diff --git a/episodes/c1_p005_e039/data.npz b/episodes/c1_p005_e039/data.npz new file mode 100644 index 0000000000000000000000000000000000000000..74ce20368a94cd693a6d0b5724be4230fb5b8208 --- /dev/null +++ b/episodes/c1_p005_e039/data.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:11ff40e8849667794e69ceb01e4f3703e25fe4009a1956f0adb4df0fa04257aa +size 204318 diff --git a/episodes/c1_p005_e039/device_events.jsonl b/episodes/c1_p005_e039/device_events.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..9293227b333828e50207ba4dbbe7140fa14e6e3d --- /dev/null +++ b/episodes/c1_p005_e039/device_events.jsonl @@ -0,0 +1,36 @@ +{"env_id": 0, "seq": 1, "step": 45, "t": 0.225, "topic": "conveyor_1.belt.station.pick.captured", "source": "conveyor_1.belt", "data": {"rider": "carrier_4"}, "cause": null} +{"env_id": 0, "seq": 2, "step": 45, "t": 0.225, "topic": "conveyor_1.belt.state.changed", "source": "conveyor_1.belt", "data": {"from": "running", "to": "at_station"}, "cause": null} +{"env_id": 0, "seq": 3, "step": 50, "t": 0.25, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_4"}, "cause": null} +{"env_id": 0, "seq": 4, "step": 1488, "t": 7.44, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_4"}, "cause": null} +{"env_id": 0, "seq": 5, "step": 6550, "t": 32.75, "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": 7160, "t": 35.8, "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": 7160, "t": 35.8, "topic": "a4s_sealer_1.seal.started", "source": "a4s_sealer_1", "data": {"dwell": 2.7245228665546604}, "cause": "task-0-1"} +{"env_id": 0, "seq": 8, "step": 7160, "t": 35.8, "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": 7160, "t": 35.8, "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": 7160, "t": 35.8, "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": 7579, "t": 37.895, "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": 7579, "t": 37.895, "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": 7579, "t": 37.895, "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": 7579, "t": 37.895, "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": 7579, "t": 37.895, "topic": "labware.plate_4.changed", "source": "labware.plate_4", "data": {"key": "sealed", "value": true}, "cause": "task-0-1"} +{"env_id": 0, "seq": 16, "step": 7579, "t": 37.895, "topic": "a4s_sealer_1.sealed", "source": "a4s_sealer_1", "data": {"plate": "plate_4"}, "cause": "task-0-1"} +{"env_id": 0, "seq": 17, "step": 7579, "t": 37.895, "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": 7579, "t": 37.895, "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": 7579, "t": 37.895, "topic": "a4s_sealer_1.heater.started", "source": "a4s_sealer_1.heater", "data": {"duration": 2.7245228665546604}, "cause": "program-0-3"} +{"env_id": 0, "seq": 20, "step": 8124, "t": 40.62, "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": 8124, "t": 40.62, "topic": "a4s_sealer_1.heater.finished", "source": "a4s_sealer_1.heater", "data": {"elapsed": 2.725000000001394}, "cause": "program-0-3"} +{"env_id": 0, "seq": 22, "step": 8124, "t": 40.62, "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": 2.725000000001394}}, "cause": "program-0-3"} +{"env_id": 0, "seq": 23, "step": 8124, "t": 40.62, "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": 8124, "t": 40.62, "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": 8124, "t": 40.62, "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": 8544, "t": 42.72, "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": 8544, "t": 42.72, "topic": "a4s_sealer_1.drawer.reached", "source": "a4s_sealer_1.drawer", "data": {"position": "out", "q": 3.863975734930136e-07}, "cause": "program-0-4"} +{"env_id": 0, "seq": 28, "step": 8544, "t": 42.72, "topic": "a4s_sealer_1.drawer.at_out", "source": "a4s_sealer_1.drawer", "data": {"q": 3.863975734930136e-07}, "cause": "program-0-4"} +{"env_id": 0, "seq": 29, "step": 8544, "t": 42.72, "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": 8544, "t": 42.72, "topic": "a4s_sealer_1.seal.finished", "source": "a4s_sealer_1", "data": {}, "cause": "task-0-1"} +{"env_id": 0, "seq": 31, "step": 8544, "t": 42.72, "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": 9123, "t": 45.615, "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": 11368, "t": 56.84, "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": 11368, "t": 56.84, "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": 11368, "t": 56.84, "topic": "conveyor_1.belt.state.changed", "source": "conveyor_1.belt", "data": {"from": "at_station", "to": "running"}, "cause": null} +{"env_id": 0, "seq": 36, "step": 11368, "t": 56.84, "topic": "conveyor_1.belt.command.succeeded", "source": "conveyor_1.belt", "data": {"command_id": "task-0-5", "name": "release", "source": "task", "result": {"state": "running"}}, "cause": "task-0-5"} diff --git a/episodes/c1_p005_e039/env.mp4 b/episodes/c1_p005_e039/env.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..a9ef050d54a26129d9baa92fc3a07f5a5fb5ea2b --- /dev/null +++ b/episodes/c1_p005_e039/env.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:b9a6e8e2348b05dfc45e0b7e292536b10270ba63426c657553b305c009684cdf +size 1297402 diff --git a/episodes/c1_p005_e039/meta.json b/episodes/c1_p005_e039/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..081457986c6ddec61ccd404582e04be14a3a6e4c --- /dev/null +++ b/episodes/c1_p005_e039/meta.json @@ -0,0 +1,32 @@ +{ + "source": "raw/c1_p005/magicsim/39", + "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/c1_p005_e039/scene_snapshot.json b/episodes/c1_p005_e039/scene_snapshot.json new file mode 100644 index 0000000000000000000000000000000000000000..467982e494b7609e59e924d511fd88d07b373fe2 --- /dev/null +++ b/episodes/c1_p005_e039/scene_snapshot.json @@ -0,0 +1,1558 @@ +{ + "trajectory_id": 39, + "env_id": 0, + "run_id": "c1_p005", + "task_type": "BioPlateCell", + "success": true, + "timing": { + "fps": 50.0, + "sim_dt": 0.005, + "decimation": 4 + }, + "restore_interface": { + "scene": "scene_manager.reset_to(snapshot['scene'], env_ids=[env_id])", + "robots": "robot_manager.set_state({'robots': snapshot['robots']}, env_ids=[env_id])" + }, + "snapshot": { + "env_id": 0, + "scene": { + "objects": [ + { + "rac_cell": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/rac_cell.usd", + "pose": { + "pos": [ + 0.0, + 0.0, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "physics_material": { + "static_friction": 0.6, + "dynamic_friction": 0.5, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "robot_mount": [ + { + "asset": "Cube", + "pose": { + "pos": [ + 0.0, + 0.0, + 0.9075 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": "color", + "value": [ + 0.55, + 0.56, + 0.58 + ], + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": { + "size": [ + 0.2, + 0.2, + 0.015 + ] + } + }, + "type_specific": {} + } + ], + "plate_rack": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/plate_hotel.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 0.9 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "physics_material": { + "static_friction": 0.6, + "dynamic_friction": 0.5, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "hotel_plate": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_96_clear/plate_96_clear.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 0.9605 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_24_clear/plate_24_clear.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.0285 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/pcr_96_blue/pcr_96_blue.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.0965 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_96_white/plate_96_white.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.1645 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_12_clear/plate_12_clear.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.2325 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "a4s_sealer": [ + { + "asset": "$MAGICSIM_ASSETS/Articulated/A4SSealer/Object.usd", + "pose": { + "pos": [ + 0.5042552947998047, + 0.08044242858886719, + 0.8999999761581421 + ], + "ori": [ + -0.7036067247390747, + 0.0, + 0.0, + 0.710589587688446 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "articulation", + "solver_position_iteration_count": 16.0, + "solver_velocity_iteration_count": 1.0, + "enabled_self_collisions": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "joint_position": [ + 7.064751561536298e-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": 0.24559556059052806, + "direction": [ + 1.0, + 0.0, + 0.0 + ], + "enabled": true, + "drive": "surface_velocity", + "lines": null, + "station_line": null, + "riders": [ + "carrier" + ], + "stations": { + "pick": { + "position": -0.1639797253157562, + "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": 0.24559556059052806, + "holds": [], + "station": "pick", + "rider": "carrier_4", + "arrived": true, + "applied_speed": 0.0 + } + } + } + ], + "carrier": [ + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + 1.4695978164672852, + 0.47466564178466797, + 0.8999999761581421 + ], + "ori": [ + 0.9858390092849731, + 5.800286828616663e-08, + 2.1203970135275085e-08, + 0.16769467294216156 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -1.7193277912497251e-09, + 3.840627371687333e-09, + 3.725290298461914e-09 + ], + "angular_velocity": [ + -4.981460222097667e-08, + -7.178287830811314e-08, + 2.760029538251274e-08 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + -1.3589229583740234, + 0.9624824523925781, + 0.8999999761581421 + ], + "ori": [ + -0.5145063996315002, + 7.80968605340604e-08, + -6.03655507802614e-08, + 0.8574866056442261 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -1.1447198744463094e-09, + 3.3884228756164703e-09, + 1.862645149230957e-08 + ], + "angular_velocity": [ + -2.2790582931975223e-07, + 9.886761631605623e-08, + -4.645434614758415e-08 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + 0.5141391754150391, + 1.1500015258789062, + 0.8999999761581421 + ], + "ori": [ + 8.487438208248932e-06, + 8.415730334832006e-09, + 2.659920284031614e-09, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -1.3893169947820638e-10, + 1.4538985571022067e-09, + 0.0 + ], + "angular_velocity": [ + -1.26601094052603e-07, + -2.0241309073298908e-08, + -3.1234352881881478e-09 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + -0.01331329345703125, + 0.45000171661376953, + 0.8999999761581421 + ], + "ori": [ + 1.0, + 2.784467323380113e-09, + 5.747312625814516e-10, + 6.20441060164012e-05 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 1.7772472382659998e-09, + 1.4775587420245984e-09, + 1.862645149230957e-08 + ], + "angular_velocity": [ + -8.890432212638189e-08, + 1.801379170274231e-07, + -1.467886256989459e-08 + ] + } + } + ], + "plate": [ + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_6_clear/Object.usd", + "pose": { + "pos": [ + 1.4654350280761719, + 0.48426246643066406, + 0.9179999828338623 + ], + "ori": [ + 0.9932453036308289, + 5.915469358797054e-08, + 2.399639598138492e-08, + 0.11603403836488724 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -4.3843677133281744e-08, + 1.9402353501618563e-08, + 8.940696716308594e-08 + ], + "angular_velocity": [ + 6.557037863785808e-07, + -1.4437739537243033e-06, + 4.0478019514011976e-07 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_96_black/Object.usd", + "pose": { + "pos": [ + -1.3692378997802734, + 0.9690732955932617, + 0.9180000424385071 + ], + "ori": [ + -0.5797150135040283, + 8.208845514445784e-08, + -9.474644002693822e-08, + 0.8148193359375 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 2.295060497203849e-08, + 8.640800075454536e-08, + -4.895031452178955e-06 + ], + "angular_velocity": [ + -1.1083745448559057e-05, + -8.631568562122993e-06, + 7.658167078261613e-08 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/pcr_96_blue/Object.usd", + "pose": { + "pos": [ + 0.5218362808227539, + 1.1436891555786133, + 0.9180000424385071 + ], + "ori": [ + 0.025308918207883835, + 8.046590060928338e-09, + 1.772617164164103e-09, + 0.999679684638977 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 1.1915338937740216e-08, + 4.740849490758592e-08, + -5.632638931274414e-06 + ], + "angular_velocity": [ + -5.524676112145244e-07, + 1.390028614878247e-06, + -1.2832555285058334e-07 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/deep_well_96_2ml/Object.usd", + "pose": { + "pos": [ + -0.016869544982910156, + 0.45451831817626953, + 0.9179999828338623 + ], + "ori": [ + 0.9971261620521545, + 3.5510885343370546e-09, + -4.175174095344403e-12, + 0.07575909793376923 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -2.025824663576259e-08, + -3.7134832098217885e-08, + -1.0617077350616455e-06 + ], + "angular_velocity": [ + 2.427885419820086e-06, + -1.8362533182880725e-06, + -8.75629879715234e-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": 5.339999999999908, + "step": 1068, + "counter": 0, + "devices": { + "a4s_sealer_1": { + "mode": "auto", + "units": { + "drawer": { + "state": "at_out", + "active": null, + "target": 0.0, + "goal_name": "out", + "profile": null, + "q_start": null, + "reversing": false, + "blocked_for": 0.0, + "settled_for": 0.0, + "last_q": 7.064751561536298e-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": 0.24559556059052806, + "holds": [], + "station": "pick", + "rider": "carrier_4", + "arrived": true, + "settle_count": 1022, + "released": { + "pick": [] + }, + "last_pos": { + "carrier_1": [ + 1.3195978105068207, + 0.024665653705596924, + 0.0 + ], + "carrier_2": [ + -1.508922964334488, + 0.5124824643135071, + 0.0 + ], + "carrier_3": [ + 0.3641391694545746, + 0.7000015377998352, + 0.0 + ], + "carrier_4": [ + -0.16331329941749573, + 1.7285346984863281e-06, + 0.0 + ] + }, + "command": 0.0 + }, + "belt": { + "target_speed": 0.0, + "command_speed": 0.0 + }, + "seen": { + "state": "at_station", + "station": "pick", + "rider": "carrier_4", + "arrived": true + } + } + }, + "queues": {}, + "program": null, + "sensors": {}, + "interlocks": {} + } + }, + "zones": {}, + "labware": { + "plate_1": { + "sealed": false + }, + "plate_2": { + "sealed": false + }, + "plate_3": { + "sealed": false + }, + "plate_4": { + "sealed": false + } + }, + "rules": {}, + "records": [], + "bus": { + "seq": 3, + "queue": [] + } + }, + null, + null, + null + ], + "drives": [ + {}, + null, + null, + null + ] + }, + "artifacts": [ + { + "ceiling": { + "type": "rect", + "pose": { + "pos": [ + 0.3248928545709987, + 0.10567782679414395, + 2.9917821882027007 + ], + "ori": [ + -12.939728763385851, + -4.366201532061078, + 29.9099381332313 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "color_temperature": 5689.137539713256, + "color": [ + 0.9419639404906732, + 0.9778449842978219, + 0.9734436692724092 + ], + "intensity": 5263.635990443103, + "width": 2.3651263918835004, + "height": 0.9317180760106646 + } + }, + "key": { + "type": "disk", + "pose": { + "pos": [ + 0.7853889576376663, + -1.0713652475182567, + 1.618545094505618 + ], + "ori": [ + -38.974040372462525, + -26.392364394922147, + -36.168475686564996 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "color_temperature": 6712.752624089941, + "color": [ + 0.998868005479413, + 0.8952128596983505, + 0.831211645010526 + ], + "intensity": 7327.059074728842, + "radius": 0.3269754854762262 + } + } + }, + {}, + {}, + {} + ], + "background": { + "type": "dome", + "pose": { + "pos": null, + "ori": null, + "scale": null + }, + "dr": { + "intensity": 1065.8016030971382, + "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": [ + [ + 0.914104163646698, + -1.7193957567214966, + 2.0904979705810547, + -1.941900610923767, + -1.5707999467849731, + 2.4849023818969727, + 0.01799999736249447, + 0.018000001087784767 + ], + [ + 2.7514476776123047, + -1.8356167078018188, + 1.8658664226531982, + -1.601002812385559, + -1.570798635482788, + 4.324056625366211, + 0.0077259717509150505, + 