": "a4s_sealer_1.heater.finished", "source": "a4s_sealer_1.heater", "data": {"elapsed": 4.155000000002126}, "cause": "program-1-3"} +{"env_id": 1, "seq": 22, "step": 7702, "t": 38.51, "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": 4.155000000002126}}, "cause": "program-1-3"} +{"env_id": 1, "seq": 23, "step": 7702, "t": 38.51, "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": 7702, "t": 38.51, "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": 7702, "t": 38.51, "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": 8122, "t": 40.61, "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": 8122, "t": 40.61, "topic": "a4s_sealer_1.drawer.reached", "source": "a4s_sealer_1.drawer", "data": {"position": "out", "q": 0.0}, "cause": "program-1-4"} +{"env_id": 1, "seq": 28, "step": 8122, "t": 40.61, "topic": "a4s_sealer_1.drawer.at_out", "source": "a4s_sealer_1.drawer", "data": {"q": 0.0}, "cause": "program-1-4"} +{"env_id": 1, "seq": 29, "step": 8122, "t": 40.61, "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": 8122, "t": 40.61, "topic": "a4s_sealer_1.seal.finished", "source": "a4s_sealer_1", "data": {}, "cause": "task-1-1"} +{"env_id": 1, "seq": 31, "step": 8122, "t": 40.61, "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": 8703, "t": 43.515, "topic": "a4s_sealer_1.plate_present.absent", "source": "a4s_sealer_1.plate_present", "data": {"object": "plate_2"}, "cause": null} +{"env_id": 1, "seq": 33, "step": 10468, "t": 52.34, "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": 10468, "t": 52.34, "topic": "conveyor_1.belt.station.pick.released", "source": "conveyor_1.belt", "data": {"rider": "carrier_2"}, "cause": "task-1-5"} +{"env_id": 1, "seq": 35, "step": 10468, "t": 52.34, "topic": "conveyor_1.belt.state.changed", "source": "conveyor_1.belt", "data": {"from": "at_station", "to": "running"}, "cause": null} +{"env_id": 1, "seq": 36, "step": 10468, "t": 52.34, "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_p006_e028/env.mp4 b/episodes/c9_p006_e028/env.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..bb95b0c925041babe0ef33bd720e32ad6f8f61db --- /dev/null +++ b/episodes/c9_p006_e028/env.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:b09c62103594700fc35beca85dbc603748f967ddd826b563f9588b23b444736b +size 1261035 diff --git a/episodes/c9_p006_e028/meta.json b/episodes/c9_p006_e028/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..dcd65876ad5bf28876f7e02d831aaa86eed5065f --- /dev/null +++ b/episodes/c9_p006_e028/meta.json @@ -0,0 +1,32 @@ +{ + "source": "raw/c9_p006/magicsim/28", + "fps": 25, + "frames": 1243, + "kept_ticks": "even", + "video_frames": { + "wrist": 1243, + "env": 1243 + }, + "joint_target_source": "joint_pos_target", + "fk_vs_recorded_eef_max_m": 0.0, + "curobo_joints": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "joint_order": [ + "shoulder_pan", + "shoulder_lift", + "elbow", + "wrist_1", + "wrist_2", + "wrist_3", + "finger_left", + "finger_right" + ], + "frames_note": "eef / actions in the robot base frame; camera_pose = local pose (wrist: in plate_gripper_base, env: env frame), pos + quat wxyz", + "dr_version": "v2" +} \ No newline at end of file diff --git a/episodes/c9_p006_e028/scene_snapshot.json b/episodes/c9_p006_e028/scene_snapshot.json new file mode 100644 index 0000000000000000000000000000000000000000..4d27395a829ba52145d64313fb7723459d9c5b47 --- /dev/null +++ b/episodes/c9_p006_e028/scene_snapshot.json @@ -0,0 +1,1558 @@ +{ + "trajectory_id": 28, + "env_id": 1, + "run_id": "c9_p006", + "task_type": "BioPlateCell", + "success": true, + "timing": { + "fps": 50.0, + "sim_dt": 0.005, + "decimation": 4 + }, + "restore_interface": { + "scene": "scene_manager.reset_to(snapshot['scene'], env_ids=[env_id])", + "robots": "robot_manager.set_state({'robots': snapshot['robots']}, env_ids=[env_id])" + }, + "snapshot": { + "env_id": 1, + "scene": { + "objects": [ + {}, + { + "rac_cell": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/rac_cell.usd", + "pose": { + "pos": [ + 0.0, + 0.0, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "physics_material": { + "static_friction": 0.6, + "dynamic_friction": 0.5, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "robot_mount": [ + { + "asset": "Cube", + "pose": { + "pos": [ + 0.0, + 0.0, + 0.9075 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": "color", + "value": [ + 0.55, + 0.56, + 0.58 + ], + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": { + "size": [ + 0.2, + 0.2, + 0.015 + ] + } + }, + "type_specific": {} + } + ], + "plate_rack": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/plate_hotel.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 0.9 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "physics_material": { + "static_friction": 0.6, + "dynamic_friction": 0.5, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "hotel_plate": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/deep_well_96_2ml/deep_well_96_2ml.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 0.9605 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_48_clear/plate_48_clear.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.0285 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/deep_well_24_10ml/deep_well_24_10ml.