diff --git a/episodes/c4_p007_e004/data.npz b/episodes/c4_p007_e004/data.npz new file mode 100644 index 0000000000000000000000000000000000000000..d1eea91d2abf6a2409ab23e47030ff4a929ae98f --- /dev/null +++ b/episodes/c4_p007_e004/data.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:16d779f8f4c30121cebb7ceb65ba4140d8b9cc1e1061d80ad99f9eb468bccc1e +size 196969 diff --git a/episodes/c4_p007_e004/device_events.jsonl b/episodes/c4_p007_e004/device_events.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..fcb5e4c22ec77a0e41917600fb24fffce0c8e5f5 --- /dev/null +++ b/episodes/c4_p007_e004/device_events.jsonl @@ -0,0 +1,36 @@ +{"env_id": 3, "seq": 1, "step": 157, "t": 0.785, "topic": "conveyor_1.belt.station.pick.captured", "source": "conveyor_1.belt", "data": {"rider": "carrier_2"}, "cause": null} +{"env_id": 3, "seq": 2, "step": 157, "t": 0.785, "topic": "conveyor_1.belt.state.changed", "source": "conveyor_1.belt", "data": {"from": "running", "to": "at_station"}, "cause": null} +{"env_id": 3, "seq": 3, "step": 162, "t": 0.81, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_2"}, "cause": null} +{"env_id": 3, "seq": 4, "step": 769, "t": 3.845, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_2"}, "cause": null} +{"env_id": 3, "seq": 5, "step": 5522, "t": 27.61, "topic": "a4s_sealer_1.plate_present.present", "source": "a4s_sealer_1.plate_present", "data": {"object": "plate_2"}, "cause": null} +{"env_id": 3, "seq": 6, "step": 6136, "t": 30.68, "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": 6136, "t": 30.68, "topic": "a4s_sealer_1.seal.started", "source": "a4s_sealer_1", "data": {"dwell": 4.151746570129816}, "cause": "task-3-1"} +{"env_id": 3, "seq": 8, "step": 6136, "t": 30.68, "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": 6136, "t": 30.68, "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": 6136, "t": 30.68, "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": 6555, "t": 32.775, "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": 6555, "t": 32.775, "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": 6555, "t": 32.775, "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": 6555, "t": 32.775, "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": 6555, "t": 32.775, "topic": "labware.plate_2.changed", "source": "labware.plate_2", "data": {"key": "sealed", "value": true}, "cause": "task-3-1"} +{"env_id": 3, "seq": 16, "step": 6555, "t": 32.775, "topic": "a4s_sealer_1.sealed", "source": "a4s_sealer_1", "data": {"plate": "plate_2"}, "cause": "task-3-1"} +{"env_id": 3, "seq": 17, "step": 6555, "t": 32.775, "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": 6555, "t": 32.775, "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": 6555, "t": 32.775, "topic": "a4s_sealer_1.heater.started", "source": "a4s_sealer_1.heater", "data": {"duration": 4.151746570129816}, "cause": "program-3-3"} +{"env_id": 3, "seq": 20, "step": 7386, "t": 36.93, "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": 7386, "t": 36.93, "topic": "a4s_sealer_1.heater.finished", "source": "a4s_sealer_1.heater", "data": {"elapsed": 4.155000000002126}, "cause": "program-3-3"} +{"env_id": 3, "seq": 22, "step": 7386, "t": 36.93, "topic": "a4s_sealer_1.heater.command.succeeded", "source": "a4s_sealer_1.heater", "data": {"command_id": "program-3-3", "name": "run", "source": "program:seal", "result": {"elapsed": 4.155000000002126}}, "cause": "program-3-3"} +{"env_id": 3, "seq": 23, "step": 7386, "t": 36.93, "topic": "a4s_sealer_1.drawer.command.started", "source": "a4s_sealer_1.drawer", "data": {"command_id": "program-3-4", "name": "open", "source": "program:seal"}, "cause": "program-3-4"} +{"env_id": 3, "seq": 24, "step": 7386, "t": 36.93, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "at_in", "to": "moving"}, "cause": null} +{"env_id": 3, "seq": 25, "step": 7386, "t": 36.93, "topic": "a4s_sealer_1.drawer.moving", "source": "a4s_sealer_1.drawer", "data": {"target": 0.0, "goal": "out"}, "cause": "program-3-4"} +{"env_id": 3, "seq": 26, "step": 7806, "t": 39.03, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "moving", "to": "at_out"}, "cause": null} +{"env_id": 3, "seq": 27, "step": 7806, "t": 39.03, "topic": "a4s_sealer_1.drawer.reached", "source": "a4s_sealer_1.drawer", "data": {"position": "out", "q": 0.0}, "cause": "program-3-4"} +{"env_id": 3, "seq": 28, "step": 7806, "t": 39.03, "topic": "a4s_sealer_1.drawer.at_out", "source": "a4s_sealer_1.drawer", "data": {"q": 0.0}, "cause": "program-3-4"} +{"env_id": 3, "seq": 29, "step": 7806, "t": 39.03, "topic": "a4s_sealer_1.drawer.command.succeeded", "source": "a4s_sealer_1.drawer", "data": {"command_id": "program-3-4", "name": "open", "source": "program:seal", "result": {"position": "out"}}, "cause": "program-3-4"} +{"env_id": 3, "seq": 30, "step": 7806, "t": 39.03, "topic": "a4s_sealer_1.seal.finished", "source": "a4s_sealer_1", "data": {}, "cause": "task-3-1"} +{"env_id": 3, "seq": 31, "step": 7806, "t": 39.03, "topic": "a4s_sealer_1.command.succeeded", "source": "a4s_sealer_1", "data": {"command_id": "task-3-1", "name": "seal", "source": "task"}, "cause": "task-3-1"} +{"env_id": 3, "seq": 32, "step": 8385, "t": 41.925, "topic": "a4s_sealer_1.plate_present.absent", "source": "a4s_sealer_1.plate_present", "data": {"object": "plate_2"}, "cause": null} +{"env_id": 3, "seq": 33, "step": 10644, "t": 53.22, "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": 10644, "t": 53.22, "topic": "conveyor_1.belt.station.pick.released", "source": "conveyor_1.belt", "data": {"rider": "carrier_2"}, "cause": "task-3-5"} +{"env_id": 3, "seq": 35, "step": 10644, "t": 53.22, "topic": "conveyor_1.belt.state.changed", "source": "conveyor_1.belt", "data": {"from": "at_station", "to": "running"}, "cause": null} +{"env_id": 3, "seq": 36, "step": 10644, "t": 53.22, "topic": "conveyor_1.belt.command.succeeded", "source": "conveyor_1.belt", "data": {"command_id": "task-3-5", "name": "release", "source": "task", "result": {"state": "running"}}, "cause": "task-3-5"} diff --git a/episodes/c4_p007_e004/env.mp4 b/episodes/c4_p007_e004/env.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..03ae6bde884432bf37a90ac29dc358573ca3f8be --- /dev/null +++ b/episodes/c4_p007_e004/env.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:69b142b13eb492d874a9a07de3bd923ea382269214bfdd474613eed62cfec512 +size 1381398 diff --git a/episodes/c4_p007_e004/meta.json b/episodes/c4_p007_e004/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..345bd52a58061491838cbdeb3a46ffbc1c6ac78e --- /dev/null +++ b/episodes/c4_p007_e004/meta.json @@ -0,0 +1,32 @@ +{ + "source": "raw/c4_p007/magicsim/4", + "fps": 25, + "frames": 1292, + "kept_ticks": "even", + "video_frames": { + "wrist": 1292, + "env": 1292 + }, + "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_p007_e004/scene_snapshot.json b/episodes/c4_p007_e004/scene_snapshot.json new file mode 100644 index 0000000000000000000000000000000000000000..f9b509f040d0cf431ee97f5287476afb81719254 --- /dev/null +++ b/episodes/c4_p007_e004/scene_snapshot.json @@ -0,0 +1,1558 @@ +{ + "trajectory_id": 4, + "env_id": 3, + "run_id": "c4_p007", + "task_type": "BioPlateCell", + "success": true, + "timing": { + "fps": 50.0, + "sim_dt": 0.005, + "decimation": 4 + }, + "restore_interface": { + "scene": "scene_manager.reset_to(snapshot['scene'], env_ids=[env_id])", + "robots": "robot_manager.set_state({'robots': snapshot['robots']}, env_ids=[env_id])" + }, + "snapshot": { + "env_id": 3, + "scene": { + "objects": [ + {}, + {}, + {}, + { + "rac_cell": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/rac_cell.usd", + "pose": { + "pos": [ + 0.0, + 0.0, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "physics_material": { + "static_friction": 0.6, + "dynamic_friction": 0.5, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "robot_mount": [ + { + "asset": "Cube", + "pose": { + "pos": [ + 0.0, + 0.0, + 0.9075 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": "color", + "value": [ + 0.55, + 0.56, + 0.58 + ], + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": { + "size": [ + 0.2, + 0.2, + 0.015 + ] + } + }, + "type_specific": {} + } + ], + "plate_rack": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/plate_hotel.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 0.9 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "physics_material": { + "static_friction": 0.6, + "dynamic_friction": 0.5, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "hotel_plate": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_96_white/plate_96_white.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 0.9605 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/deep_well_24_10ml/deep_well_24_10ml.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.0285 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_96_black/plate_96_black.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.0965 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_6_clear/plate_6_clear.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.1645 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/deep_well_24_10ml/deep_well_24_10ml.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.2325 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "a4s_sealer": [ + { + "asset": "$MAGICSIM_ASSETS/Articulated/A4SSealer/Object.usd", + "pose": { + "pos": [ + 0.4988422393798828, + 0.11703014373779297, + 0.8999999761581421 + ], + "ori": [ + 0.735316276550293, + 0.0, + 0.0, + -0.6777241230010986 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "articulation", + "solver_position_iteration_count": 16.0, + "solver_velocity_iteration_count": 1.0, + "enabled_self_collisions": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "joint_position": [ + 1.6820824247365529e-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": 0.2521506124647856, + "direction": [ + 1.0, + 0.0, + 0.0 + ], + "enabled": true, + "drive": "surface_velocity", + "lines": null, + "station_line": null, + "riders": [ + "carrier" + ], + "stations": { + "pick": { + "position": -0.24907503829200695, + "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": 0.2521506124647856, + "holds": [], + "station": "pick", + "rider": "carrier_2", + "arrived": true, + "applied_speed": 0.0 + } + } + } + ], + "carrier": [ + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + 0.4522275924682617, + 1.1524677276611328, + 0.8999999761581421 + ], + "ori": [ + -0.011210078373551369, + -1.0620082591117352e-09, + -1.9011388019407605e-09, + 0.9999372363090515 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 4.1211855261735764e-08, + 4.3190823362238007e-08, + 5.21540641784668e-08 + ], + "angular_velocity": [ + -1.8067121345666237e-06, + 1.514215000497643e-06, + 1.2501516266638646e-07 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + -0.09944915771484375, + 0.4474916458129883, + 0.8999999761581421 + ], + "ori": [ + 0.9999415278434753, + 3.272367710138724e-09, + 1.6205247144185364e-09, + 0.010817231610417366 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 3.458693331737095e-09, + 1.4508157342163486e-08, + 4.842877388000488e-08 + ], + "angular_velocity": [ + -6.189198984429822e-07, + 4.038056147237512e-07, + -2.8159142573258578e-08 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + -1.3911809921264648, + 0.7334938049316406, + 0.8999999761581421 + ], + "ori": [ + -0.766007125377655, + -6.261540175245273e-09, + 5.612437181667929e-10, + 0.6428321003913879 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -6.03131711240934e-10, + -3.1431890423760933e-10, + 0.0 + ], + "angular_velocity": [ + 1.8420649894324015e-08, + -1.5738940817300318e-08, + 6.149332598681667e-09 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + 1.6787309646606445, + 0.9130954742431641, + 0.8999999761581421 + ], + "ori": [ + 0.588435173034668, + -6.562036247714786e-08, + 1.9181957355840495e-08, + 0.808544397354126 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 2.283977451611463e-09, + 2.587451919389139e-10, + 3.725290298461914e-09 + ], + "angular_velocity": [ + -1.3728033820825658e-08, + 1.2528289516922086e-08, + 2.9541993740167527e-08 + ] + } + } + ], + "plate": [ + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_48_clear/Object.usd", + "pose": { + "pos": [ + 0.44621849060058594, + 1.1571359634399414, + 0.9180000424385071 + ], + "ori": [ + -0.09710220247507095, + -1.2281989825169148e-07, + -6.446382982971954e-09, + 0.9952744245529175 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 1.8172941054217517e-06, + 4.438683390617371e-06, + -1.4007091522216797e-06 + ], + "angular_velocity": [ + -1.852455534390174e-05, + 9.526300345896743e-06, + -4.3898251078644535e-07 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_384_white/Object.usd", + "pose": { + "pos": [ + -0.095458984375, + 0.4571847915649414, + 0.9180000424385071 + ], + "ori": [ + 0.9972602725028992, + 2.7919369038897912e-09, + 2.6645803341551755e-09, + 0.07397370785474777 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 6.51428022635514e-09, + 3.473868659398249e-08, + -4.954636096954346e-06 + ], + "angular_velocity": [ + 9.350500249638571e-07, + -1.8707203253143234e-06, + -1.1446211800603123e-07 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_96_clear/Object.usd", + "pose": { + "pos": [ + -1.4002914428710938, + 0.7298336029052734, + 0.9180000424385071 + ], + "ori": [ + -0.7320540547370911, + -4.933204955648307e-09, + -5.029644478682371e-10, + 0.6812465786933899 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -1.1958386281207822e-08, + 2.4180229374337614e-08, + -5.070120096206665e-06 + ], + "angular_velocity": [ + -1.0033472790382802e-06, + -3.2076025036076317e-07, + -2.2075955286027238e-08 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/reservoir_12ch/Object.usd", + "pose": { + "pos": [ + 1.6746082305908203, + 0.8980121612548828, + 0.9179999828338623 + ], + "ori": [ + 0.6144739389419556, + -6.479518788182759e-08, + 1.489578949076531e-08, + 0.7889372706413269 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 9.808407952505149e-08, + -5.612334774696137e-08, + -2.950429916381836e-06 + ], + "angular_velocity": [ + 6.506533054562169e-07, + 2.956807520604343e-06, + 7.845181215770936e-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": 1.7199999999999853, + "step": 344, + "counter": 0, + "devices": { + "a4s_sealer_1": { + "mode": "auto", + "units": { + "drawer": { + "state": "at_out", + "active": null, + "target": 0.0, + "goal_name": "out", + "profile": null, + "q_start": null, + "reversing": false, + "blocked_for": 0.0, + "settled_for": 0.0, + "last_q": 1.6820824247365529e-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": 0.2521506124647856, + "holds": [], + "station": "pick", + "rider": "carrier_2", + "arrived": true, + "settle_count": 186, + "released": { + "pick": [] + }, + "last_pos": { + "carrier_1": [ + 0.30222758650779724, + 0.7024677395820618, + 0.0 + ], + "carrier_2": [ + -0.24944916367530823, + -0.0025083422660827637, + 0.0 + ], + "carrier_3": [ + -1.5411809980869293, + 0.2834938168525696, + 0.0 + ], + "carrier_4": [ + 1.52873095870018, + 0.463095486164093, + 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": [ + -0.4073058677715517, + 0.33826262687518904, + 3.157908077899852 + ], + "ori": [ + -7.150934086057318, + 10.408246384173555, + -27.207740088797987 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "color_temperature": 3518.9189476539127, + "color": [ + 0.8445715346118794, + 0.8064071418425108, + 0.9087397753635484 + ], + "intensity": 6674.709142422114, + "width": 2.6132839158117775, + "height": 0.9860613397212517 + } + }, + "key": { + "type": "disk", + "pose": { + "pos": [ + 0.1713373583924931, + -0.7326663671096609, + 2.046873801281426 + ], + "ori": [ + 0.9126861501207557, + 16.209387152077483, + -4.361588967866361 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "color_temperature": 3892.755201707317, + "color": [ + 0.9905098909265845, + 0.9612512874135187, + 0.775030024595603 + ], + "intensity": 2568.649871613215, + "radius": 0.1406671667802936 + } + } + } + ], + "background": { + "type": "dome", + "pose": { + "pos": null, + "ori": null, + "scale": null + }, + "dr": { + "intensity": 584.0097192595206, + "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": [ + [ + 1.149867057800293, + -1.3036167621612549, + 2.2686595916748047, + -2.5363540649414062, + -1.5708411931991577, + 2.6950786113739014, + 0.016906920820474625, + 0.016822727397084236 + ], + [ + 1.8121572732925415, + -1.3137354850769043, + 2.0732667446136475, + -2.329993963241577, + -1.5704022645950317, + 0.22579188644886017, + 0.007749187294393778, + 0.00724642863497138 + ], + [ + 1.147084355354309, + -1.3065766096115112, + 2.272834062576294, + -2.536677598953247, + -1.5711965560913086, + 2.703407049179077, + 0.016911117359995842, + 0.016828587278723717 + ], + [ + 0.9140999913215637, + -1.7194000482559204, + 2.0905001163482666, + -1.9419000148773193, + -1.5707999467849731, + 2.4848999977111816, + 0.017999999225139618, + 0.017999999225139618 + ] + ], + "joint_vel": [ + [ + 1.6174290067283437e-05, + 0.0036279773339629173, + 0.0011215610429644585, + -0.004569468554109335, + 8.539542250218801e-06, + -2.0800454876734875e-05, + 0.016468875110149384, + 0.017741011455655098 + ], + [ + -0.00013103595119901001, + 0.015509925782680511, + 0.00846907775849104, + -0.021895108744502068, + 0.0001890444109449163, + 0.0013921416830271482, + -0.0061768777668476105, + 0.00024821815895847976 + ], + [ + 5.759035047958605e-06, + 0.0036490787751972675, + 0.0011636096751317382, + -0.004630559589713812, + -5.096006134408526e-06, + 4.051117139169946e-05, + 0.016405552625656128, + 0.01765279658138752 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + ] + } + }, + "cameras": { + "cameras": { + "camera0": [ + [ + 0.05103245750069618, + 0.0026484732516109943, + -0.028303997591137886, + -0.2813689112663269, + 0.648159384727478, + 0.6509121060371399, + -0.27755066752433777 + ], + [ + 0.04996657371520996, + 0.0032837302424013615, + -0.02728351391851902, + -0.29964616894721985, + 0.636100172996521, + 0.6566872000694275, + -0.27267327904701233 + ], + [ + 0.050955504179000854, + -0.0015628933906555176, + -0.028704727068543434, + -0.28067895770072937, + 0.6446343660354614, + 0.65097576379776, + -0.28617554903030396 + ], + [ + 0.04923414811491966, + 0.0017221394227817655, + -0.0279284305870533, + -0.2829744815826416, + 0.6446800827980042, + 0.6542817950248718, + -0.276094913482666 + ] + ], + "camera1": [ + [ + 0.059548068791627884, + 0.5783742070198059, + 1.9492672681808472, + 0.05971294268965721, + 0.021038834005594254, + 0.27184754610061646, + 0.96025550365448 + ], + [ + 0.03823576495051384, + 0.5761789083480835, + 1.9638944864273071, + 0.02469925582408905, + 0.005807385314255953, + 0.2698313593864441, + 0.962573230266571 + ], + [ + 0.059913039207458496, + 0.5911005139350891, + 1.9267033338546753, + 0.04105871543288231, + 0.025045601651072502, + 0.26348525285720825, + 0.9634637832641602 + ], + [ + 0.06539583206176758, + 0.6036527752876282, + 1.9611330032348633, + 0.03326158598065376, + 0.010567559860646725, + 0.2742682695388794, + 0.9610196948051453 + ] + ] + } + } + } +} \ No newline at end of file diff --git a/episodes/c4_p007_e004/wrist.mp4 b/episodes/c4_p007_e004/wrist.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..806947731ac25f43117ffd77d7293adfe4e66173 --- /dev/null +++ b/episodes/c4_p007_e004/wrist.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:acc165d476a5e9f8e90954428fd794fcade2e82fd6e5bee3caf9f6976058b63b +size 7166951 diff --git a/episodes/c4_p007_e005/data.npz b/episodes/c4_p007_e005/data.npz new file mode 100644 index 0000000000000000000000000000000000000000..03ff1faa17ebf317476307e126cf542a98ff0671 --- /dev/null +++ b/episodes/c4_p007_e005/data.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:aa9b3ee8de543dfadcb02fcd72f78b62e25293dcc87af0ff676d98315d28620c +size 185962 diff --git a/episodes/c4_p007_e005/device_events.jsonl b/episodes/c4_p007_e005/device_events.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..f3d135e79bd12cd04aa763c059bd8494d53bebf8 --- /dev/null +++ b/episodes/c4_p007_e005/device_events.jsonl @@ -0,0 +1,35 @@ +{"env_id": 2, "seq": 1, "step": 90, "t": 0.45, "topic": "conveyor_1.belt.station.pick.captured", "source": "conveyor_1.belt", "data": {"rider": "carrier_1"}, "cause": null} +{"env_id": 2, "seq": 2, "step": 90, "t": 0.45, "topic": "conveyor_1.belt.state.changed", "source": "conveyor_1.belt", "data": {"from": "running", "to": "at_station"}, "cause": null} +{"env_id": 2, "seq": 3, "step": 95, "t": 0.475, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_1"}, "cause": null} +{"env_id": 2, "seq": 4, "step": 6550, "t": 32.75, "topic": "a4s_sealer_1.plate_present.present", "source": "a4s_sealer_1.plate_present", "data": {"object": "plate_1"}, "cause": null} +{"env_id": 2, "seq": 5, "step": 7164, "t": 35.82, "topic": "a4s_sealer_1.command.started", "source": "a4s_sealer_1", "data": {"command_id": "task-2-1", "name": "seal", "source": "task"}, "cause": "task-2-1"} +{"env_id": 2, "seq": 6, "step": 7164, "t": 35.82, "topic": "a4s_sealer_1.seal.started", "source": "a4s_sealer_1", "data": {"dwell": 3.4231690745764007}, "cause": "task-2-1"} +{"env_id": 2, "seq": 7, "step": 7164, "t": 35.82, "topic": "a4s_sealer_1.drawer.command.started", "source": "a4s_sealer_1.drawer", "data": {"command_id": "program-2-2", "name": "close", "source": "program:seal"}, "cause": "program-2-2"} +{"env_id": 2, "seq": 8, "step": 7164, "t": 35.82, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "at_out", "to": "moving"}, "cause": null} +{"env_id": 2, "seq": 9, "step": 7164, "t": 35.82, "topic": "a4s_sealer_1.drawer.moving", "source": "a4s_sealer_1.drawer", "data": {"target": 0.3, "goal": "in"}, "cause": "program-2-2"} +{"env_id": 2, "seq": 10, "step": 7583, "t": 37.915, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "moving", "to": "at_in"}, "cause": null} +{"env_id": 2, "seq": 11, "step": 7583, "t": 37.915, "topic": "a4s_sealer_1.drawer.reached", "source": "a4s_sealer_1.drawer", "data": {"position": "in", "q": 0.30000001192092896}, "cause": "program-2-2"} +{"env_id": 2, "seq": 12, "step": 7583, "t": 37.915, "topic": "a4s_sealer_1.drawer.at_in", "source": "a4s_sealer_1.drawer", "data": {"q": 0.30000001192092896}, "cause": "program-2-2"} +{"env_id": 2, "seq": 13, "step": 7583, "t": 37.915, "topic": "a4s_sealer_1.drawer.command.succeeded", "source": "a4s_sealer_1.drawer", "data": {"command_id": "program-2-2", "name": "close", "source": "program:seal", "result": {"position": "in"}}, "cause": "program-2-2"} +{"env_id": 2, "seq": 14, "step": 7583, "t": 37.915, "topic": "labware.plate_1.changed", "source": "labware.plate_1", "data": {"key": "sealed", "value": true}, "cause": "task-2-1"} +{"env_id": 2, "seq": 15, "step": 7583, "t": 37.915, "topic": "a4s_sealer_1.sealed", "source": "a4s_sealer_1", "data": {"plate": "plate_1"}, "cause": "task-2-1"} +{"env_id": 2, "seq": 16, "step": 7583, "t": 37.915, "topic": "a4s_sealer_1.heater.command.started", "source": "a4s_sealer_1.heater", "data": {"command_id": "program-2-3", "name": "run", "source": "program:seal"}, "cause": "program-2-3"} +{"env_id": 2, "seq": 17, "step": 7583, "t": 37.915, "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": 7583, "t": 37.915, "topic": "a4s_sealer_1.heater.started", "source": "a4s_sealer_1.heater", "data": {"duration": 3.4231690745764007}, "cause": "program-2-3"} +{"env_id": 2, "seq": 19, "step": 8268, "t": 41.34, "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": 8268, "t": 41.34, "topic": "a4s_sealer_1.heater.finished", "source": "a4s_sealer_1.heater", "data": {"elapsed": 3.425000000001752}, "cause": "program-2-3"} +{"env_id": 2, "seq": 21, "step": 8268, "t": 41.34, "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": 3.425000000001752}}, "cause": "program-2-3"} +{"env_id": 2, "seq": 22, "step": 8268, "t": 41.34, "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": 8268, "t": 41.34, "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": 8268, "t": 41.34, "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": 8688, "t": 43.44, "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": 8688, "t": 43.44, "topic": "a4s_sealer_1.drawer.reached", "source": "a4s_sealer_1.drawer", "data": {"position": "out", "q": 6.698563925766621e-11}, "cause": "program-2-4"} +{"env_id": 2, "seq": 27, "step": 8688, "t": 43.44, "topic": "a4s_sealer_1.drawer.at_out", "source": "a4s_sealer_1.drawer", "data": {"q": 6.698563925766621e-11}, "cause": "program-2-4"} +{"env_id": 2, "seq": 28, "step": 8688, "t": 43.44, "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": 8688, "t": 43.44, "topic": "a4s_sealer_1.seal.finished", "source": "a4s_sealer_1", "data": {}, "cause": "task-2-1"} +{"env_id": 2, "seq": 30, "step": 8688, "t": 43.44, "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": 9267, "t": 46.335, "topic": "a4s_sealer_1.plate_present.absent", "source": "a4s_sealer_1.plate_present", "data": {"object": "plate_1"}, "cause": null} +{"env_id": 2, "seq": 32, "step": 10960, "t": 54.8, "topic": "conveyor_1.belt.command.started", "source": "conveyor_1.belt", "data": {"command_id": "task-2-5", "name": "release", "source": "task"}, "cause": "task-2-5"} +{"env_id": 2, "seq": 33, "step": 10960, "t": 54.8, "topic": "conveyor_1.belt.station.pick.released", "source": "conveyor_1.belt", "data": {"rider": "carrier_1"}, "cause": "task-2-5"} +{"env_id": 2, "seq": 34, "step": 10960, "t": 54.8, "topic": "conveyor_1.belt.state.changed", "source": "conveyor_1.belt", "data": {"from": "at_station", "to": "running"}, "cause": null} +{"env_id": 2, "seq": 35, "step": 10960, "t": 54.8, "topic": "conveyor_1.belt.command.succeeded", "source": "conveyor_1.belt", "data": {"command_id": "task-2-5", "name": "release", "source": "task", "result": {"state": "running"}}, "cause": "task-2-5"} diff --git a/episodes/c4_p007_e005/env.mp4 b/episodes/c4_p007_e005/env.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..b18286852d8fc71869dc73f5136776fdf9baed6c --- /dev/null +++ b/episodes/c4_p007_e005/env.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:3288828cef056eb7382b528f00c8a9af7e683663a02b0db25ecda4e97749806f +size 1299311 diff --git a/episodes/c4_p007_e005/meta.json b/episodes/c4_p007_e005/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..84ae1c18c2d6ff080f5a521814a21aa857e76c9c --- /dev/null +++ b/episodes/c4_p007_e005/meta.json @@ -0,0 +1,32 @@ +{ + "source": "raw/c4_p007/magicsim/5", + "fps": 25, + "frames": 1196, + "kept_ticks": "even", + "video_frames": { + "wrist": 1196, + "env": 1196 + }, + "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_p007_e005/scene_snapshot.json b/episodes/c4_p007_e005/scene_snapshot.json new file mode 100644 index 0000000000000000000000000000000000000000..e8e153b5d70e6a637fcf6df6631251a434a317e4 --- /dev/null +++ b/episodes/c4_p007_e005/scene_snapshot.json @@ -0,0 +1,1558 @@ +{ + "trajectory_id": 5, + "env_id": 2, + "run_id": "c4_p007", + "task_type": "BioPlateCell", + "success": true, + "timing": { + "fps": 50.0, + "sim_dt": 0.005, + "decimation": 4 + }, + "restore_interface": { + "scene": "scene_manager.reset_to(snapshot['scene'], env_ids=[env_id])", + "robots": "robot_manager.set_state({'robots': snapshot['robots']}, env_ids=[env_id])" + }, + "snapshot": { + "env_id": 2, + "scene": { + "objects": [ + {}, + {}, + { + "rac_cell": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/rac_cell.usd", + "pose": { + "pos": [ + 0.0, + 0.0, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "physics_material": { + "static_friction": 0.6, + "dynamic_friction": 0.5, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "robot_mount": [ + { + "asset": "Cube", + "pose": { + "pos": [ + 0.0, + 0.0, + 0.9075 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": "color", + "value": [ + 0.55, + 0.56, + 0.58 + ], + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": { + "size": [ + 0.2, + 0.2, + 0.015 + ] + } + }, + "type_specific": {} + } + ], + "plate_rack": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/plate_hotel.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 0.9 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "physics_material": { + "static_friction": 0.6, + "dynamic_friction": 0.5, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "hotel_plate": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_96_black/plate_96_black.