0.006998538970947266 + ], + [ + 2.728146553039551, + -1.824341058731079, + 2.2141153812408447, + -1.9604947566986084, + -1.5708138942718506, + 4.2986979484558105, + 0.007771987933665514, + 0.007100025657564402 + ], + [ + 1.9189454317092896, + -2.211655855178833, + 2.344589948654175, + -1.7030315399169922, + -1.5699883699417114, + 3.475053071975708, + 0.008684458211064339, + 0.006287268828600645 + ] + ], + "joint_vel": [ + [ + 5.108951427246211e-06, + 1.021787102217786e-05, + -2.0435836631804705e-05, + -1.0217924682365265e-05, + -2.6166920193138044e-12, + 2.0435873011592776e-05, + 2.5989487895117236e-08, + -2.5993907470933664e-08 + ], + [ + -0.00781482644379139, + -0.021614808589220047, + 0.014432485215365887, + 0.0057056057266891, + -8.079611870925874e-05, + -0.007931201718747616, + -0.009049067273736, + 0.0003500902676023543 + ], + [ + -0.008954044431447983, + -0.023578718304634094, + 0.015719443559646606, + 0.0066409544087946415, + -8.415551565121859e-05, + -0.008830913342535496, + -0.008266213349997997, + 0.0003398080007173121 + ], + [ + 0.07135779410600662, + -0.05380528047680855, + 0.016420505940914154, + 0.030292555689811707, + 0.001954117324203253, + 0.055703528225421906, + -0.00550835020840168, + 0.0004172515473328531 + ] + ] + } + }, + "cameras": { + "cameras": { + "camera0": [ + [ + 0.053285472095012665, + -0.0012465128675103188, + -0.030961692333221436, + -0.2742904722690582, + 0.6519636511802673, + 0.6527813076972961, + -0.2712649405002594 + ], + [ + 0.05021027475595474, + -0.0015056488336995244, + -0.02995571866631508, + -0.2902725338935852, + 0.6468495726585388, + 0.6477121114730835, + -0.27892032265663147 + ], + [ + 0.048726748675107956, + 0.0014137583784759045, + -0.02876170165836811, + -0.27854424715042114, + 0.6464627981185913, + 0.6566895842552185, + -0.27066168189048767 + ], + [ + 0.054121069610118866, + 0.0025151867885142565, + -0.030427761375904083, + -0.29138752818107605, + 0.6422269940376282, + 0.6506127119064331, + -0.2816750705242157 + ] + ], + "camera1": [ + [ + 0.056424085050821304, + 0.5770604610443115, + 1.9717471599578857, + 0.05339242145419121, + 0.0213716309517622, + 0.27341562509536743, + 0.9601752161979675 + ], + [ + 0.03395658731460571, + 0.5934236645698547, + 1.9692336320877075, + 0.04517325013875961, + 0.008761216886341572, + 0.2607319951057434, + 0.9643139839172363 + ], + [ + 0.06967567652463913, + 0.6021831035614014, + 1.9446438550949097, + 0.024509122595191002, + 0.009143243543803692, + 0.27501240372657776, + 0.9610847234725952 + ], + [ + 0.03701043501496315, + 0.5634275078773499, + 1.9449330568313599, + 0.041991204023361206, + 0.0043378183618187904, + 0.2683749198913574, + 0.9623891115188599 + ] + ] + } + } + } +} \ No newline at end of file diff --git a/episodes/c1_p005_e039/wrist.mp4 b/episodes/c1_p005_e039/wrist.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..7513d83c41f1c9b045250ac3c020cd1962456090 --- /dev/null +++ b/episodes/c1_p005_e039/wrist.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:4cb8c8ebba51223759881c3a07c583e99eaff1aa1e11ab2880dd3ff1a6744565 +size 6446490 diff --git a/episodes/c3_p006_e004/data.npz b/episodes/c3_p006_e004/data.npz new file mode 100644 index 0000000000000000000000000000000000000000..65b41c41dadd31c6a51895bc3a09363fd47548aa --- /dev/null +++ b/episodes/c3_p006_e004/data.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:b4f75b96f0dce569c983e22dcd1dd61498c3aebcdd938937d3330cfbcdcefd47 +size 206316 diff --git a/episodes/c3_p006_e004/device_events.jsonl b/episodes/c3_p006_e004/device_events.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..81b97cf254eb65072c4cd1d2ab805d3a16df6b83 --- /dev/null +++ b/episodes/c3_p006_e004/device_events.jsonl @@ -0,0 +1,39 @@ +{"env_id": 0, "seq": 1, "step": 70, "t": 0.35, "topic": "conveyor_1.belt.station.pick.captured", "source": "conveyor_1.belt", "data": {"rider": "carrier_4"}, "cause": null} +{"env_id": 0, "seq": 2, "step": 70, "t": 0.35, "topic": "conveyor_1.belt.state.changed", "source": "conveyor_1.belt", "data": {"from": "running", "to": "at_station"}, "cause": null} +{"env_id": 0, "seq": 3, "step": 75, "t": 0.375, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_4"}, "cause": null} +{"env_id": 0, "seq": 4, "step": 1375, "t": 6.875, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_4"}, "cause": null} +{"env_id": 0, "seq": 5, "step": 1428, "t": 7.14, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_4"}, "cause": null} +{"env_id": 0, "seq": 6, "step": 1442, "t": 7.21, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_4"}, "cause": null} +{"env_id": 0, "seq": 7, "step": 1453, "t": 7.265, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_4"}, "cause": null} +{"env_id": 0, "seq": 8, "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": 9, "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": 10, "step": 6784, "t": 33.92, "topic": "a4s_sealer_1.seal.started", "source": "a4s_sealer_1", "data": {"dwell": 3.399123463308669}, "cause": "task-0-1"} +{"env_id": 0, "seq": 11, "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": 12, "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": 13, "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": 14, "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": 15, "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": 16, "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": 17, "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": 18, "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": 19, "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": 20, "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": 21, "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": 22, "step": 7203, "t": 36.015, "topic": "a4s_sealer_1.heater.started", "source": "a4s_sealer_1.heater", "data": {"duration": 3.399123463308669}, "cause": "program-0-3"} +{"env_id": 0, "seq": 23, "step": 7883, "t": 39.415, "topic": "a4s_sealer_1.heater.state.changed", "source": "a4s_sealer_1.heater", "data": {"from": "running", "to": "ready"}, "cause": null} +{"env_id": 0, "seq": 24, "step": 7883, "t": 39.415, "topic": "a4s_sealer_1.heater.finished", "source": "a4s_sealer_1.heater", "data": {"elapsed": 3.4000000000017394}, "cause": "program-0-3"} +{"env_id": 0, "seq": 25, "step": 7883, "t": 39.415, "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": 3.4000000000017394}}, "cause": "program-0-3"} +{"env_id": 0, "seq": 26, "step": 7883, "t": 39.415, "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": 27, "step": 7883, "t": 39.415, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "at_in", "to": "moving"}, "cause": null} +{"env_id": 0, "seq": 28, "step": 7883, "t": 39.415, "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": 29, "step": 8303, "t": 41.515, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "moving", "to": "at_out"}, "cause": null} +{"env_id": 0, "seq": 30, "step": 8303, "t": 41.515, "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": 31, "step": 8303, "t": 41.515, "topic": "a4s_sealer_1.drawer.at_out", "source": "a4s_sealer_1.drawer", "data": {"q": 0.0}, "cause": "program-0-4"} +{"env_id": 0, "seq": 32, "step": 8303, "t": 41.515, "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": 33, "step": 8303, "t": 41.515, "topic": "a4s_sealer_1.seal.finished", "source": "a4s_sealer_1", "data": {}, "cause": "task-0-1"} +{"env_id": 0, "seq": 34, "step": 8303, "t": 41.515, "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": 35, "step": 8884, "t": 44.42, "topic": "a4s_sealer_1.plate_present.absent", "source": "a4s_sealer_1.plate_present", "data": {"object": "plate_4"}, "cause": null} +{"env_id": 0, "seq": 36, "step": 11092, "t": 55.46, "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": 37, "step": 11092, "t": 55.46, "topic": "conveyor_1.belt.station.pick.released", "source": "conveyor_1.belt", "data": {"rider": "carrier_4"}, "cause": "task-0-5"} +{"env_id": 0, "seq": 38, "step": 11092, "t": 55.46, "topic": "conveyor_1.belt.state.changed", "source": "conveyor_1.belt", "data": {"from": "at_station", "to": "running"}, "cause": null} +{"env_id": 0, "seq": 39, "step": 11092, "t": 55.46, "topic": "conveyor_1.belt.command.succeeded", "source": "conveyor_1.belt", "data": {"command_id": "task-0-5", "name": "release", "source": "task", "result": {"state": "running"}}, "cause": "task-0-5"} diff --git a/episodes/c3_p006_e004/env.mp4 b/episodes/c3_p006_e004/env.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..87fbe6ed66e8846484f450618ee5a5a642e68f7f --- /dev/null +++ b/episodes/c3_p006_e004/env.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:d6ca4234f0f72087ce23cd91d7587deccd8c6f1330ba55a245924b59cf899884 +size 1294299 diff --git a/episodes/c3_p006_e004/meta.json b/episodes/c3_p006_e004/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..29b708e5a2ef1e0e5e99251c04222781c892a444 --- /dev/null +++ b/episodes/c3_p006_e004/meta.json @@ -0,0 +1,32 @@ +{ + "source": "raw/c3_p006/magicsim/4", + "fps": 25, + "frames": 1282, + "kept_ticks": "even", + "video_frames": { + "wrist": 1282, + "env": 1282 + }, + "joint_target_source": "joint_pos_target", + "fk_vs_recorded_eef_max_m": 0.0, + "curobo_joints": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "joint_order": [ + "shoulder_pan", + "shoulder_lift", + "elbow", + "wrist_1", + "wrist_2", + "wrist_3", + "finger_left", + "finger_right" + ], + "frames_note": "eef / actions in the robot base frame; camera_pose = local pose (wrist: in plate_gripper_base, env: env frame), pos + quat wxyz", + "dr_version": "v2" +} \ No newline at end of file diff --git a/episodes/c3_p006_e004/scene_snapshot.json b/episodes/c3_p006_e004/scene_snapshot.json new file mode 100644 index 0000000000000000000000000000000000000000..6e2ea1b3f106d5e9524baeb8e8f0fa9f039e3341 --- /dev/null +++ b/episodes/c3_p006_e004/scene_snapshot.json @@ -0,0 +1,1558 @@ +{ + "trajectory_id": 4, + "env_id": 0, + "run_id": "c3_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_12_clear/plate_12_clear.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 0.9605 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/deep_well_24_10ml/deep_well_24_10ml.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.0285 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/deep_well_96_2ml/deep_well_96_2ml.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.0965 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_24_clear/plate_24_clear.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.1645 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_96_black/plate_96_black.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.2325 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "a4s_sealer": [ + { + "asset": "$MAGICSIM_ASSETS/Articulated/A4SSealer/Object.usd", + "pose": { + "pos": [ + 0.5018272399902344, + 0.11866378784179688, + 0.8999999761581421 + ], + "ori": [ + -0.7068486213684082, + 0.0, + 0.0, + 0.7073648571968079 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "articulation", + "solver_position_iteration_count": 16.0, + "solver_velocity_iteration_count": 1.0, + "enabled_self_collisions": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "joint_position": [ + 1.0092503005196263e-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": 0.29040286956033495, + "direction": [ + 1.0, + 0.0, + 0.0 + ], + "enabled": true, + "drive": "surface_velocity", + "lines": null, + "station_line": null, + "riders": [ + "carrier" + ], + "stations": { + "pick": { + "position": -0.26108929481578674, + "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": 0.29040286956033495, + "holds": [], + "station": "pick", + "rider": "carrier_4", + "arrived": true, + "applied_speed": 0.0 + } + } + } + ], + "carrier": [ + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + 0.22510051727294922, + 1.149998664855957, + 0.8999999761581421 + ], + "ori": [ + 9.882224730972666e-06, + -2.7862562257396917e-10, + -1.9087806890638603e-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": [ + 7.190531503553643e-10, + -1.0632636993079814e-09, + 3.725290298461914e-09 + ], + "angular_velocity": [ + 5.80454901921712e-08, + 7.139426827507123e-08, + -1.282264183721793e-09 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + -1.3025445938110352, + 1.0379371643066406, + 0.8999999761581421 + ], + "ori": [ + -0.3895609378814697, + 5.665471292104485e-08, + 1.8938577284188796e-07, + 0.9210007190704346 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 2.759572339527949e-07, + 9.55939981395204e-07, + -3.5278499126434326e-06 + ], + "angular_velocity": [ + -8.178265125025064e-05, + 2.2340544092003256e-05, + 3.065106284338981e-07 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + 1.6810083389282227, + 0.694432258605957, + 0.8999999761581421 + ], + "ori": [ + 0.8135097622871399, + 7.384794997733479e-10, + 4.733483827124019e-09, + 0.5815513730049133 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -1.614920419612531e-09, + 1.025257101439081e-10, + 3.725290298461914e-09 + ], + "angular_velocity": [ + -1.2317196151911958e-09, + -1.5061291946949495e-07, + -1.5988628199181676e-09 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + -0.1112060546875, + 0.45000457763671875, + 0.8999999761581421 + ], + "ori": [ + 1.0, + -3.2870448585242684e-09, + -1.185469944431361e-09, + -9.445460455026478e-05 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 1.0143641482329713e-09, + 1.8181953720386446e-09, + 7.450580596923828e-09 + ], + "angular_velocity": [ + -2.430546146570123e-07, + 3.953010718760197e-08, + -2.3877021249063546e-08 + ] + } + } + ], + "plate": [ + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_6_clear/Object.usd", + "pose": { + "pos": [ + 0.22496986389160156, + 1.1534414291381836, + 0.9179999828338623 + ], + "ori": [ + -0.039749570190906525, + 2.609583937829285e-10, + -6.686100562092179e-09, + 0.9992097020149231 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 3.136245041446273e-08, + -1.049382625240014e-08, + 9.313225746154785e-08 + ], + "angular_velocity": [ + 3.8117534018056176e-08, + 1.6780350051703863e-06, + 1.4377764046002994e-07 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_96_black/Object.usd", + "pose": { + "pos": [ + -1.3106765747070312, + 1.0352716445922852, + 0.9179999828338623 + ], + "ori": [ + -0.32175135612487793, + 4.0345511820305546e-08, + 1.854763809205906e-07, + 0.9468242526054382 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 6.330225232886733e-07, + 1.974618498934433e-06, + -3.069639205932617e-06 + ], + "angular_velocity": [ + -8.278955647256225e-05, + 2.3279659217223525e-05, + 9.191239769279491e-07 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/pcr_96_blue/Object.usd", + "pose": { + "pos": [ + 1.683802604675293, + 0.6979341506958008, + 0.9180000424385071 + ], + "ori": [ + 0.8104244470596313, + 3.524510128194436e-10, + 4.404623776821381e-09, + 0.5858430862426758 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -3.044785401584704e-08, + -1.4831286421213008e-08, + -5.677342414855957e-06 + ], + "angular_velocity": [ + 1.992811803575023e-06, + -3.463586040197697e-07, + 1.9457260691524425e-07 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/deep_well_96_2ml/Object.usd", + "pose": { + "pos": [ + -0.12211227416992188, + 0.4595212936401367, + 0.9179999828338623 + ], + "ori": [ + 0.9965424537658691, + -4.945468923267526e-09, + -1.0879028788934875e-09, + -0.0830855518579483 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -4.861218627638664e-08, + -1.349123124327889e-08, + -1.1175870895385742e-06 + ], + "angular_velocity": [ + 1.3766609754384262e-06, + -2.1728546926169656e-06, + 1.1458071469405695e-07 + ] + } + } + ], + "deco_hub_west": [ + { + "asset": "$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": 4.33999999999993, + "step": 868, + "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": 1.0092503005196263e-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": 