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.0965 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/pcr_96_blue/pcr_96_blue.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.1645 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_96_black/plate_96_black.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.2325 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "a4s_sealer": [ + { + "asset": "$MAGICSIM_ASSETS/Articulated/A4SSealer/Object.usd", + "pose": { + "pos": [ + 0.4788179397583008, + 0.09220218658447266, + 0.8999999761581421 + ], + "ori": [ + 0.7232378125190735, + 0.0, + 0.0, + -0.6905990839004517 + ], + "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": [ + 6.391913907888291e-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": 0.23948841036829324, + "direction": [ + 1.0, + 0.0, + 0.0 + ], + "enabled": true, + "drive": "surface_velocity", + "lines": null, + "station_line": null, + "riders": [ + "carrier" + ], + "stations": { + "pick": { + "position": -0.12397616983187001, + "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": 0.23948841036829324, + "holds": [], + "station": "pick", + "rider": "carrier_2", + "arrived": true, + "applied_speed": 0.0 + } + } + } + ], + "carrier": [ + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + -1.3367176055908203, + 0.9954872131347656, + 0.8999999761581421 + ], + "ori": [ + -0.4603899121284485, + -4.210364323853355e-08, + 2.6780028861139726e-08, + 0.8877168893814087 + ], + "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": [ + -3.6210001663761204e-10, + 4.415036669591643e-10, + 0.0 + ], + "angular_velocity": [ + -3.675635440458791e-08, + -3.5781333451723185e-08, + 7.799751955417378e-10 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + 0.025628089904785156, + 0.45000267028808594, + 0.8999999761581421 + ], + "ori": [ + 1.0, + 1.831705898069913e-09, + -1.0313944143192089e-09, + -5.46436058357358e-05 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 8.842244714202252e-10, + 1.3337697613025057e-09, + 3.725290298461914e-09 + ], + "angular_velocity": [ + -9.868655581612984e-08, + 8.377463700526278e-08, + -6.351032588725047e-09 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + 1.6874198913574219, + 0.8804244995117188, + 0.900000274181366 + ], + "ori": [ + 0.6269533038139343, + 1.0695566743379459e-06, + 2.5057897801161744e-06, + 0.7790569067001343 + ], + "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": [ + 6.867118827358354e-06, + -6.346226200548699e-06, + -5.048885941505432e-05 + ], + "angular_velocity": [ + 0.00047242132131941617, + -0.0013289769412949681, + 0.00031335698440670967 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + 0.4832935333251953, + 1.1499977111816406, + 0.8999999761581421 + ], + "ori": [ + -3.873651075991802e-05, + -1.1843295788516173e-10, + 1.2047280950611139e-09, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -2.6189317381408728e-09, + -1.7297854260078793e-09, + 2.60770320892334e-08 + ], + "angular_velocity": [ + 1.0574861164514004e-07, + -2.6332583047405933e-07, + -1.802609084222695e-08 + ] + } + } + ], + "plate": [ + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_12_clear/Object.usd", + "pose": { + "pos": [ + -1.3518600463867188, + 0.993107795715332, + 0.9179999828338623 + ], + "ori": [ + -0.5393232107162476, + -3.7702466926248235e-08, + 3.244635848886901e-08, + 0.8420988917350769 + ], + "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": [ + 2.5291205574262676e-08, + 1.992856191179726e-08, + 9.313225746154785e-08 + ], + "angular_velocity": [ + -1.7363139477311051e-06, + 7.976087772476603e-07, + 4.193253744233516e-08 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_96_white/Object.usd", + "pose": { + "pos": [ + 0.027619361877441406, + 0.45213794708251953, + 0.9180000424385071 + ], + "ori": [ + 0.9985436797142029, + 2.8865005941014488e-09, + -2.127248821537364e-09, + -0.053949929773807526 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -1.1886740480804292e-08, + 3.835074480207368e-09, + -5.5693089962005615e-06 + ], + "angular_velocity": [ + 1.2487791991588892e-06, + -2.3901989152363967e-06, + -5.992353280248608e-09 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/pcr_384_red/Object.usd", + "pose": { + "pos": [ + 1.6752405166625977, + 0.8850975036621094, + 0.9180001616477966 + ], + "ori": [ + 0.6716796159744263, + 1.289327883569058e-06, + 2.5749241103767417e-06, + 0.7408417463302612 + ], + "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": [ + -2.8964313969481736e-06, + -1.5180175978457555e-05, + -6.473809480667114e-05 + ], + "angular_velocity": [ + 0.00036671452107839286, + -0.00105701619759202, + 0.00026264050393365324 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/deep_well_96_1ml/Object.usd", + "pose": { + "pos": [ + 0.4769315719604492, + 1.1482582092285156, + 0.9179999828338623 + ], + "ori": [ + 0.06847959756851196, + -5.16071074763147e-10, + 1.6118451018343194e-09, + 0.9976525902748108 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 3.958011163263109e-08, + 7.306352411973194e-09, + 2.2724270820617676e-07 + ], + "angular_velocity": [ + -4.52660373184699e-07, + 2.671474021553877e-06, + -3.4696149953106215e-08 + ] + } + } + ], + "deco_hub_west": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/hub_a.usd", + "pose": { + "pos": [ + -3.36, + 0.0, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_hub_east": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/hub_c.usd", + "pose": { + "pos": [ + 3.36, + 0.0, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_hub_back": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/hub_d.usd", + "pose": { + "pos": [ + -3.0, + -2.1, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_bench_east": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/bench_c.usd", + "pose": { + "pos": [ + 2.6, + -2.5, + 0.0 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_bench_gap": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/bench_b.usd", + "pose": { + "pos": [ + -0.1, + -2.9, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ] + }, + {}, + {} + ], + "devices": { + "hub": [ + null, + { + "t": 2.819999999999962, + "step": 564, + "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": 6.391913907888291e-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": 0.23948841036829324, + "holds": [], + "station": "pick", + "rider": "carrier_2", + "arrived": true, + "settle_count": 475, + "released": { + "pick": [] + }, + "last_pos": { + "carrier_1": [ + -1.4867176115512848, + 0.5454872250556946, + 0.0 + ], + "carrier_2": [ + -0.12437191605567932, + 2.682209014892578e-06, + 0.0 + ], + "carrier_3": [ + 1.5374198853969574, + 0.4304245114326477, + 2.384185791015625e-07 + ], + "carrier_4": [ + 0.33329352736473083, + 0.6999977231025696, + 0.0 + ] + }, + "command": 0.0 + }, + "belt": { + "target_speed": 0.0, + "command_speed": 0.0 + }, + "seen": { + "state": "at_station", + "station": "pick", + "rider": "carrier_2", + "arrived": true + } + } + }, + "queues": {}, + "program": null, + "sensors": {}, + "interlocks": {} + } + }, + "zones": {}, + "labware": { + "plate_1": { + "sealed": false + }, + "plate_2": { + "sealed": false + }, + "plate_3": { + "sealed": false + }, + "plate_4": { + "sealed": false + } + }, + "rules": {}, + "records": [], + "bus": { + "seq": 3, + "queue": [] + } + }, + null, + null + ], + "drives": [ + null, + {}, + null, + null + ] + }, + "artifacts": [ + {}, + { + "ceiling": { + "type": "rect", + "pose": { + "pos": [ + -0.3884686565113161, + 0.4133388903423605, + 2.8253195482725184 + ], + "ori": [ + 4.932631661215506, + -14.779329532644336, + -17.402084379460696 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "color_temperature": 3570.544974341564, + "color": [ + 0.8872622229353656, + 0.9715383326805582, + 0.7981857323839521 + ], + "intensity": 5778.099947391909, + "width": 2.308980774775435, + "height": 1.6337832686327758 + } + }, + "key": { + "type": "sphere", + "pose": { + "pos": [ + 1.6712935396817064, + 1.5397831881382273, + 2.733502541391133 + ], + "ori": [ + 36.84525230775955, + -23.62274789294082, + 23.76209915954231 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "color_temperature": 3658.817630842305, + "color": [ + 0.8161276421887615, + 0.9350246505362114, + 0.7573201942393734 + ], + "intensity": 2415.955613172909, + "radius": 0.20299008210401198 + } + } + }, + {}, + {} + ], + "background": { + "type": "dome", + "pose": { + "pos": null, + "ori": null, + "scale": null + }, + "dr": { + "intensity": 1537.2411795986045, + "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": [ + [ + -0.02416071482002735, + -2.0953705310821533, + 2.523865222930908, + -1.9993164539337158, + -1.5707324743270874, + 4.7395429611206055, + 0.007733279839158058, + 0.007109141442924738 + ], + [ + 0.9141013622283936, + -1.7193976640701294, + 2.090498924255371, + -1.9419002532958984, + -1.5707999467849731, + 2.4849002361297607, + 0.017999999225139618, + 0.017999999225139618 + ], + [ + 2.5274832248687744, + -1.9694182872772217, + 2.712671995162964, + -2.3149936199188232, + -1.570756196975708, + 4.0989580154418945, + 0.007278182078152895, + 0.0075844656676054 + ], + [ + -0.07037309557199478, + -2.155319929122925, + 2.3178820610046387, + -1.733585238456726, + -1.570638656616211, + 4.665843963623047, + 0.018000001087784767, + 0.01799999736249447 + ] + ], + "joint_vel": [ + [ + -0.0001323599717579782, + -0.015748918056488037, + -0.019376259297132492, + 0.03355199098587036, + -0.0005881767137907445, + 0.0011971273925155401, + -0.007861066609621048, + 0.0002546052564866841 + ], + [ + 2.2769932763657495e-38, + -2.625029151665172e-38, + -1.9998919701095278e-38, + -3.4304140654923303e-37, + 7.195566272402996e-37, + 2.458601428422787e-36, + 0.0, + 0.0 + ], + [ + 0.00018790292961057276, + 0.002196131506934762, + 0.008814509958028793, + 0.0030597036238759756, + 0.0013220793334767222, + -0.003328249091282487, + -0.007091176230460405, + 9.63980783126317e-05 + ], + [ + -6.38617052572954e-07, + -6.8118547460471746e-06, + -6.811920684413053e-06, + -3.4059710287692724e-06, + -2.5606686909762644e-14, + -1.9293919760465794e-13, + -2.599080772824891e-08, + 2.599051107665673e-08 + ] + ] + } + }, + "cameras": { + "cameras": { + "camera0": [ + [ + 0.04732504487037659, + 0.0017489544115960598, + -0.029542310163378716, + -0.28419551253318787, + 0.6404574513435364, + 0.6492475867271423, + -0.2958456873893738 + ], + [ + 0.051792245358228683, + 0.001802228856831789, + -0.030871335417032242, + -0.27936694025993347, + 0.6529520153999329, + 0.648143470287323, + -0.27480509877204895 + ], + [ + 0.049102552235126495, + -0.0017051072791218758, + -0.028947774320840836, + -0.2675814628601074, + 0.6565870642662048, + 0.6472315192222595, + -0.27997320890426636 + ], + [ + 0.047249145805835724, + 0.0005236253491602838, + -0.030578041449189186, + -0.27921491861343384, + 0.6462587118148804, + 0.6531928777694702, + -0.2787969708442688 + ] + ], + "camera1": [ + [ + 0.05869622528553009, + 0.5765658020973206, + 1.960420846939087, + 0.03595508262515068, + 0.02347860299050808, + 0.2725600004196167, + 0.9611800312995911 + ], + [ + 0.05357666686177254, + 0.5738412141799927, + 1.9617592096328735, + 0.051007941365242004, + 0.010969411581754684, + 0.28354504704475403, + 0.9575385451316833 + ], + [ + 0.03198450803756714, + 0.5968307256698608, + 1.9593476057052612, + 0.04415442422032356, + 0.007855045609176159, + 0.26338452100753784, + 0.9636479020118713 + ], + [ + 0.04478166252374649, + 0.6043323278427124, + 1.9670583009719849, + 0.06057489290833473, + 0.017978806048631668, + 0.26403146982192993, + 0.9624421000480652 + ] + ] + } + } + } +} \ No newline at end of file diff --git a/episodes/c9_p006_e028/wrist.mp4 b/episodes/c9_p006_e028/wrist.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..d4af87a7a2c064e3af6764962d4e52f7aceac603 --- /dev/null +++ b/episodes/c9_p006_e028/wrist.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:bd382aa74ddd11b7481c3655def6abd0919fc0ed94ba45444b87b7cf55b02ab3 +size 6371270 diff --git a/index/episodes.csv b/index/episodes.csv index b8489675f3953a4815ed9400929ea2c06ba9fc04..27c42a5e2cb689c4b47882743a8f7236825353cf 100644 --- a/index/episodes.csv +++ b/index/episodes.csv @@ -1337,3 +1337,27 @@ c8_p004_e023,1,True,0.045599937438964844,0.4499969482421875,0.013969834361961538 c9_p006_e024,1,True,-0.05765342712402344,0.44997215270996094,0.013689878219713335,-0.0012808318110026703,-2.608777961683643,plate_96_white,0.4788179397583008,0.09220218658447266,-87.35510062205685,0.21026630046830283,943.086957166208,rect,-0.5086328781027043,0.5184652263861032,3.0390110308949465,8562.11613661611,6765.860996925574,sphere,-1.4697706563762982,-0.5002668839233555,1.8641039139471896,1559.6118324388144,5032.301412298206,0.053314801305532455,0.0013165988493710756,-0.03279906138777733,-0.2832147181034088,0.6468760967254639,0.6504727602005005,-0.2796890139579773,0.03728748857975006,0.585342288017273,1.9449563026428223,0.057232484221458435,0.005130124744027853,0.26362141966819763,0.9629132151603699,1243,1,,2.092721462249756,0.2943082898433644,0.0,0.007305842824280262,0.5140788415124699,12,release,0.042046427726745605,"Pre-grasping the small plate, moving the arm toward it; the ",v2,True,False c9_p006_e025,0,True,-0.14235401153564453,0.45000648498535156,0.009098303260456249,-0.0024557379532027,-2.952563197698538,plate_6_clear,0.4781017303466797,0.06663703918457031,-87.10194016556967,0.2179279352379554,1537.2411795986045,rect,0.8716242624654656,0.18608679991745525,2.891317183017893,5623.436485467352,3460.179923729861,disk,1.7118581161491422,1.556232132473492,1.8234968865051542,10429.923501698804,5594.799335743714,0.04819966480135918,0.0028714719228446484,-0.026254815980792046,-0.2800561785697937,0.6415650844573975,0.6513868570327759,-0.29267382621765137,0.05869622528553009,0.5765658020973206,1.960420846939087,0.03595508262515068,0.02347860299050808,0.2725600004196167,0.9611800312995911,1146,1,,2.110283851623535,0.28537818182445174,0.0,0.0073419176042079926,0.5523560209424084,12,release,0.042076826095581055,"Pre-grasping the small plate, moving the arm toward it; the ",v2,True,False c9_p006_e026,3,True,0.009348869323730469,0.4499998092651367,-0.002390755082740479,-0.005559013363052451,-9.204860126760678,plate_384_white,0.4984111785888672,0.10499954223632812,-94.88015299755519,0.2703510177988475,1537.2411795986045,rect,0.8607564108399158,0.5854567178525083,3.1034963831037743,10654.013873067437,5613.212388123746,disk,-0.23488959377461338,0.43743651681586226,2.054759434179343,6452.442975607694,3325.677308389143,0.049361392855644226,0.001857579336501658,-0.02852153778076172,-0.2740013301372528,0.6481800079345703,0.652954638004303,-0.28006458282470703,0.04478166252374649,0.6043323278427124,1.9670583009719849,0.06057489290833473,0.017978806048631668,0.26403146982192993,0.9624421000480652,1285,1,,2.1387267112731934,0.2658532856945257,0.0,0.0073804957792162895,0.5478599221789884,12,release,0.04239070415496826,"Pre-grasping the small plate, moving the arm toward it; the ",v2,True,False +c1_p004_e004,1,True,-0.11262226104736328,0.4499979019165039,-0.011483390318052835,-0.004000095749461231,11.420028890580312,plate_12_clear,0.5042552947998047,0.08044242858886719,-90.56581214725338,0.22102106385440595,1570.1341681066326,rect,-0.2537572632068824,-0.07606126187620954,2.8593890388268024,14131.974628359598,6695.744995827175,disk,-0.8300732207573759,0.9034704415839789,2.097930060371371,4468.72076222782,4049.142259517923,0.050485994666814804,-0.0015380475670099258,-0.03014025092124939,-0.289742648601532,0.6406607031822205,0.65131014585495,-0.28530359268188477,0.06482504308223724,0.6007570624351501,1.9288239479064941,0.02774667926132679,0.021900612860918045,0.28125154972076416,0.9589828252792358,1212,1,,2.0712838172912598,0.27665555358570293,0.0,0.0073518226854503155,0.5247524752475248,12,release,0.04230666160583496,"Pre-grasping