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 0.9605 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_96_clear/plate_96_clear.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.0285 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/pcr_384_red/pcr_384_red.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.0965 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_6_clear/plate_6_clear.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.1645 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_96_black/plate_96_black.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.2325 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "a4s_sealer": [ + { + "asset": "$MAGICSIM_ASSETS/Articulated/A4SSealer/Object.usd", + "pose": { + "pos": [ + 0.5011758804321289, + 0.07409000396728516, + 0.8999999761581421 + ], + "ori": [ + -0.6871027946472168, + 0.0, + 0.0, + 0.7265602350234985 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "articulation", + "solver_position_iteration_count": 16.0, + "solver_velocity_iteration_count": 1.0, + "enabled_self_collisions": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "joint_position": [ + 6.728333168393164e-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": 0.2966905296732779, + "direction": [ + 1.0, + 0.0, + 0.0 + ], + "enabled": true, + "drive": "surface_velocity", + "lines": null, + "station_line": null, + "riders": [ + "carrier" + ], + "stations": { + "pick": { + "position": -0.02199333938758058, + "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": 0.2966905296732779, + "holds": [], + "station": "pick", + "rider": "carrier_1", + "arrived": true, + "applied_speed": 0.0 + } + } + } + ], + "carrier": [ + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + 0.1282033920288086, + 0.4499998092651367, + 0.8999999761581421 + ], + "ori": [ + 1.0, + 2.178990099466205e-09, + -1.0425404983749331e-09, + 1.2261065421625972e-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": [ + -4.873592640564084e-10, + 9.358530617120664e-10, + 3.725290298461914e-09 + ], + "angular_velocity": [ + -2.5314285778677004e-08, + -4.948917720071222e-08, + 3.80165809943378e-09 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + -1.1776504516601562, + 1.122467041015625, + 0.8999999761581421 + ], + "ori": [ + -0.1777409017086029, + 5.5598320614080876e-08, + 4.5349999311383726e-08, + 0.9840772747993469 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 1.1915051167932234e-09, + -1.6780273837113668e-09, + 3.725290298461914e-09 + ], + "angular_velocity": [ + 6.563764287648155e-08, + 1.0297704022832477e-07, + 3.6643410528114373e-09 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + 0.5692634582519531, + 1.1525306701660156, + 0.8999999761581421 + ], + "ori": [ + -0.009393694810569286, + 2.0443360893018792e-10, + 1.501325286312749e-09, + 0.999955952167511 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -1.2218011047337995e-09, + -2.2202795157966193e-12, + 7.450580596923828e-09 + ], + "angular_velocity": [ + -1.2850513542161934e-08, + -1.1951151179800945e-07, + -8.012855268191288e-09 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + 1.5007143020629883, + 0.4876108169555664, + 0.8999999761581421 + ], + "ori": [ + 0.9771062135696411, + -8.464708400879317e-08, + -4.7556095950085364e-08, + 0.21275222301483154 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 1.9507133686147426e-08, + -1.1233436225666082e-07, + 1.4901161193847656e-08 + ], + "angular_velocity": [ + 8.771492503001355e-06, + 2.4575497263867874e-06, + -5.723846925320686e-07 + ] + } + } + ], + "plate": [ + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_24_clear/Object.usd", + "pose": { + "pos": [ + 0.1365833282470703, + 0.4516439437866211, + 0.9179999828338623 + ], + "ori": [ + 0.9990749359130859, + 2.184475045297063e-09, + 4.559932709202741e-10, + 0.0430058129131794 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -3.1502906949754106e-08, + -3.185040231556968e-09, + 8.568167686462402e-08 + ], + "angular_velocity": [ + 3.1603769912180724e-07, + -1.5362629710580222e-06, + 1.5805096609255997e-07 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_384_black/Object.usd", + "pose": { + "pos": [ + -1.1779413223266602, + 1.1241579055786133, + 0.9180000424385071 + ], + "ori": [ + -0.2775741219520569, + 6.093869586720757e-08, + 3.860209929484881e-08, + 0.9607042074203491 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 4.2105490649646526e-08, + 1.532392346348388e-08, + -5.934387445449829e-06 + ], + "angular_velocity": [ + -1.4537396282321424e-06, + 1.5982893728505587e-06, + 1.8869364737383876e-07 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_1536_black/Object.usd", + "pose": { + "pos": [ + 0.5674219131469727, + 1.149134635925293, + 0.9180000424385071 + ], + "ori": [ + 0.06252959370613098, + -3.963707972953756e-10, + 5.641821454460683e-10, + 0.9980431199073792 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 3.574785578663864e-09, + -6.422333775901734e-09, + -5.941838026046753e-06 + ], + "angular_velocity": [ + -3.524748137806455e-07, + 1.4913376844560844e-06, + -2.3078179367530538e-08 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/deep_well_24_10ml/Object.usd", + "pose": { + "pos": [ + 1.491480827331543, + 0.47422122955322266, + 0.9179999828338623 + ], + "ori": [ + 0.9565724730491638, + -2.19622870645253e-06, + -7.179219210229348e-07, + 0.29149487614631653 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 2.3241740564117208e-05, + -1.119548142014537e-05, + -1.6372650861740112e-05 + ], + "angular_velocity": [ + 0.0006419544806703925, + 0.0004574924532789737, + -5.352688458515331e-05 + ] + } + } + ], + "deco_hub_west": [ + { + "asset": "$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": 7.099999999999871, + "step": 1420, + "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": 6.728333168393164e-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": 0.2966905296732779, + "holds": [], + "station": "pick", + "rider": "carrier_1", + "arrived": true, + "settle_count": 1329, + "released": { + "pick": [] + }, + "last_pos": { + "carrier_1": [ + -0.021796613931655884, + -1.7881393432617188e-07, + 0.0 + ], + "carrier_2": [ + -1.3276504576206207, + 0.672467052936554, + 0.0 + ], + "carrier_3": [ + 0.41926345229148865, + 0.7025306820869446, + 0.0 + ], + "carrier_4": [ + 1.3507142961025238, + 0.03761082887649536, + 0.0 + ] + }, + "command": 0.0 + }, + "belt": { + "target_speed": 0.0, + "command_speed": 0.0 + }, + "seen": { + "state": "at_station", + "station": "pick", + "rider": "carrier_1", + "arrived": true + } + } + }, + "queues": {}, + "program": null, + "sensors": {}, + "interlocks": {} + } + }, + "zones": {}, + "labware": { + "plate_1": { + "sealed": false + }, + "plate_2": { + "sealed": false + }, + "plate_3": { + "sealed": false + }, + "plate_4": { + "sealed": false + } + }, + "rules": {}, + "records": [], + "bus": { + "seq": 3, + "queue": [] + } + }, + null + ], + "drives": [ + null, + null, + {}, + null + ] + }, + "artifacts": [ + {}, + {}, + { + "ceiling": { + "type": "rect", + "pose": { + "pos": [ + 0.3522834098882627, + -0.10891490028007483, + 2.6034271778873657 + ], + "ori": [ + -10.664478865468377, + -14.321388383208715, + 5.243008180627903 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "color_temperature": 6901.295265947807, + "color": [ + 0.9469557953278627, + 0.8138285457487223, + 0.9262989355101001 + ], + "intensity": 10732.552982477995, + "width": 1.6428760285499788, + "height": 1.2710392915992306 + } + }, + "key": { + "type": "sphere", + "pose": { + "pos": [ + -1.1548822399765413, + -1.1919134241251013, + 2.308977895205053 + ], + "ori": [ + 18.191165197644203, + 3.7388979511228086, + 18.818076338543563 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "color_temperature": 6371.855133623176, + "color": [ + 0.8157250087744596, + 0.8529702463227584, + 0.8943253043987901 + ], + "intensity": 7501.944559979612, + "radius": 0.19404125722625626 + } + } + }, + {} + ], + "background": { + "type": "dome", + "pose": { + "pos": null, + "ori": null, + "scale": null + }, + "dr": { + "intensity": 506.2738340308846, + "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": [ + [ + 0.8659745454788208, + -1.3112338781356812, + 2.0602731704711914, + -2.319782257080078, + -1.5707939863204956, + 2.3349225521087646, + 0.018000038340687752, + 0.017999960109591484 + ], + [ + 0.9225537776947021, + -1.4313734769821167, + 2.0993776321411133, + -2.238755226135254, + -1.5707963705062866, + 2.519094944000244, + 0.0180000439286232, + 0.017999956384301186 + ], + [ + 0.9141096472740173, + -1.7193944454193115, + 2.0904977321624756, + -1.941900372505188, + -1.5707999467849731, + 2.4849040508270264, + 0.018000001087784767, + 0.01799999736249447 + ], + [ + 2.748746871948242, + -1.6728404760360718, + 2.2833316326141357, + -2.181126117706299, + -1.570469617843628, + 4.318718433380127, + 0.00773969991132617, + 0.00717525789514184 + ] + ], + "joint_vel": [ + [ + -0.00015028018970042467, + 0.014946137554943562, + 0.00813778955489397, + -0.02178480476140976, + -1.0336537343391683e-05, + -4.814812928088941e-05, + -6.9295792854973115e-06, + 6.929367827979149e-06 + ], + [ + -0.00011329122207826003, + 0.013077810406684875, + 0.00929334294050932, + -0.021194711327552795, + -1.0443030078022275e-05, + 2.006130489462521e-05, + -5.827889253851026e-06, + 5.803198291687295e-06 + ], + [ + 0.0, + -2.461694082923164e-38, + -1.696975242894282e-38, + -3.6137339484650915e-37, + 5.98562150330273e-37, + -2.7022243186730184e-36, + -2.599039206074849e-08, + 2.5990388508034812e-08 + ], + [ + 0.008829973638057709, + 0.02386857569217682, + -0.020630383864045143, + -0.0034302729181945324, + 0.0010455421870574355, + 0.006285384297370911, + -0.006949242670089006, + 0.0002666632935870439 + ] + ] + } + }, + "cameras": { + "cameras": { + "camera0": [ + [ + 0.051787085831165314, + -0.0022987760603427887, + -0.028487255796790123, + -0.27487310767173767, + 0.659270167350769, + 0.641632080078125, + -0.27949219942092896 + ], + [ + 0.04998323321342468, + -0.0001289359643124044, + -0.028312455862760544, + -0.2711487114429474, + 0.6521021127700806, + 0.6528520584106445, + -0.2739076614379883 + ], + [ + 0.053989529609680176, + -0.00196252902969718, + -0.03169962391257286, + -0.28136155009269714, + 0.6462664008140564, + 0.6519044637680054, + -0.279635488986969 + ], + [ + 0.04729648679494858, + 0.0017456576460972428, + -0.02880127727985382, + -0.2780086398124695, + 0.6381796598434448, + 0.6624574065208435, + -0.2767455279827118 + ] + ], + "camera1": [ + [ + 0.03902772068977356, + 0.575553834438324, + 1.9346468448638916, + 0.028778688982129097, + 0.004978996701538563, + 0.2844105362892151, + 0.9582576155662537 + ], + [ + 0.05835886672139168, + 0.6035720109939575, + 1.9589279890060425, + 0.048553623259067535, + 0.0011418277863413095, + 0.2842447757720947, + 0.9575208425521851 + ], + [ + 0.02644018456339836, + 0.5866796374320984, + 1.96474289894104, + 0.028418950736522675, + 0.0012427562614902854, + 0.25572264194488525, + 0.9663316011428833 + ], + [ + 0.06539583206176758, + 0.6036527752876282, + 1.9611330032348633, + 0.03326158598065376, + 0.010567559860646725, + 0.2742682695388794, + 0.9610196948051453 + ] + ] + } + } + } +} \ No newline at end of file diff --git a/episodes/c4_p007_e005/wrist.mp4 b/episodes/c4_p007_e005/wrist.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..59937b536887235664b41de5eba568f18f6df18e --- /dev/null +++ b/episodes/c4_p007_e005/wrist.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:fdb3427b9a1cf776eb099cd61bdae218141a674c161f8137e95a6caa6d8b7564 +size 6699366 diff --git a/episodes/c4_p007_e006/data.npz b/episodes/c4_p007_e006/data.npz new file mode 100644 index 0000000000000000000000000000000000000000..da3d183db8fea0837f45e8ef6ea3778e88f66cc9 --- /dev/null +++ b/episodes/c4_p007_e006/data.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:bc4d2dc1cf02532891eef9e3096ade0351488a7d4683d44dfa1b2957237eb58c +size 186050 diff --git a/episodes/c4_p007_e006/device_events.jsonl b/episodes/c4_p007_e006/device_events.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..c336d8bdef6dfa99eb628fff5a673881cf8ec0d0 --- /dev/null +++ b/episodes/c4_p007_e006/device_events.jsonl @@ -0,0 +1,36 @@ +{"env_id": 1, "seq": 1, "step": 17, "t": 0.085, "topic": "conveyor_1.belt.station.pick.captured", "source": "conveyor_1.belt", "data": {"rider": "carrier_1"}, "cause": null} +{"env_id": 1, "seq": 2, "step": 17, "t": 0.085, "topic": "conveyor_1.belt.state.changed", "source": "conveyor_1.belt", "data": {"from": "running", "to": "at_station"}, "cause": null} +{"env_id": 1, "seq": 3, "step": 22, "t": 0.11, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_1"}, "cause": null} +{"env_id": 1, "seq": 4, "step": 1502, "t": 7.51, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_1"}, "cause": null} +{"env_id": 1, "seq": 5, "step": 6395, "t": 31.975, "topic": "a4s_sealer_1.plate_present.present", "source": "a4s_sealer_1.plate_present", "data": {"object": "plate_1"}, "cause": null} +{"env_id": 1, "seq": 6, "step": 7008, "t": 35.04, "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": 7008, "t": 35.04, "topic": "a4s_sealer_1.seal.started", "source": "a4s_sealer_1", "data": {"dwell": 4.278110770758767}, "cause": "task-1-1"} +{"env_id": 1, "seq": 8, "step": 7008, "t": 35.04, "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": 7008, "t": 35.04, "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": 7008, "t": 35.04, "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": 7427, "t": 37.135, "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": 7427, "t": 37.135, "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": 7427, "t": 37.135, "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": 7427, "t": 37.135, "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": 7427, "t": 37.135, "topic": "labware.plate_1.changed", "source": "labware.plate_1", "data": {"key": "sealed", "value": true}, "cause": "task-1-1"} +{"env_id": 1, "seq": 16, "step": 7427, "t": 37.135, "topic": "a4s_sealer_1.sealed", "source": "a4s_sealer_1", "data": {"plate": "plate_1"}, "cause": "task-1-1"} +{"env_id": 1, "seq": 17, "step": 7427, "t": 37.135, "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": 7427, "t": 37.135, "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": 7427, "t": 37.135, "topic": "a4s_sealer_1.heater.started", "source": "a4s_sealer_1.heater", "data": {"duration": 4.278110770758767}, "cause": "program-1-3"} +{"env_id": 1, "seq": 20, "step": 8283, "t": 41.415, "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": 8283, "t": 41.415, "topic": "a4s_sealer_1.heater.finished", "source": "a4s_sealer_1.heater", "data": {"elapsed": 4.28000000000219}, "cause": "program-1-3"} +{"env_id": 1, "seq": 22, "step": 8283, "t": 41.415, "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": 4.28000000000219}}, "cause": "program-1-3"} +{"env_id": 1, "seq": 23, "step": 8283, "t": 41.415, "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": 8283, "t": 41.415, "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": 8283, "t": 41.415, "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": 8703, "t": 43.515, "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": 8703, "t": 43.515, "topic": "a4s_sealer_1.drawer.reached", "source": "a4s_sealer_1.drawer", "data": {"position": "out", "q": 7.355064335357042e-10}, "cause": "program-1-4"} +{"env_id": 1, "seq": 28, "step": 8703, "t": 43.515, "topic": "a4s_sealer_1.drawer.at_out", "source": "a4s_sealer_1.drawer", "data": {"q": 7.355064335357042e-10}, "cause": "program-1-4"} +{"env_id": 1, "seq": 29, "step": 8703, "t": 43.515, "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": 8703, "t": 43.515, "topic": "a4s_sealer_1.seal.finished", "source": "a4s_sealer_1", "data": {}, "cause": "task-1-1"} +{"env_id": 1, "seq": 31, "step": 8703, "t": 43.515, "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": 9284, "t": 46.42, "topic": "a4s_sealer_1.plate_present.absent", "source": "a4s_sealer_1.plate_present", "data": {"object": "plate_1"}, "cause": null} +{"env_id": 1, "seq": 33, "step": 11004, "t": 55.02, "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": 11004, "t": 55.02, "topic": "conveyor_1.belt.station.pick.released", "source": "conveyor_1.belt", "data": {"rider": "carrier_1"}, "cause": "task-1-5"} +{"env_id": 1, "seq": 35, "step": 11004, "t": 55.02, "topic": "conveyor_1.belt.state.changed", "source": "conveyor_1.belt", "data": {"from": "at_station", "to": "running"}, "cause": null} +{"env_id": 1, "seq": 36, "step": 11004, "t": 55.02, "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_p007_e006/env.mp4 b/episodes/c4_p007_e006/env.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..f9d08224c0c2259e9d11fda774af9efb53c6a140 --- /dev/null +++ b/episodes/c4_p007_e006/env.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:6c6dc240805f82745c4e9a830030c0406480d02326c4a4c11d006a3968487b3c +size 1263078 diff --git a/episodes/c4_p007_e006/meta.json b/episodes/c4_p007_e006/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..2d2c4e15bfecff803f6cb959187f5c68dad93b1e --- /dev/null +++ b/episodes/c4_p007_e006/meta.json @@ -0,0 +1,32 @@ +{ + "source": "raw/c4_p007/magicsim/6", + "fps": 25, + "frames": 1248, + "kept_ticks": "even", + "video_frames": { + "wrist": 1248, + "env": 1248 + }, + "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_p007_e006/scene_snapshot.json b/episodes/c4_p007_e006/scene_snapshot.json new file mode 100644 index 0000000000000000000000000000000000000000..9cd0c32142b6fe7077d66c52e57c03f45cbf1705 --- /dev/null +++ b/episodes/c4_p007_e006/scene_snapshot.json @@ -0,0 +1,1558 @@ +{ + "trajectory_id": 6, + "env_id": 1, + "run_id": "c4_p007", + "task_type": "BioPlateCell", + "success": true, + "timing": { + "fps": 50.0, + "sim_dt": 0.005, + "decimation": 4 + }, + "restore_interface": { + "scene": "scene_manager.reset_to(snapshot['scene'], env_ids=[env_id])", + "robots": "robot_manager.set_state({'robots': snapshot['robots']}, env_ids=[env_id])" + }, + "snapshot": { + "env_id": 1, + "scene": { + "objects": [ + {}, + { + "rac_cell": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/rac_cell.usd", + "pose": { + "pos": [ + 0.0, + 0.0, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "physics_material": { + "static_friction": 0.6, + "dynamic_friction": 0.5, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "robot_mount": [ + { + "asset": "Cube", + "pose": { + "pos": [ + 0.0, + 0.0, + 0.9075 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": "color", + "value": [ + 0.55, + 0.56, + 0.58 + ], + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": { + "size": [ + 0.2, + 0.2, + 0.015 + ] + } + }, + "type_specific": {} + } + ], + "plate_rack": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/plate_hotel.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 0.9 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "physics_material": { + "static_friction": 0.6, + "dynamic_friction": 0.5, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "hotel_plate": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_96_white/plate_96_white.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 0.9605 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_48_clear/plate_48_clear.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.0285 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/pcr_96_blue/pcr_96_blue.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.0965 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_96_clear/plate_96_clear.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.1645 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_24_clear/plate_24_clear.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.2325 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "a4s_sealer": [ + { + "asset": "$MAGICSIM_ASSETS/Articulated/A4SSealer/Object.usd", + "pose": { + "pos": [ + 0.4612903594970703, + 0.12853145599365234, + 0.8999999761581421 + ], + "ori": [ + -0.6984633207321167, + 0.0, + 0.0, + 0.7156458497047424 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "articulation", + "solver_position_iteration_count": 16.0, + "solver_velocity_iteration_count": 1.0, + "enabled_self_collisions": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "joint_position": [ + 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": 0.16468082082888524, + "direction": [ + 1.0, + 0.0, + 0.0 + ], + "enabled": true, + "drive": "surface_velocity", + "lines": null, + "station_line": null, + "riders": [ + "carrier" + ], + "stations": { + "pick": { + "position": -0.09939712684709426, + "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": 0.16468082082888524, + "holds": [], + "station": "pick", + "rider": "carrier_1", + "arrived": true, + "applied_speed": 0.0 + } + } + } + ], + "carrier": [ + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + 0.05021095275878906, + 0.4499979019165039, + 0.8999999761581421 + ], + "ori": [ + 1.0, + 3.74114783596724e-09, + 3.2164222396602327e-09, + 3.2193211154663004e-06 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 7.227243248308923e-10, + 4.314804069593947e-10, + 3.725290298461914e-09 + ], + "angular_velocity": [ + -3.1041011538945895e-08, + 7.089042242114374e-08, + -3.084454025525929e-09 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + -0.22281455993652344, + 1.149998664855957, + 0.8999999761581421 + ], + "ori": [ + 8.645223715575412e-06, + -3.5411198973100966e-10, + -6.726201262630127e-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": [ + -1.7627499460104445e-10, + -1.985579478613886e-09, + 0.0 + ], + "angular_velocity": [ + 1.7701584908991208e-07, + -4.906546280381008e-09, + -4.8115138540083535e-09 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + -1.375732421875, + 0.6732501983642578, + 0.8999999761581421 + ], + "ori": [ + 0.8252482414245605, + 1.7267849372615274e-08, + 1.0067527966839407e-07, + -0.5647703409194946 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 1.2994309628311385e-08, + 1.466938570615639e-09, + 0.0 + ], + "angular_velocity": [ + -2.155893596977876e-08, + 4.708373069206573e-07, + -1.1655248499664594e-07 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + 1.6040802001953125, + 0.5606956481933594, + 0.8999999761581421 + ], + "ori": [ + 0.9179781675338745, + 3.156517536240244e-08, + 3.879602772371982e-08, + 0.39663106203079224 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 2.7098989718865596e-10, + -3.009660853869889e-10, + 3.725290298461914e-09 + ], + "angular_velocity": [ + 3.121808234141099e-08, + -2.3639696422605994e-08, + -9.086623009579853e-09 + ] + } + } + ], + "plate": [ + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_12_clear/Object.usd", + "pose": { + "pos": [ + 0.03556632995605469, + 0.4561471939086914, + 0.9179999828338623 + ], + "ori": [ + 0.999916672706604, + 7.976792559816204e-09, + 2.408380384011366e-09, + -0.012917452491819859 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -1.0993879584475508e-08, + -1.0250170490166965e-08, + 1.5273690223693848e-07 + ], + "angular_velocity": [ + 1.2553348369692685e-06, + -1.8886615862356848e-06, + -5.159746763183648e-08 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_96_white/Object.usd", + "pose": { + "pos": [ + -0.2275409698486328, + 1.1539802551269531, + 0.9180000424385071 + ], + "ori": [ + -0.04141044616699219, + -5.27586530019164e-10, + -1.1497477414579294e-09, + 0.9991422891616821 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 1.881885580701237e-08, + -1.5011814014087577e-08, + -5.327165126800537e-06 + ], + "angular_velocity": [ + 9.182429039356066e-08, + 1.253706045645231e-06, + 1.2616348499250307e-07 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/pcr_384_red/Object.usd", + "pose": { + "pos": [ + -1.3821544647216797, + 0.6590137481689453, + 0.9179999828338623 + ], + "ori": [ + 0.804519772529602, + 1.3593168546321976e-07, + -8.937507800510502e-08, + -0.5939258337020874 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -4.787235639014398e-07, + -4.769776751345489e-06, + -5.729496479034424e-06 + ], + "angular_velocity": [ + 3.1166719054454006e-06, + -6.693584873573855e-05, + -2.03181534743635e-05 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/deep_well_96_1ml/Object.usd", + "pose": { + "pos": [ + 1.5953683853149414, + 0.5558137893676758, + 0.9179999828338623 + ], + "ori": [ + 0.9434365034103394, + 3.102136147958845e-08, + 3.982640706112761e-08, + 0.33155325055122375 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -2.5671274883620754e-08, + -6.152532705527847e-08, + 1.4156103134155273e-07 + ], + "angular_velocity": [ + 2.830495986927417e-06, + -8.748240816203179e-07, + 1.6528726831666063e-08 + ] + } + } + ], + "deco_hub_west": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/hub_a.usd", + "pose": { + "pos": [ + -3.36, + 0.0, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_hub_east": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/hub_c.usd", + "pose": { + "pos": [ + 3.36, + 0.0, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_hub_back": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/hub_d.usd", + "pose": { + "pos": [ + -3.0, + -2.1, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_bench_east": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/bench_c.usd", + "pose": { + "pos": [ + 2.6, + -2.5, + 0.0 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_bench_gap": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/bench_b.usd", + "pose": { + "pos": [ + -0.1, + -2.9, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ] + }, + {}, + {} + ], + "devices": { + "hub": [ + null, + { + "t": 5.3799999999999075, + "step": 1076, + "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": 0.16468082082888524, + "holds": [], + "station": "pick", + "rider": "carrier_1", + "arrived": true, + "settle_count": 1058, + "released": { + "pick": [] + }, + "last_pos": { + "carrier_1": [ + -0.09978905320167542, + -2.086162567138672e-06, + 0.0 + ], + "carrier_2": [ + -0.3728145658969879, + 0.699998676776886, + 0.0 + ], + "carrier_3": [ + -1.5257324278354645, + 0.22325021028518677, + 0.0 + ], + "carrier_4": [ + 1.454080194234848, + 0.11069566011428833, + 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": [ + -0.3605653243325035, + -0.09965641515023405, + 2.797715494353235 + ], + "ori": [ + -3.113744716071075, + -8.432550805386274, + 10.717466710259181 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "color_temperature": 5253.176768629841, + "color": [ + 0.9736802205846038, + 0.9946259070435455, + 0.8377846759583659 + ], + "intensity": 12715.223920473863, + "width": 2.682313032799647, + "height": 1.3419829474618141 + } + }, + "key": { + "type": "disk", + "pose": { + "pos": [ + 1.4639160267997426, + 0.25533169004305534, + 2.2890668357996704 + ], + "ori": [ + -35.74963558369954, + -38.3808988157315, + -1.6842863655094646 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "color_temperature": 7324.010049300755, + "color": [ + 0.9478003277965782, + 0.8553559428886279, + 0.8095218669690846 + ], + "intensity": 8721.49757621121, + "radius": 0.33686381866596304 + } + } + }, + {}, + {} + ], + "background": { + "type": "dome", + "pose": { + "pos": null, + "ori": null, + "scale": null + }, + "dr": { + "intensity": 506.2738340308846, + "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": [ + [ + 0.8966576457023621, + -1.6070886850357056, + 2.0542311668395996, + -2.017883777618408, + -1.5708006620407104, + 2.430577039718628, + 0.018001502379775047, + 0.017998524010181427 + ], + [ + 0.9141040444374084, + -1.7193968296051025, + 2.0904972553253174, + -1.9418995380401611, + -1.5707999467849731, + 2.4849021434783936, + 0.01799999736249447, + 0.018000001087784767 + ], + [ + 0.9141042232513428, + -1.719395399093628, + 2.090498447418213, + -1.9419002532958984, + -1.5707999467849731, + 2.484900951385498, + 0.01799999736249447, + 0.018000001087784767 + ], + [ + 2.506194591522217, + -2.1779887676239014, + 2.568134307861328, + -1.9607139825820923, + -1.5704123973846436, + 4.075622081756592, + 0.0077260080724954605, + 0.007191435433924198 + ] + ], + "joint_vel": [ + [ + -0.006630455143749714, + 0.040037088096141815, + -0.01207633875310421, + -0.02580832503736019, + -2.3237807909026742e-05, + -0.018477296456694603, + 4.646563684218563e-05, + -4.677770994021557e-05 + ], + [ + 2.2846987363613788e-38, + -2.8785175978885955e-38, + -2.727698646770244e-38, + -4.158446687517434e-37, + 6.1340555565386774e-37, + 7.923289599831054e-38, + 2.5990388508034812e-08, + -2.5990386731677972e-08 + ], + [ + 2.2437099155007993e-38, + 0.0, + 1.6553342577284059e-38, + -5.06555583655757e-37, + 3.864614802454161e-37, + -2.700370075703473e-37, + 2.5990400942532688e-08, + -2.5990388508034812e-08 + ], + [ + 0.023811403661966324, + 0.04154917597770691, + -0.014115117490291595, + -0.027268806472420692, + 0.0008904039859771729, + 0.021115778014063835, + -0.006610061042010784, + 0.0002404955739621073 + ] + ] + } + }, + "cameras": { + "cameras": { + "camera0": [ + [ + 0.051120951771736145, + -0.0038278133142739534, + -0.03235701099038124, + -0.2748064398765564, + 0.6568267941474915, + 0.6452460289001465, + -0.27697932720184326 + ], + [ + 0.050523336976766586, + -0.0022411008831113577, + -0.028726212680339813, + -0.271605908870697, + 0.6537532806396484, + 0.6500716805458069, + -0.2761225402355194 + ], + [ + 0.0514465793967247, + -0.0025919319596141577, + -0.030068717896938324, + -0.2849385738372803, + 0.6448878645896912, + 0.6500328779220581, + -0.28352588415145874 + ], + [ + 0.04740120843052864, + 0.0014861028175801039, + -0.028308795765042305, + -0.2808963358402252, + 0.6418646574020386, + 0.659368634223938, + -0.27265357971191406 + ] + ], + "camera1": [ + [ + 0.03902772068977356, + 0.575553834438324, + 1.9346468448638916, + 0.028778688982129097, + 0.004978996701538563, + 0.2844105362892151, + 0.9582576155662537 + ], + [ + 0.05835886672139168, + 0.6035720109939575, + 1.9589279890060425, + 0.048553623259067535, + 0.0011418277863413095, + 0.2842447757720947, + 0.9575208425521851 + ], + [ + 0.02644018456339836, + 0.5866796374320984, + 1.96474289894104, + 0.028418950736522675, + 0.0012427562614902854, + 0.25572264194488525, + 0.9663316011428833 + ], + [ + 0.06539583206176758, + 0.6036527752876282, + 1.9611330032348633, + 0.03326158598065376, + 0.010567559860646725, + 0.2742682695388794, + 0.9610196948051453 + ] + ] + } + } + } +} \ No newline at end of file diff --git a/episodes/c4_p007_e006/wrist.mp4 b/episodes/c4_p007_e006/wrist.