0.29040286956033495, + "holds": [], + "station": "pick", + "rider": "carrier_4", + "arrived": true, + "settle_count": 797, + "released": { + "pick": [] + }, + "last_pos": { + "carrier_1": [ + 0.07510051131248474, + 0.699998676776886, + 0.0 + ], + "carrier_2": [ + -1.4525445997714996, + 0.5879371762275696, + 0.0 + ], + "carrier_3": [ + 1.5310083329677582, + 0.244432270526886, + 0.0 + ], + "carrier_4": [ + -0.2612060606479645, + 4.589557647705078e-06, + 0.0 + ] + }, + "command": 0.0 + }, + "belt": { + "target_speed": 0.0, + "command_speed": 0.0 + }, + "seen": { + "state": "at_station", + "station": "pick", + "rider": "carrier_4", + "arrived": true + } + } + }, + "queues": {}, + "program": null, + "sensors": {}, + "interlocks": {} + } + }, + "zones": {}, + "labware": { + "plate_1": { + "sealed": false + }, + "plate_2": { + "sealed": false + }, + "plate_3": { + "sealed": false + }, + "plate_4": { + "sealed": false + } + }, + "rules": {}, + "records": [], + "bus": { + "seq": 3, + "queue": [] + } + }, + null, + null, + null + ], + "drives": [ + {}, + null, + null, + null + ] + }, + "artifacts": [ + { + "ceiling": { + "type": "rect", + "pose": { + "pos": [ + -0.23641376511439954, + -0.40384188075848093, + 2.759641785926893 + ], + "ori": [ + -2.8380544894498367, + -13.648933909499716, + 18.42857368751519 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "color_temperature": 7108.518821576057, + "color": [ + 0.9791855101340327, + 0.9762595901800811, + 0.9970390187988651 + ], + "intensity": 8191.115157481537, + "width": 2.620325639613787, + "height": 1.2854755329451009 + } + }, + "key": { + "type": "disk", + "pose": { + "pos": [ + 1.10334083261196, + -0.5139323596171926, + 2.5203104192470693 + ], + "ori": [ + 32.327495166105024, + -23.801449578374623, + -6.39717535757643 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "color_temperature": 6405.780586133362, + "color": [ + 0.9226764343705891, + 0.7514981564261626, + 0.9760118675783251 + ], + "intensity": 4325.105616702176, + "radius": 0.2594392575555456 + } + } + }, + {}, + {}, + {} + ], + "background": { + "type": "dome", + "pose": { + "pos": null, + "ori": null, + "scale": null + }, + "dr": { + "intensity": 1232.1384136877552, + "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 + ], + [ + 1.6143956184387207, + -1.4012060165405273, + 2.1612937450408936, + -2.332594871520996, + -1.5704513788223267, + 0.03621090203523636, + 0.007148569915443659, + 0.006573016289621592 + ], + [ + 1.4723650217056274, + -1.2968112230300903, + 2.258173704147339, + -2.5325074195861816, + -1.5705493688583374, + 6.1845197677612305, + 0.017999986186623573, + 0.017999986186623573 + ], + [ + 1.646004319190979, + -1.2570397853851318, + 2.194781541824341, + -2.5031442642211914, + -1.570380687713623, + 0.07639175653457642, + 0.017999989911913872, + 0.01799999177455902 + ] + ], + "joint_vel": [ + [ + 3.4059639801853336e-06, + 1.8536266271906854e-11, + -6.8119388743070886e-06, + 3.3501736541180493e-12, + -3.0242117404072344e-13, + 3.397190569218861e-13, + -5.3361991474848436e-14, + 1.4617105269232322e-13 + ], + [ + -8.455002534901723e-05, + 0.01654738187789917, + 0.00895352941006422, + -0.023920554667711258, + 0.0001051025974447839, + -0.0001806566579034552, + -0.007571869529783726, + 0.0001951602171175182 + ], + [ + -1.0217891031061299e-05, + 1.021777825371828e-05, + 1.3623849554278422e-05, + -6.811966613895493e-06, + -1.0217931958322879e-05, + 2.724782461882569e-05, + 1.8194873518950772e-07, + 1.819124406665651e-07 + ], + [ + 3.4059644349326845e-06, + 3.4059171412081923e-06, + 6.8119270508759655e-06, + -4.802457910513258e-12, + 6.8119552452117205e-06, + -6.386205200215045e-07, + 1.2995410259009077e-07, + 1.0396349381380787e-07 + ] + ] + } + }, + "cameras": { + "cameras": { + "camera0": [ + [ + 0.04836370795965195, + 0.0010005143703892827, + -0.02691265381872654, + -0.2884393632411957, + 0.6476643681526184, + 0.6506337523460388, + -0.2720465362071991 + ], + [ + 0.05103658512234688, + 0.0031770654022693634, + -0.02785790152847767, + -0.2704103887081146, + 0.6579043865203857, + 0.6443904638290405, + -0.2807151675224304 + ], + [ + 0.047115374356508255, + 0.001571990316733718, + -0.024570690467953682, + -0.29243552684783936, + 0.639960765838623, + 0.6539769768714905, + -0.277931272983551 + ], + [ + 0.046179547905921936, + 0.002322320593520999, + -0.0283113531768322, + -0.27732083201408386, + 0.6545777916908264, + 0.645691454410553, + -0.2787536382675171 + ] + ], + "camera1": [ + [ + 0.0531422384083271, + 0.5822756886482239, + 1.9486342668533325, + 0.05222398042678833, + -0.0006053658435121179, + 0.27215883135795593, + 0.9608339667320251 + ], + [ + 0.026645760983228683, + 0.585456132888794, + 1.9689619541168213, + 0.02928454801440239, + 0.001953271683305502, + 0.26371148228645325, + 0.9641550183296204 + ], + [ + 0.05369463190436363, + 0.5840687155723572, + 1.9585775136947632, + 0.043914441019296646, + 0.013116727583110332, + 0.2599557042121887, + 0.9645322561264038 + ], + [ + 0.02813296765089035, + 0.6020897030830383, + 1.964269757270813, + 0.041611406952142715, + 0.01768052764236927, + 0.26146867871284485, + 0.9641525149345398 + ] + ] + } + } + } +} \ No newline at end of file diff --git a/episodes/c3_p006_e004/wrist.mp4 b/episodes/c3_p006_e004/wrist.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..cc8e227237e4a7ff35996e539cd0d2175f87c7cb --- /dev/null +++ b/episodes/c3_p006_e004/wrist.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:b8725931217f54039f7fcb2e8a4a5188f67ae56209b99692388b50e565d1e6fa +size 7026693 diff --git a/episodes/c4_p006_e006/data.npz b/episodes/c4_p006_e006/data.npz new file mode 100644 index 0000000000000000000000000000000000000000..a77afe1165b34d3225175001ff2181820581a3d2 --- /dev/null +++ b/episodes/c4_p006_e006/data.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:94ea5eed526ea4c567b8ed1adf86040cef1e1c8b22b04a06746007d36e166c95 +size 187508 diff --git a/episodes/c4_p006_e006/device_events.jsonl b/episodes/c4_p006_e006/device_events.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..828ae24dd6c58c8f64b74f40f8553c6212ac4e6d --- /dev/null +++ b/episodes/c4_p006_e006/device_events.jsonl @@ -0,0 +1,35 @@ +{"env_id": 1, "seq": 1, "step": 126, "t": 0.63, "topic": "conveyor_1.belt.station.pick.captured", "source": "conveyor_1.belt", "data": {"rider": "carrier_4"}, "cause": null} +{"env_id": 1, "seq": 2, "step": 126, "t": 0.63, "topic": "conveyor_1.belt.state.changed", "source": "conveyor_1.belt", "data": {"from": "running", "to": "at_station"}, "cause": null} +{"env_id": 1, "seq": 3, "step": 131, "t": 0.655, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_4"}, "cause": null} +{"env_id": 1, "seq": 4, "step": 6711, "t": 33.555, "topic": "a4s_sealer_1.plate_present.present", "source": "a4s_sealer_1.plate_present", "data": {"object": "plate_4"}, "cause": null} +{"env_id": 1, "seq": 5, "step": 7324, "t": 36.62, "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": 7324, "t": 36.62, "topic": "a4s_sealer_1.seal.started", "source": "a4s_sealer_1", "data": {"dwell": 1.7402762589917085}, "cause": "task-1-1"} +{"env_id": 1, "seq": 7, "step": 7324, "t": 36.62, "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": 7324, "t": 36.62, "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": 7324, "t": 36.62, "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": 7743, "t": 38.715, "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": 7743, "t": 38.715, "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": 7743, "t": 38.715, "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": 7743, "t": 38.715, "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": 7743, "t": 38.715, "topic": "labware.plate_4.changed", "source": "labware.plate_4", "data": {"key": "sealed", "value": true}, "cause": "task-1-1"} +{"env_id": 1, "seq": 15, "step": 7743, "t": 38.715, "topic": "a4s_sealer_1.sealed", "source": "a4s_sealer_1", "data": {"plate": "plate_4"}, "cause": "task-1-1"} +{"env_id": 1, "seq": 16, "step": 7743, "t": 38.715, "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": 7743, "t": 38.715, "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": 7743, "t": 38.715, "topic": "a4s_sealer_1.heater.started", "source": "a4s_sealer_1.heater", "data": {"duration": 1.7402762589917085}, "cause": "program-1-3"} +{"env_id": 1, "seq": 19, "step": 8092, "t": 40.46, "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": 8092, "t": 40.46, "topic": "a4s_sealer_1.heater.finished", "source": "a4s_sealer_1.heater", "data": {"elapsed": 1.7450000000008927}, "cause": "program-1-3"} +{"env_id": 1, "seq": 21, "step": 8092, "t": 40.46, "topic": "a4s_sealer_1.heater.command.succeeded", "source": "a4s_sealer_1.heater", "data": {"command_id": "program-1-3", "name": "run", "source": "program:seal", "result": {"elapsed": 1.7450000000008927}}, "cause": "program-1-3"} +{"env_id": 1, "seq": 22, "step": 8092, "t": 40.46, "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": 8092, "t": 40.46, "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": 8092, "t": 40.46, "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": 8512, "t": 42.56, "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": 8512, "t": 42.56, "topic": "a4s_sealer_1.drawer.reached", "source": "a4s_sealer_1.drawer", "data": {"position": "out", "q": 2.2404968547107273e-07}, "cause": "program-1-4"} +{"env_id": 1, "seq": 27, "step": 8512, "t": 42.56, "topic": "a4s_sealer_1.drawer.at_out", "source": "a4s_sealer_1.drawer", "data": {"q": 2.2404968547107273e-07}, "cause": "program-1-4"} +{"env_id": 1, "seq": 28, "step": 8512, "t": 42.56, "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": 8512, "t": 42.56, "topic": "a4s_sealer_1.seal.finished", "source": "a4s_sealer_1", "data": {}, "cause": "task-1-1"} +{"env_id": 1, "seq": 30, "step": 8512, "t": 42.56, "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": 9090, "t": 45.45, "topic": "a4s_sealer_1.plate_present.absent", "source": "a4s_sealer_1.plate_present", "data": {"object": "plate_4"}, "cause": null} +{"env_id": 1, "seq": 32, "step": 10816, "t": 54.08, "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": 10816, "t": 54.08, "topic": "conveyor_1.belt.station.pick.released", "source": "conveyor_1.belt", "data": {"rider": "carrier_4"}, "cause": "task-1-5"} +{"env_id": 1, "seq": 34, "step": 10816, "t": 54.08, "topic": "conveyor_1.belt.state.changed", "source": "conveyor_1.belt", "data": {"from": "at_station", "to": "running"}, "cause": null} +{"env_id": 1, "seq": 35, "step": 10816, "t": 54.08, "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_p006_e006/env.mp4 b/episodes/c4_p006_e006/env.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..4e1bb6a0c79c3fdbbecc21da774e32074e0f9ec8 --- /dev/null +++ b/episodes/c4_p006_e006/env.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:c0315ae204a771d35fe75652f797a2ea06dd6f38fd6cadf130141f58899be64c +size 1285306 diff --git a/episodes/c4_p006_e006/meta.json b/episodes/c4_p006_e006/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..77d7676f381e7219d43c8dccafdc0672b2806d62 --- /dev/null +++ b/episodes/c4_p006_e006/meta.json @@ -0,0 +1,32 @@ +{ + "source": "raw/c4_p006/magicsim/6", + "fps": 25, + "frames": 1168, + "kept_ticks": "even", + "video_frames": { + "wrist": 1168, + "env": 1168 + }, + "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_p006_e006/scene_snapshot.json b/episodes/c4_p006_e006/scene_snapshot.json new file mode 100644 index 0000000000000000000000000000000000000000..c80d1c49a7bff2c6f8f64d2a4bf6d61b7bc946d8 --- /dev/null +++ b/episodes/c4_p006_e006/scene_snapshot.json @@ -0,0 +1,1558 @@ +{ + "trajectory_id": 6, + "env_id": 1, + "run_id": "c4_p006", + "task_type": "BioPlateCell", + "success": true, + "timing": { + "fps": 50.0, + "sim_dt": 0.005, + "decimation": 4 + }, + "restore_interface": { + "scene": "scene_manager.reset_to(snapshot['scene'], env_ids=[env_id])", + "robots": "robot_manager.set_state({'robots': snapshot['robots']}, env_ids=[env_id])" + }, + "snapshot": { + "env_id": 1, + "scene": { + "objects": [ + {}, + { + "rac_cell": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/rac_cell.usd", + "pose": { + "pos": [ + 0.0, + 0.0, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "physics_material": { + "static_friction": 0.6, + "dynamic_friction": 0.5, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "robot_mount": [ + { + "asset": "Cube", + "pose": { + "pos": [ + 0.0, + 0.0, + 0.9075 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": "color", + "value": [ + 0.55, + 0.56, + 0.58 + ], + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": { + "size": [ + 0.2, + 0.2, + 0.015 + ] + } + }, + "type_specific": {} + } + ], + "plate_rack": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/plate_hotel.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 0.9 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "physics_material": { + "static_friction": 0.6, + "dynamic_friction": 0.5, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "hotel_plate": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/deep_well_96_2ml/deep_well_96_2ml.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 0.9605 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_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_4", + "arrived": true, + "applied_speed": 0.0 + } + } + } + ], + "carrier": [ + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + 0.1696014404296875, + 1.1499977111816406, + 0.8999999761581421 + ], + "ori": [ + 7.356024525506655e-06, + 1.1830193491491059e-09, + -3.4717617669599576e-10, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 6.474677460843736e-10, + -2.0041148740546078e-09, + 3.725290298461914e-09 + ], + "angular_velocity": [ + 1.1965961732585129e-07, + 6.209800318401903e-08, + 2.1933921345862473e-09 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + 1.6475105285644531, + 0.6213521957397461, + 0.8999999761581421 + ], + "ori": [ + 0.8718333840370178, + -9.68286499869464e-08, + 2.4481808580389952e-08, + 0.48980262875556946 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -4.803188402568992e-10, + 9.314368165647124e-10, + 0.0 + ], + "angular_velocity": [ + -9.804767131527115e-08, + -9.676881518316804e-08, + 1.1222103246666393e-08 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + -1.3269824981689453, + 1.0089387893676758, + 0.8999999761581421 + ], + "ori": [ + -0.4421793818473816, + -3.0127875305652196e-08, + -3.156189620767691e-08, + 0.8969266414642334 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -9.542377998883467e-10, + -3.992527197738127e-09, + 1.4901161193847656e-08 + ], + "angular_velocity": [ + 2.565342072102794e-07, + -1.1109129616215796e-07, + -1.8002291213292665e-08 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + 0.08783435821533203, + 0.45000743865966797, + 0.8999999761581421 + ], + "ori": [ + 1.0, + 3.63472940634324e-09, + -2.2641558072855617e-10, + 3.439199281274341e-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": [ + -9.262957068045807e-10, + 3.371475987279382e-09, + 7.450580596923828e-09 + ], + "angular_velocity": [ + -2.3660734882469114e-07, + -1.0422374430163472e-07, + -4.5428314443540785e-09 + ] + } + } + ], + "plate": [ + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_12_clear/Object.usd", + "pose": { + "pos": [ + 0.16785144805908203, + 1.1544370651245117, + 0.9179999828338623 + ], + "ori": [ + 0.09934082627296448, + 3.1753921714283706e-10, + -7.520827294271726e-10, + 0.9950535297393799 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 2.6989646073616314e-08, + -2.500001627936399e-08, + 9.313225746154785e-08 + ], + "angular_velocity": [ + 7.63530692893255e-07, + 1.675905423326185e-06, + 1.2902694379590685e-07 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_96_white/Object.usd", + "pose": { + "pos": [ + 1.6496343612670898, + 0.6074953079223633, + 0.9180000424385071 + ], + "ori": [ + 0.8936019539833069, + -9.903144615464043e-08, + 1.852910180843992e-08, + 0.4488602876663208 