the small plate, moving the arm toward it; the ",v2,True,False +c1_p004_e005,0,True,-0.11304283142089844,0.4499979019165039,-0.00255906868673281,-0.008470426374399537,3.072943074604325,deep_well_96_2ml,0.4648113250732422,0.12581157684326172,-87.54015496626167,0.29521137147959586,1570.1341681066326,rect,0.48069359286053903,0.577587932534533,3.190443234820564,4191.208676651931,3402.0616493158855,sphere,-1.2414899317966923,1.5023412170050066,2.7010436811664276,8375.134953093508,7257.475314937709,0.04791441187262535,0.0009511327371001244,-0.030413156375288963,-0.27306172251701355,0.6600595116615295,0.6433070302009583,-0.27552640438079834,0.0712307021021843,0.5728806257247925,1.9576637744903564,0.034133411943912506,0.003127296455204487,0.27131086587905884,0.9618812799453735,1318,1,,2.1020140647888184,0.29460734658256293,0.0,0.00748247979208827,0.5257966616084977,12,release,0.04397225379943848,"Pre-grasping the small plate, moving the arm toward it; the ",v2,True,False +c1_p004_e006,2,True,-0.12224960327148438,0.4500007629394531,-0.010564742940293574,0.01130771091407394,8.429053614317581,deep_well_24_10ml,0.4877500534057617,0.10293388366699219,-92.28249091729678,0.2425470229824222,1570.1341681066326,rect,-0.4326064039074544,0.5813476460884699,3.090176946701799,8841.411242467606,6810.715598106077,sphere,-0.4806933303421159,1.5820194673482215,1.7137957730899336,9551.567585555094,5806.478537320422,0.051443733274936676,0.00017083893180824816,-0.0319681391119957,-0.2763292193412781,0.6525574922561646,0.645476758480072,-0.2849045395851135,0.05380244553089142,0.5824821591377258,1.9316447973251343,0.05502988025546074,0.01337659452110529,0.2752581238746643,0.959700882434845,1192,1,,2.0728468894958496,0.24502866360941686,0.0,0.007479449268430471,0.5293624161073825,12,release,0.04300737380981445,"Pre-grasping the small plate, moving the arm toward it; the ",v2,True,False +c1_p004_e007,3,True,0.07998371124267578,0.4499998092651367,0.011071205182153711,0.0010013575568815051,-3.143256556453025,plate_48_clear,0.48879337310791016,0.054409027099609375,-91.56224719301127,0.21389673571407988,1570.1341681066326,rect,0.3608438975132654,0.1392261487760481,3.1133033523155276,6916.632739265037,4359.294463033933,disk,0.30705255075447546,-0.888397730171052,1.9393530365429232,9677.0052335483,4884.387029486885,0.04869581758975983,0.0033023771829903126,-0.02945035509765148,-0.2797780930995941,0.6511587500572205,0.6446611285209656,-0.2865806818008423,0.05310022830963135,0.5781185626983643,1.9749940633773804,0.030498221516609192,0.022480763494968414,0.2720647156238556,0.9615327715873718,1245,1,,2.051414966583252,0.3384585706874989,0.0,0.00728980079293251,0.5196787148594377,12,release,0.04210865497589111,"Pre-grasping the small plate, moving the arm toward it; the ",v2,True,False +c2_p006_e020,2,True,-0.02636241912841797,0.45000171661376953,-0.002540572553828638,-0.011550162939633239,-4.8129310773489635,plate_384_black,0.5104236602783203,0.09545230865478516,-93.25554149054526,0.2800023944775906,1052.2264660449014,rect,0.40654872645064566,-0.14439392177927707,3.152771612413347,10798.659430914402,3431.413607903861,disk,-1.3576206866524967,1.470001532427834,1.8038006612545532,7738.736876657051,6209.825569396662,0.05123768001794815,-0.0004728480998892337,-0.02556305006146431,-0.27297350764274597,0.6570644974708557,0.6446986198425293,-0.2794913053512573,0.07279425859451294,0.5843784809112549,1.9321978092193604,0.048283759504556656,0.015067461878061295,0.2663729190826416,0.9625419974327087,1275,1,,2.1003000736236572,0.26472759494331727,0.0,0.007379197981208563,0.5513725490196079,12,release,0.042429447174072266,"Pre-grasping the small plate, moving the arm toward it; the ",v2,True,False +c2_p006_e021,0,True,0.09222888946533203,0.45000171661376953,-0.008849480485046315,-0.005292329818627764,-9.073469244610607,plate_96_black,0.49597930908203125,0.11912250518798828,-85.0767963192906,0.22558970295941141,435.8186618141035,rect,-0.09319792896878532,-0.45494318503864817,2.941857547458968,6095.8547565118915,3350.4901251258248,disk,0.39184131754832396,-0.14035911050992378,2.388162574889768,10244.28364698482,6287.280955540105,0.05399024859070778,-0.00038034573663026094,-0.026791729032993317,-0.28408268094062805,0.6530733108520508,0.6432296633720398,-0.2811545729637146,0.03285811468958855,0.5870434641838074,1.9370967149734497,0.028072619810700417,0.007757985033094883,0.2863509953022003,0.9576820135116577,1219,1,,2.0741631984710693,0.2849840270324324,0.0,0.00725451810285449,0.5242001640689089,12,release,0.04241073131561279,"Pre-grasping the small plate, moving the arm toward it; the ",v2,True,False +c2_p006_e022,1,True,-0.043628692626953125,0.4499979019165039,-0.005762722974321133,0.00804066534119315,3.173375225725806,plate_12_clear,0.4996671676635742,0.1175851821899414,-89.63538658672277,0.2767210853585701,435.8186618141035,rect,-0.28197563328840225,-0.3380168087588651,3.1788069234563725,5630.508790075168,6682.933848566414,sphere,-0.01098461594850475,-0.8461927105527223,1.6802791425945853,9544.498074111798,6382.650895369468,0.051790740340948105,-0.002837885869666934,-0.029660923406481743,-0.28760936856269836,0.6433422565460205,0.6523258090019226,-0.27903878688812256,0.06741869449615479,0.5845708250999451,1.958926796913147,0.02616044506430626,-0.0013355922419577837,0.2593175172805786,0.9654368162155151,1252,1,,2.059711456298828,0.2966128129112457,0.0,0.00737141165882349,0.5575079872204473,12,release,0.04226565361022949,"Pre-grasping