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..ed6077bea423e49d4a19643452f5df1f700408df --- /dev/null +++ b/episodes/c4_p007_e006/wrist.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:8a1bb3680290d09d876d4aa076e837e189159da2e5552ce2f4cc2e32a844fd07 +size 7440240 diff --git a/episodes/c4_p007_e007/data.npz b/episodes/c4_p007_e007/data.npz new file mode 100644 index 0000000000000000000000000000000000000000..3ea77f9085856b16e87ab11d8169867c1a662228 --- /dev/null +++ b/episodes/c4_p007_e007/data.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:11fc87bd2c0c40b37a7034fec12c0a4bae439c60e366f44dc003ae228eba3281 +size 190899 diff --git a/episodes/c4_p007_e007/device_events.jsonl b/episodes/c4_p007_e007/device_events.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..27b51d5b57e082be26fdc7eb45b220c44894bfa9 --- /dev/null +++ b/episodes/c4_p007_e007/device_events.jsonl @@ -0,0 +1,35 @@ +{"env_id": 0, "seq": 1, "step": 232, "t": 1.16, "topic": "conveyor_1.belt.station.pick.captured", "source": "conveyor_1.belt", "data": {"rider": "carrier_1"}, "cause": null} +{"env_id": 0, "seq": 2, "step": 232, "t": 1.16, "topic": "conveyor_1.belt.state.changed", "source": "conveyor_1.belt", "data": {"from": "running", "to": "at_station"}, "cause": null} +{"env_id": 0, "seq": 3, "step": 237, "t": 1.185, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_1"}, "cause": null} +{"env_id": 0, "seq": 4, "step": 6663, "t": 33.315, "topic": "a4s_sealer_1.plate_present.present", "source": "a4s_sealer_1.plate_present", "data": {"object": "plate_1"}, "cause": null} +{"env_id": 0, "seq": 5, "step": 7276, "t": 36.38, "topic": "a4s_sealer_1.command.started", "source": "a4s_sealer_1", "data": {"command_id": "task-0-1", "name": "seal", "source": "task"}, "cause": "task-0-1"} +{"env_id": 0, "seq": 6, "step": 7276, "t": 36.38, "topic": "a4s_sealer_1.seal.started", "source": "a4s_sealer_1", "data": {"dwell": 4.470165425478514}, "cause": "task-0-1"} +{"env_id": 0, "seq": 7, "step": 7276, "t": 36.38, "topic": "a4s_sealer_1.drawer.command.started", "source": "a4s_sealer_1.drawer", "data": {"command_id": "program-0-2", "name": "close", "source": "program:seal"}, "cause": "program-0-2"} +{"env_id": 0, "seq": 8, "step": 7276, "t": 36.38, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "at_out", "to": "moving"}, "cause": null} +{"env_id": 0, "seq": 9, "step": 7276, "t": 36.38, "topic": "a4s_sealer_1.drawer.moving", "source": "a4s_sealer_1.drawer", "data": {"target": 0.3, "goal": "in"}, "cause": "program-0-2"} +{"env_id": 0, "seq": 10, "step": 7695, "t": 38.475, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "moving", "to": "at_in"}, "cause": null} +{"env_id": 0, "seq": 11, "step": 7695, "t": 38.475, "topic": "a4s_sealer_1.drawer.reached", "source": "a4s_sealer_1.drawer", "data": {"position": "in", "q": 0.30000001192092896}, "cause": "program-0-2"} +{"env_id": 0, "seq": 12, "step": 7695, "t": 38.475, "topic": "a4s_sealer_1.drawer.at_in", "source": "a4s_sealer_1.drawer", "data": {"q": 0.30000001192092896}, "cause": "program-0-2"} +{"env_id": 0, "seq": 13, "step": 7695, "t": 38.475, "topic": "a4s_sealer_1.drawer.command.succeeded", "source": "a4s_sealer_1.drawer", "data": {"command_id": "program-0-2", "name": "close", "source": "program:seal", "result": {"position": "in"}}, "cause": "program-0-2"} +{"env_id": 0, "seq": 14, "step": 7695, "t": 38.475, "topic": "labware.plate_1.changed", "source": "labware.plate_1", "data": {"key": "sealed", "value": true}, "cause": "task-0-1"} +{"env_id": 0, "seq": 15, "step": 7695, "t": 38.475, "topic": "a4s_sealer_1.sealed", "source": "a4s_sealer_1", "data": {"plate": "plate_1"}, "cause": "task-0-1"} +{"env_id": 0, "seq": 16, "step": 7695, "t": 38.475, "topic": "a4s_sealer_1.heater.command.started", "source": "a4s_sealer_1.heater", "data": {"command_id": "program-0-3", "name": "run", "source": "program:seal"}, "cause": "program-0-3"} +{"env_id": 0, "seq": 17, "step": 7695, "t": 38.475, "topic": "a4s_sealer_1.heater.state.changed", "source": "a4s_sealer_1.heater", "data": {"from": "ready", "to": "running"}, "cause": null} +{"env_id": 0, "seq": 18, "step": 7695, "t": 38.475, "topic": "a4s_sealer_1.heater.started", "source": "a4s_sealer_1.heater", "data": {"duration": 4.470165425478514}, "cause": "program-0-3"} +{"env_id": 0, "seq": 19, "step": 8590, "t": 42.95, "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": 8590, "t": 42.95, "topic": "a4s_sealer_1.heater.finished", "source": "a4s_sealer_1.heater", "data": {"elapsed": 4.475000000002289}, "cause": "program-0-3"} +{"env_id": 0, "seq": 21, "step": 8590, "t": 42.95, "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": 4.475000000002289}}, "cause": "program-0-3"} +{"env_id": 0, "seq": 22, "step": 8590, "t": 42.95, "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": 8590, "t": 42.95, "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": 8590, "t": 42.95, "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": 9010, "t": 45.05, "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": 9010, "t": 45.05, "topic": "a4s_sealer_1.drawer.reached", "source": "a4s_sealer_1.drawer", "data": {"position": "out", "q": 1.6816669584640564e-12}, "cause": "program-0-4"} +{"env_id": 0, "seq": 27, "step": 9010, "t": 45.05, "topic": "a4s_sealer_1.drawer.at_out", "source": "a4s_sealer_1.drawer", "data": {"q": 1.6816669584640564e-12}, "cause": "program-0-4"} +{"env_id": 0, "seq": 28, "step": 9010, "t": 45.05, "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": 9010, "t": 45.05, "topic": "a4s_sealer_1.seal.finished", "source": "a4s_sealer_1", "data": {}, "cause": "task-0-1"} +{"env_id": 0, "seq": 30, "step": 9010, "t": 45.05, "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": 9590, "t": 47.95, "topic": "a4s_sealer_1.plate_present.absent", "source": "a4s_sealer_1.plate_present", "data": {"object": "plate_1"}, "cause": null} +{"env_id": 0, "seq": 32, "step": 11312, "t": 56.56, "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": 11312, "t": 56.56, "topic": "conveyor_1.belt.station.pick.released", "source": "conveyor_1.belt", "data": {"rider": "carrier_1"}, "cause": "task-0-5"} +{"env_id": 0, "seq": 34, "step": 11312, "t": 56.56, "topic": "conveyor_1.belt.state.changed", "source": "conveyor_1.belt", "data": {"from": "at_station", "to": "running"}, "cause": null} +{"env_id": 0, "seq": 35, "step": 11312, "t": 56.56, "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_p007_e007/env.mp4 b/episodes/c4_p007_e007/env.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..265ca9305508d7494505d4a078a1c4c0f1d29f3e --- /dev/null +++ b/episodes/c4_p007_e007/env.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:9706c9e567d05d503fdac91eb2225731aea473515894444833e577ae2d57f532 +size 1444354 diff --git a/episodes/c4_p007_e007/meta.json b/episodes/c4_p007_e007/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..427aadafce34a5839b476bb58527939dabf53438 --- /dev/null +++ b/episodes/c4_p007_e007/meta.json @@ -0,0 +1,32 @@ +{ + "source": "raw/c4_p007/magicsim/7", + "fps": 25, + "frames": 1284, + "kept_ticks": "even", + "video_frames": { + "wrist": 1284, + "env": 1284 + }, + "joint_target_source": "joint_pos_target", + "fk_vs_recorded_eef_max_m": 0.0, + "curobo_joints": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "joint_order": [ + "shoulder_pan", + "shoulder_lift", + "elbow", + "wrist_1", + "wrist_2", + "wrist_3", + "finger_left", + "finger_right" + ], + "frames_note": "eef / actions in the robot base frame; camera_pose = local pose (wrist: in plate_gripper_base, env: env frame), pos + quat wxyz", + "dr_version": "v2" +} \ No newline at end of file diff --git a/episodes/c4_p007_e007/scene_snapshot.json b/episodes/c4_p007_e007/scene_snapshot.json new file mode 100644 index 0000000000000000000000000000000000000000..4c236394200587295114acd405047f08fbb541ec --- /dev/null +++ b/episodes/c4_p007_e007/scene_snapshot.json @@ -0,0 +1,1558 @@ +{ + "trajectory_id": 7, + "env_id": 0, + "run_id": "c4_p007", + "task_type": "BioPlateCell", + "success": true, + "timing": { + "fps": 50.0, + "sim_dt": 0.005, + "decimation": 4 + }, + "restore_interface": { + "scene": "scene_manager.reset_to(snapshot['scene'], env_ids=[env_id])", + "robots": "robot_manager.set_state({'robots': snapshot['robots']}, env_ids=[env_id])" + }, + "snapshot": { + "env_id": 0, + "scene": { + "objects": [ + { + "rac_cell": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/rac_cell.usd", + "pose": { + "pos": [ + 0.0, + 0.0, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "physics_material": { + "static_friction": 0.6, + "dynamic_friction": 0.5, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "robot_mount": [ + { + "asset": "Cube", + "pose": { + "pos": [ + 0.0, + 0.0, + 0.9075 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": "color", + "value": [ + 0.55, + 0.56, + 0.58 + ], + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": { + "size": [ + 0.2, + 0.2, + 0.015 + ] + } + }, + "type_specific": {} + } + ], + "plate_rack": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/plate_hotel.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 0.9 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "physics_material": { + "static_friction": 0.6, + "dynamic_friction": 0.5, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "hotel_plate": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/deep_well_96_2ml/deep_well_96_2ml.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 0.9605 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_6_clear/plate_6_clear.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.0285 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/deep_well_24_10ml/deep_well_24_10ml.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.0965 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_6_clear/plate_6_clear.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.1645 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_6_clear/plate_6_clear.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.2325 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "a4s_sealer": [ + { + "asset": "$MAGICSIM_ASSETS/Articulated/A4SSealer/Object.usd", + "pose": { + "pos": [ + 0.4743375778198242, + 0.07537841796875, + 0.8999999761581421 + ], + "ori": [ + 0.7076832056045532, + 0.0, + 0.0, + -0.7065299153327942 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "articulation", + "solver_position_iteration_count": 16.0, + "solver_velocity_iteration_count": 1.0, + "enabled_self_collisions": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "joint_position": [ + 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": 0.1803764429250878, + "direction": [ + 1.0, + 0.0, + 0.0 + ], + "enabled": true, + "drive": "surface_velocity", + "lines": null, + "station_line": null, + "riders": [ + "carrier" + ], + "stations": { + "pick": { + "position": -0.062435289016247425, + "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": 0.1803764429250878, + "holds": [], + "station": "pick", + "rider": "carrier_1", + "arrived": true, + "applied_speed": 0.0 + } + } + } + ], + "carrier": [ + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + 0.08734130859375, + 0.44725513458251953, + 0.8999999761581421 + ], + "ori": [ + 0.9999471306800842, + -2.2706418967288755e-09, + 3.741013721025865e-09, + 0.010280521586537361 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -8.825891129049523e-10, + -1.1254119414161323e-08, + 7.450580596923828e-09 + ], + "angular_velocity": [ + 3.970953343923611e-07, + -4.348468607417999e-08, + 3.7754087856001206e-08 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + 1.6578178405761719, + 0.9613218307495117, + 0.8999999761581421 + ], + "ori": [ + 0.5215261578559875, + 3.946923854414308e-08, + -1.0360229119044106e-08, + 0.8532354235649109 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -3.4079652988516784e-10, + -7.017709746648393e-10, + -3.725290298461914e-09 + ], + "angular_velocity": [ + 4.5233569778702076e-08, + 3.7980171896379034e-08, + -1.0180133180881512e-08 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + -0.1187753677368164, + 1.1521949768066406, + 0.8999999761581421 + ], + "ori": [ + -0.013476917520165443, + -2.411232991050838e-09, + -8.210809809838793e-09, + 0.9999091625213623 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 1.9467929490701863e-09, + 1.418275630271637e-08, + -3.725290298461914e-09 + ], + "angular_velocity": [ + -1.5867595948293456e-06, + 5.9447309297411266e-08, + 1.5928553409594315e-07 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + -1.3312854766845703, + 1.0036754608154297, + 0.8999999761581421 + ], + "ori": [ + -0.45372474193573, + -9.331367323284212e-08, + 4.594671310087506e-08, + 0.891141951084137 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -1.810028571469502e-09, + 2.220834183219722e-09, + 1.1175870895385742e-08 + ], + "angular_velocity": [ + -1.5983653156581568e-07, + -9.88527233403147e-08, + -1.61187578839872e-08 + ] + } + } + ], + "plate": [ + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_6_clear/Object.usd", + "pose": { + "pos": [ + 0.08056640625, + 0.4498939514160156, + 0.9179999828338623 + ], + "ori": [ + 0.9986985325813293, + 9.382733479057492e-11, + 5.012254611358458e-09, + 0.051003970205783844 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -3.183367169867779e-08, + -1.1688908330143022e-07, + 1.2293457984924316e-07 + ], + "angular_velocity": [ + 2.7090366074844496e-06, + -1.9893607259291457e-06, + 3.0329907474424544e-09 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_96_black/Object.usd", + "pose": { + "pos": [ + 1.6550960540771484, + 0.9629411697387695, + 0.9180000424385071 + ], + "ori": [ + 0.585737943649292, + 3.958454897201591e-08, + -6.208259684115092e-09, + 0.8105005621910095 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 7.723651052060632e-09, + -2.1410242467823082e-08, + -5.27501106262207e-06 + ], + "angular_velocity": [ + 6.313542257885274e-07, + 7.161832513702393e-07, + 3.8804945035053606e-08 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/pcr_96_blue/Object.usd", + "pose": { + "pos": [ + -0.123626708984375, + 1.1446037292480469, + 0.9180000424385071 + ], + "ori": [ + 0.06080814450979233, + -7.923286027278209e-09, + -1.7095878490636096e-07, + 0.998149573802948 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -8.733534286875511e-07, + 3.863795882352861e-06, + -6.474554538726807e-06 + ], + "angular_velocity": [ + 2.246447365905624e-05, + -9.89658565231366e-06, + -2.8466516596381553e-05 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/deep_well_96_2ml/Object.usd", + "pose": { + "pos": [ + -1.338242530822754, + 1.006265640258789, + 0.9179999828338623 + ], + "ori": [ + -0.37996965646743774, + -9.520038446453327e-08, + 3.968279216337578e-08, + 0.9249989986419678 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 3.472445442298522e-08, + 1.0913622361385933e-07, + -1.344829797744751e-06 + ], + "angular_velocity": [ + -4.010277734778356e-06, + 2.904936536651803e-06, + -2.474537268426502e-07 + ] + } + } + ], + "deco_hub_west": [ + { + "asset": "$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": 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": 0.1803764429250878, + "holds": [], + "station": "pick", + "rider": "carrier_1", + "arrived": true, + "settle_count": 859, + "released": { + "pick": [] + }, + "last_pos": { + "carrier_1": [ + -0.06265869736671448, + -0.0027448534965515137, + 0.0 + ], + "carrier_2": [ + 1.5078178346157074, + 0.5113218426704407, + 0.0 + ], + "carrier_3": [ + -0.2687753736972809, + 0.7021949887275696, + 0.0 + ], + "carrier_4": [ + -1.4812854826450348, + 0.5536754727363586, + 0.0 + ] + }, + "command": 0.0 + }, + "belt": { + "target_speed": 0.0, + "command_speed": 0.0 + }, + "seen": { + "state": "at_station", + "station": "pick", + "rider": "carrier_1", + "arrived": true + } + } + }, + "queues": {}, + "program": null, + "sensors": {}, + "interlocks": {} + } + }, + "zones": {}, + "labware": { + "plate_1": { + "sealed": false + }, + "plate_2": { + "sealed": false + }, + "plate_3": { + "sealed": false + }, + "plate_4": { + "sealed": false + } + }, + "rules": {}, + "records": [], + "bus": { + "seq": 3, + "queue": [] + } + }, + null, + null, + null + ], + "drives": [ + {}, + null, + null, + null + ] + }, + "artifacts": [ + { + "ceiling": { + "type": "rect", + "pose": { + "pos": [ + 0.4000824795434056, + 0.3790952665929651, + 2.849765915776396 + ], + "ori": [ + 5.905156775657943, + -8.376063408430353, + 4.977350748532814 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "color_temperature": 3260.9851769591683, + "color": [ + 0.9313365942679361, + 0.9200011034017169, + 0.9516591352440146 + ], + "intensity": 8534.871275780552, + "width": 2.1958605007720617, + "height": 1.5374665709410902 + } + }, + "key": { + "type": "sphere", + "pose": { + "pos": [ + 1.7967349130408654, + 0.571514453361935, + 2.638967758516376 + ], + "ori": [ + 14.524636351777488, + -24.755043420164338, + 13.814786782973918 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "color_temperature": 4428.657909294793, + "color": [ + 0.8476738206496106, + 0.8942994145476206, + 0.9110587227664997 + ], + "intensity": 9107.083478894827, + "radius": 0.2491959690225244 + } + } + }, + {}, + {}, + {} + ], + "background": { + "type": "dome", + "pose": { + "pos": null, + "ori": null, + "scale": null + }, + "dr": { + "intensity": 506.2738340308846, + "texture": null, + "color": [ + 0.92, + 0.94, + 0.96 + ] + } + } + }, + "robots": { + "UR5e": { + "root_pose": [ + [ + 11.0, + -11.0, + 0.9150000214576721, + 1.0, + 0.0, + 0.0, + 0.0 + ], + [ + 11.0, + 11.0, + 0.9150000214576721, + 1.0, + 0.0, + 0.0, + 0.0 + ], + [ + -11.0, + -11.0, + 0.9150000214576721, + 1.0, + 0.0, + 0.0, + 0.0 + ], + [ + -11.0, + 11.0, + 0.9150000214576721, + 1.0, + 0.0, + 0.0, + 0.0 + ] + ], + "root_vel": [ + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + ], + "joint_pos": [ + [ + 0.9141027331352234, + -1.7193986177444458, + 2.0904996395111084, + -1.9418998956680298, + -1.5707999467849731, + 2.484900712966919, + 0.017999999225139618, + 0.017999999225139618 + ], + [ + 0.9141040444374084, + -1.7193968296051025, + 2.0904972553253174, + -1.9418995380401611, + -1.5707999467849731, + 2.4849021434783936, + 0.01799999736249447, + 0.018000001087784767 + ], + [ + 0.9141011238098145, + -1.7193983793258667, + 2.0904994010925293, + -1.9419001340866089, + -1.5707999467849731, + 2.4848999977111816, + 0.017999999225139618, + 0.017999999225139618 + ], + [ + 2.3572709560394287, + -2.4157774448394775, + 2.6310057640075684, + -1.7858072519302368, + -1.5704991817474365, + 3.9267208576202393, + 0.007718526292592287, + 0.007199539802968502 + ] + ], + "joint_vel": [ + [ + 3.4059639801853336e-06, + 1.8542013410782765e-11, + -6.8119388743070886e-06, + 3.783606674495621e-12, + -5.1962228871929236e-14, + 7.880902961471259e-13, + -8.284238366910307e-14, + 2.0537907583374065e-13 + ], + [ + 2.2846987363613788e-38, + -2.8785175978885955e-38, + -2.727698646770244e-38, + -4.158446687517434e-37, + 6.1340555565386774e-37, + 7.923289599831054e-38, + 2.5990388508034812e-08, + -2.5990386731677972e-08 + ], + [ + -2.7912640674492536e-38, + 0.0, + 0.0, + 5.820185776058822e-37, + -6.480293762090156e-37, + -1.957102312566475e-37, + 7.782650241276944e-38, + -7.026647477696162e-38 + ], + [ + 0.020026637241244316, + 0.029815498739480972, + -0.006385076325386763, + -0.023226000368595123, + 0.0007753361132927239, + 0.017280831933021545, + -0.006457665469497442, + 0.0002018478699028492 + ] + ] + } + }, + "cameras": { + "cameras": { + "camera0": [ + [ + 0.05308682471513748, + -0.0013556766789406538, + -0.03012685663998127, + -0.2684033215045929, + 0.6598049998283386, + 0.6437209248542786, + -0.27971479296684265 + ], + [ + 0.048663754016160965, + -0.0011773823061957955, + -0.027821611613035202, + -0.27592888474464417, + 0.6521422266960144, + 0.6483981609344482, + -0.2795596420764923 + ], + [ + 0.051116012036800385, + -0.002954182680696249, + -0.03282339125871658, + -0.28252097964286804, + 0.6449248790740967, + 0.6514618396759033, + -0.2825797498226166 + ], + [ + 0.047618549317121506, + 0.004519549664109945, + -0.02944854460656643, + -0.28273144364356995, + 0.6404839158058167, + 0.6581453084945679, + -0.27692610025405884 + ] + ], + "camera1": [ + [ + 0.03902772068977356, + 0.575553834438324, + 1.9346468448638916, + 0.028778688982129097, + 0.004978996701538563, + 0.2844105362892151, + 0.9582576155662537 + ], + [ + 0.05835886672139168, + 0.6035720109939575, + 1.9589279890060425, + 0.048553623259067535, + 0.0011418277863413095, + 0.2842447757720947, + 0.9575208425521851 + ], + [ + 0.02644018456339836, + 0.5866796374320984, + 1.96474289894104, + 0.028418950736522675, + 0.0012427562614902854, + 0.25572264194488525, + 0.9663316011428833 + ], + [ + 0.06539583206176758, + 0.6036527752876282, + 1.9611330032348633, + 0.03326158598065376, + 0.010567559860646725, + 0.2742682695388794, + 0.9610196948051453 + ] + ] + } + } + } +} \ No newline at end of file diff --git a/episodes/c4_p007_e007/wrist.mp4 b/episodes/c4_p007_e007/wrist.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..500ce783cacfaa445dc5c77bf47173e6c7bac646 --- /dev/null +++ b/episodes/c4_p007_e007/wrist.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:b5bb387300f947325ae54a951e598b12b02ba5ead2cd68fe206e303c51ba563c +size 7533147 diff --git a/episodes/c5_p006_e036/data.npz b/episodes/c5_p006_e036/data.npz new file mode 100644 index 0000000000000000000000000000000000000000..c5ff0ef9a30c37b1dcd3a88bf66adddd50420df9 --- /dev/null +++ b/episodes/c5_p006_e036/data.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:ebffe158d3b9fdd99b5203cd0a7d3f2e88d975f0da5a4bc42bc98c8617d17784 +size 205508 diff --git a/episodes/c5_p006_e036/device_events.jsonl b/episodes/c5_p006_e036/device_events.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..73c505164fc8206a6b1edb700476c65bb4f18083 --- /dev/null +++ b/episodes/c5_p006_e036/device_events.jsonl @@ -0,0 +1,36 @@ +{"env_id": 0, "seq": 1, "step": 61, "t": 0.305, "topic": "conveyor_1.belt.station.pick.captured", "source": "conveyor_1.belt", "data": {"rider": "carrier_4"}, "cause": null} +{"env_id": 0, "seq": 2, "step": 61, "t": 0.305, "topic": "conveyor_1.belt.state.changed", "source": "conveyor_1.belt", "data": {"from": "running", "to": "at_station"}, "cause": null} +{"env_id": 0, "seq": 3, "step": 66, "t": 0.33, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_4"}, "cause": null} +{"env_id": 0, "seq": 4, "step": 1452, "t": 7.26, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_4"}, "cause": null} +{"env_id": 0, "seq": 5, "step": 6171, "t": 30.855, "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": 6784, "t": 33.92, "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": 6784, "t": 33.92, "topic": "a4s_sealer_1.seal.started", "source": "a4s_sealer_1", "data": {"dwell": 4.562796561736967}, "cause": "task-0-1"} +{"env_id": 0, "seq": 8, "step": 6784, "t": 33.92, "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": 6784, "t": 33.92, "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": 6784, "t": 33.92, "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": 7203, "t": 36.015, "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": 7203, "t": 36.015, "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": 7203, "t": 36.015, "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": 7203, "t": 36.015, "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": 7203, "t": 36.015, "topic": "labware.plate_4.changed", "source": "labware.plate_4", "data": {"key": "sealed", "value": true}, "cause": "task-0-1"} +{"env_id": 0, "seq": 16, "step": 7203, "t": 36.015, "topic": "a4s_sealer_1.sealed", "source": "a4s_sealer_1", "data": {"plate": "plate_4"}, "cause": "task-0-1"} +{"env_id": 0, "seq": 17, "step": 7203, "t": 36.015, "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": 7203, "t": 36.015, "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": 7203, "t": 36.015, "topic": "a4s_sealer_1.heater.started", "source": "a4s_sealer_1.heater", "data": {"duration": 4.562796561736967}, "cause": "program-0-3"} +{"env_id": 0, "seq": 20, "step": 8116, "t": 40.58, "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": 8116, "t": 40.58, "topic": "a4s_sealer_1.heater.finished", "source": "a4s_sealer_1.heater", "data": {"elapsed": 4.565000000002335}, "cause": "program-0-3"} +{"env_id": 0, "seq": 22, "step": 8116, "t": 40.58, "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": 4.565000000002335}}, "cause": "program-0-3"} +{"env_id": 0, "seq": 23, "step": 8116, "t": 40.58, "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": 8116, "t": 40.58, "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": 8116, "t": 40.58, "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": 8536, "t": 42.68, "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": 8536, "t": 42.68, "topic": "a4s_sealer_1.drawer.reached", "source": "a4s_sealer_1.drawer", "data": {"position": "out", "q": 4.8299295118958696e-11}, "cause": "program-0-4"} +{"env_id": 0, "seq": 28, "step": 8536, "t": 42.68, "topic": "a4s_sealer_1.drawer.at_out", "source": "a4s_sealer_1.drawer", "data": {"q": 4.8299295118958696e-11}, "cause": "program-0-4"} +{"env_id": 0, "seq": 29, "step": 8536, "t": 42.68, "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": 8536, "t": 42.68, "topic": "a4s_sealer_1.seal.finished", "source": "a4s_sealer_1", "data": {}, "cause": "task-0-1"} +{"env_id": 0, "seq": 31, "step": 8536, "t": 42.68, "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": 9115, "t": 45.575, "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": 11332, "t": 56.66, "topic": "conveyor_1.belt.command.started", "source": "conveyor_1.belt", "data": {"command_id": "task-0-5", "name": "release", "source": "task"}, "cause": "task-0-5"} +{"env_id": 0, "seq": 34, "step": 11332, "t": 56.66, "topic": "conveyor_1.belt.station.pick.released", "source": "conveyor_1.belt", "data": {"rider": "carrier_4"}, "cause": "task-0-5"} +{"env_id": 0, "seq": 35, "step": 11332, "t": 56.66, "topic": "conveyor_1.belt.state.changed", "source": "conveyor_1.belt", "data": {"from": "at_station", "to": "running"}, "cause": null} +{"env_id": 0, "seq": 36, "step": 11332, "t": 56.66, "topic": "conveyor_1.belt.command.succeeded", "source": "conveyor_1.belt", "data": {"command_id": "task-0-5", "name": "release", "source": "task", "result": {"state": "running"}}, "cause": "task-0-5"} diff --git a/episodes/c5_p006_e036/env.mp4 b/episodes/c5_p006_e036/env.