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -2.0233105857414557e-08, + -3.322279562567587e-09, + -5.017966032028198e-06 + ], + "angular_velocity": [ + 1.0530791314522503e-06, + -2.445286554575432e-06, + 6.9905183863738785e-09 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/pcr_384_red/Object.usd", + "pose": { + "pos": [ + -1.322443962097168, + 1.0209016799926758, + 0.9179999828338623 + ], + "ori": [ + -0.47404107451438904, + -2.4753905591978764e-08, + -3.545527249571023e-08, + 0.8805027604103088 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -2.5312857587778126e-08, + -1.6948213943379642e-09, + -5.532056093215942e-06 + ], + "angular_velocity": [ + -3.9282923580685747e-07, + -2.65904327534372e-06, + -5.064509167596043e-08 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/deep_well_96_1ml/Object.usd", + "pose": { + "pos": [ + 0.08671855926513672, + 0.438140869140625, + 0.9179999828338623 + ], + "ori": [ + 0.9955676198005676, + 1.36240518866515e-09, + -5.532783564632382e-09, + 0.0940483957529068 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -5.570728234260969e-08, + 4.2378363929174157e-08, + 1.7136335372924805e-07 + ], + "angular_velocity": [ + -9.877039701677859e-07, + -2.3050567961035995e-06, + 2.0700313996258046e-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": 7.59999999999986, + "step": 1520, + "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_4", + "arrived": true, + "settle_count": 1393, + "released": { + "pick": [] + }, + "last_pos": { + "carrier_1": [ + 0.019601434469223022, + 0.6999977231025696, + 0.0 + ], + "carrier_2": [ + 1.4975105226039886, + 0.17135220766067505, + 0.0 + ], + "carrier_3": [ + -1.4769825041294098, + 0.5589388012886047, + 0.0 + ], + "carrier_4": [ + -0.062165647745132446, + 7.450580596923828e-06, + 0.0 + ] + }, + "command": 0.0 + }, + "belt": { + "target_speed": 0.0, + "command_speed": 0.0 + }, + "seen": { + "state": "at_station", + "station": "pick", + "rider": "carrier_4", + "arrived": true + } + } + }, + "queues": {}, + "program": null, + "sensors": {}, + "interlocks": {} + } + }, + "zones": {}, + "labware": { + "plate_1": { + "sealed": false + }, + "plate_2": { + "sealed": false + }, + "plate_3": { + "sealed": false + }, + "plate_4": { + "sealed": false + } + }, + "rules": {}, + "records": [], + "bus": { + "seq": 3, + "queue": [] + } + }, + null, + null + ], + "drives": [ + null, + {}, + null, + null + ] + }, + "artifacts": [ + {}, + { + "ceiling": { + "type": "rect", + "pose": { + "pos": [ + 0.4000824795434056, + 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": 1359.0242390111566, + "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": [ + [ + 1.238662600517273, + -1.6083450317382812, + 2.208115577697754, + -2.1703758239746094, + -1.570917010307312, + 2.9942002296447754, + 0.007252150680869818, + 0.00635130051523447 + ], + [ + 0.9141026735305786, + -1.7193982601165771, + 2.0904998779296875, + -1.9419010877609253, + -1.5707999467849731, + 2.48490047454834, + 0.01799999736249447, + 0.018000001087784767 + ], + [ + 0.9008311033248901, + -1.4965914487838745, + 2.0913002490997314, + -2.1655194759368896, + -1.57077157497406, + 2.6205403804779053, + 0.00770599627867341, + 0.007133335806429386 + ], + [ + 0.9141014218330383, + -1.7193995714187622, + 2.0905003547668457, + -1.9419008493423462, + -1.5707999467849731, + 2.48490047454834, + 0.01799999736249447, + 0.018000001087784767 + ] + ], + "joint_vel": [ + [ + 0.00221667205914855, + 0.0004806090728379786, + -0.0015046808402985334, + -0.0003707877767737955, + -0.00014452646428253502, + 0.0010417449520900846, + -0.009083092212677002, + 0.0001428816613042727 + ], + [ + 0.0, + 2.456590834175786e-38, + 1.693424352585683e-38, + 3.606386884564698e-37, + -5.973794544263828e-37, + 2.6964591301622564e-36, + 2.5990374297180097e-08, + -2.5990399166175848e-08 + ], + [ + 8.876587526174262e-05, + -2.3794988010195084e-05, + -0.0001087194395950064, + 0.0005990410572849214, + -0.00046114451834000647, + -0.0020581213757395744, + -0.007163298316299915, + 0.00024930897052399814 + ], + [ + -2.2822632796303823e-38, + 0.0, + 0.0, + 5.2762667324566725e-37, + -5.643254917252365e-37, + 3.534023383451456e-37, + 2.5990399166175848e-08, + -2.5990386731677972e-08 + ] + ] + } + }, + "cameras": { + "cameras": { + "camera0": [ + [ + 0.051701489835977554, + 0.003837670898064971, + -0.02579076774418354, + -0.2853298485279083, + 0.6434205770492554, + 0.656925618648529, + -0.2702694237232208 + ], + [ + 0.050529222935438156, + -0.0018422389402985573, + -0.03073352389037609, + -0.27585315704345703, + 0.6543075442314148, + 0.6446895003318787, + -0.2831290662288666 + ], + [ + 0.0528886504471302, + 0.001080931629985571, + -0.028782999143004417, + -0.2752971947193146, + 0.6414695978164673, + 0.6602479815483093, + -0.277129590511322 + ], + [ + 0.05074121803045273, + 0.0018045463366433978, + -0.028115907683968544, + -0.2835920453071594, + 0.6434183716773987, + 0.6513039469718933, + -0.2852920889854431 + ] + ], + "camera1": [ + [ + 0.05494954437017441, + 0.5779435634613037, + 1.9548925161361694, + 0.033760543912649155, + 0.004810502752661705, + 0.2564293444156647, + 0.965961217880249 + ], + [ + 0.06447694450616837, + 0.5917888283729553, + 1.9724717140197754, + 0.037673477083444595, + 0.025395015254616737, + 0.27396517992019653, + 0.9606658220291138 + ], + [ + 0.04310693219304085, + 0.5589785575866699, + 1.9617395401000977, + 0.028626512736082077, + 0.006195987109094858, + 0.26641425490379333, + 0.9634134769439697 + ], + [ + 0.058745212852954865, + 0.6020344495773315, + 1.9702739715576172, + 0.043858326971530914, + 0.011509216390550137, + 0.26676326990127563, + 0.9626948237419128 + ] + ] + } + } + } +} \ No newline at end of file diff --git a/episodes/c4_p006_e006/wrist.mp4 b/episodes/c4_p006_e006/wrist.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..0338ab42bf23a2a5bf862bb053379a1752f7089d --- /dev/null +++ b/episodes/c4_p006_e006/wrist.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:fc1aeab757258ad7d7597ef1cb646e5fb2c0a6a05fe54d2d000403fad8de8350 +size 6568310 diff --git a/episodes/c4_p006_e007/data.npz b/episodes/c4_p006_e007/data.npz new file mode 100644 index 0000000000000000000000000000000000000000..07570a60579ddc57d77e71866caef15671d3aa57 --- /dev/null +++ b/episodes/c4_p006_e007/data.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:24ac3e92b4ebdaa5f668815935a21159013dbf592b5a41ea4e42feefc5459cbe +size 186115 diff --git a/episodes/c4_p006_e007/device_events.jsonl b/episodes/c4_p006_e007/device_events.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..e699d9786f055d4a2b74b2a518ee0a8a1639a29f --- /dev/null +++ b/episodes/c4_p006_e007/device_events.jsonl @@ -0,0 +1,39 @@ +{"env_id": 3, "seq": 1, "step": 23, "t": 0.115, "topic": "conveyor_1.belt.station.pick.captured", "source": "conveyor_1.belt", "data": {"rider": "carrier_3"}, "cause": null} +{"env_id": 3, "seq": 2, "step": 23, "t": 0.115, "topic": "conveyor_1.belt.state.changed", "source": "conveyor_1.belt", "data": {"from": "running", "to": "at_station"}, "cause": null} +{"env_id": 3, "seq": 3, "step": 28, "t": 0.14, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_3"}, "cause": null} +{"env_id": 3, "seq": 4, "step": 2286, "t": 11.43, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_3"}, "cause": null} +{"env_id": 3, "seq": 5, "step": 2320, "t": 11.6, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_3"}, "cause": null} +{"env_id": 3, "seq": 6, "step": 2404, "t": 12.02, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_3"}, "cause": null} +{"env_id": 3, "seq": 7, "step": 2450, "t": 12.25, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_3"}, "cause": null} +{"env_id": 3, "seq": 8, "step": 7171, "t": 35.855, "topic": "a4s_sealer_1.plate_present.present", "source": "a4s_sealer_1.plate_present", "data": {"object": "plate_3"}, "cause": null} +{"env_id": 3, "seq": 9, "step": 7784, "t": 38.92, "topic": "a4s_sealer_1.command.started", "source": "a4s_sealer_1", "data": {"command_id": "task-3-1", "name": "seal", "source": "task"}, "cause": "task-3-1"} +{"env_id": 3, "seq": 10, "step": 7784, "t": 38.92, "topic": "a4s_sealer_1.seal.started", "source": "a4s_sealer_1", "data": {"dwell": 4.340947420961031}, "cause": "task-3-1"} +{"env_id": 3, "seq": 11, "step": 7784, "t": 38.92, "topic": "a4s_sealer_1.drawer.command.started", "source": "a4s_sealer_1.drawer", "data": {"command_id": "program-3-2", "name": "close", "source": "program:seal"}, "cause": "program-3-2"} +{"env_id": 3, "seq": 12, "step": 7784, "t": 38.92, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "at_out", "to": "moving"}, "cause": null} +{"env_id": 3, "seq": 13, "step": 7784, "t": 38.92, "topic": "a4s_sealer_1.drawer.moving", "source": "a4s_sealer_1.drawer", "data": {"target": 0.3, "goal": "in"}, "cause": "program-3-2"} +{"env_id": 3, "seq": 14, "step": 8203, "t": 41.015, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "moving", "to": "at_in"}, "cause": null} +{"env_id": 3, "seq": 15, "step": 8203, "t": 41.015, "topic": "a4s_sealer_1.drawer.reached", "source": "a4s_sealer_1.drawer", "data": {"position": "in", "q": 0.30000001192092896}, "cause": "program-3-2"} +{"env_id": 3, "seq": 16, "step": 8203, "t": 41.015, "topic": "a4s_sealer_1.drawer.at_in", "source": "a4s_sealer_1.drawer", "data": {"q": 0.30000001192092896}, "cause": "program-3-2"} +{"env_id": 3, "seq": 17, "step": 8203, "t": 41.015, "topic": "a4s_sealer_1.drawer.command.succeeded", "source": "a4s_sealer_1.drawer", "data": {"command_id": "program-3-2", "name": "close", "source": "program:seal", "result": {"position": "in"}}, "cause": "program-3-2"} +{"env_id": 3, "seq": 18, "step": 8203, "t": 41.015, "topic": "labware.plate_3.changed", "source": "labware.plate_3", "data": {"key": "sealed", "value": true}, "cause": "task-3-1"} +{"env_id": 3, "seq": 19, "step": 8203, "t": 41.015, "topic": "a4s_sealer_1.sealed", "source": "a4s_sealer_1", "data": {"plate": "plate_3"}, "cause": "task-3-1"} +{"env_id": 3, "seq": 20, "step": 8203, "t": 41.015, "topic": "a4s_sealer_1.heater.command.started", "source": "a4s_sealer_1.heater", "data": {"command_id": "program-3-3", "name": "run", "source": "program:seal"}, "cause": "program-3-3"} +{"env_id": 3, "seq": 21, "step": 8203, "t": 41.015, "topic": "a4s_sealer_1.heater.state.changed", "source": "a4s_sealer_1.heater", "data": {"from": "ready", "to": "running"}, "cause": null} +{"env_id": 3, "seq": 22, "step": 8203, "t": 41.015, "topic": "a4s_sealer_1.heater.started", "source": "a4s_sealer_1.heater", "data": {"duration": 4.340947420961031}, "cause": "program-3-3"} +{"env_id": 3, "seq": 23, "step": 9072, "t": 45.36, "topic": "a4s_sealer_1.heater.state.changed", "source": "a4s_sealer_1.heater", "data": {"from": "running", "to": "ready"}, "cause": null} +{"env_id": 3, "seq": 24, "step": 9072, "t": 45.36, "topic": "a4s_sealer_1.heater.finished", "source": "a4s_sealer_1.heater", "data": {"elapsed": 4.345000000002223}, "cause": "program-3-3"} +{"env_id": 3, "seq": 25, "step": 9072, "t": 45.36, "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": 4.345000000002223}}, "cause": "program-3-3"} +{"env_id": 3, "seq": 26, "step": 9072, "t": 45.36, "topic": "a4s_sealer_1.drawer.command.started", "source": "a4s_sealer_1.drawer", "data": {"command_id": "program-3-4", "name": "open", "source": "program:seal"}, "cause": "program-3-4"} +{"env_id": 3, "seq": 27, "step": 9072, "t": 45.36, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "at_in", "to": "moving"}, "cause": null} +{"env_id": 3, "seq": 28, "step": 9072, "t": 45.36, "topic": "a4s_sealer_1.drawer.moving", "source": "a4s_sealer_1.drawer", "data": {"target": 0.0, "goal": "out"}, "cause": "program-3-4"} +{"env_id": 3, "seq": 29, "step": 9492, "t": 47.46, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "moving", "to": "at_out"}, "cause": null} +{"env_id": 3, "seq": 30, "step": 9492, "t": 47.46, "topic": "a4s_sealer_1.drawer.reached", "source": "a4s_sealer_1.drawer", "data": {"position": "out", "q": 2.4102275730797373e-10}, "cause": "program-3-4"} +{"env_id": 3, "seq": 31, "step": 9492, "t": 47.46, "topic": "a4s_sealer_1.drawer.at_out", "source": "a4s_sealer_1.drawer", "data": {"q": 2.4102275730797373e-10}, "cause": "program-3-4"} +{"env_id": 3, "seq": 32, "step": 9492, "t": 47.46, "topic": "a4s_sealer_1.drawer.command.succeeded", "source": "a4s_sealer_1.drawer", "data": {"command_id": "program-3-4", "name": "open", "source": "program:seal", "result": {"position": "out"}}, "cause": "program-3-4"} +{"env_id": 3, "seq": 33, "step": 9492, "t": 47.46, "topic": "a4s_sealer_1.seal.finished", "source": "a4s_sealer_1", "data": {}, "cause": "task-3-1"} +{"env_id": 3, "seq": 34, "step": 9492, "t": 47.46, "topic": "a4s_sealer_1.command.succeeded", "source": "a4s_sealer_1", "data": {"command_id": "task-3-1", "name": "seal", "source": "task"}, "cause": "task-3-1"} +{"env_id": 3, "seq": 35, "step": 10071, "t": 50.355, "topic": "a4s_sealer_1.plate_present.absent", "source": "a4s_sealer_1.plate_present", "data": {"object": "plate_3"}, "cause": null} +{"env_id": 3, "seq": 36, "step": 11760, "t": 58.8, "topic": "conveyor_1.belt.command.started", "source": "conveyor_1.belt", "data": {"command_id": "task-3-5", "name": "release", "source": "task"}, "cause": "task-3-5"} +{"env_id": 3, "seq": 37, "step": 11760, "t": 58.8, "topic": "conveyor_1.belt.station.pick.released", "source": "conveyor_1.belt", "data": {"rider": "carrier_3"}, "cause": "task-3-5"} +{"env_id": 3, "seq": 38, "step": 11760, "t": 58.8, "topic": "conveyor_1.belt.state.changed", "source": "conveyor_1.belt", "data": {"from": "at_station", "to": "running"}, "cause": null} +{"env_id": 3, "seq": 39, "step": 11760, "t": 58.8, "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_p006_e007/env.mp4 b/episodes/c4_p006_e007/env.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..2978c7f548e20bfd715c6b74704d1034136c927e --- /dev/null +++ b/episodes/c4_p006_e007/env.