the small plate, moving the arm toward it; the ",v2,True,False +c3_p004_e021,3,True,-0.04592132568359375,0.447509765625,0.0007895160754833551,-0.0035097163891339043,-1.4778454646030355,plate_384_white,0.4623851776123047,0.08329963684082031,-91.27323508406518,0.29990512211277787,1245.2181866142341,rect,-0.08777211676079055,0.11000807609275653,3.0559552622838186,4031.394894642047,4646.966772966612,sphere,0.9654947394119078,-0.8394783499490186,2.226140113829192,9173.679208456004,5559.725170458858,0.05159485712647438,-0.0034987935796380043,-0.030507991090416908,-0.2867248058319092,0.6495566368103027,0.6424180865287781,-0.28838181495666504,0.042407114058732986,0.5778331160545349,1.939860463142395,0.03129710257053375,0.006420868448913097,0.27933651208877563,0.959661602973938,1243,1,,2.0654423236846924,0.24917785741439777,0.0,0.007380330469459295,0.5639581657280772,12,release,0.042378902435302734,"Pre-grasping the small plate, moving the arm toward it; the ",v2,True,False +c3_p004_e022,2,True,0.010788917541503906,0.4472770690917969,-0.010850907540372117,-0.008649891141390385,5.016388679692739,deep_well_24_10ml,0.5018272399902344,0.11866378784179688,-90.04183064297952,0.24690311086799072,1245.2181866142341,rect,0.4861302244344602,0.017128278666159624,3.104330372290633,10704.701425448588,5359.930035796342,disk,-0.1908082680535057,0.08299227598590053,2.0313304178829075,2103.8013665187227,7029.33829048754,0.047210436314344406,0.0012688225833699107,-0.03377344831824303,-0.2842123806476593,0.6520755887031555,0.6501094102859497,-0.2671676278114319,0.0469818152487278,0.5849985480308533,1.9310753345489502,0.05266832932829857,0.015880180522799492,0.28510400652885437,0.9569166898727417,1190,1,,2.110565662384033,0.32271362100151896,0.0,0.007479834370315075,0.5369747899159664,12,release,0.04228973388671875,"Pre-grasping the small plate, moving the arm toward it; the ",v2,True,False +c3_p004_e023,1,True,-0.1326131820678711,0.44736671447753906,0.007629401681367944,-0.003970788367336468,-10.06670077489153,pcr_384_red,0.5093593597412109,0.1066446304321289,-90.2537113813263,0.28489872716578846,1245.2181866142341,rect,0.14445379616605603,-0.20371513226581311,2.9409906229536587,5594.519099441873,4377.375906794405,disk,0.9551492197188747,-0.9101358522077847,2.1475208406820814,4230.562608054853,5066.586567945222,0.05065181851387024,0.0023341751657426357,-0.026420878246426582,-0.2732555568218231,0.6575823426246643,0.6485145688056946,-0.2689715325832367,0.05959729105234146,0.5807048082351685,1.932054042816162,0.051584579050540924,-0.0016667131567373872,0.2800661027431488,0.9585922956466675,1238,1,,2.1242358684539795,0.25936936259873833,0.0,0.006837931927293539,0.5088852988691438,12,release,0.04241037368774414,"Pre-grasping the small plate, moving the arm toward it; the ",v2,True,False +c4_p004_e018,1,True,-0.0728597640991211,0.45000457763671875,0.007405308915618033,-0.009233263668742303,1.9271644515004027,plate_96_white,0.49127864837646484,0.06891345977783203,-92.58880970116354,0.22901266770286113,849.6745197852705,rect,-0.2897862495202207,0.549890303729692,2.980454692235758,13488.495561895576,6766.903584459629,sphere,-1.1090523186546815,0.28257746260239847,1.6309640926314217,9430.2788079087,3773.1021010950817,0.05079016089439392,0.0007400686154142022,-0.03134297579526901,-0.2573786675930023,0.6656075716018677,0.6388067007064819,-0.2874869704246521,0.05038106068968773,0.5909393429756165,1.943141222000122,0.03096725046634674,0.006029581185430288,0.2828909158706665,0.9586330652236938,1238,1,,2.098924398422241,0.32024708144004405,0.0,0.007309148088097572,0.5161550888529887,12,release,0.04295492172241211,"Pre-grasping the small plate, moving the arm toward it; the ",v2,True,False +c4_p004_e019,0,True,-0.01804637908935547,0.4471092224121094,-0.0036452498156527894,0.0029594534072383536,-8.313034821626928,pcr_96_blue,0.4789714813232422,0.05381488800048828,-88.34825443215077,0.22975546918370332,849.6745197852705,rect,-0.27934539694478766,-0.11738041799324656,2.9278400966989153,9786.293039608201,6461.882669887977,disk,-1.0769671112500498,-0.5070478549376523,2.0388790563935926,5120.410323365784,6883.629961385171,0.04740837216377258,-0.0003967089578509331,-0.027015596628189087,-0.28671586513519287,0.6526481509208679,0.6450248956680298,-0.27529504895210266,0.07097409665584564,0.5826780796051025,1.9411629438400269,0.036086276173591614,0.030778154730796814,0.2836492657661438,0.9577544331550598,1306,1,,2.074683904647827,0.3034569742870099,0.0,0.0068386998027563095,0.5352220520673813,12,release,0.04234051704406738,"Pre-grasping the small plate, moving the arm toward it; the ",v2,True,False +c5_p004_e000,0,True,-0.008459091186523438,0.4499950408935547,0.004086505061220833,0.0024032412268259616,-10.656061563394644,deep_well_96_2ml,0.48097991943359375,0.1065673828125,-86.88794020368216,0.231089578900173,762.1810653784096,rect,-0.09190359788923053,0.3877097561574113,2.938850935820934,5032.355243837303,5155.48228209703,sphere,0.2318986427677956,-0.6421378310066389,1.7560140467083263,9977.106044244774,6050.314465882062,0.04670463874936104,0.003580409800633788,-0.03000061586499214,-0.27102652192115784,0.6499234437942505,0.6482416391372681,-0.2897014319896698,0.06910013407468796,0.5963714122772217,1.93790864944458,0.04611107334494591,0.019101649522781372,0.2663973271846771,0.9625701904296875,1250,1,,2.076397657394409,0.3169702662808666,0.0,0.007491703145205975,0.5632,12,release,0.044071197509765625,"Pre-grasping the small plate, moving the arm toward it; the ",v2,True,False +c5_p004_e001,1,True,-0.04382514953613281,0.4499998092651367,0.008709911769957921,-0.00533389353092093,2.76933842651502,deep_well_96_1ml,0.5256032943725586,0.08841419219970703,-86.35962671910123,0.20174530217770875,762.1810653784096,rect,0.7402233456444883,-0.2441661279486957,3.055012500516506,12729.561991227996,5141.18193802327,sphere,1.7350425970318186,-1.045325629609158,2.5265779836312405,9008.708041954409,5539.692625307267,0.04997910186648369,-0.0028472458943724632,-0.029896775260567665,-0.28255751729011536,0.654388964176178,0.6451987028121948,-0.27505460381507874,0.06726635992527008,0.5963900089263916,1.9332629442214966,0.033412594348192215,0.011381831020116806,0.2559410631656647,0.9660477042198181,1238,1,,2.0340139865875244,0.3299291768987682,0.0,0.007434020284563303,0.5177705977382876,12,release,0.04213815927505493,"Pre-grasping the small plate, moving the arm toward it; the ",v2,True,False +c5_p004_e002,2,True,-0.09204292297363281,0.4499626159667969,0.01173542651639132,0.0025543964353727205,-10.148387242562507,deep_well_24_10ml,0.46412086486816406,0.06696701049804688,-92.47554467929427,0.21842496981467685,762.1810653784096,rect,0.668460364004391,0.19467465752651858,2.8586371603278877,14621.666838213365,3530.1222843529063,sphere,0.8567748519260903,-1.0709052992152983,2.7080882521437424,8176.5422796764215,4291.562338190459,0.051298197358846664,-0.0020915912464261055,-0.026202606037259102,-0.2858849763870239,0.6463419198989868,0.64691162109375,-0.2863865792751312,0.038197871297597885,0.5860756039619446,1.9552947282791138,0.025488832965493202,-0.0020175257232040167,0.2721899449825287,0.9619037508964539,1247,1,,2.0234813690185547,0.26645582622334146,0.0,0.007467393763363361,0.5108259823576584,12,release,0.042677879333496094,"Pre-grasping the small plate, moving the arm toward it; the ",v2,True,False +c5_p004_e003,3,True,-0.0131988525390625,0.4499931335449219,-0.007548199375969846,0.002021331996108607,1.3273545132996674,reservoir_12ch,0.5063915252685547,0.09279727935791016,-93.26214579185496,0.2034911737189809,762.1810653784096,rect,0.1485659263139677,0.4532929433105577,3.061128162750712,15988.738234588025,4738.462255082117,sphere,0.9821903639297638,-0.758173715799779,2.0189786926981665,9746.15811853069,3597.008647749072,0.05243455246090889,-0.0003995706210844219,-0.02897902950644493,-0.2870735824108124,0.6509942412376404,0.6463752388954163,-0.2756706774234772,0.05462867021560669,0.5636265873908997,1.9369630813598633,0.031964559108018875,0.004581105429679155,0.26209378242492676,0.9645020365715027,1232,1,,2.1685214042663574,0.29170224035003806,0.0,0.007379349321126938,0.5706168831168831,12,release,0.04280972480773926,"Pre-grasping the small plate, moving the arm toward it; the ",v2,True,False +c6_p004_e027,1,True,0.0686960220336914,0.45000171661376953,0.011511385673314535,0.010566212071161674,2.4264003355074237,pcr_384_red,0.4748668670654297,0.09039306640625,-92.62509431410274,0.21742076508700742,865.571177148849,rect,0.4901588043834494,0.44883969471671437,2.8047892236009684,13168.309484269146,6382.421238755029,disk,0.9044506012528362,-0.5925264058898598,2.5551739046874555,9933.720414942038,6352.226550872558,0.047912973910570145,-0.00286898878403008,-0.026215432211756706,-0.28137415647506714,0.6471553444862366,0.6460127234458923,-0.29100871086120605,0.032522451132535934,0.5773231983184814,1.9410768747329712,0.02464364282786846,0.001918469788506627,0.26767054200172424,0.9631933569908142,1252,1,,2.1266534328460693,0.2794097838177432,0.0,0.00675577949732542,0.5087859424920128,12,release,0.04262399673461914,"Pre-grasping the small plate, moving the arm toward it; the ",v2,True,False +c7_p004_e021,0,True,-0.12453079223632812,0.4499940872192383,-0.014034495657794771,0.008798627723088516,-9.923514610892283,deep_well_96_2ml,0.5001640319824219,0.11996269226074219,-86.19944163127089,0.2214912785288915,446.38698732963525,rect,-0.5092383157015099,-0.43553255583400796,2.869116014035269,9040.629628572564,4747.353711055139,sphere,1.1306019022296527,0.9799889816264404,2.139686445262158,8220.529679934873,6897.816193239813,0.049550436437129974,-0.0010786958737298846,-0.027532130479812622,-0.27055731415748596,0.6488490104675293,0.6528501510620117,-0.28210002183914185,0.033207934349775314,0.5827682614326477,1.950040578842163,0.05593845248222351,0.021210797131061554,0.2835800349712372,0.9570806622505188,1254,1,,2.066457986831665,0.2725575525720691,0.0,0.007505166810005903,0.5047846889952153,12,release,0.04224526882171631,"Pre-grasping the small plate, moving the arm toward it; the ",v2,True,False +c7_p004_e022,2,True,-0.06975364685058594,0.45000362396240234,-0.0005217895153177782,-0.005510408289211442,10.442249168195872,plate_384_black,0.4787302017211914,0.07873058319091797,-91.79683951563818,0.2766754703314591,446.38698732963525,rect,-0.08563229800978889,-0.42176654690717663,2.7132887257326512,11974.026415028111,6396.228961086735,disk,0.15716636857552602,1.4490012289207461,1.7177274909767117,10121.920050718167,4411.594133948917,0.046935632824897766,0.0018196528544649482,-0.03239336982369423,-0.28464120626449585,0.6513803005218506,0.6414178609848022,-0.28855887055397034,0.06889206916093826,0.5631369352340698,1.96558678150177,0.04027026891708374,0.00594929838553071,0.284894734621048,0.9576940536499023,1224,1,,2.1229727268218994,0.28733616081704744,0.0,0.00738069973886013,0.5245098039215687,12,release,0.04220461845397949,"Pre-grasping the small plate, moving the arm toward it; the ",v2,True,False +c7_p004_e023,1,True,0.09298896789550781,0.45000171661376953,0.010264758912463241,-0.008831556830905096,-8.938982980639167,plate_96_white,0.5033798217773438,0.09269237518310547,-90.34246080252042,0.23201841959851469,446.38698732963525,rect,0.8293740615038346,0.2533762419200114,3.0394309006564577,15647.49748118273,6601.813772151001,disk,-0.3270647269639624,0.8656364372412593,1.9838234095741463,4157.0989485229575,7440.530898170913,0.051854703575372696,0.0010074892779812217,-0.029758578166365623,-0.27318841218948364,0.6438977718353271,0.653772234916687,-0.28869637846946716,0.038974229246377945,0.5953709483146667,1.9372066259384155,0.03932758793234825,0.021461045369505882,0.28641656041145325,0.9570571184158325,1257,1,,2.0670857429504395,0.2943265820833188,0.0,0.0072569334879517555,0.513126491646778,12,release,0.04257822036743164,"Pre-grasping the small plate, moving the arm toward it; the ",v2,True,False +c8_p004_e024,0,True,0.019689559936523438,0.45000171661376953,-0.009651793905403943,0.0028478834428789326,-6.095922206283717,deep_well_96_2ml,0.48504161834716797,0.08316230773925781,-92.94365989847441,0.16976430173393575,636.6606194897254,rect,0.21206471597182797,-0.1638380919402091,2.8440139964190636,7164.369681200953,3973.8379751775833,sphere,1.0374216952632462,-0.8948031783814795,1.8994546580831677,7110.810499806389,4538.213070872811,0.05129791796207428,-7.315186667256057e-05,-0.03347931057214737,-0.27837303280830383,0.6552615761756897,0.6461260914802551,-0.27506694197654724,0.03999532386660576,0.594179093837738,1.936532735824585,0.03618047386407852,0.0009058440919034183,0.25557368993759155,0.9661118984222412,1170,1,,2.058436393737793,0.2765739103419192,0.0,0.007495867554098368,0.5418803418803418,12,release,0.0421757698059082,"Pre-grasping the small plate, moving the arm toward it; the ",v2,True,False +c8_p004_e025,3,True,0.10736656188964844,0.4499988555908203,-0.004606039880549056,0.0020928172412433767,9.014224735271597,plate_48_clear,0.4953346252441406,0.08161735534667969,-94.7172394143877,0.2987661431626888,636.6606194897254,rect,0.3637846819434889,-0.3027976996083892,2.600158213870678,5647.953525989911,3752.3414899926092,sphere,0.47890092811550655,0.6645563960329095,2.747595978329964,9160.901036858093,6271.283985829963,0.04882730171084404,-0.000420064345235005,-0.03421975299715996,-0.26988571882247925,0.6553005576133728,0.6480386257171631,-0.27890655398368835,0.04403630271553993,0.5986007452011108,1.9484952688217163,0.046921469271183014,-0.006664630025625229,0.2545922100543976,0.9658865332603455,1185,1,,2.0834250450134277,0.30688171920352264,0.0,0.0072546787559986115,0.5316455696202531,12,release,0.04225122928619385,"Pre-grasping the small plate, moving the arm toward it; the ",v2,True,False +c9_p006_e027,2,True,0.06354331970214844,0.4499969482421875,0.009741243369740036,-0.011318671356425647,3.5424402933681165,plate_1536_black,0.49117279052734375,0.08234405517578125,-88.8944599767783,0.21568016955947095,1537.2411795986045,rect,0.2822704036437693,-0.05352079343877225,2.7898500997589113,9452.038272915259,3583.6835524397156,disk,0.27380034079985793,-0.5218410689583652,1.9720520032490427,8405.09626038709,7189.133429459555,0.0475633479654789,-0.0019730855710804462,-0.029653456062078476,-0.2701294422149658,0.6515909433364868,0.6516445875167847,-0.27896007895469666,0.03198450803756714,0.5968307256698608,1.9593476057052612,0.04415442422032356,0.007855045609176159,0.26338452100753784,0.9636479020118713,1268,1,,2.083073139190674,0.26855609487297266,0.0,0.007374764885753393,0.5055205047318612,12,release,0.042589664459228516,"Pre-grasping the small plate, moving the arm toward it; the ",v2,True,False +c9_p006_e028,1,True,0.025628089904785156,0.45000267028808594,0.001991038602317667,0.0021354944022436177,-6.178948015594187,plate_96_white,0.4788179397583008,0.09220218658447266,-87.35510062205685,0.23948841036829324,1537.2411795986045,rect,-0.3884686565113161,0.4133388903423605,2.8253195482725184,5778.099947391909,3570.544974341564,sphere,1.6712935396817064,1.5397831881382273,2.733502541391133,2415.955613172909,3658.817630842305,0.051792245358228683,0.001802228856831789,-0.030871335417032242,-0.27936694025993347,0.6529520153999329,0.648143470287323,-0.27480509877204895,0.05357666686177254,0.5738412141799927,1.9617592096328735,0.051007941365242004,0.010969411581754684,0.28354504704475403,0.9575385451316833,1243,1,,2.114104986190796,0.30093886042739065,0.0,0.007312443107366562,0.5205148833467418,12,release,0.04230928421020508,"Pre-grasping the small plate, moving the arm toward it; the ",v2,True,False