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..0ef97df011bb5d1782bf1c11ad62a5283fb5349f --- /dev/null +++ b/episodes/c5_p006_e036/env.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:921ba473674c94714cbe50171233a906d931704be9ba7f7bfd1cc928b07821c4 +size 1292403 diff --git a/episodes/c5_p006_e036/meta.json b/episodes/c5_p006_e036/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..d68d5432d76d6339e4ebd38ceceb71c88f8e0697 --- /dev/null +++ b/episodes/c5_p006_e036/meta.json @@ -0,0 +1,32 @@ +{ + "source": "raw/c5_p006/magicsim/36", + "fps": 25, + "frames": 1296, + "kept_ticks": "even", + "video_frames": { + "wrist": 1296, + "env": 1296 + }, + "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_p006_e036/scene_snapshot.json b/episodes/c5_p006_e036/scene_snapshot.json new file mode 100644 index 0000000000000000000000000000000000000000..1ce9c06847e7115fab695aa5feb6cb92234b2d82 --- /dev/null +++ b/episodes/c5_p006_e036/scene_snapshot.json @@ -0,0 +1,1558 @@ +{ + "trajectory_id": 36, + "env_id": 0, + "run_id": "c5_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": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_24_clear/plate_24_clear.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 0.9605 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$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": [ + 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": 0.22260352072470113, + "direction": [ + 1.0, + 0.0, + 0.0 + ], + "enabled": true, + "drive": "surface_velocity", + "lines": null, + "station_line": null, + "riders": [ + "carrier" + ], + "stations": { + "pick": { + "position": -0.15368623606623333, + "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": 0.22260352072470113, + "holds": [], + "station": "pick", + "rider": "carrier_4", + "arrived": true, + "applied_speed": 0.0 + } + } + } + ], + "carrier": [ + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + -1.1683454513549805, + 1.1257743835449219, + 0.8999999761581421 + ], + "ori": [ + -0.1657518446445465, + -4.41711449639115e-08, + -6.098463956050182e-08, + 0.9861674904823303 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -1.4159551309234075e-10, + 1.520923831321852e-09, + 0.0 + ], + "angular_velocity": [ + -9.369722420160542e-08, + -3.526643865825463e-09, + 3.327954356535656e-09 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + 0.38495731353759766, + 1.149998664855957, + 0.8999999761581421 + ], + "ori": [ + -1.4312899111246224e-05, + 1.218417544635031e-08, + 1.9775445725400687e-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": [ + -3.584099683706654e-10, + -7.992243533649912e-10, + 7.450580596923828e-09 + ], + "angular_velocity": [ + 6.408496489029858e-08, + -3.507859247520173e-08, + -2.5234050404776553e-09 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + 1.669454574584961, + 0.660161018371582, + 0.8999999761581421 + ], + "ori": [ + 0.8384318351745605, + 1.055890042067631e-08, + -3.756746025374014e-09, + 0.545006513595581 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -2.708737956158558e-10, + 2.858009384709703e-10, + 3.725290298461914e-09 + ], + "angular_velocity": [ + -2.6288098808890936e-08, + -4.187215552065027e-08, + -3.9561873776960965e-09 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + -0.0038290023803710938, + 0.44998931884765625, + 0.8999999761581421 + ], + "ori": [ + 1.0, + 1.750935785249652e-10, + 5.902837107996106e-10, + 4.671110582421534e-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": [ + 4.324117064413713e-09, + 4.001353470783897e-09, + 3.3527612686157227e-08 + ], + "angular_velocity": [ + -2.3504351531755674e-07, + 4.10118673244142e-07, + -3.937967463230052e-08 + ] + } + } + ], + "plate": [ + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_6_clear/Object.usd", + "pose": { + "pos": [ + -1.1606101989746094, + 1.1221399307250977, + 0.9179999828338623 + ], + "ori": [ + -0.11042453348636627, + -3.985804397643733e-08, + -6.650711981137647e-08, + 0.9938845634460449 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 1.5053458923830476e-08, + 5.734336383511618e-08, + 9.685754776000977e-08 + ], + "angular_velocity": [ + -1.7894270740725915e-06, + 1.3289936759974808e-06, + -3.7797128982219874e-08 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_96_black/Object.usd", + "pose": { + "pos": [ + 0.39641857147216797, + 1.145416259765625, + 0.9180000424385071 + ], + "ori": [ + 0.04380529001355171, + 1.081841372041481e-08, + 2.9487412511741695e-09, + 0.9990401268005371 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 5.504014133350665e-09, + -6.446919442737453e-09, + -5.561858415603638e-06 + ], + "angular_velocity": [ + -6.093653723837633e-07, + 1.6620343785689329e-06, + -3.330028164327814e-08 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/pcr_96_blue/Object.usd", + "pose": { + "pos": [ + 1.6631793975830078, + 0.6665315628051758, + 0.9180000424385071 + ], + "ori": [ + 0.862217128276825, + 1.0514039416875676e-08, + -3.2394034121807636e-09, + 0.506538987159729 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 6.93121826600418e-09, + -1.3752539551603604e-08, + -5.647540092468262e-06 + ], + "angular_velocity": [ + 1.6216140465985518e-06, + -1.0974790143336577e-07, + -6.53060183708476e-08 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/deep_well_96_2ml/Object.usd", + "pose": { + "pos": [ + 0.007890701293945312, + 0.4418048858642578, + 0.9179999828338623 + ], + "ori": [ + 0.9974985718727112, + -1.441543995284178e-09, + 3.230999912062771e-10, + 0.07068641483783722 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -3.6198184005797884e-08, + 3.9383575511919844e-08, + -1.3299286365509033e-06 + ], + "angular_velocity": [ + -6.793450779696286e-07, + -2.178831209675991e-06, + -5.285254900400105e-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": 4.999999999999916, + "step": 1000, + "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": 0.22260352072470113, + "holds": [], + "station": "pick", + "rider": "carrier_4", + "arrived": true, + "settle_count": 938, + "released": { + "pick": [] + }, + "last_pos": { + "carrier_1": [ + -1.318345457315445, + 0.6757743954658508, + 0.0 + ], + "carrier_2": [ + 0.23495730757713318, + 0.699998676776886, + 0.0 + ], + "carrier_3": [ + 1.5194545686244965, + 0.210161030292511, + 0.0 + ], + "carrier_4": [ + -0.15382900834083557, + -1.0669231414794922e-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, + null, + null + ], + "drives": [ + {}, + null, + null, + null + ] + }, + "artifacts": [ + { + "ceiling": { + "type": "rect", + "pose": { + "pos": [ + 0.17004533602254635, + -0.2653019052193829, + 2.6558852505077053 + ], + "ori": [ + -8.768216283996665, + -6.058731134499672, + 5.381640217139356 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "color_temperature": 4682.397527718685, + "color": [ + 0.9839352331715995, + 0.801540312607206, + 0.8373477935376648 + ], + "intensity": 15289.282640832347, + "width": 1.8456446300485834, + "height": 0.990121338309325 + } + }, + "key": { + "type": "sphere", + "pose": { + "pos": [ + 1.4045841409206057, + 0.3161117097810415, + 2.6263999069529484 + ], + "ori": [ + -11.769219573725415, + 5.264902724230716, + 8.045360149021185 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "color_temperature": 6877.4279769923705, + "color": [ + 0.9727845897933912, + 0.9079252307458359, + 0.790065651432615 + ], + "intensity": 6222.87999513011, + "radius": 0.19518189229260846 + } + } + }, + {}, + {}, + {} + ], + "background": { + "type": "dome", + "pose": { + "pos": null, + "ori": null, + "scale": null + }, + "dr": { + "intensity": 1069.5125239314534, + "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": [ + [ + 0.9141024351119995, + -1.7193981409072876, + 2.090498924255371, + -1.9419002532958984, + -1.5707999467849731, + 2.484900951385498, + 0.01799999736249447, + 0.018000001087784767 + ], + [ + 1.1824021339416504, + -1.5309703350067139, + 2.1776251792907715, + -2.2182939052581787, + -1.5703500509262085, + 2.7542014122009277, + 0.008212517015635967, + 0.006588959135115147 + ], + [ + -0.36941468715667725, + -2.266146183013916, + 2.4672014713287354, + -1.771826148033142, + -1.5707968473434448, + 4.315219879150391, + 0.018000006675720215, + 0.01799999177455902 + ], + [ + -0.14727145433425903, + -1.9536371231079102, + 2.5501973628997803, + -2.1673221588134766, + -1.5707989931106567, + 4.554225444793701, + 0.018000002950429916, + 0.01799999549984932 + ] + ], + "joint_vel": [ + [ + 0.0, + 2.453737510242728e-38, + 1.6914182537041556e-38, + 3.602139492867391e-37, + -5.966628864436657e-37, + 2.6935268514685243e-36, + 2.59903654153959e-08, + -2.5990388508034812e-08 + ], + [ + 0.010603265836834908, + 0.007062616758048534, + 0.0007614847272634506, + -0.0056221624836325645, + 0.002089125569909811, + -0.002514047548174858, + -0.006356415804475546, + -0.000612070201896131 + ], + [ + -0.0007794321281835437, + 0.0032110423780977726, + 0.0156685933470726, + -0.0183109100908041, + -7.2095590439857915e-06, + -0.0007493785233236849, + -1.064924390448141e-06, + 1.0650070407791645e-06 + ], + [ + -0.000435517868027091, + 0.016334477812051773, + 0.015460298396646976, + -0.030868351459503174, + -9.605826562619768e-06, + -0.0003268887521699071, + 2.4878119120330666e-07, + -2.487101937731495e-07 + ] + ] + } + }, + "cameras": { + "cameras": { + "camera0": [ + [ + 0.04648948833346367, + 0.0004379700985737145, + -0.02649676986038685, + -0.2796136140823364, + 0.6528694033622742, + 0.6434115767478943, + -0.2856559753417969 + ], + [ + 0.04746171832084656, + 0.0035086271818727255, + -0.027566857635974884, + -0.2901383638381958, + 0.6443129777908325, + 0.646328866481781, + -0.2879921793937683 + ], + [ + 0.049576714634895325, + 0.0008064759313128889, + -0.02965286746621132, + -0.2754155099391937, + 0.6459197998046875, + 0.6614536046981812, + -0.26346355676651 + ], + [ + 0.04998932406306267, + -0.0013303551822900772, + -0.030354488641023636, + -0.2963552176952362, + 0.6448810696601868, + 0.6470122337341309, + -0.2787061333656311 + ] + ], + "camera1": [ + [ + 0.04277627915143967, + 0.6040522456169128, + 1.9696524143218994, + 0.052094873040914536, + 0.009460091590881348, + 0.2667482793331146, + 0.9623107314109802 + ], + [ + 0.04489702731370926, + 0.580833911895752, + 1.9730132818222046, + 0.03607539087533951, + 0.004536214750260115, + 0.26920172572135925, + 0.9623972177505493 + ], + [ + 0.05163057520985603, + 0.5680153369903564, + 1.9525026082992554, + 0.023096421733498573, + 0.0004263378505129367, + 0.28245916962623596, + 0.9590011239051819 + ], + [ + 0.03381197154521942, + 0.5611470937728882, + 1.9405291080474854, + 0.025738123804330826, + 0.017963100224733353, + 0.2777979075908661, + 0.9601266384124756 + ] + ] + } + } + } +} \ No newline at end of file diff --git a/episodes/c5_p006_e036/wrist.mp4 b/episodes/c5_p006_e036/wrist.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..b0a04308bc56fb926e7bb859ff60eda340766eb9 --- /dev/null +++ b/episodes/c5_p006_e036/wrist.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:3be9e2b63c433efe44855e2a01d7afc234d5c9db9e9b25e181e4ee28f04b1242 +size 6519514 diff --git a/episodes/c7_p007_e017/data.npz b/episodes/c7_p007_e017/data.npz new file mode 100644 index 0000000000000000000000000000000000000000..5bb0e1e07e04424b1e763dc6d029d1bad92b74f2 --- /dev/null +++ b/episodes/c7_p007_e017/data.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:7f6c517242493145cbcbf9c04f4e1575037294dbdae5aa98fad3f65c19db2883 +size 192143 diff --git a/episodes/c7_p007_e017/device_events.jsonl b/episodes/c7_p007_e017/device_events.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..ddee2841f3186d5493ae4ee993d395ab06bfe7c0 --- /dev/null +++ b/episodes/c7_p007_e017/device_events.jsonl @@ -0,0 +1,35 @@ +{"env_id": 3, "seq": 1, "step": 114, "t": 0.57, "topic": "conveyor_1.belt.station.pick.captured", "source": "conveyor_1.belt", "data": {"rider": "carrier_2"}, "cause": null} +{"env_id": 3, "seq": 2, "step": 114, "t": 0.57, "topic": "conveyor_1.belt.state.changed", "source": "conveyor_1.belt", "data": {"from": "running", "to": "at_station"}, "cause": null} +{"env_id": 3, "seq": 3, "step": 119, "t": 0.595, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_2"}, "cause": null} +{"env_id": 3, "seq": 4, "step": 6805, "t": 34.025, "topic": "a4s_sealer_1.plate_present.present", "source": "a4s_sealer_1.plate_present", "data": {"object": "plate_2"}, "cause": null} +{"env_id": 3, "seq": 5, "step": 7412, "t": 37.06, "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": 7412, "t": 37.06, "topic": "a4s_sealer_1.seal.started", "source": "a4s_sealer_1", "data": {"dwell": 2.7127158129297326}, "cause": "task-3-1"} +{"env_id": 3, "seq": 7, "step": 7412, "t": 37.06, "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": 7412, "t": 37.06, "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": 7412, "t": 37.06, "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": 7831, "t": 39.155, "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": 7831, "t": 39.155, "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": 7831, "t": 39.155, "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": 7831, "t": 39.155, "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": 7831, "t": 39.155, "topic": "labware.plate_2.changed", "source": "labware.plate_2", "data": {"key": "sealed", "value": true}, "cause": "task-3-1"} +{"env_id": 3, "seq": 15, "step": 7831, "t": 39.155, "topic": "a4s_sealer_1.sealed", "source": "a4s_sealer_1", "data": {"plate": "plate_2"}, "cause": "task-3-1"} +{"env_id": 3, "seq": 16, "step": 7831, "t": 39.155, "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": 7831, "t": 39.155, "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": 7831, "t": 39.155, "topic": "a4s_sealer_1.heater.started", "source": "a4s_sealer_1.heater", "data": {"duration": 2.7127158129297326}, "cause": "program-3-3"} +{"env_id": 3, "seq": 19, "step": 8374, "t": 41.87, "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": 8374, "t": 41.87, "topic": "a4s_sealer_1.heater.finished", "source": "a4s_sealer_1.heater", "data": {"elapsed": 2.715000000001389}, "cause": "program-3-3"} +{"env_id": 3, "seq": 21, "step": 8374, "t": 41.87, "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": 2.715000000001389}}, "cause": "program-3-3"} +{"env_id": 3, "seq": 22, "step": 8374, "t": 41.87, "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": 8374, "t": 41.87, "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": 8374, "t": 41.87, "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": 8794, "t": 43.97, "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": 8794, "t": 43.97, "topic": "a4s_sealer_1.drawer.reached", "source": "a4s_sealer_1.drawer", "data": {"position": "out", "q": 1.441627084375341e-08}, "cause": "program-3-4"} +{"env_id": 3, "seq": 27, "step": 8794, "t": 43.97, "topic": "a4s_sealer_1.drawer.at_out", "source": "a4s_sealer_1.drawer", "data": {"q": 1.441627084375341e-08}, "cause": "program-3-4"} +{"env_id": 3, "seq": 28, "step": 8794, "t": 43.97, "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": 8794, "t": 43.97, "topic": "a4s_sealer_1.seal.finished", "source": "a4s_sealer_1", "data": {}, "cause": "task-3-1"} +{"env_id": 3, "seq": 30, "step": 8794, "t": 43.97, "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": 9371, "t": 46.855, "topic": "a4s_sealer_1.plate_present.absent", "source": "a4s_sealer_1.plate_present", "data": {"object": "plate_2"}, "cause": null} +{"env_id": 3, "seq": 32, "step": 11080, "t": 55.4, "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": 11080, "t": 55.4, "topic": "conveyor_1.belt.station.pick.released", "source": "conveyor_1.belt", "data": {"rider": "carrier_2"}, "cause": "task-3-5"} +{"env_id": 3, "seq": 34, "step": 11080, "t": 55.4, "topic": "conveyor_1.belt.state.changed", "source": "conveyor_1.belt", "data": {"from": "at_station", "to": "running"}, "cause": null} +{"env_id": 3, "seq": 35, "step": 11080, "t": 55.4, "topic": "conveyor_1.belt.command.succeeded", "source": "conveyor_1.belt", "data": {"command_id": "task-3-5", "name": "release", "source": "task", "result": {"state": "running"}}, "cause": "task-3-5"} diff --git a/episodes/c7_p007_e017/env.mp4 b/episodes/c7_p007_e017/env.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..d4856284ca2c78e91abc7c9a3741d27b4983eba1 --- /dev/null +++ b/episodes/c7_p007_e017/env.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:f1cc435ae0f585846d2e826e1ebc1ca5e345e17487530c43fd2150fec074ed77 +size 1273692 diff --git a/episodes/c7_p007_e017/meta.json b/episodes/c7_p007_e017/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..ff36d1abca88107703c928f0512ffafc0f6e3734 --- /dev/null +++ b/episodes/c7_p007_e017/meta.json @@ -0,0 +1,32 @@ +{ + "source": "raw/c7_p007/magicsim/17", + "fps": 25, + "frames": 1215, + "kept_ticks": "even", + "video_frames": { + "wrist": 1215, + "env": 1215 + }, + "joint_target_source": "joint_pos_target", + "fk_vs_recorded_eef_max_m": 0.0, + "curobo_joints": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "joint_order": [ + "shoulder_pan", + "shoulder_lift", + "elbow", + "wrist_1", + "wrist_2", + "wrist_3", + "finger_left", + "finger_right" + ], + "frames_note": "eef / actions in the robot base frame; camera_pose = local pose (wrist: in plate_gripper_base, env: env frame), pos + quat wxyz", + "dr_version": "v2" +} \ No newline at end of file diff --git a/episodes/c7_p007_e017/scene_snapshot.json b/episodes/c7_p007_e017/scene_snapshot.json new file mode 100644 index 0000000000000000000000000000000000000000..e5a8c6196c51bc0e88e0f938d18dcf806f0e3dca --- /dev/null +++ b/episodes/c7_p007_e017/scene_snapshot.json @@ -0,0 +1,1558 @@ +{ + "trajectory_id": 17, + "env_id": 3, + "run_id": "c7_p007", + "task_type": "BioPlateCell", + "success": true, + "timing": { + "fps": 50.0, + "sim_dt": 0.005, + "decimation": 4 + }, + "restore_interface": { + "scene": "scene_manager.reset_to(snapshot['scene'], env_ids=[env_id])", + "robots": "robot_manager.set_state({'robots': snapshot['robots']}, env_ids=[env_id])" + }, + "snapshot": { + "env_id": 3, + "scene": { + "objects": [ + {}, + {}, + {}, + { + "rac_cell": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/rac_cell.usd", + "pose": { + "pos": [ + 0.0, + 0.0, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "physics_material": { + "static_friction": 0.6, + "dynamic_friction": 0.5, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "robot_mount": [ + { + "asset": "Cube", + "pose": { + "pos": [ + 0.0, + 0.0, + 0.9075 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": "color", + "value": [ + 0.55, + 0.56, + 0.58 + ], + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": { + "size": [ + 0.2, + 0.2, + 0.015 + ] + } + }, + "type_specific": {} + } + ], + "plate_rack": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/plate_hotel.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 0.9 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "physics_material": { + "static_friction": 0.6, + "dynamic_friction": 0.5, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "hotel_plate": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_24_clear/plate_24_clear.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 0.9605 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/pcr_384_red/pcr_384_red.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.0285 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_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": [ + 0.4947824478149414, + 0.1017904281616211, + 0.8999999761581421 + ], + "ori": [ + 0.7262182235717773, + 0.0, + 0.0, + -0.6874642372131348 + ], + "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": [ + 4.7098327841943455e-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": 0.29777038196017813, + "direction": [ + 1.0, + 0.0, + 0.0 + ], + "enabled": true, + "drive": "surface_velocity", + "lines": null, + "station_line": null, + "riders": [ + "carrier" + ], + "stations": { + "pick": { + "position": -0.006681723982149612, + "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": 0.29777038196017813, + "holds": [], + "station": "pick", + "rider": "carrier_2", + "arrived": true, + "applied_speed": 0.0 + } + } + } + ], + "carrier": [ + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + -0.21780109405517578, + 1.1499958038330078, + 0.8999999761581421 + ], + "ori": [ + -2.780079194053542e-05, + -1.7835649623876293e-10, + -7.620003517061491e-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": [ + -8.885061575369946e-10, + -3.696109529549574e-10, + 1.1175870895385742e-08 + ], + "angular_velocity": [ + 7.132427981559886e-09, + -8.322378874936476e-08, + -1.0050046128640133e-08 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + 0.1430683135986328, + 0.44839000701904297, + 0.8999999761581421 + ], + "ori": [ + 0.9998576641082764, + -6.489698223255402e-10, + 2.6205178027538523e-09, + 0.016878249123692513 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 2.9451574512506795e-10, + 2.35550046134847e-09, + 3.725290298461914e-09 + ], + "angular_velocity": [ + -1.404775673563563e-07, + 1.5399017172512686e-08, + 1.933711857304843e-09 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + -1.3467388153076172, + 0.6181583404541016, + 0.8999999761581421 + ], + "ori": [ + -0.8673281073570251, + -4.918914164875332e-09, + -1.741849686709429e-08, + 0.49773696064949036 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 1.3280908595092455e-09, + -3.1452165316636638e-09, + 2.2351741790771484e-08 + ], + "angular_velocity": [ + 2.1102881930801232e-07, + 2.6477786718714924e-07, + 3.8425685744414295e-08 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + 1.5405941009521484, + 1.0913610458374023, + 0.8999999761581421 + ], + "ori": [ + 0.2923218607902527, + 2.696344303387832e-08, + 6.783380079866674e-09, + 0.95632004737854 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -4.287705190897384e-10, + -4.837080735953236e-10, + -3.725290298461914e-09 + ], + "angular_velocity": [ + -5.5857277914128645e-08, + -4.611155546285772e-08, + 1.4442941065340165e-08 + ] + } + } + ], + "plate": [ + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_48_clear/Object.usd", + "pose": { + "pos": [ + -0.20795345306396484, + 1.1554441452026367, + 0.9179999828338623 + ], + "ori": [ + -0.10344060510396957, + -1.148263706340913e-09, + 1.0082300549996148e-09, + 0.9946356415748596 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 6.659191864599734e-09, + 1.8367463106017112e-09, + 1.4901161193847656e-07 + ], + "angular_velocity": [ + -1.1881058981089154e-06, + 1.6016565496101975e-06, + -9.173024295705545e-08 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_384_white/Object.usd", + "pose": { + "pos": [ + 0.15106487274169922, + 0.4382009506225586, + 0.9180000424385071 + ], + "ori": [ + 0.9976478815078735, + 1.4596950315137747e-09, + 2.531421294804659e-09, + 0.06854812800884247 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -2.2191336768173642e-08, + 2.1399124250365276e-08, + -4.816800355911255e-06 + ], + "angular_velocity": [ + 7.689196763749351e-07, + -2.312731339770835e-06, + 1.1151426093647387e-07 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_96_clear/Object.usd", + "pose": { + "pos": [ + -1.3534011840820312, + 0.6129016876220703, + 0.9180000424385071 + ], + "ori": [ + -0.8974384665489197, + -5.945792747041878e-09, + -1.6058589125123035e-08, + 0.44113972783088684 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -3.741222442954495e-09, + -2.4735959058830304e-08, + -5.457550287246704e-06 + ], + "angular_velocity": [ + -1.4031667205927079e-06, + -1.5594285969200428e-06, + -6.531055163350175e-08 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/reservoir_12ch/Object.usd", + "pose": { + "pos": [ + 1.5346050262451172, + 1.0973358154296875, + 0.9179999828338623 + ], + "ori": [ + 0.3665110170841217, + 2.5906082612436876e-08, + 1.3903888707034184e-08, + 0.9304137229919434 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 3.498589862260815e-08, + -2.9160341696865544e-08, + -2.1904706954956055e-06 + ], + "angular_velocity": [ + 3.668969270620437e-07, + 1.3992746517033083e-06, + 1.5526707386470662e-07 + ] + } + } + ], + "deco_hub_west": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/hub_e.usd", + "pose": { + "pos": [ + -3.36, + 0.0, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_hub_east": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/hub_d.usd", + "pose": { + "pos": [ + 3.36, + 0.0, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_hub_back": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/hub_a.usd", + "pose": { + "pos": [ + -3.0, + -2.1, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_bench_east": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/bench_c.usd", + "pose": { + "pos": [ + 2.6, + -2.5, + 0.0 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_bench_gap": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/bench_b.usd", + "pose": { + "pos": [ + -0.1, + -2.9, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ] + } + ], + "devices": { + "hub": [ + null, + null, + null, + { + "t": 6.939999999999874, + "step": 1388, + "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": 4.7098327841943455e-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": 0.29777038196017813, + "holds": [], + "station": "pick", + "rider": "carrier_2", + "arrived": true, + "settle_count": 1273, + "released": { + "pick": [] + }, + "last_pos": { + "carrier_1": [ + -0.36780110001564026, + 0.6999958157539368, + 0.0 + ], + "carrier_2": [ + -0.006931692361831665, + -0.0016099810600280762, + 0.0 + ], + "carrier_3": [ + -1.4967388212680817, + 0.16815835237503052, + 0.0 + ], + "carrier_4": [ + 1.390594094991684, + 0.6413610577583313, + 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": [ + -0.15713199127559907, + 0.2587208919181958, + 3.0300663455864307 + ], + "ori": [ + 7.171133409763044, + -7.062801677255948, + -12.04072339699049 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "color_temperature": 4401.084687109195, + "color": [ + 0.8651274987115942, + 0.9475501126019218, + 0.9359979307918469 + ], + "intensity": 12359.489077680788, + "width": 2.461690660569369, + "height": 1.28866713083953 + } + }, + "key": { + "type": "disk", + "pose": { + "pos": [ + -1.3381742525911975, + -0.18003245683315128, + 2.7709289103591366 + ], + "ori": [ + 22.04529253525081, + 23.390457638242253, + -37.9979356145779 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "color_temperature": 4469.973635281585, + "color": [ + 0.9182974652100979, + 0.8700396767430828, + 0.8076245005307775 + ], + "intensity": 9638.876138860851, + "radius": 0.43607946204663073 + } + } + } + ], + "background": { + "type": "dome", + "pose": { + "pos": null, + "ori": null, + "scale": null + }, + "dr": { + "intensity": 789.3852278265828, + "texture": null, + "color": [ + 0.92, + 0.94, + 0.96 + ] + } + } + }, + "robots": { + "UR5e": { + "root_pose": [ + [ + 11.0, + -11.0, + 0.9150000214576721, + 1.0, + 0.0, + 0.0, + 0.0 + ], + [ + 11.0, + 11.0, + 0.9150000214576721, + 1.0, + 0.0, + 0.0, + 0.0 + ], + [ + -11.0, + -11.0, + 0.9150000214576721, + 1.0, + 0.0, + 0.0, + 0.0 + ], + [ + -11.0, + 11.0, + 0.9150000214576721, + 1.0, + 0.0, + 0.0, + 0.0 + ] + ], + "root_vel": [ + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + ], + "joint_pos": [ + [ + 0.9141024947166443, + -1.7193982601165771, + 2.0904994010925293, + -1.9418998956680298, + -1.5707999467849731, + 2.484900712966919, + 0.017999999225139618, + 0.017999999225139618 + ], + [ + 0.7456627488136292, + -1.2531826496124268, + 2.113436460494995, + -2.4310076236724854, + -1.5707964897155762, + 2.4482250213623047, + 0.018000051379203796, + 0.01799994707107544 + ], + [ + 1.182903528213501, + -1.6005475521087646, + 2.0990982055664062, + -2.0689873695373535, + -1.5707288980484009, + 2.753544330596924, + 0.017999989911913872, + 0.018000008538365364 + ], + [ + 0.9141021370887756, + -1.719397783279419, + 2.0904994010925293, + -1.9419008493423462, + -1.5707999467849731, + 2.484900712966919, + 0.018000001087784767, + 0.01799999736249447 + ] + ], + "joint_vel": [ + [ + 0.0, + 0.0, + 0.0, + 5.060600845187717e-37, + -6.870973083450864e-37, + -2.042732634916682e-37, + -1.8938862636205911e-38, + 8.45778014684584e-38 + ], + [ + -0.00016950986173469573, + 0.017395155504345894, + 0.006296002306044102, + -0.022361284121870995, + -7.822133738955017e-06, + -2.0966333977412432e-05, + -8.147048902173992e-06, + 8.148649612849113e-06 + ], + [ + -6.811927505623316e-06, + -6.811853836552473e-06, + -6.811920229665702e-06, + 6.535243700367399e-12, + -3.4059792142215883e-06, + 6.811956609453773e-06, + 1.2995162990137032e-07, + -1.2995317888453428e-07 + ], + [ + 2.2418267104945932e-38, + 0.0, + 1.655722137143331e-38, + -5.0521455223578585e-37, + 3.854091387298713e-37, + -2.955637778613019e-37, + -2.5990388508034812e-08, + 2.5990386731677972e-08 + ] + ] + } + }, + "cameras": { + "cameras": { + "camera0": [ + [ + 0.05108625069260597, + -0.0006531670805998147, + -0.0297982320189476, + -0.28402969241142273, + 0.6387797594070435, + 0.6591526865959167, + -0.27713778614997864 + ], + [ + 0.04903373494744301, + 0.002791991923004389, + -0.032787542790174484, + -0.2934746742248535, + 0.6506009697914124, + 0.6393676996231079, + -0.286006897687912 + ], + [ + 0.050575319677591324, + -0.0032702649477869272, + -0.03387144207954407, + -0.2822330892086029, + 0.6501481533050537, + 0.6398860812187195, + -0.29698094725608826 + ], + [ + 0.05127113312482834, + -0.0025151483714580536, + -0.03084433823823929, + -0.26932552456855774, + 0.652039110660553, + 0.6558260917663574, + -0.2687022387981415 + ] + ], + "camera1": [ + [ + 0.035610541701316833, + 0.5922893285751343, + 1.9276551008224487, + 0.05301668867468834, + 0.0035060797818005085, + 0.2780672609806061, + 0.9590910077095032 + ], + [ + 0.04611767455935478, + 0.5836501121520996, + 1.9550422430038452, + 0.05107828229665756, + 0.0035433382727205753, + 0.271723210811615, + 0.9610124826431274 + ], + [ + 0.05197042599320412, + 0.5592586994171143, + 1.9488232135772705, + 0.05719646066427231, + 0.024296250194311142, + 0.2800463140010834, + 0.9579730033874512 + ], + [ + 0.06358737498521805, + 0.596274197101593, + 1.9423720836639404, + 0.036170944571495056, + 0.02886953391134739, + 0.2847341299057007, + 0.9574887156486511 + ] + ] + } + } + } +} \ No newline at end of file diff --git a/episodes/c7_p007_e017/wrist.mp4 b/episodes/c7_p007_e017/wrist.