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:b864cd5b9bdc7b01eb4b09904b188d093f95921de11cf78abd83e494ebf45931 +size 1268747 diff --git a/episodes/c4_p006_e007/meta.json b/episodes/c4_p006_e007/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..bbdecfdb0b86a5d901398276621b40df669f36b3 --- /dev/null +++ b/episodes/c4_p006_e007/meta.json @@ -0,0 +1,32 @@ +{ + "source": "raw/c4_p006/magicsim/7", + "fps": 25, + "frames": 1244, + "kept_ticks": "even", + "video_frames": { + "wrist": 1244, + "env": 1244 + }, + "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_p006_e007/scene_snapshot.json b/episodes/c4_p006_e007/scene_snapshot.json new file mode 100644 index 0000000000000000000000000000000000000000..5b12dcb9f717e74741fa7ec0761883c1097d0be4 --- /dev/null +++ b/episodes/c4_p006_e007/scene_snapshot.json @@ -0,0 +1,1558 @@ +{ + "trajectory_id": 7, + "env_id": 3, + "run_id": "c4_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": 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_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_3", + "arrived": true, + "applied_speed": 0.0 + } + } + } + ], + "carrier": [ + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + -0.25347137451171875, + 1.149998664855957, + 0.8999999761581421 + ], + "ori": [ + 1.3366585335461423e-05, + -7.84008274967718e-11, + -1.5612905412965006e-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": [ + 3.4245628555140684e-10, + -6.114919681721176e-10, + 3.725290298461914e-09 + ], + "angular_velocity": [ + 6.050638745591641e-08, + 3.645501323035205e-08, + -5.451118667565424e-09 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + -1.3285503387451172, + 0.5900850296020508, + 0.8999999761581421 + ], + "ori": [ + 0.8939059972763062, + -4.770162576051007e-08, + -1.1973514801866258e-07, + -0.44825461506843567 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -1.0368523817305686e-08, + 6.523919182654936e-10, + 1.1175870895385742e-08 + ], + "angular_velocity": [ + -8.837378118187189e-08, + -3.957102308049798e-07, + -1.0257488725073927e-07 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + 0.1281452178955078, + 0.4499969482421875, + 0.8999999761581421 + ], + "ori": [ + 1.0, + 3.957803418330741e-09, + -1.2107345126466384e-09, + 6.371959443640662e-06 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 1.5995433866322628e-09, + 2.2234210028670987e-09, + 1.1175870895385742e-08 + ], + "angular_velocity": [ + -1.019510804667334e-07, + 1.4215351029633894e-07, + -2.8532838314276887e-08 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + 1.6615886688232422, + 0.6437149047851562, + 0.9000018835067749 + ], + "ori": [ + 0.8537128567695618, + -4.566872667055577e-05, + -1.237537389897625e-06, + 0.5207442045211792 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 6.291586760198697e-05, + -0.00012080658780178055, + -0.0004991702735424042 + ], + "angular_velocity": [ + 0.009489979594945908, + 0.0042025065049529076, + 0.00036844040732830763 + ] + } + } + ], + "plate": [ + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_48_clear/Object.usd", + "pose": { + "pos": [ + -0.2669219970703125, + 1.1515464782714844, + 0.9179999828338623 + ], + "ori": [ + 0.032256364822387695, + 4.3199052668363436e-10, + -4.317725732505551e-09, + 0.9994796514511108 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 3.198911358026635e-08, + -1.0071841138881155e-08, + 8.195638656616211e-08 + ], + "angular_velocity": [ + 2.858453456155985e-07, + 1.6749845599406399e-06, + 1.69457052834332e-07 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_384_white/Object.usd", + "pose": { + "pos": [ + -1.3308897018432617, + 0.5726442337036133, + 0.9180000424385071 + ], + "ori": [ + 0.9318473935127258, + -1.197410455233694e-07, + -7.296462456451991e-08, + -0.3628506064414978 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -1.9761137082241476e-07, + 7.051191914797528e-07, + 2.9802322387695312e-08 + ], + "angular_velocity": [ + -1.0906114766839892e-06, + -7.820621249265969e-06, + 3.3777068892959505e-06 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_96_clear/Object.usd", + "pose": { + "pos": [ + 0.14070796966552734, + 0.43832969665527344, + 0.9180000424385071 + ], + "ori": [ + 1.0, + 4.542740850155269e-09, + -1.0208328626859497e-10, + -0.00013398710871115327 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -8.237950765987989e-09, + 2.2545830091758035e-08, + -5.461275577545166e-06 + ], + "angular_velocity": [ + -3.277655196143314e-07, + -1.4695062873215647e-06, + 6.915704009458068e-09 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/reservoir_12ch/Object.usd", + "pose": { + "pos": [ + 1.6668214797973633, + 0.6535100936889648, + 0.9180006384849548 + ], + "ori": [ + 0.8446407914161682, + -8.695134602021426e-05, + -3.7287270970409736e-05, + 0.5353335738182068 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 0.00020063335250597447, + -0.0003344590950291604, + -0.0008010528981685638 + ], + "angular_velocity": [ + 0.010152438655495644, + 0.009636915288865566, + 0.0006128179957158864 + ] + } + } + ], + "deco_hub_west": [ + { + "asset": "$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": 9.180000000000035, + "step": 1836, + "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_3", + "arrived": true, + "settle_count": 1812, + "released": { + "pick": [] + }, + "last_pos": { + "carrier_1": [ + -0.4034713804721832, + 0.699998676776886, + 0.0 + ], + "carrier_2": [ + -1.4785503447055817, + 0.14008504152297974, + 0.0 + ], + "carrier_3": [ + -0.021854788064956665, + -3.039836883544922e-06, + 0.0 + ], + "carrier_4": [ + 1.5115886628627777, + 0.1937149167060852, + 1.9073486328125e-06 + ] + }, + "command": 0.0 + }, + "belt": { + "target_speed": 0.0, + "command_speed": 0.0 + }, + "seen": { + "state": "at_station", + "station": "pick", + "rider": "carrier_3", + "arrived": true + } + } + }, + "queues": {}, + "program": null, + "sensors": {}, + "interlocks": {} + } + }, + "zones": {}, + "labware": { + "plate_1": { + "sealed": false + }, + "plate_2": { + "sealed": false + }, + "plate_3": { + "sealed": false + }, + "plate_4": { + "sealed": false + } + }, + "rules": {}, + "records": [], + "bus": { + "seq": 3, + "queue": [] + } + } + ], + "drives": [ + null, + null, + null, + {} + ] + }, + "artifacts": [ + {}, + {}, + {}, + { + "ceiling": { + "type": "rect", + "pose": { + "pos": [ + 0.3522834098882627, + -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": 1359.0242390111566, + "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": [ + [ + 2.166628360748291, + -2.3253581523895264, + 2.121337890625, + -1.367518663406372, + -1.5721107721328735, + 3.753166913986206, + 0.00721399299800396, + 0.0065184165723621845 + ], + [ + 0.8594480156898499, + -1.229693055152893, + 2.0876593589782715, + -2.4287197589874268, + -1.570796251296997, + 2.241896867752075, + 0.01800004579126835, + 0.017999952659010887 + ], + [ + 2.2491884231567383, + -2.4359564781188965, + 2.616720676422119, + -1.7515605688095093, + -1.5705554485321045, + 3.827906847000122, + 0.006816387176513672, + 0.008092512376606464 + ], + [ + 0.9141029119491577, + -1.7193982601165771, + 2.0905003547668457, + -1.9419018030166626, + -1.5707999467849731, + 2.484901189804077, + 0.01799999549984932, + 0.018000002950429916 + ] + ], + "joint_vel": [ + [ + 0.04405011236667633, + -0.035856690257787704, + -0.004476566798985004, + 0.037826426327228546, + 0.0001984965638257563, + 0.03421749547123909, + -0.009627599269151688, + 0.00030225934460759163 + ], + [ + -0.00014318482135422528, + 0.01713324524462223, + 0.00610444787889719, + -0.021884866058826447, + -9.992513696488459e-06, + -2.090136695187539e-05, + -7.204430858109845e-06, + 7.205511792562902e-06 + ], + [ + 0.032040998339653015, + -0.021755147725343704, + 0.016961297020316124, + 0.01171712763607502, + 0.0010698115220293403, + 0.024083850905299187, + -0.0067065381444990635, + 0.0003232887829653919 + ], + [ + -1.7029825585268554e-06, + -2.005939685190139e-11, + 6.811936145822983e-06, + 3.405973302506027e-06, + -3.4059792142215883e-06, + -2.654250246241635e-13, + 5.197938790502121e-08, + -5.1979618831410335e-08 + ] + ] + } + }, + "cameras": { + "cameras": { + "camera0": [ + [ + 0.04961681365966797, + 0.00211164983920753, + -0.030127383768558502, + -0.28054478764533997, + 0.6420201063156128, + 0.6633476614952087, + -0.2628205418586731 + ], + [ + 0.0489966943860054, + -0.0031734078656882048, + -0.030516471713781357, + -0.27710485458374023, + 0.6439521908760071, + 0.6563376784324646, + -0.2788536548614502 + ], + [ + 0.051676660776138306, + 0.0013265549205243587, + -0.029555611312389374, + -0.2815234065055847, + 0.643535315990448, + 0.6585083603858948, + -0.27013638615608215 + ], + [ + 0.05080726742744446, + 0.002900930820032954, + -0.029969671741127968, + -0.27946504950523376, + 0.6449743509292603, + 0.6503763198852539, + -0.28795477747917175 + ] + ], + "camera1": [ + [ + 0.05494954437017441, + 0.5779435634613037, + 1.9548925161361694, + 0.033760543912649155, + 0.004810502752661705, + 0.2564293444156647, + 0.965961217880249 + ], + [ + 0.06447694450616837, + 0.5917888283729553, + 1.9724717140197754, + 0.037673477083444595, + 0.025395015254616737, + 0.27396517992019653, + 0.9606658220291138 + ], + [ + 0.04310693219304085, + 0.5589785575866699, + 1.9617395401000977, + 0.028626512736082077, + 0.006195987109094858, + 0.26641425490379333, + 0.9634134769439697 + ], + [ + 0.058745212852954865, + 0.6020344495773315, + 1.9702739715576172, + 0.043858326971530914, + 0.011509216390550137, + 0.26676326990127563, + 0.9626948237419128 + ] + ] + } + } + } +} \ No newline at end of file diff --git a/episodes/c4_p006_e007/wrist.mp4 b/episodes/c4_p006_e007/wrist.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..ef22ad16a349faa29ad1d6b5aa893b41e0fa51bd --- /dev/null +++ b/episodes/c4_p006_e007/wrist.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:fde0e59177c276fd2fa73edcbf54bc3340b8f20ee6a0c4d960006511b0779dc4 +size 7273443 diff --git a/episodes/c6_p006_e017/data.npz b/episodes/c6_p006_e017/data.npz new file mode 100644 index 0000000000000000000000000000000000000000..47f0818872a8ee2cb1f7e14f0ebec2a6e0191841 --- /dev/null +++ b/episodes/c6_p006_e017/data.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:f56ad34efc02e068bfe8b9a0b9c528f0824195d746d3215a28041d40ed666d79 +size 191665 diff --git a/episodes/c6_p006_e017/device_events.jsonl b/episodes/c6_p006_e017/device_events.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..b71f6421c5f60ff722e66e7d79c547d3ad834034 --- /dev/null +++ b/episodes/c6_p006_e017/device_events.jsonl @@ -0,0 +1,36 @@ +{"env_id": 3, "seq": 1, "step": 132, "t": 0.66, "topic": "conveyor_1.belt.station.pick.captured", "source": "conveyor_1.belt", "data": {"rider": "carrier_4"}, "cause": null} +{"env_id": 3, "seq": 2, "step": 132, "t": 0.66, "topic": "conveyor_1.belt.state.changed", "source": "conveyor_1.belt", "data": {"from": "running", "to": "at_station"}, "cause": null} +{"env_id": 3, "seq": 3, "step": 137, "t": 0.685, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_4"}, "cause": null} +{"env_id": 3, "seq": 4, "step": 715, "t": 3.575, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_4"}, "cause": null} +{"env_id": 3, "seq": 5, "step": 5503, "t": 27.515, "topic": "a4s_sealer_1.plate_present.present", "source": "a4s_sealer_1.plate_present", "data": {"object": "plate_4"}, "cause": null} +{"env_id": 3, "seq": 6, "step": 6116, "t": 30.58, "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": 6116, "t": 30.58, "topic": "a4s_sealer_1.seal.started", "source": "a4s_sealer_1", "data": {"dwell": 2.9855787719067672}, "cause": "task-3-1"} +{"env_id": 3, "seq": 8, "step": 6116, "t": 30.58, "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": 6116, "t": 30.58, "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": 6116, "t": 30.58, "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": 6535, "t": 32.675, "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": 6535, "t": 32.675, "topic": "a4s_sealer_1.drawer.reached", "source": "a4s_sealer_1.drawer", "data": {"position": "in", "q": 0.2999999523162842}, "cause": "program-3-2"} +{"env_id": 3, "seq": 13, "step": 6535, "t": 32.675, "topic": "a4s_sealer_1.drawer.at_in", "source": "a4s_sealer_1.drawer", "data": {"q": 0.2999999523162842}, "cause": "program-3-2"} +{"env_id": 3, "seq": 14, "step": 6535, "t": 32.675, "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": 6535, "t": 32.675, "topic": "labware.plate_4.changed", "source": "labware.plate_4", "data": {"key": "sealed", "value": true}, "cause": "task-3-1"} +{"env_id": 3, "seq": 16, "step": 6535, "t": 32.675, "topic": "a4s_sealer_1.sealed", "source": "a4s_sealer_1", "data": {"plate": "plate_4"}, "cause": "task-3-1"} +{"env_id": 3, "seq": 17, "step": 6535, "t": 32.675, "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": 6535, "t": 32.675, "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": 6535, "t": 32.675, "topic": "a4s_sealer_1.heater.started", "source": "a4s_sealer_1.heater", "data": {"duration": 2.9855787719067672}, "cause": "program-3-3"} +{"env_id": 3, "seq": 20, "step": 7133, "t": 35.665, "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": 7133, "t": 35.665, "topic": "a4s_sealer_1.heater.finished", "source": "a4s_sealer_1.heater", "data": {"elapsed": 2.9900000000015297}, "cause": "program-3-3"} +{"env_id": 3, "seq": 22, "step": 7133, "t": 35.665, "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": 2.9900000000015297}}, "cause": "program-3-3"} +{"env_id": 3, "seq": 23, "step": 7133, "t": 35.665, "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": 7133, "t": 35.665, "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": 7133, "t": 35.665, "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": 7552, "t": 37.76, "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": 7552, "t": 37.76, "topic": "a4s_sealer_1.drawer.reached", "source": "a4s_sealer_1.drawer", "data": {"position": "out", "q": 2.8561839005014633e-10}, "cause": "program-3-4"} +{"env_id": 3, "seq": 28, "step": 7552, "t": 37.76, "topic": "a4s_sealer_1.drawer.at_out", "source": "a4s_sealer_1.drawer", "data": {"q": 2.8561839005014633e-10}, "cause": "program-3-4"} +{"env_id": 3, "seq": 29, "step": 7552, "t": 37.76, "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": 7552, "t": 37.76, "topic": "a4s_sealer_1.seal.finished", "source": "a4s_sealer_1", "data": {}, "cause": "task-3-1"} +{"env_id": 3, "seq": 31, "step": 7552, "t": 37.76, "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": 8134, "t": 40.67, "topic": "a4s_sealer_1.plate_present.absent", "source": "a4s_sealer_1.plate_present", "data": {"object": "plate_4"}, "cause": null} +{"env_id": 3, "seq": 33, "step": 9872, "t": 49.36, "topic": "conveyor_1.belt.command.started", "source": "conveyor_1.belt", "data": {"command_id": "task-3-5", "name": "release", "source": "task"}, "cause": "task-3-5"} +{"env_id": 3, "seq": 34, "step": 9872, "t": 49.36, "topic": "conveyor_1.belt.station.pick.released", "source": "conveyor_1.belt", "data": {"rider": "carrier_4"}, "cause": "task-3-5"} +{"env_id": 3, "seq": 35, "step": 9872, "t": 49.36, "topic": "conveyor_1.belt.state.changed", "source": "conveyor_1.belt", "data": {"from": "at_station", "to": "running"}, "cause": null} +{"env_id": 3, "seq": 36, "step": 9872, "t": 49.36, "topic": "conveyor_1.belt.command.succeeded", "source": "conveyor_1.belt", "data": {"command_id": "task-3-5", "name": "release", "source": "task", "result": {"state": "running"}}, "cause": "task-3-5"} diff --git a/episodes/c6_p006_e017/env.mp4 b/episodes/c6_p006_e017/env.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..b0a558ff302b60bce57e65f858652103177e2a45 --- /dev/null +++ b/episodes/c6_p006_e017/env.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:fb9046ab69779c811f330cf2779825668b2cf48090d57a534849c3cd7a46cd7a +size 1230081 diff --git a/episodes/c6_p006_e017/meta.json b/episodes/c6_p006_e017/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..7730ca2c5855c700aa2e12a34c76705eb773c1c9 --- /dev/null +++ b/episodes/c6_p006_e017/meta.json @@ -0,0 +1,32 @@ +{ + "source": "raw/c6_p006/magicsim/17", + "fps": 25, + "frames": 1206, + "kept_ticks": "even", + "video_frames": { + "wrist": 1206, + "env": 1206 + }, + "joint_target_source": "joint_pos_target", + "fk_vs_recorded_eef_max_m": 0.0, + "curobo_joints": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "joint_order": [ + "shoulder_pan", + "shoulder_lift", + "elbow", + "wrist_1", + "wrist_2", + "wrist_3", + "finger_left", + "finger_right" + ], + "frames_note": "eef / actions in the robot base frame; camera_pose = local pose (wrist: in plate_gripper_base, env: env frame), pos + quat wxyz", + "dr_version": "v2" +} \ No newline at end of file diff --git a/episodes/c6_p006_e017/scene_snapshot.json b/episodes/c6_p006_e017/scene_snapshot.json new file mode 100644 index 0000000000000000000000000000000000000000..9bff73790765d4a84a20b6d99c3ee3fd7ea82a84 --- /dev/null +++ b/episodes/c6_p006_e017/scene_snapshot.json @@ -0,0 +1,1558 @@ +{ + "trajectory_id": 17, + "env_id": 3, + "run_id": "c6_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": 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": "$MAGICSIM_ASSETS/Bio/CAD/plates/pcr_384_red/pcr_384_red.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 0.9605 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_12_clear/plate_12_clear.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.0285 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/deep_well_96_2ml/deep_well_96_2ml.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.0965 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_96_white/plate_96_white.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.1645 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/deep_well_96_2ml/deep_well_96_2ml.