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..951e136436e17b131f73342bc518d05daeeb6fa2 --- /dev/null +++ b/episodes/c7_p007_e017/wrist.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:91484d7a7b9fe5d1c3756517e71c22f3605c552bdbf2f1a01929cef1bb842348 +size 6558683 diff --git a/episodes/c7_p007_e018/data.npz b/episodes/c7_p007_e018/data.npz new file mode 100644 index 0000000000000000000000000000000000000000..14b0ad84c69c208c49b08de55c62d65bee7e092d --- /dev/null +++ b/episodes/c7_p007_e018/data.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:68961fb7c5a30e7c830b4458ffb95f3d5b2e4673a88b94f159a9272019fbae34 +size 188831 diff --git a/episodes/c7_p007_e018/device_events.jsonl b/episodes/c7_p007_e018/device_events.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..40dbf91391af7669cc8a9243b7282f4af9fa4c22 --- /dev/null +++ b/episodes/c7_p007_e018/device_events.jsonl @@ -0,0 +1,35 @@ +{"env_id": 0, "seq": 1, "step": 96, "t": 0.48, "topic": "conveyor_1.belt.station.pick.captured", "source": "conveyor_1.belt", "data": {"rider": "carrier_2"}, "cause": null} +{"env_id": 0, "seq": 2, "step": 96, "t": 0.48, "topic": "conveyor_1.belt.state.changed", "source": "conveyor_1.belt", "data": {"from": "running", "to": "at_station"}, "cause": null} +{"env_id": 0, "seq": 3, "step": 101, "t": 0.505, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_2"}, "cause": null} +{"env_id": 0, "seq": 4, "step": 6870, "t": 34.35, "topic": "a4s_sealer_1.plate_present.present", "source": "a4s_sealer_1.plate_present", "data": {"object": "plate_2"}, "cause": null} +{"env_id": 0, "seq": 5, "step": 7484, "t": 37.42, "topic": "a4s_sealer_1.command.started", "source": "a4s_sealer_1", "data": {"command_id": "task-0-1", "name": "seal", "source": "task"}, "cause": "task-0-1"} +{"env_id": 0, "seq": 6, "step": 7484, "t": 37.42, "topic": "a4s_sealer_1.seal.started", "source": "a4s_sealer_1", "data": {"dwell": 3.6747088600338}, "cause": "task-0-1"} +{"env_id": 0, "seq": 7, "step": 7484, "t": 37.42, "topic": "a4s_sealer_1.drawer.command.started", "source": "a4s_sealer_1.drawer", "data": {"command_id": "program-0-2", "name": "close", "source": "program:seal"}, "cause": "program-0-2"} +{"env_id": 0, "seq": 8, "step": 7484, "t": 37.42, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "at_out", "to": "moving"}, "cause": null} +{"env_id": 0, "seq": 9, "step": 7484, "t": 37.42, "topic": "a4s_sealer_1.drawer.moving", "source": "a4s_sealer_1.drawer", "data": {"target": 0.3, "goal": "in"}, "cause": "program-0-2"} +{"env_id": 0, "seq": 10, "step": 7903, "t": 39.515, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "moving", "to": "at_in"}, "cause": null} +{"env_id": 0, "seq": 11, "step": 7903, "t": 39.515, "topic": "a4s_sealer_1.drawer.reached", "source": "a4s_sealer_1.drawer", "data": {"position": "in", "q": 0.30000001192092896}, "cause": "program-0-2"} +{"env_id": 0, "seq": 12, "step": 7903, "t": 39.515, "topic": "a4s_sealer_1.drawer.at_in", "source": "a4s_sealer_1.drawer", "data": {"q": 0.30000001192092896}, "cause": "program-0-2"} +{"env_id": 0, "seq": 13, "step": 7903, "t": 39.515, "topic": "a4s_sealer_1.drawer.command.succeeded", "source": "a4s_sealer_1.drawer", "data": {"command_id": "program-0-2", "name": "close", "source": "program:seal", "result": {"position": "in"}}, "cause": "program-0-2"} +{"env_id": 0, "seq": 14, "step": 7903, "t": 39.515, "topic": "labware.plate_2.changed", "source": "labware.plate_2", "data": {"key": "sealed", "value": true}, "cause": "task-0-1"} +{"env_id": 0, "seq": 15, "step": 7903, "t": 39.515, "topic": "a4s_sealer_1.sealed", "source": "a4s_sealer_1", "data": {"plate": "plate_2"}, "cause": "task-0-1"} +{"env_id": 0, "seq": 16, "step": 7903, "t": 39.515, "topic": "a4s_sealer_1.heater.command.started", "source": "a4s_sealer_1.heater", "data": {"command_id": "program-0-3", "name": "run", "source": "program:seal"}, "cause": "program-0-3"} +{"env_id": 0, "seq": 17, "step": 7903, "t": 39.515, "topic": "a4s_sealer_1.heater.state.changed", "source": "a4s_sealer_1.heater", "data": {"from": "ready", "to": "running"}, "cause": null} +{"env_id": 0, "seq": 18, "step": 7903, "t": 39.515, "topic": "a4s_sealer_1.heater.started", "source": "a4s_sealer_1.heater", "data": {"duration": 3.6747088600338}, "cause": "program-0-3"} +{"env_id": 0, "seq": 19, "step": 8638, "t": 43.19, "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": 8638, "t": 43.19, "topic": "a4s_sealer_1.heater.finished", "source": "a4s_sealer_1.heater", "data": {"elapsed": 3.67500000000188}, "cause": "program-0-3"} +{"env_id": 0, "seq": 21, "step": 8638, "t": 43.19, "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": 3.67500000000188}}, "cause": "program-0-3"} +{"env_id": 0, "seq": 22, "step": 8638, "t": 43.19, "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": 8638, "t": 43.19, "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": 8638, "t": 43.19, "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": 9058, "t": 45.29, "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": 9058, "t": 45.29, "topic": "a4s_sealer_1.drawer.reached", "source": "a4s_sealer_1.drawer", "data": {"position": "out", "q": 0.0}, "cause": "program-0-4"} +{"env_id": 0, "seq": 27, "step": 9058, "t": 45.29, "topic": "a4s_sealer_1.drawer.at_out", "source": "a4s_sealer_1.drawer", "data": {"q": 0.0}, "cause": "program-0-4"} +{"env_id": 0, "seq": 28, "step": 9058, "t": 45.29, "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": 9058, "t": 45.29, "topic": "a4s_sealer_1.seal.finished", "source": "a4s_sealer_1", "data": {}, "cause": "task-0-1"} +{"env_id": 0, "seq": 30, "step": 9058, "t": 45.29, "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": 9639, "t": 48.195, "topic": "a4s_sealer_1.plate_present.absent", "source": "a4s_sealer_1.plate_present", "data": {"object": "plate_2"}, "cause": null} +{"env_id": 0, "seq": 32, "step": 11356, "t": 56.78, "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": 11356, "t": 56.78, "topic": "conveyor_1.belt.station.pick.released", "source": "conveyor_1.belt", "data": {"rider": "carrier_2"}, "cause": "task-0-5"} +{"env_id": 0, "seq": 34, "step": 11356, "t": 56.78, "topic": "conveyor_1.belt.state.changed", "source": "conveyor_1.belt", "data": {"from": "at_station", "to": "running"}, "cause": null} +{"env_id": 0, "seq": 35, "step": 11356, "t": 56.78, "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_p007_e018/env.mp4 b/episodes/c7_p007_e018/env.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..fe908b76f5269815d58d86a8f93b63dfbc2abc11 --- /dev/null +++ b/episodes/c7_p007_e018/env.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:adf96892c856f13f65e8c86cc93c7d90b25ca676440884e7b0f86fd1926f4d95 +size 1275558 diff --git a/episodes/c7_p007_e018/meta.json b/episodes/c7_p007_e018/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..adb46ab415f8627d0c73dbfa810cebe01f773198 --- /dev/null +++ b/episodes/c7_p007_e018/meta.json @@ -0,0 +1,32 @@ +{ + "source": "raw/c7_p007/magicsim/18", + "fps": 25, + "frames": 1225, + "kept_ticks": "even", + "video_frames": { + "wrist": 1225, + "env": 1225 + }, + "joint_target_source": "joint_pos_target", + "fk_vs_recorded_eef_max_m": 0.0, + "curobo_joints": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "joint_order": [ + "shoulder_pan", + "shoulder_lift", + "elbow", + "wrist_1", + "wrist_2", + "wrist_3", + "finger_left", + "finger_right" + ], + "frames_note": "eef / actions in the robot base frame; camera_pose = local pose (wrist: in plate_gripper_base, env: env frame), pos + quat wxyz", + "dr_version": "v2" +} \ No newline at end of file diff --git a/episodes/c7_p007_e018/scene_snapshot.json b/episodes/c7_p007_e018/scene_snapshot.json new file mode 100644 index 0000000000000000000000000000000000000000..239f7966fa9c96af70ae139b32b836bf3c7fe11b --- /dev/null +++ b/episodes/c7_p007_e018/scene_snapshot.json @@ -0,0 +1,1558 @@ +{ + "trajectory_id": 18, + "env_id": 0, + "run_id": "c7_p007", + "task_type": "BioPlateCell", + "success": true, + "timing": { + "fps": 50.0, + "sim_dt": 0.005, + "decimation": 4 + }, + "restore_interface": { + "scene": "scene_manager.reset_to(snapshot['scene'], env_ids=[env_id])", + "robots": "robot_manager.set_state({'robots': snapshot['robots']}, env_ids=[env_id])" + }, + "snapshot": { + "env_id": 0, + "scene": { + "objects": [ + { + "rac_cell": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/rac_cell.usd", + "pose": { + "pos": [ + 0.0, + 0.0, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "physics_material": { + "static_friction": 0.6, + "dynamic_friction": 0.5, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "robot_mount": [ + { + "asset": "Cube", + "pose": { + "pos": [ + 0.0, + 0.0, + 0.9075 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": "color", + "value": [ + 0.55, + 0.56, + 0.58 + ], + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": { + "size": [ + 0.2, + 0.2, + 0.015 + ] + } + }, + "type_specific": {} + } + ], + "plate_rack": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/plate_hotel.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 0.9 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "physics_material": { + "static_friction": 0.6, + "dynamic_friction": 0.5, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "hotel_plate": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_6_clear/plate_6_clear.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 0.9605 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_384_white/plate_384_white.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.0285 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_6_clear/plate_6_clear.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.0965 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_24_clear/plate_24_clear.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.1645 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/pcr_96_blue/pcr_96_blue.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.2325 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "a4s_sealer": [ + { + "asset": "$MAGICSIM_ASSETS/Articulated/A4SSealer/Object.usd", + "pose": { + "pos": [ + 0.5010499954223633, + 0.1187429428100586, + 0.8999999761581421 + ], + "ori": [ + 0.7160762548446655, + 0.0, + 0.0, + -0.6980220675468445 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "articulation", + "solver_position_iteration_count": 16.0, + "solver_velocity_iteration_count": 1.0, + "enabled_self_collisions": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "joint_position": [ + 2.691331749474224e-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": 0.2636920628266184, + "direction": [ + 1.0, + 0.0, + 0.0 + ], + "enabled": true, + "drive": "surface_velocity", + "lines": null, + "station_line": null, + "riders": [ + "carrier" + ], + "stations": { + "pick": { + "position": -0.08996817462395629, + "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": 0.2636920628266184, + "holds": [], + "station": "pick", + "rider": "carrier_2", + "arrived": true, + "applied_speed": 0.0 + } + } + } + ], + "carrier": [ + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + -1.3584041595458984, + 0.6393241882324219, + 0.8999999761581421 + ], + "ori": [ + -0.8497693538665771, + -2.946151234084482e-08, + -2.3180309227655016e-08, + 0.5271547436714172 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 8.573785237331322e-09, + 2.7079055442413846e-08, + 1.7136335372924805e-07 + ], + "angular_velocity": [ + -2.0733264136651997e-06, + 4.843308261115453e-07, + 7.092251053109067e-08 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + 0.05985450744628906, + 0.45000362396240234, + 0.8999999761581421 + ], + "ori": [ + 1.0, + -2.3229418388837075e-09, + -3.0000251172168646e-09, + -4.854893632000312e-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": [ + -8.902564241353161e-10, + 9.974929771061625e-10, + 0.0 + ], + "angular_velocity": [ + -6.27790726070998e-08, + -8.420578012646729e-08, + -1.5038374989728709e-09 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + 1.6855506896972656, + 0.7102460861206055, + 0.8999999761581421 + ], + "ori": [ + 0.7994810342788696, + 7.795812706490324e-08, + 1.680682260030153e-07, + 0.6006914377212524 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 4.293871369576152e-10, + -6.986781708739898e-10, + 0.0 + ], + "angular_velocity": [ + 5.5327163295260107e-08, + 3.4058288633787015e-08, + 1.2219564249349446e-09 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + 0.5820140838623047, + 1.1536855697631836, + 0.8999999761581421 + ], + "ori": [ + -0.0020886901766061783, + 2.7850644013227566e-10, + 8.778406890286305e-10, + 0.9999978542327881 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 1.1768208629803212e-09, + -5.482897691422295e-09, + 1.4901161193847656e-08 + ], + "angular_velocity": [ + 1.3089284323086758e-07, + 6.668390284403358e-08, + 5.975446271122564e-08 + ] + } + } + ], + "plate": [ + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_6_clear/Object.usd", + "pose": { + "pos": [ + -1.3636903762817383, + 0.6233139038085938, + 0.9179999828338623 + ], + "ori": [ + -0.8219478130340576, + 6.954545028747816e-08, + 2.2916776742931688e-07, + 0.5695628523826599 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -3.4486513413867215e-06, + -9.797524398891255e-06, + -3.039836883544922e-06 + ], + "angular_velocity": [ + 6.903641042299569e-05, + -0.00015392508066724986, + -6.090497845434584e-05 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_96_black/Object.usd", + "pose": { + "pos": [ + 0.06054210662841797, + 0.4452943801879883, + 0.9180000424385071 + ], + "ori": [ + 0.9999067187309265, + -1.7640259253326462e-09, + -3.621674071752068e-09, + -0.01366256270557642 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -1.719123510213194e-08, + 1.9114864358016348e-08, + -5.234032869338989e-06 + ], + "angular_velocity": [ + -2.823732927481615e-07, + -1.2562074971356196e-06, + 1.239096150129626e-07 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/pcr_96_blue/Object.usd", + "pose": { + "pos": [ + 1.6958751678466797, + 0.7212772369384766, + 0.9180000424385071 + ], + "ori": [ + 0.8572761416435242, + 6.055306300822849e-08, + 1.761220005391806e-07, + 0.5148569941520691 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -1.8699797266208407e-08, + -1.263614990421047e-08, + -6.701797246932983e-06 + ], + "angular_velocity": [ + 1.3997539554111427e-06, + -7.708226803515572e-07, + 7.650476874232481e-08 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/deep_well_96_2ml/Object.usd", + "pose": { + "pos": [ + 0.5768938064575195, + 1.1423931121826172, + 0.9179999828338623 + ], + "ori": [ + 0.026208391413092613, + 2.1301893582403864e-09, + 2.0722943361306534e-09, + 0.9996565580368042 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 1.221110466076425e-07, + 5.644664469173222e-08, + -1.0207295417785645e-06 + ], + "angular_velocity": [ + -2.9727584660577122e-06, + 4.3393238229327835e-06, + 3.5840702139466885e-07 + ] + } + } + ], + "deco_hub_west": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/hub_d.usd", + "pose": { + "pos": [ + -3.36, + 0.0, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_hub_east": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/hub_e.usd", + "pose": { + "pos": [ + 3.36, + 0.0, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_hub_back": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/hub_b.usd", + "pose": { + "pos": [ + -3.0, + -2.1, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_bench_east": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/bench_a.usd", + "pose": { + "pos": [ + 2.6, + -2.5, + 0.0 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_bench_gap": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/bench_b.usd", + "pose": { + "pos": [ + -0.1, + -2.9, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ] + }, + {}, + {}, + {} + ], + "devices": { + "hub": [ + { + "t": 7.939999999999853, + "step": 1588, + "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": 2.691331749474224e-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": 0.2636920628266184, + "holds": [], + "station": "pick", + "rider": "carrier_2", + "arrived": true, + "settle_count": 1491, + "released": { + "pick": [] + }, + "last_pos": { + "carrier_1": [ + -1.508404165506363, + 0.18932420015335083, + 0.0 + ], + "carrier_2": [ + -0.09014549851417542, + 3.635883331298828e-06, + 0.0 + ], + "carrier_3": [ + 1.5355506837368011, + 0.2602460980415344, + 0.0 + ], + "carrier_4": [ + 0.4320140779018402, + 0.7036855816841125, + 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": [ + -0.41549013258131484, + 0.3945287237203541, + 3.020251302585253 + ], + "ori": [ + 3.8459023563373336, + -11.415500211925758, + -25.949700753679245 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "color_temperature": 5754.443121674358, + "color": [ + 0.9771497971895426, + 0.8829045341327936, + 0.8682820446201112 + ], + "intensity": 5164.93245152196, + "width": 2.474824729927339, + "height": 1.2710701336456047 + } + }, + "key": { + "type": "disk", + "pose": { + "pos": [ + 1.0409930303303305, + 0.0075861144154432125, + 1.755106016468424 + ], + "ori": [ + 22.831085592064895, + -27.66424984773881, + -28.33944241255444 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "color_temperature": 5026.634469420007, + "color": [ + 0.8682656346570532, + 0.792356843151273, + 0.8962667011949621 + ], + "intensity": 3411.0638283062626, + "radius": 0.41108341428823125 + } + } + }, + {}, + {}, + {} + ], + "background": { + "type": "dome", + "pose": { + "pos": null, + "ori": null, + "scale": null + }, + "dr": { + "intensity": 789.3852278265828, + "texture": null, + "color": [ + 0.92, + 0.94, + 0.96 + ] + } + } + }, + "robots": { + "UR5e": { + "root_pose": [ + [ + 11.0, + -11.0, + 0.9150000214576721, + 1.0, + 0.0, + 0.0, + 0.0 + ], + [ + 11.0, + 11.0, + 0.9150000214576721, + 1.0, + 0.0, + 0.0, + 0.0 + ], + [ + -11.0, + -11.0, + 0.9150000214576721, + 1.0, + 0.0, + 0.0, + 0.0 + ], + [ + -11.0, + 11.0, + 0.9150000214576721, + 1.0, + 0.0, + 0.0, + 0.0 + ] + ], + "root_vel": [ + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + ], + "joint_pos": [ + [ + 0.9141024947166443, + -1.7193982601165771, + 2.0904994010925293, + -1.9418998956680298, + -1.5707999467849731, + 2.484900712966919, + 0.017999999225139618, + 0.017999999225139618 + ], + [ + 0.745595395565033, + -1.205528736114502, + 2.1290283203125, + -2.494213581085205, + -1.5708764791488647, + 2.447932243347168, + 0.007637594826519489, + 0.007010548375546932 + ], + [ + 0.9140999913215637, + -1.7194000482559204, + 2.0905001163482666, + -1.9419000148773193, + -1.5707999467849731, + 2.4848999977111816, + 0.017999999225139618, + 0.017999999225139618 + ], + [ + 0.8117730021476746, + -1.4768319129943848, + 1.975242018699646, + -2.0691425800323486, + -1.5708006620407104, + 2.2930965423583984, + 0.018000800162553787, + 0.01799923926591873 + ] + ], + "joint_vel": [ + [ + 0.0, + 0.0, + 0.0, + 5.060600845187717e-37, + -6.870973083450864e-37, + -2.042732634916682e-37, + -1.8938862636205911e-38, + 8.45778014684584e-38 + ], + [ + -1.586615326232277e-05, + 6.998913158895448e-05, + -0.00029524744604714215, + -0.002092136535793543, + 0.0026487396098673344, + 0.009145724587142467, + -0.008737929165363312, + 0.00031823047902435064 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + [ + -0.018786301836371422, + 0.04395312815904617, + -0.019620785489678383, + -0.021876661106944084, + -5.858874646946788e-05, + -0.033017873764038086, + 1.204337695526192e-05, + -1.2498536307248287e-05 + ] + ] + } + }, + "cameras": { + "cameras": { + "camera0": [ + [ + 0.05085097253322601, + -0.0029661713633686304, + -0.030366847291588783, + -0.2817353308200836, + 0.641668975353241, + 0.6568959951400757, + -0.2781613767147064 + ], + [ + 0.04847446456551552, + 0.002839259570464492, + -0.03154979646205902, + -0.2927018702030182, + 0.6507977247238159, + 0.6416972279548645, + -0.2810917794704437 + ], + [ + 0.04794297739863396, + 0.0037169563584029675, + -0.02731243707239628, + -0.2864249348640442, + 0.6447025537490845, + 0.6558574438095093, + -0.26864534616470337 + ], + [ + 0.05045314505696297, + -0.0034327921457588673, + -0.03201939910650253, + -0.2747505307197571, + 0.6500216722488403, + 0.6523244380950928, + -0.27650827169418335 + ] + ], + "camera1": [ + [ + 0.035610541701316833, + 0.5922893285751343, + 1.9276551008224487, + 0.05301668867468834, + 0.0035060797818005085, + 0.2780672609806061, + 0.9590910077095032 + ], + [ + 0.04611767455935478, + 0.5836501121520996, + 1.9550422430038452, + 0.05107828229665756, + 0.0035433382727205753, + 0.271723210811615, + 0.9610124826431274 + ], + [ + 0.030677909031510353, + 0.6020935773849487, + 1.9614427089691162, + 0.04714910686016083, + 0.02741805650293827, + 0.2742762863636017, + 0.9601029753684998 + ], + [ + 0.06358737498521805, + 0.596274197101593, + 1.9423720836639404, + 0.036170944571495056, + 0.02886953391134739, + 0.2847341299057007, + 0.9574887156486511 + ] + ] + } + } + } +} \ No newline at end of file diff --git a/episodes/c7_p007_e018/wrist.mp4 b/episodes/c7_p007_e018/wrist.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..8f8e7c290e2a75777e11d48738e83d8741fb44f3 --- /dev/null +++ b/episodes/c7_p007_e018/wrist.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:88bedcbc4e69a2eb55a18470884752c4b5ef43d574cdfac27abef732cb972d69 +size 6424682 diff --git a/episodes/c7_p007_e019/data.npz b/episodes/c7_p007_e019/data.npz new file mode 100644 index 0000000000000000000000000000000000000000..b2b085fa0f82f641baed9b5f868f1e9427447bd4 --- /dev/null +++ b/episodes/c7_p007_e019/data.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:64456eb0ce180e397a76be382f5e794e70eec1689457a23f2594dc1c7a5403b3 +size 205241 diff --git a/episodes/c7_p007_e019/device_events.jsonl b/episodes/c7_p007_e019/device_events.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..688b1dfef0bca9181eaa8b6b8de35637c2b97d17 --- /dev/null +++ b/episodes/c7_p007_e019/device_events.jsonl @@ -0,0 +1,35 @@ +{"env_id": 2, "seq": 1, "step": 98, "t": 0.49, "topic": "conveyor_1.belt.station.pick.captured", "source": "conveyor_1.belt", "data": {"rider": "carrier_3"}, "cause": null} +{"env_id": 2, "seq": 2, "step": 98, "t": 0.49, "topic": "conveyor_1.belt.state.changed", "source": "conveyor_1.belt", "data": {"from": "running", "to": "at_station"}, "cause": null} +{"env_id": 2, "seq": 3, "step": 103, "t": 0.515, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_3"}, "cause": null} +{"env_id": 2, "seq": 4, "step": 6227, "t": 31.135, "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": 6840, "t": 34.2, "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": 6840, "t": 34.2, "topic": "a4s_sealer_1.seal.started", "source": "a4s_sealer_1", "data": {"dwell": 4.538176727823937}, "cause": "task-2-1"} +{"env_id": 2, "seq": 7, "step": 6840, "t": 34.2, "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": 6840, "t": 34.2, "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": 6840, "t": 34.2, "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": 7259, "t": 36.295, "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": 7259, "t": 36.295, "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": 7259, "t": 36.295, "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": 7259, "t": 36.295, "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": 7259, "t": 36.295, "topic": "labware.plate_3.changed", "source": "labware.plate_3", "data": {"key": "sealed", "value": true}, "cause": "task-2-1"} +{"env_id": 2, "seq": 15, "step": 7259, "t": 36.295, "topic": "a4s_sealer_1.sealed", "source": "a4s_sealer_1", "data": {"plate": "plate_3"}, "cause": "task-2-1"} +{"env_id": 2, "seq": 16, "step": 7259, "t": 36.295, "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": 7259, "t": 36.295, "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": 7259, "t": 36.295, "topic": "a4s_sealer_1.heater.started", "source": "a4s_sealer_1.heater", "data": {"duration": 4.538176727823937}, "cause": "program-2-3"} +{"env_id": 2, "seq": 19, "step": 8167, "t": 40.835, "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": 8167, "t": 40.835, "topic": "a4s_sealer_1.heater.finished", "source": "a4s_sealer_1.heater", "data": {"elapsed": 4.540000000002323}, "cause": "program-2-3"} +{"env_id": 2, "seq": 21, "step": 8167, "t": 40.835, "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": 4.540000000002323}}, "cause": "program-2-3"} +{"env_id": 2, "seq": 22, "step": 8167, "t": 40.835, "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": 8167, "t": 40.835, "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": 8167, "t": 40.835, "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": 8587, "t": 42.935, "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": 8587, "t": 42.935, "topic": "a4s_sealer_1.drawer.reached", "source": "a4s_sealer_1.drawer", "data": {"position": "out", "q": 3.106732371360721e-10}, "cause": "program-2-4"} +{"env_id": 2, "seq": 27, "step": 8587, "t": 42.935, "topic": "a4s_sealer_1.drawer.at_out", "source": "a4s_sealer_1.drawer", "data": {"q": 3.106732371360721e-10}, "cause": "program-2-4"} +{"env_id": 2, "seq": 28, "step": 8587, "t": 42.935, "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": 8587, "t": 42.935, "topic": "a4s_sealer_1.seal.finished", "source": "a4s_sealer_1", "data": {}, "cause": "task-2-1"} +{"env_id": 2, "seq": 30, "step": 8587, "t": 42.935, "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": 9165, "t": 45.825, "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": 11416, "t": 57.08, "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": 11416, "t": 57.08, "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": 11416, "t": 57.08, "topic": "conveyor_1.belt.state.changed", "source": "conveyor_1.belt", "data": {"from": "at_station", "to": "running"}, "cause": null} +{"env_id": 2, "seq": 35, "step": 11416, "t": 57.08, "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/c7_p007_e019/env.mp4 b/episodes/c7_p007_e019/env.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..03fa06b655da0866e2805ac79f1bc60717a53c15 --- /dev/null +++ b/episodes/c7_p007_e019/env.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:ef6a3fda7e70afabce9428f013592393a434d1c94a973038aa4bff364499c55e +size 1331399 diff --git a/episodes/c7_p007_e019/meta.json b/episodes/c7_p007_e019/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..fb73d09002f7f407fa805adf637fc2406702a4de --- /dev/null +++ b/episodes/c7_p007_e019/meta.json @@ -0,0 +1,32 @@ +{ + "source": "raw/c7_p007/magicsim/19", + "fps": 25, + "frames": 1322, + "kept_ticks": "even", + "video_frames": { + "wrist": 1322, + "env": 1322 + }, + "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_p007_e019/scene_snapshot.json b/episodes/c7_p007_e019/scene_snapshot.json new file mode 100644 index 0000000000000000000000000000000000000000..230d97733e9c396b04991ff3e2e121af0f0fa6c0 --- /dev/null +++ b/episodes/c7_p007_e019/scene_snapshot.json @@ -0,0 +1,1558 @@ +{ + "trajectory_id": 19, + "env_id": 2, + "run_id": "c7_p007", + "task_type": "BioPlateCell", + "success": true, + "timing": { + "fps": 50.0, + "sim_dt": 0.005, + "decimation": 4 + }, + "restore_interface": { + "scene": "scene_manager.reset_to(snapshot['scene'], env_ids=[env_id])", + "robots": "robot_manager.set_state({'robots': snapshot['robots']}, env_ids=[env_id])" + }, + "snapshot": { + "env_id": 2, + "scene": { + "objects": [ + {}, + {}, + { + "rac_cell": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/rac_cell.usd", + "pose": { + "pos": [ + 0.0, + 0.0, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "physics_material": { + "static_friction": 0.6, + "dynamic_friction": 0.5, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "robot_mount": [ + { + "asset": "Cube", + "pose": { + "pos": [ + 0.0, + 0.0, + 0.9075 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": "color", + "value": [ + 0.55, + 0.56, + 0.58 + ], + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": { + "size": [ + 0.2, + 0.2, + 0.015 + ] + } + }, + "type_specific": {} + } + ], + "plate_rack": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/plate_hotel.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 0.9 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "physics_material": { + "static_friction": 0.6, + "dynamic_friction": 0.5, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "hotel_plate": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_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/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": "$MAGICSIM_ASSETS/Bio/CAD/plates/pcr_96_blue/pcr_96_blue.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.1645 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_24_clear/plate_24_clear.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.2325 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "a4s_sealer": [ + { + "asset": "$MAGICSIM_ASSETS/Articulated/A4SSealer/Object.usd", + "pose": { + "pos": [ + 0.46644115447998047, + 0.05382251739501953, + 0.8999999761581421 + ], + "ori": [ + -0.6800808906555176, + 0.0, + 0.0, + 0.7331370711326599 + ], + "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": [ + 4.373415258412949e-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": 0.21172741991461627, + "direction": [ + 1.0, + 0.0, + 0.0 + ], + "enabled": true, + "drive": "surface_velocity", + "lines": null, + "station_line": null, + "riders": [ + "carrier" + ], + "stations": { + "pick": { + "position": -0.18004994220415738, + "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": 0.21172741991461627, + "holds": [], + "station": "pick", + "rider": "carrier_3", + "arrived": true, + "applied_speed": 0.0 + } + } + } + ], + "carrier": [ + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + 0.1664142608642578, + 1.1499967575073242, + 0.8999999761581421 + ], + "ori": [ + 1.0122729690920096e-05, + -9.59145762813307e-10, + -1.4227388156484722e-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": [ + 6.435136867821711e-10, + -1.4318752850073224e-09, + 3.725290298461914e-09 + ], + "angular_velocity": [ + 1.1273149880253186e-07, + 6.228340510006092e-08, + -4.890184701622502e-09 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + -1.2116718292236328, + 1.106668472290039, + 0.8999999761581421 + ], + "ori": [ + -0.2329777032136917, + 7.767067700115149e-08, + -7.225910536590163e-08, + 0.9724820852279663 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -2.9072280582909116e-08, + 5.3862095228396356e-08, + -7.82310962677002e-08 + ], + "angular_velocity": [ + -4.921791969536571e-06, + -2.566832336015068e-06, + -7.881671848508631e-08 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + -0.029544830322265625, + 0.45000267028808594, + 0.8999999761581421 + ], + "ori": [ + 1.0, + 6.3669638450392085e-09, + 4.713327506067344e-10, + -1.2540850548248272e-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": [ + -3.178719509833172e-10, + 6.517559825169883e-10, + 3.725290298461914e-09 + ], + "angular_velocity": [ + -2.306854440803363e-08, + -3.752814592417053e-08, + -1.1641310138088556e-10 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + 1.5753679275512695, + 0.5360517501831055, + 0.8999999761581421 + ], + "ori": [ + 0.9393945336341858, + -2.0551207402519367e-09, + -1.6542609060365976e-08, + 0.3428381085395813 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -1.8341611562888716e-09, + 1.8627970277407258e-09, + 7.450580596923828e-09 + ], + "angular_velocity": [ + -1.8472249507794913e-08, + -1.0335032385455634e-07, + 3.117215641168514e-08 + ] + } + } + ], + "plate": [ + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_24_clear/Object.usd", + "pose": { + "pos": [ + 0.1521320343017578, + 1.1604900360107422, + 0.9179999828338623 + ], + "ori": [ + -0.025778204202651978, + 1.084982215182606e-09, + -1.9664319061973856e-09, + 0.999667763710022 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 4.133613984436124e-08, + -2.2516328357369275e-08, + 1.0803341865539551e-07 + ], + "angular_velocity": [ + 6.763181090718717e-07, + 1.8647509705260745e-06, + 2.4937853027040546e-07 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_384_black/Object.usd", + "pose": { + "pos": [ + -1.2048063278198242, + 1.1227436065673828, + 0.9180000424385071 + ], + "ori": [ + -0.26030978560447693, + 1.156725204509712e-08, + -1.431800740192557e-07, + 0.965525209903717 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 1.9510910078679444e-06, + 2.849328211596003e-06, + -5.938112735748291e-06 + ], + "angular_velocity": [ + -8.157861157087609e-05, + -3.780335100600496e-05, + 8.290316145576071e-06 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_1536_black/Object.usd", + "pose": { + "pos": [ + -0.034201622009277344, + 0.45490455627441406, + 0.9180000424385071 + ], + "ori": [ + 0.9998921751976013, + 4.933358610514915e-09, + 9.824849822592796e-10, + -0.014690996147692204 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -1.0901509028826695e-08, + 9.761902397542599e-09, + -5.219131708145142e-06 + ], + "angular_velocity": [ + 3.620248492097744e-07, + -1.4443268128161435e-06, + 7.056665651816729e-08 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/deep_well_24_10ml/Object.usd", + "pose": { + "pos": [ + 1.5902271270751953, + 0.5337371826171875, + 0.9179999828338623 + ], + "ori": [ + 0.9644637703895569, + 3.3100466811930573e-10, + -1.633766366637701e-08, + 0.2642153799533844 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -1.6186557161290693e-07, + 7.534493029481837e-09, + -9.648501873016357e-07 + ], + "angular_velocity": [ + -4.3879958866455127e-07, + -5.277592663333053e-06, + 1.8861473449760524e-07 + ] + } + } + ], + "deco_hub_west": [ + { + "asset": "$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": 4.419999999999928, + "step": 884, + "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": 4.373415258412949e-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": 0.21172741991461627, + "holds": [], + "station": "pick", + "rider": "carrier_3", + "arrived": true, + "settle_count": 785, + "released": { + "pick": [] + }, + "last_pos": { + "carrier_1": [ + 0.016414254903793335, + 0.6999967694282532, + 0.0 + ], + "carrier_2": [ + -1.3616718351840973, + 0.656668484210968, + 0.0 + ], + "carrier_3": [ + -0.1795448362827301, + 2.682209014892578e-06, + 0.0 + ], + "carrier_4": [ + 1.425367921590805, + 0.08605176210403442, + 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": [ + 0.8760733220390325, + 0.1708129285416018, + 2.701860877145967 + ], + "ori": [ + -11.79515268282768, + -11.973584959584262, + 15.709318486221868 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "color_temperature": 5528.0725503422145, + "color": [ + 0.930168782660813, + 0.8711178779012478, + 0.7983073801937152 + ], + "intensity": 5087.918700953138, + "width": 1.4237228807359465, + "height": 0.8128943202997585 + } + }, + "key": { + "type": "sphere", + "pose": { + "pos": [ + -0.4920814148089041, + 1.3870802550794752, + 1.8943068705561592 + ], + "ori": [ + -30.16820293556688, + -34.8036996232062, + -19.68423745094965 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "color_temperature": 6577.257528809434, + "color": [ + 0.9093003439286025, + 0.777175297864887, + 0.9081106572512377 + ], + "intensity": 9404.943659499964, + "radius": 0.05442211136290845 + } + } + }, + {} + ], + "background": { + "type": "dome", + "pose": { + "pos": null, + "ori": null, + "scale": null + }, + "dr": { + "intensity": 789.3852278265828, + "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": [ + [ + 0.8659940958023071, + -1.4522238969802856, + 2.083977222442627, + -2.2025866508483887, + -1.5707875490188599, + 2.4641523361206055, + 0.007670264691114426, + 0.006980739533901215 + ], + [ + 0.75264972448349, + -1.4306931495666504, + 2.0113325119018555, + -2.151456594467163, + -1.5707800388336182, + 2.454726219177246, + 0.007634040899574757, + 0.007008800283074379 + ], + [ + 0.9141026139259338, + -1.7193982601165771, + 2.0904996395111084, + -1.9419009685516357, + -1.5707999467849731, + 2.484900712966919, + 0.017999999225139618, + 0.017999999225139618 + ], + [ + 0.757308304309845, + -1.3476821184158325, + 1.9138363599777222, + -2.1369526386260986, + -1.5707570314407349, + 2.1910133361816406, + 0.007750203367322683, + 0.007099038455635309 + ] + ], + "joint_vel": [ + [ + 0.00021077886049170047, + -0.013645109720528126, + -0.011003551073372364, + 0.023500366136431694, + -0.00029508472653105855, + -0.0011514908401295543, + -0.008600583299994469, + 0.0003811325295828283 + ], + [ + 0.009935714304447174, + -0.006495366804301739, + 0.00036874241777695715, + 0.005541936960071325, + 1.997459912672639e-05, + 0.008400894701480865, + -0.007986826822161674, + 0.0002453322522342205 + ], + [ + 5.108947334520053e-06, + 2.560918396289115e-14, + -7.807420481604696e-14, + 5.729014403718993e-14, + -1.2257840684322396e-14, + 1.4637761489022516e-12, + 1.78776020679991e-13, + 1.2652063370501704e-13 + ], + [ + 0.00014649827789980918, + 1.5879109014349524e-06, + 1.294136109208921e-05, + 0.0002951142960228026, + -0.0004962394014000893, + -0.0013770359801128507, + -0.007961934432387352, + 0.000393220892874524 + ] + ] + } + }, + "cameras": { + "cameras": { + "camera0": [ + [ + 0.050636451691389084, + -0.0025425381027162075, + -0.029006967321038246, + -0.2881563901901245, + 0.6397355198860168, + 0.6572751998901367, + -0.27512475848197937 + ], + [ + 0.048652589321136475, + -0.002460295334458351, + -0.02999831549823284, + -0.29008886218070984, + 0.6487523317337036, + 0.6433706283569336, + -0.2846806049346924 + ], + [ + 0.048726122826337814, + 0.0015609938418492675, + -0.027331829071044922, + -0.28194770216941833, + 0.6388665437698364, + 0.6633032560348511, + -0.26904234290122986 + ], + [ + 0.04890190064907074, + -0.0030145440250635147, + -0.03035431168973446, + -0.2675129771232605, + 0.6545273661613464, + 0.6561461687088013, + -0.2636340260505676 + ] + ], + "camera1": [ + [ + 0.035610541701316833, + 0.5922893285751343, + 1.9276551008224487, + 0.05301668867468834, + 0.0035060797818005085, + 0.2780672609806061, + 0.9590910077095032 + ], + [ + 0.04611767455935478, + 0.5836501121520996, + 1.9550422430038452, + 0.05107828229665756, + 0.0035433382727205753, + 0.271723210811615, + 0.9610124826431274 + ], + [ + 0.030677909031510353, + 0.6020935773849487, + 1.9614427089691162, + 0.04714910686016083, + 0.02741805650293827, + 0.2742762863636017, + 0.9601029753684998 + ], + [ + 0.06358737498521805, + 0.596274197101593, + 1.9423720836639404, + 0.036170944571495056, + 0.02886953391134739, + 0.2847341299057007, + 0.9574887156486511 + ] + ] + } + } + } +} \ No newline at end of file diff --git a/episodes/c7_p007_e019/wrist.mp4 b/episodes/c7_p007_e019/wrist.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..c1aca289771ad5e3d9e18acde7fc32e12dce94f0 --- /dev/null +++ b/episodes/c7_p007_e019/wrist.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:e75e498550fb3eaab0680a123a84190522f502e8bcb8057244ccc7462c9a7ac5 +size 6943899 diff --git a/episodes/c8_p007_e013/data.npz b/episodes/c8_p007_e013/data.npz new file mode 100644 index 0000000000000000000000000000000000000000..0d2cce2d1630ae9bf71fd08527e1ab7556b0551b --- /dev/null +++ b/episodes/c8_p007_e013/data.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:477a4c971ba7583b998f58705ed3288af94e689d889c0898fdbcad21eef5aecc +size 184064 diff --git a/episodes/c8_p007_e013/device_events.jsonl b/episodes/c8_p007_e013/device_events.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..fc182643a42e7dc42a3600204642777f76e187c8 --- /dev/null +++ b/episodes/c8_p007_e013/device_events.jsonl @@ -0,0 +1,35 @@ +{"env_id": 1, "seq": 1, "step": 147, "t": 0.735, "topic": "conveyor_1.belt.station.pick.captured", "source": "conveyor_1.belt", "data": {"rider": "carrier_2"}, "cause": null} +{"env_id": 1, "seq": 2, "step": 147, "t": 0.735, "topic": "conveyor_1.belt.state.changed", "source": "conveyor_1.belt", "data": {"from": "running", "to": "at_station"}, "cause": null} +{"env_id": 1, "seq": 3, "step": 152, "t": 0.76, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_2"}, "cause": null} +{"env_id": 1, "seq": 4, "step": 6630, "t": 33.15, "topic": "a4s_sealer_1.plate_present.present", "source": "a4s_sealer_1.plate_present", "data": {"object": "plate_2"}, "cause": null} +{"env_id": 1, "seq": 5, "step": 7240, "t": 36.2, "topic": "a4s_sealer_1.command.started", "source": "a4s_sealer_1", "data": {"command_id": "task-1-1", "name": "seal", "source": "task"}, "cause": "task-1-1"} +{"env_id": 1, "seq": 6, "step": 7240, "t": 36.2, "topic": "a4s_sealer_1.seal.started", "source": "a4s_sealer_1", "data": {"dwell": 4.614476869971872}, "cause": "task-1-1"} +{"env_id": 1, "seq": 7, "step": 7240, "t": 36.2, "topic": "a4s_sealer_1.drawer.command.started", "source": "a4s_sealer_1.drawer", "data": {"command_id": "program-1-2", "name": "close", "source": "program:seal"}, "cause": "program-1-2"} +{"env_id": 1, "seq": 8, "step": 7240, "t": 36.2, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "at_out", "to": "moving"}, "cause": null} +{"env_id": 1, "seq": 9, "step": 7240, "t": 36.2, "topic": "a4s_sealer_1.drawer.moving", "source": "a4s_sealer_1.drawer", "data": {"target": 0.3, "goal": "in"}, "cause": "program-1-2"} +{"env_id": 1, "seq": 10, "step": 7659, "t": 38.295, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "moving", "to": "at_in"}, "cause": null} +{"env_id": 1, "seq": 11, "step": 7659, "t": 38.295, "topic": "a4s_sealer_1.drawer.reached", "source": "a4s_sealer_1.drawer", "data": {"position": "in", "q": 0.30000001192092896}, "cause": "program-1-2"} +{"env_id": 1, "seq": 12, "step": 7659, "t": 38.295, "topic": "a4s_sealer_1.drawer.at_in", "source": "a4s_sealer_1.drawer", "data": {"q": 0.30000001192092896}, "cause": "program-1-2"} +{"env_id": 1, "seq": 13, "step": 7659, "t": 38.295, "topic": "a4s_sealer_1.drawer.command.succeeded", "source": "a4s_sealer_1.drawer", "data": {"command_id": "program-1-2", "name": "close", "source": "program:seal", "result": {"position": "in"}}, "cause": "program-1-2"} +{"env_id": 1, "seq": 14, "step": 7659, "t": 38.295, "topic": "labware.plate_2.changed", "source": "labware.plate_2", "data": {"key": "sealed", "value": true}, "cause": "task-1-1"} +{"env_id": 1, "seq": 15, "step": 7659, "t": 38.295, "topic": "a4s_sealer_1.sealed", "source": "a4s_sealer_1", "data": {"plate": "plate_2"}, "cause": "task-1-1"} +{"env_id": 1, "seq": 16, "step": 7659, "t": 38.295, "topic": "a4s_sealer_1.heater.command.started", "source": "a4s_sealer_1.heater", "data": {"command_id": "program-1-3", "name": "run", "source": "program:seal"}, "cause": "program-1-3"} +{"env_id": 1, "seq": 17, "step": 7659, "t": 38.295, "topic": "a4s_sealer_1.heater.state.changed", "source": "a4s_sealer_1.heater", "data": {"from": "ready", "to": "running"}, "cause": null} +{"env_id": 1, "seq": 18, "step": 7659, "t": 38.295, "topic": "a4s_sealer_1.heater.started", "source": "a4s_sealer_1.heater", "data": {"duration": 4.614476869971872}, "cause": "program-1-3"} +{"env_id": 1, "seq": 19, "step": 8582, "t": 42.91, "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": 8582, "t": 42.91, "topic": "a4s_sealer_1.heater.finished", "source": "a4s_sealer_1.heater", "data": {"elapsed": 4.615000000002361}, "cause": "program-1-3"} +{"env_id": 1, "seq": 21, "step": 8582, "t": 42.91, "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": 4.615000000002361}}, "cause": "program-1-3"} +{"env_id": 1, "seq": 22, "step": 8582, "t": 42.91, "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": 8582, "t": 42.91, "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": 8582, "t": 42.91, "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": 9002, "t": 45.01, "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": 9002, "t": 45.01, "topic": "a4s_sealer_1.drawer.reached", "source": "a4s_sealer_1.drawer", "data": {"position": "out", "q": 2.146565043770199e-12}, "cause": "program-1-4"} +{"env_id": 1, "seq": 27, "step": 9002, "t": 45.01, "topic": "a4s_sealer_1.drawer.at_out", "source": "a4s_sealer_1.drawer", "data": {"q": 2.146565043770199e-12}, "cause": "program-1-4"} +{"env_id": 1, "seq": 28, "step": 9002, "t": 45.01, "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": 9002, "t": 45.01, "topic": "a4s_sealer_1.seal.finished", "source": "a4s_sealer_1", "data": {}, "cause": "task-1-1"} +{"env_id": 1, "seq": 30, "step": 9002, "t": 45.01, "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": 9577, "t": 47.885, "topic": "a4s_sealer_1.plate_present.absent", "source": "a4s_sealer_1.plate_present", "data": {"object": "plate_2"}, "cause": null} +{"env_id": 1, "seq": 32, "step": 11240, "t": 56.2, "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": 11240, "t": 56.2, "topic": "conveyor_1.belt.station.pick.released", "source": "conveyor_1.belt", "data": {"rider": "carrier_2"}, "cause": "task-1-5"} +{"env_id": 1, "seq": 34, "step": 11240, "t": 56.2, "topic": "conveyor_1.belt.state.changed", "source": "conveyor_1.belt", "data": {"from": "at_station", "to": "running"}, "cause": null} +{"env_id": 1, "seq": 35, "step": 11240, "t": 56.2, "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/c8_p007_e013/env.mp4 b/episodes/c8_p007_e013/env.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..c61010204a1ab0aa1279dcc1ccbb88700e71642d --- /dev/null +++ b/episodes/c8_p007_e013/env.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:15526515c7000ab64c00d0e70e917ec73849235dff97db46177fafec8b2f4451 +size 1306236 diff --git a/episodes/c8_p007_e013/meta.json b/episodes/c8_p007_e013/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..8367ab06bfa6d5aee712a5548e0c083fcb88d7fa --- /dev/null +++ b/episodes/c8_p007_e013/meta.json @@ -0,0 +1,32 @@ +{ + "source": "raw/c8_p007/magicsim/13", + "fps": 25, + "frames": 1225, + "kept_ticks": "even", + "video_frames": { + "wrist": 1225, + "env": 1225 + }, + "joint_target_source": "joint_pos_target", + "fk_vs_recorded_eef_max_m": 0.0, + "curobo_joints": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "joint_order": [ + "shoulder_pan", + "shoulder_lift", + "elbow", + "wrist_1", + "wrist_2", + "wrist_3", + "finger_left", + "finger_right" + ], + "frames_note": "eef / actions in the robot base frame; camera_pose = local pose (wrist: in plate_gripper_base, env: env frame), pos + quat wxyz", + "dr_version": "v2" +} \ No newline at end of file diff --git a/episodes/c8_p007_e013/scene_snapshot.json b/episodes/c8_p007_e013/scene_snapshot.json new file mode 100644 index 0000000000000000000000000000000000000000..e835c36fd599911e1b4a7704163dec2d60d6a283 --- /dev/null +++ b/episodes/c8_p007_e013/scene_snapshot.json @@ -0,0 +1,1558 @@ +{ + "trajectory_id": 13, + "env_id": 1, + "run_id": "c8_p007", + "task_type": "BioPlateCell", + "success": true, + "timing": { + "fps": 50.0, + "sim_dt": 0.005, + "decimation": 4 + }, + "restore_interface": { + "scene": "scene_manager.reset_to(snapshot['scene'], env_ids=[env_id])", + "robots": "robot_manager.set_state({'robots': snapshot['robots']}, env_ids=[env_id])" + }, + "snapshot": { + "env_id": 1, + "scene": { + "objects": [ + {}, + { + "rac_cell": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/rac_cell.usd", + "pose": { + "pos": [ + 0.0, + 0.0, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "physics_material": { + "static_friction": 0.6, + "dynamic_friction": 0.5, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "robot_mount": [ + { + "asset": "Cube", + "pose": { + "pos": [ + 0.0, + 0.0, + 0.9075 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": "color", + "value": [ + 0.55, + 0.56, + 0.58 + ], + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": { + "size": [ + 0.2, + 0.2, + 0.015 + ] + } + }, + "type_specific": {} + } + ], + "plate_rack": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/plate_hotel.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 0.9 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "physics_material": { + "static_friction": 0.6, + "dynamic_friction": 0.5, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "hotel_plate": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_96_clear/plate_96_clear.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 0.9605 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_96_white/plate_96_white.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.0285 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_96_white/plate_96_white.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.0965 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_96_black/plate_96_black.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.1645 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_6_clear/plate_6_clear.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.2325 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "a4s_sealer": [ + { + "asset": "$MAGICSIM_ASSETS/Articulated/A4SSealer/Object.usd", + "pose": { + "pos": [ + 0.4940500259399414, + 0.12068843841552734, + 0.8999999761581421 + ], + "ori": [ + 0.7164275646209717, + 0.0, + 0.0, + -0.6976614594459534 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "articulation", + "solver_position_iteration_count": 16.0, + "solver_velocity_iteration_count": 1.0, + "enabled_self_collisions": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "joint_position": [ + 0.0 + ], + "joint_velocity": [ + 0.0 + ], + "linear_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "angular_velocity": [ + 0.0, + 0.0, + 0.0 + ] + } + } + ], + "conveyor": [ + { + "asset": "Cube", + "pose": { + "pos": [ + 0.15, + 0.45, + 0.9 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "conveyor", + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9 + }, + "ratio": 1.0 + }, + "primitive_params": { + "size": [ + 2.4, + 0.076, + 0.03 + ] + }, + "conveyor": { + "speed": 0.203251382956965, + "direction": [ + 1.0, + 0.0, + 0.0 + ], + "enabled": true, + "drive": "surface_velocity", + "lines": null, + "station_line": null, + "riders": [ + "carrier" + ], + "stations": { + "pick": { + "position": -0.032311401416729, + "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": 0.203251382956965, + "holds": [], + "station": "pick", + "rider": "carrier_2", + "arrived": true, + "applied_speed": 0.0 + } + } + } + ], + "carrier": [ + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + 1.6966772079467773, + 0.8202142715454102, + 0.8999999761581421 + ], + "ori": [ + 0.6906885504722595, + 6.023162057999798e-08, + -6.031665833461375e-08, + 0.7231523990631104 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -2.1450755061103166e-10, + -2.927703079969035e-10, + 0.0 + ], + "angular_velocity": [ + 2.357975503741727e-08, + -2.4493941097603056e-08, + -9.307581372297591e-10 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + 0.11816120147705078, + 0.4499998092651367, + 0.8999999761581421 + ], + "ori": [ + 1.0, + 2.9028119907792416e-09, + 5.769243416331449e-10, + -2.0813238279515645e-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": [ + 3.847060447981221e-10, + 1.9713719545677577e-10, + 3.725290298461914e-09 + ], + "angular_velocity": [ + -1.4578333207282412e-08, + 2.8885827063618308e-08, + -3.0831130981567867e-09 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + 0.1825551986694336, + 1.1499977111816406, + 0.8999999761581421 + ], + "ori": [ + 2.721003875194583e-05, + 1.2659084891453176e-09, + 2.6686658438634936e-10, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -6.198718205396858e-10, + -9.341545315066924e-10, + 3.725290298461914e-09 + ], + "angular_velocity": [ + 7.277954239270912e-08, + -5.349867038262346e-08, + -2.2452741887946104e-09 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + -1.3961610794067383, + 0.7702579498291016, + 0.8999999761581421 + ], + "ori": [ + -0.7328023910522461, + 2.7805652891288446e-08, + -7.798183787599555e-08, + 0.6804416179656982 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 3.142070381656481e-09, + -6.167302779580552e-11, + 3.725290298461914e-09 + ], + "angular_velocity": [ + -7.087752607048969e-10, + 2.569698267507192e-07, + 2.4148736343931887e-09 + ] + } + } + ], + "plate": [ + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_12_clear/Object.usd", + "pose": { + "pos": [ + 1.6864032745361328, + 0.8068981170654297, + 0.9179999828338623 + ], + "ori": [ + 0.6650777459144592, + 5.814248638102981e-08, + -6.373655736524597e-08, + 0.7467741966247559 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 3.2783106007627794e-08, + -3.0835046516131115e-08, + 1.0803341865539551e-07 + ], + "angular_velocity": [ + 1.5038153833302204e-06, + 1.959677774721058e-06, + 1.313957209703176e-08 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_96_white/Object.usd", + "pose": { + "pos": [ + 0.13128185272216797, + 0.4532594680786133, + 0.9180000424385071 + ], + "ori": [ + 0.9999768137931824, + 1.5556761434609712e-09, + 7.268888269074125e-11, + 0.006810674909502268 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -2.031567269966672e-08, + 8.444048127387305e-09, + -5.330890417098999e-06 + ], + "angular_velocity": [ + 1.5607983527843317e-07, + -1.3812863244311302e-06, + 1.2642175306609715e-07 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/pcr_384_red/Object.usd", + "pose": { + "pos": [ + 0.19734859466552734, + 1.155705451965332, + 0.9179999828338623 + ], + "ori": [ + -0.10015346109867096, + 1.1507388375520122e-09, + 1.0440175390868944e-09, + 0.9949720501899719 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -9.22000253922306e-10, + -1.1020196311051222e-08, + -5.6140124797821045e-06 + ], + "angular_velocity": [ + -7.398065235975082e-07, + 1.4663279443993815e-06, + -4.84368314346284e-08 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/deep_well_96_1ml/Object.usd", + "pose": { + "pos": [ + -1.3995246887207031, + 0.7708635330200195, + 0.9179999828338623 + ], + "ori": [ + -0.6808091402053833, + 3.050949715088791e-08, + -7.78962103709091e-08, + 