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.2325 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "a4s_sealer": [ + { + "asset": "$MAGICSIM_ASSETS/Articulated/A4SSealer/Object.usd", + "pose": { + "pos": [ + 0.4729146957397461, + 0.0952615737915039, + 0.8999999761581421 + ], + "ori": [ + -0.6847528219223022, + 0.0, + 0.0, + 0.7287753820419312 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "articulation", + "solver_position_iteration_count": 16.0, + "solver_velocity_iteration_count": 1.0, + "enabled_self_collisions": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "joint_position": [ + 1.0092505173600608e-12 + ], + "joint_velocity": [ + 0.0 + ], + "linear_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "angular_velocity": [ + 0.0, + 0.0, + 0.0 + ] + } + } + ], + "conveyor": [ + { + "asset": "Cube", + "pose": { + "pos": [ + 0.15, + 0.45, + 0.9 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "conveyor", + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9 + }, + "ratio": 1.0 + }, + "primitive_params": { + "size": [ + 2.4, + 0.076, + 0.03 + ] + }, + "conveyor": { + "speed": 0.26743546751945013, + "direction": [ + 1.0, + 0.0, + 0.0 + ], + "enabled": true, + "drive": "surface_velocity", + "lines": null, + "station_line": null, + "riders": [ + "carrier" + ], + "stations": { + "pick": { + "position": -0.2862395227383064, + "slow_distance": 0.03, + "slow_speed": 0.03 + } + }, + "rails": { + "height": 0.01, + "thickness": 0.01, + "gap": 0.001, + "friction": 0.05 + }, + "legs": 0.87, + "loop": { + "radius": 0.35, + "side": "left", + "curve_extra_width": 0.0, + "segments": 18, + "curve_rails": "both" + }, + "snap_distance": 0.1, + "junction_snap": 0.02, + "collision_approximation": "auto", + "plate_mass": 1.0, + "lift_drop": 0.004, + "accel": 0.0, + "decel": 0.0, + "drive_damping": 1000000.0, + "drive_max_force": 1000000000.0 + } + }, + "type_specific": { + "controller": { + "state": "at_station", + "speed": 0.26743546751945013, + "holds": [], + "station": "pick", + "rider": "carrier_4", + "arrived": true, + "applied_speed": 0.0 + } + } + } + ], + "carrier": [ + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + -1.3909063339233398, + 0.867192268371582, + 0.8999999761581421 + ], + "ori": [ + -0.6281090974807739, + 4.2678998113387934e-08, + 2.579781543943227e-08, + 0.7781252861022949 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -2.5737563191796653e-09, + 1.1417569112381898e-09, + 3.725290298461914e-09 + ], + "angular_velocity": [ + -4.289904609322548e-08, + 3.890454536303878e-08, + -4.903517947241198e-08 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + 0.04907703399658203, + 1.1499977111816406, + 0.8999999761581421 + ], + "ori": [ + 0.00012510969827417284, + -8.206149537670626e-09, + -9.760618979726132e-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": [ + -1.8908998811184574e-09, + -1.5453747170823817e-09, + 1.1175870895385742e-08 + ], + "angular_velocity": [ + 1.0098784031242758e-07, + -1.698971630048618e-07, + -1.1492486073905184e-08 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + 1.6627044677734375, + 0.6490087509155273, + 0.8999999761581421 + ], + "ori": [ + 0.8487007021903992, + -2.95726998444934e-08, + 9.274344137111257e-08, + 0.5288735628128052 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -4.967111166820359e-10, + 1.322200127162887e-10, + 0.0 + ], + "angular_velocity": [ + -1.525393145129783e-08, + -4.400078523758566e-08, + -3.705011408783321e-09 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + -0.1357717514038086, + 0.4474000930786133, + 0.8999999761581421 + ], + "ori": [ + 0.9999348521232605, + 2.75533196258948e-09, + 4.944058495937043e-10, + 0.011415459215641022 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 1.096229773622781e-09, + 1.7298229515461117e-09, + 1.4901161193847656e-08 + ], + "angular_velocity": [ + -1.2602326648902817e-07, + 1.061321199813392e-07, + -1.0456653321000431e-08 + ] + } + } + ], + "plate": [ + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_48_clear/Object.usd", + "pose": { + "pos": [ + -1.396514892578125, + 0.884190559387207, + 0.9179999828338623 + ], + "ori": [ + -0.6758492588996887, + 4.772910244810191e-08, + 2.2458008785974926e-08, + 0.7370399236679077 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 2.010025923482317e-09, + 4.225626071274746e-08, + 1.2293457984924316e-07 + ], + "angular_velocity": [ + -2.1936139091849327e-06, + -5.310021151672117e-07, + -5.796493951493176e-09 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_384_white/Object.usd", + "pose": { + "pos": [ + 0.05780506134033203, + 1.1483383178710938, + 0.9180000424385071 + ], + "ori": [ + -0.014378517866134644, + -6.972259214421683e-09, + -2.033903878650989e-10, + 0.9998967051506042 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 2.0118573473837387e-09, + -8.920819638547073e-09, + -5.159527063369751e-06 + ], + "angular_velocity": [ + -8.482847988489084e-07, + 1.760210011525487e-06, + -5.5987804614687775e-08 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_96_clear/Object.usd", + "pose": { + "pos": [ + 1.6626882553100586, + 0.6623678207397461, + 0.9180000424385071 + ], + "ori": [ + 0.8168753385543823, + -3.272873527748743e-09, + 1.0188161070345814e-07, + 0.5768142938613892 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -1.8653668121260125e-06, + 5.166714345250512e-07, + -6.847083568572998e-06 + ], + "angular_velocity": [ + -5.73732286284212e-05, + -0.00015454567619599402, + 7.436941814376041e-06 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/reservoir_12ch/Object.usd", + "pose": { + "pos": [ + -0.14495468139648438, + 0.4429197311401367, + 0.9179999828338623 + ], + "ori": [ + 0.9963396787643433, + 5.4921098779914246e-09, + -2.6198383462627817e-09, + 0.0854824036359787 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -1.3965129497250928e-08, + -2.390377895622464e-10, + -1.7136335372924805e-06 + ], + "angular_velocity": [ + 8.415947263529233e-07, + -1.2305655445743469e-06, + -8.175946675237356e-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": 1.2999999999999943, + "step": 260, + "counter": 0, + "devices": { + "a4s_sealer_1": { + "mode": "auto", + "units": { + "drawer": { + "state": "at_out", + "active": null, + "target": 0.0, + "goal_name": "out", + "profile": null, + "q_start": null, + "reversing": false, + "blocked_for": 0.0, + "settled_for": 0.0, + "last_q": 1.0092505173600608e-12 + }, + "heater": { + "state": "ready", + "active": null, + "duration": 0.0, + "t_start": null, + "elapsed": 0.0 + } + }, + "queues": {}, + "program": null, + "sensors": { + "plate_present": { + "occupants": [], + "pending": {} + } + }, + "interlocks": {} + }, + "conveyor_1": { + "mode": "auto", + "units": { + "belt": { + "state": "at_station", + "active": null, + "controller": { + "speed": 0.26743546751945013, + "holds": [], + "station": "pick", + "rider": "carrier_4", + "arrived": true, + "settle_count": 127, + "released": { + "pick": [] + }, + "last_pos": { + "carrier_1": [ + -1.5409063398838043, + 0.417192280292511, + 0.0 + ], + "carrier_2": [ + -0.10092297196388245, + 0.6999977231025696, + 0.0 + ], + "carrier_3": [ + 1.512704461812973, + 0.1990087628364563, + 0.0 + ], + "carrier_4": [ + -0.28577175736427307, + -0.0025998950004577637, + 0.0 + ] + }, + "command": 0.0 + }, + "belt": { + "target_speed": 0.0, + "command_speed": 0.0 + }, + "seen": { + "state": "at_station", + "station": "pick", + "rider": "carrier_4", + "arrived": true + } + } + }, + "queues": {}, + "program": null, + "sensors": {}, + "interlocks": {} + } + }, + "zones": {}, + "labware": { + "plate_1": { + "sealed": false + }, + "plate_2": { + "sealed": false + }, + "plate_3": { + "sealed": false + }, + "plate_4": { + "sealed": false + } + }, + "rules": {}, + "records": [], + "bus": { + "seq": 3, + "queue": [] + } + } + ], + "drives": [ + null, + null, + null, + {} + ] + }, + "artifacts": [ + {}, + {}, + {}, + { + "ceiling": { + "type": "rect", + "pose": { + "pos": [ + 0.7629765983101328, + 0.38027494532056194, + 3.0222560733961004 + ], + "ori": [ + 7.829949558976143, + 7.280218897258823, + 7.99702826483702 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "color_temperature": 6051.225306340751, + "color": [ + 0.866851876649851, + 0.8610448316239386, + 0.8090125802135348 + ], + "intensity": 9199.957757980943, + "width": 2.48788482436815, + "height": 0.8166378574848076 + } + }, + "key": { + "type": "disk", + "pose": { + "pos": [ + 0.039828754861301, + 1.2010630163839646, + 2.147792461194458 + ], + "ori": [ + 23.162326343873083, + 27.859746763165234, + 35.46430975215951 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "color_temperature": 6161.666438640918, + "color": [ + 0.922108043094777, + 0.8169214098015156, + 0.7509971296424073 + ], + "intensity": 2825.3891278197407, + "radius": 0.192244803921919 + } + } + } + ], + "background": { + "type": "dome", + "pose": { + "pos": null, + "ori": null, + "scale": null + }, + "dr": { + "intensity": 1180.5338958230868, + "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": [ + [ + 1.2524482011795044, + -1.6145497560501099, + 2.1133573055267334, + -2.0707168579101562, + -1.571243405342102, + 5.950710296630859, + 0.017999986186623573, + 0.018000012263655663 + ], + [ + 2.8028790950775146, + -1.6676193475723267, + 1.9067940711975098, + -1.8099569082260132, + -1.5707967281341553, + 4.37338924407959, + 0.0077220178209245205, + 0.006930273491889238 + ], + [ + 0.9140999913215637, + -1.7194000482559204, + 2.0905001163482666, + -1.9419000148773193, + -1.5707999467849731, + 2.4848999977111816, + 0.017999999225139618, + 0.017999999225139618 + ], + [ + 0.9141008853912354, + -1.7193974256515503, + 2.090498924255371, + -1.941900610923767, + -1.5707999467849731, + 2.4849002361297607, + 0.018000001087784767, + 0.01799999736249447 + ] + ], + "joint_vel": [ + [ + -6.811926596128615e-06, + 3.405934421607526e-06, + -1.3141064625354915e-11, + 6.811954335717019e-06, + -6.811955699959071e-06, + 1.3623915947391652e-05, + 1.8192692152751988e-07, + -1.8192069717315462e-07 + ], + [ + -0.0015575503930449486, + -0.00393922533839941, + 0.003171441378071904, + 0.0003248638240620494, + -0.0012549723032861948, + 0.0018813066417351365, + -0.010022632777690887, + 0.0002506638993509114 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + [ + 2.826722523790529e-38, + -1.6421463576209521e-38, + 1.5539671294160772e-38, + -5.007662255490823e-37, + 4.2353454630844945e-37, + -2.9387811670220857e-37, + -2.5990386731677972e-08, + 2.5990384955321133e-08 + ] + ] + } + }, + "cameras": { + "cameras": { + "camera0": [ + [ + 0.05041620135307312, + 0.0015577025478705764, + -0.02986852265894413, + -0.28544357419013977, + 0.6505967378616333, + 0.6432504653930664, + -0.2854377329349518 + ], + [ + 0.04778489097952843, + -0.002132224617525935, + -0.029550407081842422, + -0.2849925458431244, + 0.6529360413551331, + 0.6454188227653503, + -0.2754783630371094 + ], + [ + 0.05096827447414398, + 0.005234632641077042, + -0.029194405302405357, + -0.29001444578170776, + 0.6442513465881348, + 0.6489656567573547, + -0.28226834535598755 + ], + [ + 0.049318280071020126, + 0.0006796558736823499, + -0.031868450343608856, + -0.27868226170539856, + 0.6538694500923157, + 0.6467927694320679, + -0.2764959931373596 + ] + ], + "camera1": [ + [ + 0.03674974665045738, + 0.5851085186004639, + 1.9346781969070435, + 0.045798689126968384, + -0.006981162820011377, + 0.2795746624469757, + 0.95900559425354 + ], + [ + 0.03929751366376877, + 0.584588348865509, + 1.969649314880371, + 0.05095304176211357, + 0.002940801437944174, + 0.27968481183052063, + 0.9587343335151672 + ], + [ + 0.03502156585454941, + 0.5636409521102905, + 1.9682435989379883, + 0.03273988142609596, + -0.002504051197320223, + 0.25508713722229004, + 0.9663603901863098 + ], + [ + 0.04604846239089966, + 0.5973445177078247, + 1.9582839012145996, + 0.03656291589140892, + 0.007367382291704416, + 0.26839402318000793, + 0.9625868797302246 + ] + ] + } + } + } +} \ No newline at end of file diff --git a/episodes/c6_p006_e017/wrist.mp4 b/episodes/c6_p006_e017/wrist.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..b9aa2b0431bb85ea39a24fe0b84a00ec4acf7828 --- /dev/null +++ b/episodes/c6_p006_e017/wrist.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:2bde6c6747ce5116b55a3a03419515961630638457ff1df532c368ff492e43df +size 6067894 diff --git a/episodes/c6_p006_e018/data.npz b/episodes/c6_p006_e018/data.npz new file mode 100644 index 0000000000000000000000000000000000000000..5e637aeb625871d92e3ba94380ed846435a573f1 --- /dev/null +++ b/episodes/c6_p006_e018/data.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:b1defcf5f94d5b7b2d1098069999d58e6ccffbc38f54c6cc5c071e523c3e01dd +size 188009 diff --git a/episodes/c6_p006_e018/device_events.jsonl b/episodes/c6_p006_e018/device_events.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..0a88c3129b6af6f0fbcafac387369970e705d40f --- /dev/null +++ b/episodes/c6_p006_e018/device_events.jsonl @@ -0,0 +1,35 @@ +{"env_id": 0, "seq": 1, "step": 120, "t": 0.6, "topic": "conveyor_1.belt.station.pick.captured", "source": "conveyor_1.belt", "data": {"rider": "carrier_1"}, "cause": null} +{"env_id": 0, "seq": 2, "step": 120, "t": 0.6, "topic": "conveyor_1.belt.state.changed", "source": "conveyor_1.belt", "data": {"from": "running", "to": "at_station"}, "cause": null} +{"env_id": 0, "seq": 3, "step": 125, "t": 0.625, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_1"}, "cause": null} +{"env_id": 0, "seq": 4, "step": 6143, "t": 30.715, "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": 6756, "t": 33.78, "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": 6756, "t": 33.78, "topic": "a4s_sealer_1.seal.started", "source": "a4s_sealer_1", "data": {"dwell": 3.1396490177047554}, "cause": "task-0-1"} +{"env_id": 0, "seq": 7, "step": 6756, "t": 33.78, "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": 6756, "t": 33.78, "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": 6756, "t": 33.78, "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": 7175, "t": 35.875, "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": 7175, "t": 35.875, "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": 7175, "t": 35.875, "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": 7175, "t": 35.875, "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": 7175, "t": 35.875, "topic": "labware.plate_1.changed", "source": "labware.plate_1", "data": {"key": "sealed", "value": true}, "cause": "task-0-1"} +{"env_id": 0, "seq": 15, "step": 7175, "t": 35.875, "topic": "a4s_sealer_1.sealed", "source": "a4s_sealer_1", "data": {"plate": "plate_1"}, "cause": "task-0-1"} +{"env_id": 0, "seq": 16, "step": 7175, "t": 35.875, "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": 7175, "t": 35.875, "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": 7175, "t": 35.875, "topic": "a4s_sealer_1.heater.started", "source": "a4s_sealer_1.heater", "data": {"duration": 3.1396490177047554}, "cause": "program-0-3"} +{"env_id": 0, "seq": 19, "step": 7803, "t": 39.015, "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": 7803, "t": 39.015, "topic": "a4s_sealer_1.heater.finished", "source": "a4s_sealer_1.heater", "data": {"elapsed": 3.1400000000016064}, "cause": "program-0-3"} +{"env_id": 0, "seq": 21, "step": 7803, "t": 39.015, "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": 3.1400000000016064}}, "cause": "program-0-3"} +{"env_id": 0, "seq": 22, "step": 7803, "t": 39.015, "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": 7803, "t": 39.015, "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": 7803, "t": 39.015, "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": 8223, "t": 41.115, "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": 8223, "t": 41.115, "topic": "a4s_sealer_1.drawer.reached", "source": "a4s_sealer_1.drawer", "data": {"position": "out", "q": 2.4254183730865186e-11}, "cause": "program-0-4"} +{"env_id": 0, "seq": 27, "step": 8223, "t": 41.115, "topic": "a4s_sealer_1.drawer.at_out", "source": "a4s_sealer_1.drawer", "data": {"q": 2.4254183730865186e-11}, "cause": "program-0-4"} +{"env_id": 0, "seq": 28, "step": 8223, "t": 41.115, "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": 8223, "t": 41.115, "topic": "a4s_sealer_1.seal.finished", "source": "a4s_sealer_1", "data": {}, "cause": "task-0-1"} +{"env_id": 0, "seq": 30, "step": 8223, "t": 41.115, "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": 8803, "t": 44.015, "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": 10528, "t": 52.64, "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": 10528, "t": 52.64, "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": 10528, "t": 52.64, "topic": "conveyor_1.belt.state.changed", "source": "conveyor_1.belt", "data": {"from": "at_station", "to": "running"}, "cause": null} +{"env_id": 0, "seq": 35, "step": 10528, "t": 52.64, "topic": "conveyor_1.belt.command.succeeded", "source": "conveyor_1.belt", "data": {"command_id": "task-0-5", "name": "release", "source": "task", "result": {"state": "running"}}, "cause": "task-0-5"} diff --git a/episodes/c6_p006_e018/env.mp4 b/episodes/c6_p006_e018/env.