0.7324609160423279 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 2.282727251667893e-08, + 8.063099699029408e-08, + 1.601874828338623e-07 + ], + "angular_velocity": [ + -3.4045542633975856e-06, + 1.0217365797871025e-07, + 1.6189164853130933e-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": 7.419999999999864, + "step": 1484, + "counter": 0, + "devices": { + "a4s_sealer_1": { + "mode": "auto", + "units": { + "drawer": { + "state": "at_out", + "active": null, + "target": 0.0, + "goal_name": "out", + "profile": null, + "q_start": null, + "reversing": false, + "blocked_for": 0.0, + "settled_for": 0.0, + "last_q": 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": 0.203251382956965, + "holds": [], + "station": "pick", + "rider": "carrier_2", + "arrived": true, + "settle_count": 1336, + "released": { + "pick": [] + }, + "last_pos": { + "carrier_1": [ + 1.5466772019863129, + 0.3702142834663391, + 0.0 + ], + "carrier_2": [ + -0.031838804483413696, + -1.7881393432617188e-07, + 0.0 + ], + "carrier_3": [ + 0.032555192708969116, + 0.6999977231025696, + 0.0 + ], + "carrier_4": [ + -1.5461610853672028, + 0.3202579617500305, + 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": [ + 0.3862368948878865, + -0.4480532183696812, + 3.1143167637214813 + ], + "ori": [ + -3.531840166275499, + 0.04491748579012267, + -15.054565377189405 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "color_temperature": 4521.842806125237, + "color": [ + 0.8792816900096962, + 0.81275242150937, + 0.865368115881877 + ], + "intensity": 14693.159852242117, + "width": 2.2374152919623653, + "height": 0.8242374743296961 + } + }, + "key": { + "type": "sphere", + "pose": { + "pos": [ + -0.29101562103562273, + -0.6289953302250849, + 1.9071966405352632 + ], + "ori": [ + 23.10123476328159, + -13.424554367825685, + 8.113392796240177 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "color_temperature": 6926.5920547808255, + "color": [ + 0.9726262089222825, + 0.9861284243115159, + 0.9747881645975826 + ], + "intensity": 9379.143974761642, + "radius": 0.21893180821701247 + } + } + }, + {}, + {} + ], + "background": { + "type": "dome", + "pose": { + "pos": null, + "ori": null, + "scale": null + }, + "dr": { + "intensity": 865.7484633452245, + "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 + ], + [ + 0.9141048192977905, + -1.719396948814392, + 2.0904996395111084, + -1.941900610923767, + -1.5707999467849731, + 2.4849021434783936, + 0.018000002950429916, + 0.01799999549984932 + ], + [ + 2.8070454597473145, + -1.3908559083938599, + 2.2184624671936035, + -2.397737503051758, + -1.5759159326553345, + 4.3765997886657715, + 0.017999986186623573, + 0.017999986186623573 + ], + [ + 1.5456560850143433, + -1.492645025253296, + 2.121971368789673, + -2.199755907058716, + -1.5704609155654907, + 0.20167121291160583, + 0.007921175099909306, + 0.007287533022463322 + ] + ], + "joint_vel": [ + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + [ + 2.71352759566022e-38, + 0.0, + 1.4288390238232713e-38, + -2.273125384318551e-37, + 4.2730729018992044e-37, + -2.8770300915427455e-37, + -5.1980777016069624e-08, + 5.1980773463355945e-08 + ], + [ + 5.948342512995808e-12, + -3.4058930395985954e-06, + -1.3623865015688352e-05, + -1.362390503345523e-05, + -6.811954335717019e-06, + 2.7247833713772707e-05, + 1.8194944573224348e-07, + 1.8194785411651537e-07 + ], + [ + 0.020976558327674866, + 0.008098783902823925, + -0.004202026408165693, + -0.01040724478662014, + -0.0019013122655451298, + -0.0626184344291687, + -0.002032717689871788, + -0.00015084681217558682 + ] + ] + } + }, + "cameras": { + "cameras": { + "camera0": [ + [ + 0.05237216129899025, + -0.001144406502135098, + -0.02788204327225685, + -0.28752368688583374, + 0.6396041512489319, + 0.6597481369972229, + -0.27012792229652405 + ], + [ + 0.04714176431298256, + 0.0012442698935046792, + -0.029429271817207336, + -0.28078973293304443, + 0.6474774479866028, + 0.6486971378326416, + -0.28481945395469666 + ], + [ + 0.04921336472034454, + -0.004889714997261763, + -0.0281573086977005, + -0.27454450726509094, + 0.6514172554016113, + 0.6533108949661255, + -0.27104562520980835 + ], + [ + 0.04959721490740776, + 3.879045107169077e-05, + -0.03135908022522926, + -0.26793786883354187, + 0.6504355072975159, + 0.6520600914955139, + -0.2827730178833008 + ] + ], + "camera1": [ + [ + 0.0624166876077652, + 0.5729935765266418, + 1.929408311843872, + 0.030381066724658012, + 0.011406419798731804, + 0.27634719014167786, + 0.9605098366737366 + ], + [ + 0.07383805513381958, + 0.5854329466819763, + 1.928359866142273, + 0.0291448887437582, + 0.023123815655708313, + 0.27390092611312866, + 0.9610380530357361 + ], + [ + 0.03778810054063797, + 0.5909035205841064, + 1.9590167999267578, + 0.053438592702150345, + -0.0030883802101016045, + 0.28397461771965027, + 0.9573364853858948 + ], + [ + 0.04889437556266785, + 0.5583283305168152, + 1.9601263999938965, + 0.047912683337926865, + 0.008129426278173923, + 0.2728187143802643, + 0.9608372449874878 + ] + ] + } + } + } +} \ No newline at end of file diff --git a/episodes/c8_p007_e013/wrist.mp4 b/episodes/c8_p007_e013/wrist.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..d91d3ec80c5aff54ed92c3fe0b112562915bb98f --- /dev/null +++ b/episodes/c8_p007_e013/wrist.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:3e66e840e6d4a0ce6770cc9a10b8cc4c6c952d8910d71f72911d1e764b6c73e5 +size 6505500 diff --git a/episodes/c8_p007_e014/data.npz b/episodes/c8_p007_e014/data.npz new file mode 100644 index 0000000000000000000000000000000000000000..b21cbe33081e803222b55e3709b98a2bb7ed5f52 --- /dev/null +++ b/episodes/c8_p007_e014/data.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:918e2625a852c417cdf218cf2bafd46dde7fb179160aeb2a31a812eab3ae8650 +size 202749 diff --git a/episodes/c8_p007_e014/device_events.jsonl b/episodes/c8_p007_e014/device_events.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..d219aacd29cc0790b88cc8bc54400e5d93c6e98a --- /dev/null +++ b/episodes/c8_p007_e014/device_events.jsonl @@ -0,0 +1,35 @@ +{"env_id": 0, "seq": 1, "step": 36, "t": 0.18, "topic": "conveyor_1.belt.station.pick.captured", "source": "conveyor_1.belt", "data": {"rider": "carrier_3"}, "cause": null} +{"env_id": 0, "seq": 2, "step": 36, "t": 0.18, "topic": "conveyor_1.belt.state.changed", "source": "conveyor_1.belt", "data": {"from": "running", "to": "at_station"}, "cause": null} +{"env_id": 0, "seq": 3, "step": 41, "t": 0.205, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_3"}, "cause": null} +{"env_id": 0, "seq": 4, "step": 6354, "t": 31.77, "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": 6968, "t": 34.84, "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": 6968, "t": 34.84, "topic": "a4s_sealer_1.seal.started", "source": "a4s_sealer_1", "data": {"dwell": 2.610537206710104}, "cause": "task-0-1"} +{"env_id": 0, "seq": 7, "step": 6968, "t": 34.84, "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": 6968, "t": 34.84, "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": 6968, "t": 34.84, "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": 7387, "t": 36.935, "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": 7387, "t": 36.935, "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": 7387, "t": 36.935, "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": 7387, "t": 36.935, "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": 7387, "t": 36.935, "topic": "labware.plate_3.changed", "source": "labware.plate_3", "data": {"key": "sealed", "value": true}, "cause": "task-0-1"} +{"env_id": 0, "seq": 15, "step": 7387, "t": 36.935, "topic": "a4s_sealer_1.sealed", "source": "a4s_sealer_1", "data": {"plate": "plate_3"}, "cause": "task-0-1"} +{"env_id": 0, "seq": 16, "step": 7387, "t": 36.935, "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": 7387, "t": 36.935, "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": 7387, "t": 36.935, "topic": "a4s_sealer_1.heater.started", "source": "a4s_sealer_1.heater", "data": {"duration": 2.610537206710104}, "cause": "program-0-3"} +{"env_id": 0, "seq": 19, "step": 7910, "t": 39.55, "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": 7910, "t": 39.55, "topic": "a4s_sealer_1.heater.finished", "source": "a4s_sealer_1.heater", "data": {"elapsed": 2.615000000001338}, "cause": "program-0-3"} +{"env_id": 0, "seq": 21, "step": 7910, "t": 39.55, "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": 2.615000000001338}}, "cause": "program-0-3"} +{"env_id": 0, "seq": 22, "step": 7910, "t": 39.55, "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": 7910, "t": 39.55, "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": 7910, "t": 39.55, "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": 8330, "t": 41.65, "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": 8330, "t": 41.65, "topic": "a4s_sealer_1.drawer.reached", "source": "a4s_sealer_1.drawer", "data": {"position": "out", "q": 1.5201711417445196e-11}, "cause": "program-0-4"} +{"env_id": 0, "seq": 27, "step": 8330, "t": 41.65, "topic": "a4s_sealer_1.drawer.at_out", "source": "a4s_sealer_1.drawer", "data": {"q": 1.5201711417445196e-11}, "cause": "program-0-4"} +{"env_id": 0, "seq": 28, "step": 8330, "t": 41.65, "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": 8330, "t": 41.65, "topic": "a4s_sealer_1.seal.finished", "source": "a4s_sealer_1", "data": {}, "cause": "task-0-1"} +{"env_id": 0, "seq": 30, "step": 8330, "t": 41.65, "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": 8905, "t": 44.525, "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": 11184, "t": 55.92, "topic": "conveyor_1.belt.command.started", "source": "conveyor_1.belt", "data": {"command_id": "task-0-5", "name": "release", "source": "task"}, "cause": "task-0-5"} +{"env_id": 0, "seq": 33, "step": 11184, "t": 55.92, "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": 11184, "t": 55.92, "topic": "conveyor_1.belt.state.changed", "source": "conveyor_1.belt", "data": {"from": "at_station", "to": "running"}, "cause": null} +{"env_id": 0, "seq": 35, "step": 11184, "t": 55.92, "topic": "conveyor_1.belt.command.succeeded", "source": "conveyor_1.belt", "data": {"command_id": "task-0-5", "name": "release", "source": "task", "result": {"state": "running"}}, "cause": "task-0-5"} diff --git a/episodes/c8_p007_e014/env.mp4 b/episodes/c8_p007_e014/env.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..8d42d2ff046d7efe4494681a5457d56f3bb0181a --- /dev/null +++ b/episodes/c8_p007_e014/env.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:e6285cbe798678f4988dacdc0f97ed5e0b4305dce63900d417e7ef6a8ab5cbef +size 1389520 diff --git a/episodes/c8_p007_e014/meta.json b/episodes/c8_p007_e014/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..e0c96fc45d580939eca5d9fb16f054a53ff753f5 --- /dev/null +++ b/episodes/c8_p007_e014/meta.json @@ -0,0 +1,32 @@ +{ + "source": "raw/c8_p007/magicsim/14", + "fps": 25, + "frames": 1262, + "kept_ticks": "even", + "video_frames": { + "wrist": 1262, + "env": 1262 + }, + "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_p007_e014/scene_snapshot.json b/episodes/c8_p007_e014/scene_snapshot.json new file mode 100644 index 0000000000000000000000000000000000000000..e4a983a5c7d6d472f2ccec3d1fca040b6e3573d1 --- /dev/null +++ b/episodes/c8_p007_e014/scene_snapshot.json @@ -0,0 +1,1558 @@ +{ + "trajectory_id": 14, + "env_id": 0, + "run_id": "c8_p007", + "task_type": "BioPlateCell", + "success": true, + "timing": { + "fps": 50.0, + "sim_dt": 0.005, + "decimation": 4 + }, + "restore_interface": { + "scene": "scene_manager.reset_to(snapshot['scene'], env_ids=[env_id])", + "robots": "robot_manager.set_state({'robots': snapshot['robots']}, env_ids=[env_id])" + }, + "snapshot": { + "env_id": 0, + "scene": { + "objects": [ + { + "rac_cell": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/rac_cell.usd", + "pose": { + "pos": [ + 0.0, + 0.0, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "physics_material": { + "static_friction": 0.6, + "dynamic_friction": 0.5, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "robot_mount": [ + { + "asset": "Cube", + "pose": { + "pos": [ + 0.0, + 0.0, + 0.9075 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": "color", + "value": [ + 0.55, + 0.56, + 0.58 + ], + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": { + "size": [ + 0.2, + 0.2, + 0.015 + ] + } + }, + "type_specific": {} + } + ], + "plate_rack": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/plate_hotel.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 0.9 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "physics_material": { + "static_friction": 0.6, + "dynamic_friction": 0.5, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "hotel_plate": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_12_clear/plate_12_clear.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 0.9605 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/pcr_384_red/pcr_384_red.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.0285 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$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": [ + 2.691333050516831e-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": 0.23707417813043985, + "direction": [ + 1.0, + 0.0, + 0.0 + ], + "enabled": true, + "drive": "surface_velocity", + "lines": null, + "station_line": null, + "riders": [ + "carrier" + ], + "stations": { + "pick": { + "position": -0.15140395612788993, + "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": 0.23707417813043985, + "holds": [], + "station": "pick", + "rider": "carrier_3", + "arrived": true, + "applied_speed": 0.0 + } + } + } + ], + "carrier": [ + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + 1.6789255142211914, + 0.9164447784423828, + 0.8999999761581421 + ], + "ori": [ + 0.5785761475563049, + -1.3501473006272136e-07, + 1.4698997574669193e-08, + 0.8156284093856812 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -3.7196372204562067e-07, + 9.441564543521963e-07, + -2.738088369369507e-06 + ], + "angular_velocity": [ + -8.489022002322599e-05, + -4.87184152007103e-05, + -3.2127923077496234e-06 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + -0.0895538330078125, + 1.1500005722045898, + 0.8999999761581421 + ], + "ori": [ + 2.1062553059891798e-05, + 7.701000726001439e-09, + 1.2815295491463985e-09, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -5.21061527258837e-10, + -9.843486026284154e-10, + 7.450580596923828e-09 + ], + "angular_velocity": [ + 1.5841877143429883e-08, + -4.693770350172599e-08, + -2.1668775218586234e-08 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + -0.0007772445678710938, + 0.45000267028808594, + 0.8999999761581421 + ], + "ori": [ + 1.0, + -2.409307198192323e-10, + 2.1400832495022115e-10, + -1.6146819689311087e-05 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -9.646111687189318e-10, + 5.190924357023619e-10, + 0.0 + ], + "angular_velocity": [ + -1.9292311748131397e-08, + -8.954287977758213e-08, + 5.178279582906953e-09 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + -1.146855354309082, + 1.1325798034667969, + 0.8999999761581421 + ], + "ori": [ + -0.12837645411491394, + 3.6007378412250546e-08, + 1.5862690716517136e-08, + 0.9917255640029907 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -1.1012957212841457e-09, + 3.68791608362784e-10, + 7.450580596923828e-09 + ], + "angular_velocity": [ + 6.899796289872029e-08, + -7.356519660106642e-08, + 1.584028730405862e-08 + ] + } + } + ], + "plate": [ + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_6_clear/Object.usd", + "pose": { + "pos": [ + 1.673959732055664, + 0.9180822372436523, + 0.9179999828338623 + ], + "ori": [ + 0.6599592566490173, + -1.9964079456258332e-07, + -1.9842804022118798e-07, + 0.7513015270233154 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 1.6935738358370145e-06, + 2.480347347955103e-06, + -2.8721988201141357e-06 + ], + "angular_velocity": [ + -0.00010560295049799606, + -2.8608446882572025e-06, + -2.7852662242366932e-05 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_96_black/Object.usd", + "pose": { + "pos": [ + -0.08712959289550781, + 1.1449384689331055, + 0.9180000424385071 + ], + "ori": [ + 0.09909145534038544, + 6.751986525443954e-09, + 1.0116786297587055e-09, + 0.9950783252716064 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 1.0816241236000224e-08, + -1.6504024813457363e-08, + -4.909932613372803e-06 + ], + "angular_velocity": [ + -1.714193018642618e-07, + 1.7433392258681124e-06, + 4.953508891958336e-08 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/pcr_96_blue/Object.usd", + "pose": { + "pos": [ + 0.011673927307128906, + 0.44925785064697266, + 0.9180000424385071 + ], + "ori": [ + 0.9993515014648438, + -3.3918329256366064e-10, + -2.444768831821875e-10, + 0.03600912541151047 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -2.529703380105275e-08, + -2.257199227528872e-08, + -5.602836608886719e-06 + ], + "angular_velocity": [ + 4.882384700977127e-07, + -1.5080605635375832e-06, + 1.0804886585447093e-07 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/deep_well_96_2ml/Object.usd", + "pose": { + "pos": [ + -1.1617250442504883, + 1.1356925964355469, + 0.9179999828338623 + ], + "ori": [ + -0.1472826451063156, + 3.683780391838809e-08, + 1.7279811359571795e-08, + 0.9890945553779602 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 8.880152790879947e-08, + 5.232141830902037e-09, + -1.2032687664031982e-06 + ], + "angular_velocity": [ + -1.2922777159474208e-07, + 3.1611259601049824e-06, + 1.0947660200599785e-07 + ] + } + } + ], + "deco_hub_west": [ + { + "asset": "$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": 5.639999999999902, + "step": 1128, + "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": 2.691333050516831e-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": 0.23707417813043985, + "holds": [], + "station": "pick", + "rider": "carrier_3", + "arrived": true, + "settle_count": 1091, + "released": { + "pick": [] + }, + "last_pos": { + "carrier_1": [ + 1.528925508260727, + 0.46644479036331177, + 0.0 + ], + "carrier_2": [ + -0.23955383896827698, + 0.7000005841255188, + 0.0 + ], + "carrier_3": [ + -0.15077725052833557, + 2.682209014892578e-06, + 0.0 + ], + "carrier_4": [ + -1.2968553602695465, + 0.6825798153877258, + 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": [ + 0.34199221801061486, + -0.023420403261387335, + 3.136330982692132 + ], + "ori": [ + 2.9002012924690916, + 14.696959696516188, + -2.6377684062692417 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "color_temperature": 5616.273223455067, + "color": [ + 0.8888431766779156, + 0.9374215037384556, + 0.9008803503247358 + ], + "intensity": 12886.453828762043, + "width": 1.9056705134360978, + "height": 1.1880014001692838 + } + }, + "key": { + "type": "sphere", + "pose": { + "pos": [ + 0.827693600583054, + 0.8606977720898346, + 2.0350551306196882 + ], + "ori": [ + 23.754839593616694, + 34.445705948287426, + 8.694886562051131 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "color_temperature": 6016.080040669658, + "color": [ + 0.8830810051097843, + 0.7965037361642477, + 0.983653748204377 + ], + "intensity": 6377.844417527014, + "radius": 0.09199757127794449 + } + } + }, + {}, + {}, + {} + ], + "background": { + "type": "dome", + "pose": { + "pos": null, + "ori": null, + "scale": null + }, + "dr": { + "intensity": 865.7484633452245, + "texture": null, + "color": [ + 0.92, + 0.94, + 0.96 + ] + } + } + }, + "robots": { + "UR5e": { + "root_pose": [ + [ + 11.0, + -11.0, + 0.9150000214576721, + 1.0, + 0.0, + 0.0, + 0.0 + ], + [ + 11.0, + 11.0, + 0.9150000214576721, + 1.0, + 0.0, + 0.0, + 0.0 + ], + [ + -11.0, + -11.0, + 0.9150000214576721, + 1.0, + 0.0, + 0.0, + 0.0 + ], + [ + -11.0, + 11.0, + 0.9150000214576721, + 1.0, + 0.0, + 0.0, + 0.0 + ] + ], + "root_vel": [ + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + ], + "joint_pos": [ + [ + 0.9141009449958801, + -1.7193976640701294, + 2.090498924255371, + -1.941900372505188, + -1.5707999467849731, + 2.4849002361297607, + 0.017999999225139618, + 0.017999999225139618 + ], + [ + 0.7790370583534241, + -1.1899932622909546, + 2.051987648010254, + -2.432769536972046, + -1.5708647966384888, + 2.3360135555267334, + 0.007632804568856955, + 0.007065648678690195 + ], + [ + 2.5324058532714844, + -1.9777162075042725, + 2.7045483589172363, + -2.29837703704834, + -1.5759049654006958, + 4.10195779800415, + 0.018000004813075066, + 0.01799999363720417 + ], + [ + 1.6120043992996216, + -1.4160751104354858, + 2.1460177898406982, + -2.3012075424194336, + -1.570866346359253, + 0.049440622329711914, + 0.0180000402033329, + 0.017999958246946335 + ] + ], + "joint_vel": [ + [ + 0.0, + -2.6842219606161024e-38, + -1.5069720630777087e-38, + -2.393003441136856e-37, + 2.3825600681496903e-37, + 3.6228121204363734e-37, + -2.6644636522691224e-38, + -3.326920214526665e-38 + ], + [ + 0.0002615571138449013, + -0.016623955219984055, + -0.005867950152605772, + 0.020710378885269165, + 0.00044947891728952527, + 0.0012035424588248134, + -0.007304336875677109, + 0.00019175047054886818 + ], + [ + 6.811926596128615e-06, + -3.405918050702894e-06, + -6.811928415118018e-06, + 5.241427517704844e-12, + 3.4059776226058602e-06, + 1.4279352440055293e-12, + -7.797470402692852e-08, + 7.79675843887162e-08 + ], + [ + 0.0001378978486172855, + -0.016072530299425125, + -0.009550495073199272, + 0.024317974224686623, + -6.1800919866072945e-06, + -9.917494026012719e-07, + -7.748547432129271e-06, + 7.751135854050517e-06 + ] + ] + } + }, + "cameras": { + "cameras": { + "camera0": [ + [ + 0.05150797963142395, + -0.0008559809648431838, + -0.027645638212561607, + -0.28539296984672546, + 0.638142466545105, + 0.6627088785171509, + -0.2685926556587219 + ], + [ + 0.04729049280285835, + -0.0003968549717683345, + -0.030463263392448425, + -0.2832208275794983, + 0.6451140642166138, + 0.6511377692222595, + -0.2821938693523407 + ], + [ + 0.052701883018016815, + -0.0034329546615481377, + -0.027250248938798904, + -0.2772883176803589, + 0.654093861579895, + 0.6482582092285156, + -0.273922860622406 + ], + [ + 0.05140703171491623, + 0.0013582654064521194, + -0.03280019760131836, + -0.2693306803703308, + 0.6513151526451111, + 0.6494812965393066, + -0.28534817695617676 + ] + ], + "camera1": [ + [ + 0.0624166876077652, + 0.5729935765266418, + 1.929408311843872, + 0.030381066724658012, + 0.011406419798731804, + 0.27634719014167786, + 0.9605098366737366 + ], + [ + 0.07383805513381958, + 0.5854329466819763, + 1.928359866142273, + 0.0291448887437582, + 0.023123815655708313, + 0.27390092611312866, + 0.9610380530357361 + ], + [ + 0.03778810054063797, + 0.5909035205841064, + 1.9590167999267578, + 0.053438592702150345, + -0.0030883802101016045, + 0.28397461771965027, + 0.9573364853858948 + ], + [ + 0.04889437556266785, + 0.5583283305168152, + 1.9601263999938965, + 0.047912683337926865, + 0.008129426278173923, + 0.2728187143802643, + 0.9608372449874878 + ] + ] + } + } + } +} \ No newline at end of file diff --git a/episodes/c8_p007_e014/wrist.mp4 b/episodes/c8_p007_e014/wrist.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..f9b16bba204a85d7418b36ae69b85a192f22ac28 --- /dev/null +++ b/episodes/c8_p007_e014/wrist.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:2ddeff96e10f5b8e579ef375a37a2a1b73491c45ee76eb9bbe403a813b9394b3 +size 8681949 diff --git a/episodes/c8_p007_e015/data.npz b/episodes/c8_p007_e015/data.npz new file mode 100644 index 0000000000000000000000000000000000000000..039745532f618593e68d9c7b9a8e189d8961daa6 --- /dev/null +++ b/episodes/c8_p007_e015/data.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:3c951125997097a0660f67b7c9719a897a55b941b9616384382145202cbd7a98 +size 186039 diff --git a/episodes/c8_p007_e015/device_events.jsonl b/episodes/c8_p007_e015/device_events.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..270f0f7a0897c7abc5446db83b7bfd04672d59c4 --- /dev/null +++ b/episodes/c8_p007_e015/device_events.jsonl @@ -0,0 +1,35 @@ +{"env_id": 3, "seq": 1, "step": 100, "t": 0.5, "topic": "conveyor_1.belt.station.pick.captured", "source": "conveyor_1.belt", "data": {"rider": "carrier_2"}, "cause": null} +{"env_id": 3, "seq": 2, "step": 100, "t": 0.5, "topic": "conveyor_1.belt.state.changed", "source": "conveyor_1.belt", "data": {"from": "running", "to": "at_station"}, "cause": null} +{"env_id": 3, "seq": 3, "step": 105, "t": 0.525, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_2"}, "cause": null} +{"env_id": 3, "seq": 4, "step": 6851, "t": 34.255, "topic": "a4s_sealer_1.plate_present.present", "source": "a4s_sealer_1.plate_present", "data": {"object": "plate_2"}, "cause": null} +{"env_id": 3, "seq": 5, "step": 7464, "t": 37.32, "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": 7464, "t": 37.32, "topic": "a4s_sealer_1.seal.started", "source": "a4s_sealer_1", "data": {"dwell": 2.320527190571393}, "cause": "task-3-1"} +{"env_id": 3, "seq": 7, "step": 7464, "t": 37.32, "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": 7464, "t": 37.32, "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": 7464, "t": 37.32, "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": 7883, "t": 39.415, "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": 7883, "t": 39.415, "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": 7883, "t": 39.415, "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": 7883, "t": 39.415, "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": 7883, "t": 39.415, "topic": "labware.plate_2.changed", "source": "labware.plate_2", "data": {"key": "sealed", "value": true}, "cause": "task-3-1"} +{"env_id": 3, "seq": 15, "step": 7883, "t": 39.415, "topic": "a4s_sealer_1.sealed", "source": "a4s_sealer_1", "data": {"plate": "plate_2"}, "cause": "task-3-1"} +{"env_id": 3, "seq": 16, "step": 7883, "t": 39.415, "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": 7883, "t": 39.415, "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": 7883, "t": 39.415, "topic": "a4s_sealer_1.heater.started", "source": "a4s_sealer_1.heater", "data": {"duration": 2.320527190571393}, "cause": "program-3-3"} +{"env_id": 3, "seq": 19, "step": 8348, "t": 41.74, "topic": "a4s_sealer_1.heater.state.changed", "source": "a4s_sealer_1.heater", "data": {"from": "running", "to": "ready"}, "cause": null} +{"env_id": 3, "seq": 20, "step": 8348, "t": 41.74, "topic": "a4s_sealer_1.heater.finished", "source": "a4s_sealer_1.heater", "data": {"elapsed": 2.3250000000011894}, "cause": "program-3-3"} +{"env_id": 3, "seq": 21, "step": 8348, "t": 41.74, "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": 2.3250000000011894}}, "cause": "program-3-3"} +{"env_id": 3, "seq": 22, "step": 8348, "t": 41.74, "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": 8348, "t": 41.74, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "at_in", "to": "moving"}, "cause": null} +{"env_id": 3, "seq": 24, "step": 8348, "t": 41.74, "topic": "a4s_sealer_1.drawer.moving", "source": "a4s_sealer_1.drawer", "data": {"target": 0.0, "goal": "out"}, "cause": "program-3-4"} +{"env_id": 3, "seq": 25, "step": 8768, "t": 43.84, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "moving", "to": "at_out"}, "cause": null} +{"env_id": 3, "seq": 26, "step": 8768, "t": 43.84, "topic": "a4s_sealer_1.drawer.reached", "source": "a4s_sealer_1.drawer", "data": {"position": "out", "q": 2.174632474094551e-09}, "cause": "program-3-4"} +{"env_id": 3, "seq": 27, "step": 8768, "t": 43.84, "topic": "a4s_sealer_1.drawer.at_out", "source": "a4s_sealer_1.drawer", "data": {"q": 2.174632474094551e-09}, "cause": "program-3-4"} +{"env_id": 3, "seq": 28, "step": 8768, "t": 43.84, "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": 8768, "t": 43.84, "topic": "a4s_sealer_1.seal.finished", "source": "a4s_sealer_1", "data": {}, "cause": "task-3-1"} +{"env_id": 3, "seq": 30, "step": 8768, "t": 43.84, "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": 9346, "t": 46.73, "topic": "a4s_sealer_1.plate_present.absent", "source": "a4s_sealer_1.plate_present", "data": {"object": "plate_2"}, "cause": null} +{"env_id": 3, "seq": 32, "step": 11088, "t": 55.44, "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": 11088, "t": 55.44, "topic": "conveyor_1.belt.station.pick.released", "source": "conveyor_1.belt", "data": {"rider": "carrier_2"}, "cause": "task-3-5"} +{"env_id": 3, "seq": 34, "step": 11088, "t": 55.44, "topic": "conveyor_1.belt.state.changed", "source": "conveyor_1.belt", "data": {"from": "at_station", "to": "running"}, "cause": null} +{"env_id": 3, "seq": 35, "step": 11088, "t": 55.44, "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_p007_e015/env.mp4 b/episodes/c8_p007_e015/env.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..179e6cc2cae4a7b5c6c36c966789260e4d86faf0 --- /dev/null +++ b/episodes/c8_p007_e015/env.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:7ea5c4371e1f308c555876a9c0a7b9e85d326b13b7288f735d6447351d1edbb5 +size 1160004 diff --git a/episodes/c8_p007_e015/meta.json b/episodes/c8_p007_e015/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..3a4604eda32051a073d0ca75ae86a02bd4f6e3f1 --- /dev/null +++ b/episodes/c8_p007_e015/meta.json @@ -0,0 +1,32 @@ +{ + "source": "raw/c8_p007/magicsim/15", + "fps": 25, + "frames": 1175, + "kept_ticks": "even", + "video_frames": { + "wrist": 1175, + "env": 1175 + }, + "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_p007_e015/scene_snapshot.json b/episodes/c8_p007_e015/scene_snapshot.json new file mode 100644 index 0000000000000000000000000000000000000000..b1569d4644c2fc664e261a4ce14371eed0466822 --- /dev/null +++ b/episodes/c8_p007_e015/scene_snapshot.json @@ -0,0 +1,1558 @@ +{ + "trajectory_id": 15, + "env_id": 3, + "run_id": "c8_p007", + "task_type": "BioPlateCell", + "success": true, + "timing": { + "fps": 50.0, + "sim_dt": 0.005, + "decimation": 4 + }, + "restore_interface": { + "scene": "scene_manager.reset_to(snapshot['scene'], env_ids=[env_id])", + "robots": "robot_manager.set_state({'robots': snapshot['robots']}, env_ids=[env_id])" + }, + "snapshot": { + "env_id": 3, + "scene": { + "objects": [ + {}, + {}, + {}, + { + "rac_cell": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/rac_cell.usd", + "pose": { + "pos": [ + 0.0, + 0.0, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "physics_material": { + "static_friction": 0.6, + "dynamic_friction": 0.5, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "robot_mount": [ + { + "asset": "Cube", + "pose": { + "pos": [ + 0.0, + 0.0, + 0.9075 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": "color", + "value": [ + 0.55, + 0.56, + 0.58 + ], + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": { + "size": [ + 0.2, + 0.2, + 0.015 + ] + } + }, + "type_specific": {} + } + ], + "plate_rack": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/plate_hotel.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 0.9 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "physics_material": { + "static_friction": 0.6, + "dynamic_friction": 0.5, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "hotel_plate": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/pcr_96_blue/pcr_96_blue.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 0.9605 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/pcr_96_blue/pcr_96_blue.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.0285 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/deep_well_24_10ml/deep_well_24_10ml.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.0965 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_96_clear/plate_96_clear.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.1645 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_6_clear/plate_6_clear.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.2325 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "a4s_sealer": [ + { + "asset": "$MAGICSIM_ASSETS/Articulated/A4SSealer/Object.usd", + "pose": { + "pos": [ + 0.5054759979248047, + 0.0936441421508789, + 0.8999999761581421 + ], + "ori": [ + 0.7160273790359497, + 0.0, + 0.0, + -0.6980721950531006 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "articulation", + "solver_position_iteration_count": 16.0, + "solver_velocity_iteration_count": 1.0, + "enabled_self_collisions": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "joint_position": [ + 3.0277486247343166e-12 + ], + "joint_velocity": [ + 0.0 + ], + "linear_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "angular_velocity": [ + 0.0, + 0.0, + 0.0 + ] + } + } + ], + "conveyor": [ + { + "asset": "Cube", + "pose": { + "pos": [ + 0.15, + 0.45, + 0.9 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "conveyor", + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9 + }, + "ratio": 1.0 + }, + "primitive_params": { + "size": [ + 2.4, + 0.076, + 0.03 + ] + }, + "conveyor": { + "speed": 0.23603420663178865, + "direction": [ + 1.0, + 0.0, + 0.0 + ], + "enabled": true, + "drive": "surface_velocity", + "lines": null, + "station_line": null, + "riders": [ + "carrier" + ], + "stations": { + "pick": { + "position": -0.28633143444717496, + "slow_distance": 0.03, + "slow_speed": 0.03 + } + }, + "rails": { + "height": 0.01, + "thickness": 0.01, + "gap": 0.001, + "friction": 0.05 + }, + "legs": 0.87, + "loop": { + "radius": 0.35, + "side": "left", + "curve_extra_width": 0.0, + "segments": 18, + "curve_rails": "both" + }, + "snap_distance": 0.1, + "junction_snap": 0.02, + "collision_approximation": "auto", + "plate_mass": 1.0, + "lift_drop": 0.004, + "accel": 0.0, + "decel": 0.0, + "drive_damping": 1000000.0, + "drive_max_force": 1000000000.0 + } + }, + "type_specific": { + "controller": { + "state": "at_station", + "speed": 0.23603420663178865, + "holds": [], + "station": "pick", + "rider": "carrier_2", + "arrived": true, + "applied_speed": 0.0 + } + } + } + ], + "carrier": [ + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + 0.6334629058837891, + 1.1526498794555664, + 0.8999999761581421 + ], + "ori": [ + -0.010643979534506798, + 6.33267731586784e-08, + 1.4292329986176355e-08, + 0.9999434351921082 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -1.3097922746396762e-10, + -3.867686448888463e-10, + 0.0 + ], + "angular_velocity": [ + 1.623435963438169e-08, + -3.6576253137354797e-09, + 4.361024874555142e-09 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + -0.13591289520263672, + 0.4500007629394531, + 0.8999999761581421 + ], + "ori": [ + 1.0, + 2.5301281070255754e-09, + -4.224441629840925e-11, + 2.953713556053117e-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": [ + -4.99292052147382e-10, + 1.7112057326684749e-09, + 0.0 + ], + "angular_velocity": [ + -1.2739312182930007e-07, + -5.646307243978299e-08, + -2.745951910299027e-09 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + 1.6932592391967773, + 0.8538551330566406, + 0.8999999761581421 + ], + "ori": [ + 0.6566646695137024, + -1.8098162968271936e-08, + 1.8355462927388544e-08, + 0.754182755947113 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 2.5301600814486847e-09, + 1.1890598505814864e-09, + 3.725290298461914e-09 + ], + "angular_velocity": [ + -8.568011367060535e-08, + 8.878720336724655e-08, + 2.4270445209140235e-08 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + -1.2366609573364258, + 1.0922765731811523, + 0.8999999761581421 + ], + "ori": [ + -0.27352169156074524, + 3.8793402268311183e-08, + 1.736808918906263e-09, + 0.9618659019470215 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -1.5959717991620437e-09, + -1.5262242580860175e-09, + 1.4901161193847656e-08 + ], + "angular_velocity": [ + 1.653421577429981e-07, + -1.5140653886192013e-07, + 3.487336641683214e-09 + ] + } + } + ], + "plate": [ + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_48_clear/Object.usd", + "pose": { + "pos": [ + 0.6258468627929688, + 1.1510324478149414, + 0.9179999828338623 + ], + "ori": [ + 0.05394451692700386, + 6.453431211639327e-08, + 1.7932253015828792e-08, + 0.9985439777374268 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 4.0065625483975964e-08, + 3.278062266076631e-08, + 1.1175870895385742e-07 + ], + "angular_velocity": [ + -5.551358981392696e-07, + 2.3723539470665855e-06, + 2.267587184690001e-08 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_384_white/Object.usd", + "pose": { + "pos": [ + -0.1288003921508789, + 0.45205020904541016, + 0.9180000424385071 + ], + "ori": [ + 0.9999717473983765, + 2.1329256139068775e-09, + -1.316856623745366e-09, + -0.0075216577388346195 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -2.1443698372536346e-08, + 1.294406004603843e-08, + -5.301088094711304e-06 + ], + "angular_velocity": [ + 1.330194407955787e-07, + -1.7457330159231788e-06, + 1.1215659867502836e-07 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_96_clear/Object.usd", + "pose": { + "pos": [ + 1.7012357711791992, + 0.8660869598388672, + 0.9180000424385071 + ], + "ori": [ + 0.6698094606399536, + -1.789570980292865e-08, + 1.632499113668473e-08, + 0.7425330877304077 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 2.550993016825487e-08, + -4.624706395617295e-09, + -5.576759576797485e-06 + ], + "angular_velocity": [ + 1.4189043895385112e-06, + 5.9189574130869e-07, + -1.1582715586655468e-07 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/reservoir_12ch/Object.usd", + "pose": { + "pos": [ + -1.2297239303588867, + 1.0887298583984375, + 0.9179999828338623 + ], + "ori": [ + -0.35688403248786926, + 4.02559621193177e-08, + 4.310365397941496e-10, + 0.9341486692428589 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 1.3468465454025136e-08, + 8.092567327366851e-08, + -2.0489096641540527e-06 + ], + "angular_velocity": [ + -3.840743374894373e-06, + 4.4482840166892856e-07, + 8.145661922753789e-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": 8.619999999999948, + "step": 1724, + "counter": 0, + "devices": { + "a4s_sealer_1": { + "mode": "auto", + "units": { + "drawer": { + "state": "at_out", + "active": null, + "target": 0.0, + "goal_name": "out", + "profile": null, + "q_start": null, + "reversing": false, + "blocked_for": 0.0, + "settled_for": 0.0, + "last_q": 3.0277486247343166e-12 + }, + "heater": { + "state": "ready", + "active": null, + "duration": 0.0, + "t_start": null, + "elapsed": 0.0 + } + }, + "queues": {}, + "program": null, + "sensors": { + "plate_present": { + "occupants": [], + "pending": {} + } + }, + "interlocks": {} + }, + "conveyor_1": { + "mode": "auto", + "units": { + "belt": { + "state": "at_station", + "active": null, + "controller": { + "speed": 0.23603420663178865, + "holds": [], + "station": "pick", + "rider": "carrier_2", + "arrived": true, + "settle_count": 1623, + "released": { + "pick": [] + }, + "last_pos": { + "carrier_1": [ + 0.4834628999233246, + 0.7026498913764954, + 0.0 + ], + "carrier_2": [ + -0.2859129011631012, + 7.748603820800781e-07, + 0.0 + ], + "carrier_3": [ + 1.5432592332363129, + 0.4038551449775696, + 0.0 + ], + "carrier_4": [ + -1.3866609632968903, + 0.6422765851020813, + 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": [ + -0.24694704690600155, + 0.29114712201015513, + 2.8560157245042075 + ], + "ori": [ + -4.346141888439815, + -6.6151743753392385, + -14.624340713284793 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "color_temperature": 7119.569103843185, + "color": [ + 0.8570930034902873, + 0.989516764268071, + 0.7846730598784049 + ], + "intensity": 6543.634437095864, + "width": 2.7649728123654285, + "height": 1.8863269913212823 + } + }, + "key": { + "type": "sphere", + "pose": { + "pos": [ + 1.3960512969904157, + 0.12584551515733144, + 1.9920169427363301 + ], + "ori": [ + -35.48098601012115, + 31.51196393321743, + 21.40130727327719 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "color_temperature": 5599.984623733704, + "color": [ + 0.7812237294794677, + 0.9656431063622967, + 0.768306656295809 + ], + "intensity": 7850.902247815921, + "radius": 0.05154906902399419 + } + } + } + ], + "background": { + "type": "dome", + "pose": { + "pos": null, + "ori": null, + "scale": null + }, + "dr": { + "intensity": 865.7484633452245, + "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": [ + [ + 2.6888387203216553, + -1.9150614738464355, + 2.2634055614471436, + -1.9175819158554077, + -1.568792700767517, + 4.253472805023193, + 0.007210141513496637, + 0.006571613252162933 + ], + [ + 2.708448886871338, + -1.9326566457748413, + 2.0962321758270264, + -1.7346816062927246, + -1.5714114904403687, + 4.278512954711914, + 0.01800001971423626, + 0.017999978736042976 + ], + [ + 1.9956899881362915, + -2.0312397480010986, + 2.673351287841797, + -2.213477373123169, + -1.5708868503570557, + 4.12710428237915, + 0.006962078623473644, + 0.007854620926082134 + ], + [ + 0.9141029715538025, + -1.7193974256515503, + 2.0905003547668457, + -1.9419012069702148, + -1.5707999467849731, + 2.48490047454834, + 0.01799999736249447, + 0.018000001087784767 + ] + ], + "joint_vel": [ + [ + 0.011592144146561623, + 0.02721386030316353, + -0.016364607959985733, + -0.010467778891324997, + 0.00026615234673954546, + 0.011120432056486607, + -0.008515230379998684, + 0.00013624943676404655 + ], + [ + -0.009751847945153713, + -0.02350718528032303, + 0.014008217491209507, + 0.00884300284087658, + -5.608063474937808e-06, + -0.009877638891339302, + -3.271026116635767e-06, + 3.2711946005292702e-06 + ], + [ + -0.07398413866758347, + -0.007365027442574501, + -0.0005915318615734577, + 0.015648601576685905, + -0.0009353364584967494, + 0.006766694597899914, + -0.007641890086233616, + -0.00012049570796079934 + ], + [ + -2.4548924604370244e-38, + 1.4827164274393247e-38, + 0.0, + 4.35970094875601e-37, + 2.7603543940789925e-37, + 4.379669339768762e-37, + 2.5990388508034812e-08, + -2.5990400942532688e-08 + ] + ] + } + }, + "cameras": { + "cameras": { + "camera0": [ + [ + 0.05201542377471924, + 0.000162387135787867, + -0.027856476604938507, + -0.29185751080513, + 0.6408387422561646, + 0.6576879620552063, + -0.26756566762924194 + ], + [ + 0.046951744705438614, + -0.0015103176701813936, + -0.032067976891994476, + -0.283814013004303, + 0.6475324034690857, + 0.648303210735321, + -0.282585084438324 + ], + [ + 0.05295586213469505, + -0.00031639638473279774, + -0.02738129161298275, + -0.2801145613193512, + 0.6485617160797119, + 0.6542319655418396, + -0.269970566034317 + ], + [ + 0.051192376762628555, + -0.00030906402389518917, + -0.029987882822752, + -0.2888675928115845, + 0.6481319069862366, + 0.6441708207130432, + -0.28552496433258057 + ] + ], + "camera1": [ + [ + 0.0624166876077652, + 0.5729935765266418, + 1.929408311843872, + 0.030381066724658012, + 0.011406419798731804, + 0.27634719014167786, + 0.9605098366737366 + ], + [ + 0.07383805513381958, + 0.5854329466819763, + 1.928359866142273, + 0.0291448887437582, + 0.023123815655708313, + 0.27390092611312866, + 0.9610380530357361 + ], + [ + 0.03778810054063797, + 0.5909035205841064, + 1.9590167999267578, + 0.053438592702150345, + -0.0030883802101016045, + 0.28397461771965027, + 0.9573364853858948 + ], + [ + 0.05338853970170021, + 0.560987114906311, + 1.9599177837371826, + 0.031364329159259796, + 0.01240546628832817, + 0.2591642737388611, + 0.9652441740036011 + ] + ] + } + } + } +} \ No newline at end of file diff --git a/episodes/c8_p007_e015/wrist.mp4 b/episodes/c8_p007_e015/wrist.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..0e6de78f1bf35eaadf08e76110dc1a8ed94b12ce --- /dev/null +++ b/episodes/c8_p007_e015/wrist.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:b656d310812fd53796673f164ed8a3d243870349fe3b7918ebbfcff741b55f46 +size 6322049 diff --git a/index/episodes.csv b/index/episodes.csv index 425d686bf236403ecc17d1469b9ea6662b20a8e5..a9d0906f1ae6fcb0ffd32e26d8b272d54495bc29 100644 --- a/index/episodes.csv +++ b/index/episodes.csv @@ -2294,3 +2294,14 @@ c8_p007_e012,2,True,-0.024214744567871094,0.4499969482421875,-0.0104351349505307 c9_p009_e005,1,True,0.06790637969970703,0.4500131607055664,-0.008980362320091955,-0.0020082697769243144,-9.22450424083462,plate_96_white,0.5116128921508789,0.08402252197265625,-90.0992231714612,0.17882298729395113,660.6945189781328,rect,-0.23616520381291906,0.39300842740830133,3.142522447238431,13658.297479777399,4954.0827363681665,sphere,0.697533234880408,-0.6803919406814701,2.028229473736027,3032.165051120801,4902.669441687309,0.052926819771528244,0.002889070427045226,-0.027308596298098564,-0.27635297179222107,0.6417204737663269,0.656573474407196,-0.2841392755508423,0.03766845166683197,0.5904791951179504,1.9618582725524902,0.03192288801074028,0.03215997666120529,0.2724737524986267,0.9610955715179443,1266,1,,2.08087158203125,0.32768504201881615,0.0,0.007257263176143169,0.5007898894154819,12,release,0.042205750942230225,"Pre-grasping the small plate, moving the arm toward it; the ",v2,True,False c9_p009_e006,0,True,-0.10350513458251953,0.4500007629394531,0.004323965416370891,0.00011898906783093105,-1.5382010925680447,plate_6_clear,0.4984111785888672,0.10499954223632812,-94.88015299755519,0.28279328599353354,660.6945189781328,rect,0.7538738743099344,0.02919007070443258,2.861460280436451,9687.488949564828,3958.0310257956676,disk,-0.9718858761623611,4.153998581912788e-05,2.6234162934764944,8007.547276036936,5398.061763188672,0.04915427789092064,-0.002355073345825076,-0.029656587168574333,-0.2862713932991028,0.6447537541389465,0.6523252725601196,-0.2771516740322113,0.07425690442323685,0.5551104545593262,1.974358320236206,0.05925827473402023,0.01838085800409317,0.28478026390075684,0.9565829038619995,1246,1,,2.0915074348449707,0.2879226520941496,0.0,0.007382838986814022,0.5096308186195827,12,release,0.04226776957511902,"Pre-grasping the small plate, moving the arm toward it; the ",v2,True,False c9_p009_e007,3,True,-0.0638580322265625,0.45000171661376953,-0.014707759922261646,0.0031328602904955208,-4.532311632202266,plate_96_clear,0.5227231979370117,0.11492919921875,-88.80199811353675,0.1612583489859261,660.6945189781328,rect,-0.24072027447887334,-0.11829155311579487,3.1930942629367176,10568.27482309311,5194.346188705875,disk,1.584195800338775,1.5189879955134475,2.5697091880956116,9008.9619822817,5563.034991758113,0.049155473709106445,0.0024217679165303707,-0.02885296940803528,-0.2714061737060547,0.6521698832511902,0.6531946659088135,-0.27267175912857056,0.04751982167363167,0.5893576145172119,1.959147334098816,0.042293231934309006,0.016378626227378845,0.2697164714336395,0.9618711471557617,1286,1,,2.095386266708374,0.3285887032231279,0.0,0.007257737684994936,0.5412130637636081,12,release,0.04228484630584717,"Pre-grasping the small plate, moving the arm toward it; the ",v2,True,False +c4_p007_e004,3,True,-0.09944915771484375,0.4474916458129883,0.004198933282762273,0.009604557102621545,7.244925592051004,plate_384_white,0.4988422393798828,0.11703014373779297,-85.3321059681004,0.2521506124647856,584.0097192595206,rect,-0.4073058677715517,0.33826262687518904,3.157908077899852,6674.709142422114,3518.9189476539127,disk,0.1713373583924931,-0.7326663671096609,2.046873801281426,2568.649871613215,3892.755201707317,0.04923414811491966,0.0017221394227817655,-0.0279284305870533,-0.2829744815826416,0.6446800827980042,0.6542817950248718,-0.276094913482666,0.06539583206176758,0.6036527752876282,1.9611330032348633,0.03326158598065376,0.010567559860646725,0.2742682695388794,0.9610196948051453,1292,1,,2.0610709190368652,0.281475720484886,0.0,0.0074197882786393166,0.5402476780185759,12,release,0.04235529899597168,"Pre-grasping the small plate, moving the arm toward it; the ",v2,True,False +c4_p007_e005,2,True,0.1282033920288086,0.4499998092651367,0.008379976533424004,0.0016439290270976348,4.928219046798802,plate_24_clear,0.5011758804321289,0.07409000396728516,-93.19759233197499,0.2966905296732779,506.2738340308846,rect,0.3522834098882627,-0.10891490028007483,2.6034271778873657,10732.552982477995,6901.295265947807,sphere,-1.1548822399765413,-1.1919134241251013,2.308977895205053,7501.944559979612,6371.855133623176,0.053989529609680176,-0.00196252902969718,-0.03169962391257286,-0.28136155009269714,0.6462664008140564,0.6519044637680054,-0.279635488986969,0.02644018456339836,0.5866796374320984,1.96474289894104,0.028418950736522675,0.0012427562614902854,0.25572264194488525,0.9663316011428833,1196,1,,2.1079981327056885,0.27826208126367025,0.0,0.0072816964238882065,0.5351170568561873,12,release,0.04229158163070679,"Pre-grasping the small plate, moving the arm toward it; the ",v2,True,False +c4_p007_e006,1,True,0.05021095275878906,0.4499979019165039,-0.014644583209339708,0.006149386283546871,-1.4806412527258885,plate_12_clear,0.4612903594970703,0.12853145599365234,-91.39230784532411,0.16468082082888524,506.2738340308846,rect,-0.3605653243325035,-0.09965641515023405,2.797715494353235,12715.223920473863,5253.176768629841,disk,1.4639160267997426,0.25533169004305534,2.2890668357996704,8721.49757621121,7324.010049300755,0.050523336976766586,-0.0022411008831113577,-0.028726212680339813,-0.271605908870697,0.6537532806396484,0.6500716805458069,-0.2761225402355194,0.05835886672139168,0.6035720109939575,1.9589279890060425,0.048553623259067535,0.0011418277863413095,0.2842447757720947,0.9575208425521851,1248,1,,2.1045448780059814,0.28791679164095524,0.0,0.007364223711192608,0.5104166666666666,12,release,0.042389750480651855,"Pre-grasping the small plate, moving the arm toward it; the ",v2,True,False +c4_p007_e007,0,True,0.08734130859375,0.44725513458251953,-0.006719216318509514,0.0027775507399806485,4.66908022884229,plate_6_clear,0.4743375778198242,0.07537841796875,-89.9065529822233,0.1803764429250878,506.2738340308846,rect,0.4000824795434056,0.3790952665929651,2.849765915776396,8534.871275780552,3260.9851769591683,sphere,1.7967349130408654,0.571514453361935,2.638967758516376,9107.083478894827,4428.657909294793,0.05308682471513748,-0.0013556766789406538,-0.03012685663998127,-0.2684033215045929,0.6598049998283386,0.6437209248542786,-0.27971479296684265,0.03902772068977356,0.575553834438324,1.9346468448638916,0.028778688982129097,0.004978996701538563,0.2844105362892151,0.9582576155662537,1284,1,,2.08573055267334,0.2701145984426619,0.0,0.007341163698583841,0.5,12,release,0.042504310607910156,"Pre-grasping the small plate, moving the arm toward it; the ",v2,True,False +c5_p006_e036,0,True,-0.0038290023803710938,0.44998931884765625,0.011718939015342923,-0.00818552782831988,8.101474295617038,deep_well_96_2ml,0.46412086486816406,0.06696701049804688,-92.47554467929427,0.22260352072470113,1069.5125239314534,rect,0.17004533602254635,-0.2653019052193829,2.6558852505077053,15289.282640832347,4682.397527718685,sphere,1.4045841409206057,0.3161117097810415,2.6263999069529484,6222.87999513011,6877.4279769923705,0.04648948833346367,0.0004379700985737145,-0.02649676986038685,-0.2796136140823364,0.6528694033622742,0.6434115767478943,-0.2856559753417969,0.04277627915143967,0.6040522456169128,1.9696524143218994,0.052094873040914536,0.009460091590881348,0.2667482793331146,0.9623107314109802,1296,1,,2.0716238021850586,0.30581200486030724,0.0,0.007506020367145538,0.5432098765432098,12,release,0.04366159439086914,"Pre-grasping the small plate, moving the arm toward it; the ",v2,True,False +c7_p007_e017,3,True,0.1430683135986328,0.44839000701904297,0.0076481051894191,-0.010453148587429472,5.927005114606885,plate_384_white,0.4947824478149414,0.1017904281616211,-86.85942985338791,0.29777038196017813,789.3852278265828,rect,-0.15713199127559907,0.2587208919181958,3.0300663455864307,12359.489077680788,4401.084687109195,disk,-1.3381742525911975,-0.18003245683315128,2.7709289103591366,9638.876138860851,4469.973635281585,0.05127113312482834,-0.0025151483714580536,-0.03084433823823929,-0.26932552456855774,0.652039110660553,0.6558260917663574,-0.2687022387981415,0.06358737498521805,0.596274197101593,1.9423720836639404,0.036170944571495056,0.02886953391134739,0.2847341299057007,0.9574887156486511,1215,1,,2.0960423946380615,0.2952939369089175,0.0,0.007413593586534262,0.5300411522633744,12,release,0.04224739968776703,"Pre-grasping the small plate, moving the arm toward it; the ",v2,True,False +c7_p007_e018,0,True,0.05985450744628906,0.45000362396240234,0.0006880564364398035,-0.004709176987796881,-1.560099861715031,plate_96_black,0.5010499954223633,0.1187429428100586,-88.53705766770034,0.2636920628266184,789.3852278265828,rect,-0.41549013258131484,0.3945287237203541,3.020251302585253,5164.93245152196,5754.443121674358,disk,1.0409930303303305,0.0075861144154432125,1.755106016468424,3411.0638283062626,5026.634469420007,0.05085097253322601,-0.0029661713633686304,-0.030366847291588783,-0.2817353308200836,0.641668975353241,0.6568959951400757,-0.2781613767147064,0.035610541701316833,0.5922893285751343,1.9276551008224487,0.05301668867468834,0.0035060797818005085,0.2780672609806061,0.9590910077095032,1225,1,,2.063230514526367,0.2506527551122454,0.0,0.0072580911219120026,0.5208163265306123,12,release,0.04227304458618164,"Pre-grasping the small plate, moving the arm toward it; the ",v2,True,False +c7_p007_e019,2,True,-0.029544830322265625,0.45000267028808594,-0.0046569146331860625,0.0049017691845290945,-1.6820877958695064,plate_1536_black,0.46644115447998047,0.05382251739501953,-94.3000692184742,0.21172741991461627,789.3852278265828,rect,0.8760733220390325,0.1708129285416018,2.701860877145967,5087.918700953138,5528.0725503422145,sphere,-0.4920814148089041,1.3870802550794752,1.8943068705561592,9404.943659499964,6577.257528809434,0.048726122826337814,0.0015609938418492675,-0.027331829071044922,-0.28194770216941833,0.6388665437698364,0.6633032560348511,-0.26904234290122986,0.030677909031510353,0.6020935773849487,1.9614427089691162,0.04714910686016083,0.02741805650293827,0.2742762863636017,0.9601029753684998,1322,1,,2.0982465744018555,0.35637344575169655,0.0,0.00736951595172286,0.5302571860816944,12,release,0.04230546951293945,"Pre-grasping the small plate, moving the arm toward it; the ",v2,True,False +c8_p007_e013,1,True,0.11816120147705078,0.4499998092651367,0.013120637676192395,0.0032597134300964706,0.7806903969385246,plate_96_white,0.4940500259399414,0.12068843841552734,-88.4793647150569,0.203251382956965,865.7484633452245,rect,0.3862368948878865,-0.4480532183696812,3.1143167637214813,14693.159852242117,4521.842806125237,sphere,-0.29101562103562273,-0.6289953302250849,1.9071966405352632,9379.143974761642,6926.5920547808255,0.04714176431298256,0.0012442698935046792,-0.029429271817207336,-0.28078973293304443,0.6474774479866028,0.6486971378326416,-0.28481945395469666,0.07383805513381958,0.5854329466819763,1.928359866142273,0.0291448887437582,0.023123815655708313,0.27390092611312866,0.9610380530357361,1225,1,,2.0214571952819824,0.245901473832082,0.0,0.007289614994078875,0.5134693877551021,12,release,0.04334688186645508,"Pre-grasping the small plate, moving the arm toward it; the ",v2,True,False +c8_p007_e014,0,True,-0.0007772445678710938,0.45000267028808594,0.012451195921444358,-0.0007444175470705303,4.129084537743552,pcr_96_blue,0.4953346252441406,0.08161735534667969,-94.7172394143877,0.23707417813043985,865.7484633452245,rect,0.34199221801061486,-0.023420403261387335,3.136330982692132,12886.453828762043,5616.273223455067,sphere,0.827693600583054,0.8606977720898346,2.0350551306196882,6377.844417527014,6016.080040669658,0.05150797963142395,-0.0008559809648431838,-0.027645638212561607,-0.28539296984672546,0.638142466545105,0.6627088785171509,-0.2685926556587219,0.0624166876077652,0.5729935765266418,1.929408311843872,0.030381066724658012,0.011406419798731804,0.27634719014167786,0.9605098366737366,1262,1,,2.0734026432037354,0.2771805523970607,0.0,0.006841032300144434,0.5586370839936609,12,release,0.042240142822265625,"Pre-grasping the small plate, moving the arm toward it; the ",v2,True,False +c8_p007_e015,3,True,-0.13591289520263672,0.4500007629394531,0.007112624108882226,0.002049025936447355,-0.8653113511628021,plate_384_white,0.5054759979248047,0.0936441421508789,-88.54507967983156,0.23603420663178865,865.7484633452245,rect,-0.24694704690600155,0.29114712201015513,2.8560157245042075,6543.634437095864,7119.569103843185,sphere,1.3960512969904157,0.12584551515733144,1.9920169427363301,7850.902247815921,5599.984623733704,0.051192376762628555,-0.00030906402389518917,-0.029987882822752,-0.2888675928115845,0.6481319069862366,0.6441708207130432,-0.28552496433258057,0.05338853970170021,0.560987114906311,1.9599177837371826,0.031364329159259796,0.01240546628832817,0.2591642737388611,0.9652441740036011,1175,1,,2.044370651245117,0.3060189508587419,0.0,0.007416865322738886,0.5395744680851063,12,release,0.042098045349121094,"Pre-grasping the small plate, moving the arm toward it; the ",v2,True,False