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..6f48f2b6bf2945702ffb4583c3ec4d5944ceba77 --- /dev/null +++ b/episodes/c6_p006_e018/env.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:c674452051f0795d140c01e5a720ffd07b684291be8a8c5984e02e9ffb5586d6 +size 1109244 diff --git a/episodes/c6_p006_e018/meta.json b/episodes/c6_p006_e018/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..806fab443318abab23ec237df5e68db20b573be7 --- /dev/null +++ b/episodes/c6_p006_e018/meta.json @@ -0,0 +1,32 @@ +{ + "source": "raw/c6_p006/magicsim/18", + "fps": 25, + "frames": 1203, + "kept_ticks": "even", + "video_frames": { + "wrist": 1203, + "env": 1203 + }, + "joint_target_source": "joint_pos_target", + "fk_vs_recorded_eef_max_m": 0.0, + "curobo_joints": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "joint_order": [ + "shoulder_pan", + "shoulder_lift", + "elbow", + "wrist_1", + "wrist_2", + "wrist_3", + "finger_left", + "finger_right" + ], + "frames_note": "eef / actions in the robot base frame; camera_pose = local pose (wrist: in plate_gripper_base, env: env frame), pos + quat wxyz", + "dr_version": "v2" +} \ No newline at end of file diff --git a/episodes/c6_p006_e018/scene_snapshot.json b/episodes/c6_p006_e018/scene_snapshot.json new file mode 100644 index 0000000000000000000000000000000000000000..aec3bba525183d98cdca25e918ed154b9512cb15 --- /dev/null +++ b/episodes/c6_p006_e018/scene_snapshot.json @@ -0,0 +1,1558 @@ +{ + "trajectory_id": 18, + "env_id": 0, + "run_id": "c6_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_48_clear/plate_48_clear.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 0.9605 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_384_white/plate_384_white.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.0285 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_12_clear/plate_12_clear.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.0965 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_48_clear/plate_48_clear.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.1645 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_96_clear/plate_96_clear.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.2325 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "a4s_sealer": [ + { + "asset": "$MAGICSIM_ASSETS/Articulated/A4SSealer/Object.usd", + "pose": { + "pos": [ + 0.474884033203125, + 0.11899375915527344, + 0.8999999761581421 + ], + "ori": [ + 0.7275400161743164, + 0.0, + 0.0, + -0.6860652565956116 + ], + "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": 0.21282991190426115, + "direction": [ + 1.0, + 0.0, + 0.0 + ], + "enabled": true, + "drive": "surface_velocity", + "lines": null, + "station_line": null, + "riders": [ + "carrier" + ], + "stations": { + "pick": { + "position": -0.13353102396925368, + "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": 0.21282991190426115, + "holds": [], + "station": "pick", + "rider": "carrier_1", + "arrived": true, + "applied_speed": 0.0 + } + } + } + ], + "carrier": [ + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + 0.016941070556640625, + 0.4499950408935547, + 0.8999999761581421 + ], + "ori": [ + 1.0, + 3.568592643610202e-10, + 3.6471506370538975e-10, + 4.470777275855653e-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": [ + 8.868998868649669e-10, + 1.708567953784268e-09, + 3.725290298461914e-09 + ], + "angular_velocity": [ + -1.741147030998036e-07, + 5.972359673478422e-08, + -8.291560327222669e-09 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + -0.13321399688720703, + 1.1500005722045898, + 0.8999999761581421 + ], + "ori": [ + 2.9567779620265355e-06, + 4.0121325706188316e-10, + -5.697730620646269e-10, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -6.235140181942711e-10, + -6.847729050463158e-10, + 0.0 + ], + "angular_velocity": [ + 3.0551007057511015e-08, + -4.5522117630980574e-08, + -6.033580302045038e-10 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + 1.6154117584228516, + 0.5765790939331055, + 0.8999999761581421 + ], + "ori": [ + 0.9094391465187073, + -5.190212704064834e-08, + 2.8094733650618764e-08, + 0.4158371090888977 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 1.2412624261770588e-09, + 2.749996341755434e-10, + 7.450580596923828e-09 + ], + "angular_velocity": [ + -1.8677113189369265e-08, + 1.3793408015772002e-07, + -6.79032297057347e-09 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + -1.2906360626220703, + 1.0503902435302734, + 0.8999999761581421 + ], + "ori": [ + -0.37469619512557983, + -1.238562248317976e-07, + 6.538368779729353e-08, + 0.9271477460861206 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -1.7183879208459985e-08, + 8.490133041050285e-09, + -1.1175870895385742e-08 + ], + "angular_velocity": [ + -1.0742005542851985e-06, + -1.7394486349076033e-06, + 1.469875314796809e-07 + ] + } + } + ], + "plate": [ + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_6_clear/Object.usd", + "pose": { + "pos": [ + 0.006596565246582031, + 0.4567527770996094, + 0.9179999828338623 + ], + "ori": [ + 0.9998849034309387, + 1.298712692943127e-09, + 1.0226559599146867e-09, + 0.015173820778727531 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -1.9671162476697646e-08, + -7.313573302525356e-09, + 1.0058283805847168e-07 + ], + "angular_velocity": [ + 7.170113462962036e-07, + -1.4517208910547197e-06, + 6.008168185189788e-08 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_96_black/Object.usd", + "pose": { + "pos": [ + -0.11792850494384766, + 1.1605358123779297, + 0.9180000424385071 + ], + "ori": [ + -0.04290429875254631, + 2.20597748401552e-10, + -1.9546773089018643e-09, + 0.9990792274475098 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 1.3494301676075793e-08, + -1.8563138581839667e-08, + -5.409121513366699e-06 + ], + "angular_velocity": [ + 1.913339531256497e-08, + 1.1863919553434243e-06, + 1.0265399197351144e-07 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/pcr_96_blue/Object.usd", + "pose": { + "pos": [ + 1.6059322357177734, + 0.581660270690918, + 0.9180000424385071 + ], + "ori": [ + 0.9122099876403809, + -5.1498822983830905e-08, + 2.749221827968995e-08, + 0.4097232222557068 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 7.96629073818167e-09, + -2.137455545891953e-08, + -5.62518835067749e-06 + ], + "angular_velocity": [ + 3.147603820252698e-06, + -4.1496062408441503e-07, + -6.970808641426629e-08 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/deep_well_96_2ml/Object.usd", + "pose": { + "pos": [ + -1.3050098419189453, + 1.0519914627075195, + 0.9179999828338623 + ], + "ori": [ + -0.3385007381439209, + -1.0211454082309501e-07, + 1.1619957263064862e-07, + 0.9409661889076233 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -1.1456677384558134e-08, + -5.51888660993427e-07, + -2.462416887283325e-06 + ], + "angular_velocity": [ + 3.3131531381513923e-05, + -3.832705260720104e-06, + 4.7628623178752605e-07 + ] + } + } + ], + "deco_hub_west": [ + { + "asset": "$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": 4.739999999999921, + "step": 948, + "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": 0.21282991190426115, + "holds": [], + "station": "pick", + "rider": "carrier_1", + "arrived": true, + "settle_count": 827, + "released": { + "pick": [] + }, + "last_pos": { + "carrier_1": [ + -0.13305893540382385, + -4.947185516357422e-06, + 0.0 + ], + "carrier_2": [ + -0.2832140028476715, + 0.7000005841255188, + 0.0 + ], + "carrier_3": [ + 1.465411752462387, + 0.12657910585403442, + 0.0 + ], + "carrier_4": [ + -1.4406360685825348, + 0.6003902554512024, + 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": [ + 0.11737693996917742, + -0.16744078628815623, + 2.862790752596309 + ], + "ori": [ + 2.6166795272802865, + -1.8535927547342919, + -1.6423000279793598 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "color_temperature": 5924.428342615436, + "color": [ + 0.890667106212906, + 0.8977976150042891, + 0.9459309025475156 + ], + "intensity": 12440.814794970796, + "width": 2.5546126469373434, + "height": 1.5826023910551572 + } + }, + "key": { + "type": "sphere", + "pose": { + "pos": [ + 0.2739688958370925, + 0.21652696925960235, + 1.608435151157114 + ], + "ori": [ + 38.866991627967465, + 5.898551590377245, + 24.59917732429986 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "color_temperature": 4637.239682643137, + "color": [ + 0.8294485051802126, + 0.816379969038227, + 0.8723543272921508 + ], + "intensity": 3618.338441933862, + "radius": 0.2232902794538127 + } + } + }, + {}, + {}, + {} + ], + "background": { + "type": "dome", + "pose": { + "pos": null, + "ori": null, + "scale": null + }, + "dr": { + "intensity": 700.8408129568494, + "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 + ], + [ + 1.8684808015823364, + -2.2289493083953857, + 2.300107479095459, + -1.6420011520385742, + -1.5710926055908203, + 4.206563949584961, + 0.007725863251835108, + 0.006927838083356619 + ], + [ + 1.0623711347579956, + -1.3794569969177246, + 2.249281406402588, + -2.4405791759490967, + -1.5707942247390747, + 2.651599168777466, + 0.018000053241848946, + 0.01799994520843029 + ], + [ + 1.2963759899139404, + -1.5161372423171997, + 2.112642288208008, + -2.167279005050659, + -1.5706411600112915, + 2.696343183517456, + 0.008149898611009121, + 0.00687978183850646 + ] + ], + "joint_vel": [ + [ + 0.0, + 0.0, + 0.0, + 5.060600845187717e-37, + -6.870973083450864e-37, + -2.042732634916682e-37, + -1.8938862636205911e-38, + 8.45778014684584e-38 + ], + [ + -0.07354535162448883, + 0.0035568682942539454, + 0.0048948912881314754, + -0.00816265121102333, + -0.0010481990175321698, + 0.014408405870199203, + -0.009705373086035252, + 3.4173193853348494e-05 + ], + [ + -7.026181992841884e-05, + 0.018988512456417084, + 0.0074600339867174625, + -0.025231726467609406, + -8.076346603047568e-06, + 8.804792742012069e-05, + -7.911931788839865e-06, + 7.91372985986527e-06 + ], + [ + -0.0009376054513268173, + -0.0009183883666992188, + -0.001873322413302958, + 0.0029353301506489515, + -0.00244507915340364, + -0.011935314163565636, + -0.0044880518689751625, + 6.23911400907673e-05 + ] + ] + } + }, + "cameras": { + "cameras": { + "camera0": [ + [ + 0.051145635545253754, + -1.454045377613511e-05, + -0.030384913086891174, + -0.27602919936180115, + 0.6574925780296326, + 0.6485996246337891, + -0.26613879203796387 + ], + [ + 0.048882726579904556, + -0.0030368573497980833, + -0.027441753074526787, + -0.27875933051109314, + 0.6513882875442505, + 0.6499840021133423, + -0.27478596568107605 + ], + [ + 0.050814349204301834, + 0.002357759512960911, + -0.0307756457477808, + -0.2927122414112091, + 0.6429298520088196, + 0.6454353928565979, + -0.2904718220233917 + ], + [ + 0.04916346073150635, + 0.002935937838628888, + -0.03330734744668007, + -0.2816717326641083, + 0.6586053371429443, + 0.6417773365974426, + -0.27390119433403015 + ] + ], + "camera1": [ + [ + 0.07168591767549515, + 0.5982121229171753, + 1.9666595458984375, + 0.04745753854513168, + 0.0033555827103555202, + 0.272432416677475, + 0.960997998714447 + ], + [ + 0.03929751366376877, + 0.584588348865509, + 1.969649314880371, + 0.05095304176211357, + 0.002940801437944174, + 0.27968481183052063, + 0.9587343335151672 + ], + [ + 0.03502156585454941, + 0.5636409521102905, + 1.9682435989379883, + 0.03273988142609596, + -0.002504051197320223, + 0.25508713722229004, + 0.9663603901863098 + ], + [ + 0.04604846239089966, + 0.5973445177078247, + 1.9582839012145996, + 0.03656291589140892, + 0.007367382291704416, + 0.26839402318000793, + 0.9625868797302246 + ] + ] + } + } + } +} \ No newline at end of file diff --git a/episodes/c6_p006_e018/wrist.mp4 b/episodes/c6_p006_e018/wrist.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..ab630ac65aabeedf4f815b7f29f8ecbdd33326e6 --- /dev/null +++ b/episodes/c6_p006_e018/wrist.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:59e238143177d3b4fe177aa58a5dee2ef8b9cb404f8b92ee76973e2413dffc8e +size 6972976 diff --git a/episodes/c6_p006_e019/data.npz b/episodes/c6_p006_e019/data.npz new file mode 100644 index 0000000000000000000000000000000000000000..b65225cb71648eafbc796de19480a1db0355f77e --- /dev/null +++ b/episodes/c6_p006_e019/data.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:0a9dfbff9adf0ec04009a812aebf2340d5778735759793113a21d573d3acf9d5 +size 204156 diff --git a/episodes/c6_p006_e019/device_events.jsonl b/episodes/c6_p006_e019/device_events.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..8507ec968dac3922f8cbe43f23e81f27786614e2 --- /dev/null +++ b/episodes/c6_p006_e019/device_events.jsonl @@ -0,0 +1,36 @@ +{"env_id": 2, "seq": 1, "step": 85, "t": 0.425, "topic": "conveyor_1.belt.station.pick.captured", "source": "conveyor_1.belt", "data": {"rider": "carrier_4"}, "cause": null} +{"env_id": 2, "seq": 2, "step": 85, "t": 0.425, "topic": "conveyor_1.belt.state.changed", "source": "conveyor_1.belt", "data": {"from": "running", "to": "at_station"}, "cause": null} +{"env_id": 2, "seq": 3, "step": 90, "t": 0.45, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_4"}, "cause": null} +{"env_id": 2, "seq": 4, "step": 1245, "t": 6.225, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_4"}, "cause": null} +{"env_id": 2, "seq": 5, "step": 6158, "t": 30.79, "topic": "a4s_sealer_1.plate_present.present", "source": "a4s_sealer_1.plate_present", "data": {"object": "plate_4"}, "cause": null} +{"env_id": 2, "seq": 6, "step": 6772, "t": 33.86, "topic": "a4s_sealer_1.command.started", "source": "a4s_sealer_1", "data": {"command_id": "task-2-1", "name": "seal", "source": "task"}, "cause": "task-2-1"} +{"env_id": 2, "seq": 7, "step": 6772, "t": 33.86, "topic": "a4s_sealer_1.seal.started", "source": "a4s_sealer_1", "data": {"dwell": 3.3595748383116115}, "cause": "task-2-1"} +{"env_id": 2, "seq": 8, "step": 6772, "t": 33.86, "topic": "a4s_sealer_1.drawer.command.started", "source": "a4s_sealer_1.drawer", "data": {"command_id": "program-2-2", "name": "close", "source": "program:seal"}, "cause": "program-2-2"} +{"env_id": 2, "seq": 9, "step": 6772, "t": 33.86, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "at_out", "to": "moving"}, "cause": null} +{"env_id": 2, "seq": 10, "step": 6772, "t": 33.86, "topic": "a4s_sealer_1.drawer.moving", "source": "a4s_sealer_1.drawer", "data": {"target": 0.3, "goal": "in"}, "cause": "program-2-2"} +{"env_id": 2, "seq": 11, "step": 7191, "t": 35.955, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "moving", "to": "at_in"}, "cause": null} +{"env_id": 2, "seq": 12, "step": 7191, "t": 35.955, "topic": "a4s_sealer_1.drawer.reached", "source": "a4s_sealer_1.drawer", "data": {"position": "in", "q": 0.30000001192092896}, "cause": "program-2-2"} +{"env_id": 2, "seq": 13, "step": 7191, "t": 35.955, "topic": "a4s_sealer_1.drawer.at_in", "source": "a4s_sealer_1.drawer", "data": {"q": 0.30000001192092896}, "cause": "program-2-2"} +{"env_id": 2, "seq": 14, "step": 7191, "t": 35.955, "topic": "a4s_sealer_1.drawer.command.succeeded", "source": "a4s_sealer_1.drawer", "data": {"command_id": "program-2-2", "name": "close", "source": "program:seal", "result": {"position": "in"}}, "cause": "program-2-2"} +{"env_id": 2, "seq": 15, "step": 7191, "t": 35.955, "topic": "labware.plate_4.changed", "source": "labware.plate_4", "data": {"key": "sealed", "value": true}, "cause": "task-2-1"} +{"env_id": 2, "seq": 16, "step": 7191, "t": 35.955, "topic": "a4s_sealer_1.sealed", "source": "a4s_sealer_1", "data": {"plate": "plate_4"}, "cause": "task-2-1"} +{"env_id": 2, "seq": 17, "step": 7191, "t": 35.955, "topic": "a4s_sealer_1.heater.command.started", "source": "a4s_sealer_1.heater", "data": {"command_id": "program-2-3", "name": "run", "source": "program:seal"}, "cause": "program-2-3"} +{"env_id": 2, "seq": 18, "step": 7191, "t": 35.955, "topic": "a4s_sealer_1.heater.state.changed", "source": "a4s_sealer_1.heater", "data": {"from": "ready", "to": "running"}, "cause": null} +{"env_id": 2, "seq": 19, "step": 7191, "t": 35.955, "topic": "a4s_sealer_1.heater.started", "source": "a4s_sealer_1.heater", "data": {"duration": 3.3595748383116115}, "cause": "program-2-3"} +{"env_id": 2, "seq": 20, "step": 7863, "t": 39.315, "topic": "a4s_sealer_1.heater.state.changed", "source": "a4s_sealer_1.heater", "data": {"from": "running", "to": "ready"}, "cause": null} +{"env_id": 2, "seq": 21, "step": 7863, "t": 39.315, "topic": "a4s_sealer_1.heater.finished", "source": "a4s_sealer_1.heater", "data": {"elapsed": 3.360000000001719}, "cause": "program-2-3"} +{"env_id": 2, "seq": 22, "step": 7863, "t": 39.315, "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": 3.360000000001719}}, "cause": "program-2-3"} +{"env_id": 2, "seq": 23, "step": 7863, "t": 39.315, "topic": "a4s_sealer_1.drawer.command.started", "source": "a4s_sealer_1.drawer", "data": {"command_id": "program-2-4", "name": "open", "source": "program:seal"}, "cause": "program-2-4"} +{"env_id": 2, "seq": 24, "step": 7863, "t": 39.315, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "at_in", "to": "moving"}, "cause": null} +{"env_id": 2, "seq": 25, "step": 7863, "t": 39.315, "topic": "a4s_sealer_1.drawer.moving", "source": "a4s_sealer_1.drawer", "data": {"target": 0.0, "goal": "out"}, "cause": "program-2-4"} +{"env_id": 2, "seq": 26, "step": 8283, "t": 41.415, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "moving", "to": "at_out"}, "cause": null} +{"env_id": 2, "seq": 27, "step": 8283, "t": 41.415, "topic": "a4s_sealer_1.drawer.reached", "source": "a4s_sealer_1.drawer", "data": {"position": "out", "q": 5.449942719337741e-10}, "cause": "program-2-4"} +{"env_id": 2, "seq": 28, "step": 8283, "t": 41.415, "topic": "a4s_sealer_1.drawer.at_out", "source": "a4s_sealer_1.drawer", "data": {"q": 5.449942719337741e-10}, "cause": "program-2-4"} +{"env_id": 2, "seq": 29, "step": 8283, "t": 41.415, "topic": "a4s_sealer_1.drawer.command.succeeded", "source": "a4s_sealer_1.drawer", "data": {"command_id": "program-2-4", "name": "open", "source": "program:seal", "result": {"position": "out"}}, "cause": "program-2-4"} +{"env_id": 2, "seq": 30, "step": 8283, "t": 41.415, "topic": "a4s_sealer_1.seal.finished", "source": "a4s_sealer_1", "data": {}, "cause": "task-2-1"} +{"env_id": 2, "seq": 31, "step": 8283, "t": 41.415, "topic": "a4s_sealer_1.command.succeeded", "source": "a4s_sealer_1", "data": {"command_id": "task-2-1", "name": "seal", "source": "task"}, "cause": "task-2-1"} +{"env_id": 2, "seq": 32, "step": 8863, "t": 44.315, "topic": "a4s_sealer_1.plate_present.absent", "source": "a4s_sealer_1.plate_present", "data": {"object": "plate_4"}, "cause": null} +{"env_id": 2, "seq": 33, "step": 11080, "t": 55.4, "topic": "conveyor_1.belt.command.started", "source": "conveyor_1.belt", "data": {"command_id": "task-2-5", "name": "release", "source": "task"}, "cause": "task-2-5"} +{"env_id": 2, "seq": 34, "step": 11080, "t": 55.4, "topic": "conveyor_1.belt.station.pick.released", "source": "conveyor_1.belt", "data": {"rider": "carrier_4"}, "cause": "task-2-5"} +{"env_id": 2, "seq": 35, "step": 11080, "t": 55.4, "topic": "conveyor_1.belt.state.changed", "source": "conveyor_1.belt", "data": {"from": "at_station", "to": "running"}, "cause": null} +{"env_id": 2, "seq": 36, "step": 11080, "t": 55.4, "topic": "conveyor_1.belt.command.succeeded", "source": "conveyor_1.belt", "data": {"command_id": "task-2-5", "name": "release", "source": "task", "result": {"state": "running"}}, "cause": "task-2-5"} diff --git a/episodes/c6_p006_e019/env.mp4 b/episodes/c6_p006_e019/env.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..d3439e1f304ce8969b9a357f31e621782dd4ffab --- /dev/null +++ b/episodes/c6_p006_e019/env.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:d07872ee06b2071e7a2cd09a5a6701de52dd1c4643ea780f45951531fc472a6b +size 1324934 diff --git a/episodes/c6_p006_e019/meta.json b/episodes/c6_p006_e019/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..7e2de9df384e2220c240ce2d54ae521c61ae25b4 --- /dev/null +++ b/episodes/c6_p006_e019/meta.json @@ -0,0 +1,32 @@ +{ + "source": "raw/c6_p006/magicsim/19", + "fps": 25, + "frames": 1283, + "kept_ticks": "even", + "video_frames": { + "wrist": 1283, + "env": 1283 + }, + "joint_target_source": "joint_pos_target", + "fk_vs_recorded_eef_max_m": 0.0, + "curobo_joints": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "joint_order": [ + "shoulder_pan", + "shoulder_lift", + "elbow", + "wrist_1", + "wrist_2", + "wrist_3", + "finger_left", + "finger_right" + ], + "frames_note": "eef / actions in the robot base frame; camera_pose = local pose (wrist: in plate_gripper_base, env: env frame), pos + quat wxyz", + "dr_version": "v2" +} \ No newline at end of file diff --git a/episodes/c6_p006_e019/scene_snapshot.json b/episodes/c6_p006_e019/scene_snapshot.json new file mode 100644 index 0000000000000000000000000000000000000000..df837df4970d27827a9000498c2b4407c89745d5 --- /dev/null +++ b/episodes/c6_p006_e019/scene_snapshot.json @@ -0,0 +1,1558 @@ +{ + "trajectory_id": 19, + "env_id": 2, + "run_id": "c6_p006", + "task_type": "BioPlateCell", + "success": true, + "timing": { + "fps": 50.0, + "sim_dt": 0.005, + "decimation": 4 + }, + "restore_interface": { + "scene": "scene_manager.reset_to(snapshot['scene'], env_ids=[env_id])", + "robots": "robot_manager.set_state({'robots': snapshot['robots']}, env_ids=[env_id])" + }, + "snapshot": { + "env_id": 2, + "scene": { + "objects": [ + {}, + {}, + { + "rac_cell": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/rac_cell.usd", + "pose": { + "pos": [ + 0.0, + 0.0, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "physics_material": { + "static_friction": 0.6, + "dynamic_friction": 0.5, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "robot_mount": [ + { + "asset": "Cube", + "pose": { + "pos": [ + 0.0, + 0.0, + 0.9075 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": "color", + "value": [ + 0.55, + 0.56, + 0.58 + ], + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": { + "size": [ + 0.2, + 0.2, + 0.015 + ] + } + }, + "type_specific": {} + } + ], + "plate_rack": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/plate_hotel.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 0.9 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "physics_material": { + "static_friction": 0.6, + "dynamic_friction": 0.5, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "hotel_plate": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_6_clear/plate_6_clear.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 0.9605 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_6_clear/plate_6_clear.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.0285 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/pcr_96_blue/pcr_96_blue.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.0965 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/deep_well_96_2ml/deep_well_96_2ml.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.1645 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/deep_well_24_10ml/deep_well_24_10ml.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.2325 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "a4s_sealer": [ + { + "asset": "$MAGICSIM_ASSETS/Articulated/A4SSealer/Object.usd", + "pose": { + "pos": [ + 0.5113554000854492, + 0.10975074768066406, + 0.8999999761581421 + ], + "ori": [ + -0.6963415741920471, + 0.0, + 0.0, + 0.717710554599762 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "articulation", + "solver_position_iteration_count": 16.0, + "solver_velocity_iteration_count": 1.0, + "enabled_self_collisions": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "joint_position": [ + 2.691334351559438e-12 + ], + "joint_velocity": [ + 0.0 + ], + "linear_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "angular_velocity": [ + 0.0, + 0.0, + 0.0 + ] + } + } + ], + "conveyor": [ + { + "asset": "Cube", + "pose": { + "pos": [ + 0.15, + 0.45, + 0.9 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "conveyor", + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9 + }, + "ratio": 1.0 + }, + "primitive_params": { + "size": [ + 2.4, + 0.076, + 0.03 + ] + }, + "conveyor": { + "speed": 0.2950903521349226, + "direction": [ + 1.0, + 0.0, + 0.0 + ], + "enabled": true, + "drive": "surface_velocity", + "lines": null, + "station_line": null, + "riders": [ + "carrier" + ], + "stations": { + "pick": { + "position": -0.2072373781191597, + "slow_distance": 0.03, + "slow_speed": 0.03 + } + }, + "rails": { + "height": 0.01, + "thickness": 0.01, + "gap": 0.001, + "friction": 0.05 + }, + "legs": 0.87, + "loop": { + "radius": 0.35, + "side": "left", + "curve_extra_width": 0.0, + "segments": 18, + "curve_rails": "both" + }, + "snap_distance": 0.1, + "junction_snap": 0.02, + "collision_approximation": "auto", + "plate_mass": 1.0, + "lift_drop": 0.004, + "accel": 0.0, + "decel": 0.0, + "drive_damping": 1000000.0, + "drive_max_force": 1000000000.0 + } + }, + "type_specific": { + "controller": { + "state": "at_station", + "speed": 0.2950903521349226, + "holds": [], + "station": "pick", + "rider": "carrier_4", + "arrived": true, + "applied_speed": 0.0 + } + } + } + ], + "carrier": [ + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + -1.3814315795898438, + 0.9039392471313477, + 0.8999999761581421 + ], + "ori": [ + -0.584800660610199, + -3.993964980963938e-08, + -8.670822637668607e-08, + 0.8111770749092102 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -5.228750978858443e-07, + -1.1771976460295264e-06, + -3.4011900424957275e-06 + ], + "angular_velocity": [ + 0.00010205016587860882, + -3.298839146737009e-05, + 2.3422333015332697e-06 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + 1.4531097412109375, + 0.4686088562011719, + 0.8999999761581421 + ], + "ori": [ + 0.9900292754173279, + -3.1502469965971613e-08, + 1.1922062981284398e-07, + 0.14086170494556427 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 1.7301915455902872e-10, + -6.131164465017491e-10, + 3.725290298461914e-09 + ], + "angular_velocity": [ + 5.9504092320139534e-08, + 4.9373646504591306e-08, + -6.325165280429701e-09 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + 0.5691814422607422, + 1.1515083312988281, + 0.8999999761581421 + ], + "ori": [ + -0.015236735343933105, + 1.1086147555516845e-09, + -2.052089609350105e-10, + 0.9998840093612671 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -4.792337637837818e-10, + 4.741921300066565e-10, + 7.450580596923828e-09 + ], + "angular_velocity": [ + -6.259901397243084e-08, + -5.660254842609902e-08, + -1.2256100134777625e-08 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + -0.056654930114746094, + 0.45000171661376953, + 0.8999999761581421 + ], + "ori": [ + 1.0, + 1.8583012906248086e-10, + -5.345327513950338e-10, + -1.076111766451504e-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": [ + -3.8327119256109654e-10, + 3.747592014491374e-09, + 7.450580596923828e-09 + ], + "angular_velocity": [ + -2.163153851597599e-07, + -5.847430983862978e-08, + 3.5217202487558552e-09 + ] + } + } + ], + "plate": [ + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_24_clear/Object.usd", + "pose": { + "pos": [ + -1.3723268508911133, + 0.9095029830932617, + 0.9179999828338623 + ], + "ori": [ + -0.5151243209838867, + -2.3882620325821335e-08, + -9.940323764112691e-08, + 0.8571155667304993 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -1.2260206858627498e-06, + -2.596243575681001e-06, + -2.3283064365386963e-06 + ], + "angular_velocity": [ + 9.91220586001873e-05, + -3.4797005355358124e-05, + 6.240293259907048e-07 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_384_black/Object.usd", + "pose": { + "pos": [ + 1.460988998413086, + 0.4635133743286133, + 0.9180000424385071 + ], + "ori": [ + 0.9991008043289185, + -4.141054432693636e-08, + 1.149268200606457e-07, + 0.042399197816848755 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -2.5586109231312548e-08, + 5.440571992920695e-09, + -5.3532421588897705e-06 + ], + "angular_velocity": [ + 4.699825240095379e-08, + -2.3986974611034384e-06, + 5.928534108079475e-08 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_1536_black/Object.usd", + "pose": { + "pos": [ + 0.5647735595703125, + 1.1395111083984375, + 0.9180000424385071 + ], + "ori": [ + 0.041986845433712006, + 9.628960961904909e-10, + 1.9901533199195853e-10, + 0.9991181492805481 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 8.546400920295127e-09, + -3.3584002245845568e-09, + -5.256384611129761e-06 + ], + "angular_velocity": [ + -1.190046305055148e-06, + 1.84972441275022e-06, + 2.9188983674544033e-08 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/deep_well_24_10ml/Object.usd", + "pose": { + "pos": [ + -0.04568767547607422, + 0.44590091705322266, + 0.9179999828338623 + ], + "ori": [ + 0.9999574422836304, + -2.006495636308614e-09, + -1.4795100700126795e-09, + -0.009234019555151463 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -8.512503768542956e-08, + 4.473644565905488e-08, + -1.0989606380462646e-06 + ], + "angular_velocity": [ + -1.0231703981844475e-06, + -3.3172684652527096e-06, + 1.4333903664009995e-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": 4.219999999999932, + "step": 844, + "counter": 0, + "devices": { + "a4s_sealer_1": { + "mode": "auto", + "units": { + "drawer": { + "state": "at_out", + "active": null, + "target": 0.0, + "goal_name": "out", + "profile": null, + "q_start": null, + "reversing": false, + "blocked_for": 0.0, + "settled_for": 0.0, + "last_q": 2.691334351559438e-12 + }, + "heater": { + "state": "ready", + "active": null, + "duration": 0.0, + "t_start": null, + "elapsed": 0.0 + } + }, + "queues": {}, + "program": null, + "sensors": { + "plate_present": { + "occupants": [], + "pending": {} + } + }, + "interlocks": {} + }, + "conveyor_1": { + "mode": "auto", + "units": { + "belt": { + "state": "at_station", + "active": null, + "controller": { + "speed": 0.2950903521349226, + "holds": [], + "station": "pick", + "rider": "carrier_4", + "arrived": true, + "settle_count": 758, + "released": { + "pick": [] + }, + "last_pos": { + "carrier_1": [ + -1.5314315855503082, + 0.4539392590522766, + 0.0 + ], + "carrier_2": [ + 1.303109735250473, + 0.01860886812210083, + 0.0 + ], + "carrier_3": [ + 0.4191814363002777, + 0.7015083432197571, + 0.0 + ], + "carrier_4": [ + -0.20665493607521057, + 1.7285346984863281e-06, + 0.0 + ] + }, + "command": 0.0 + }, + "belt": { + "target_speed": 0.0, + "command_speed": 0.0 + }, + "seen": { + "state": "at_station", + "station": "pick", + "rider": "carrier_4", + "arrived": true + } + } + }, + "queues": {}, + "program": null, + "sensors": {}, + "interlocks": {} + } + }, + "zones": {}, + "labware": { + "plate_1": { + "sealed": false + }, + "plate_2": { + "sealed": false + }, + "plate_3": { + "sealed": false + }, + "plate_4": { + "sealed": false + } + }, + "rules": {}, + "records": [], + "bus": { + "seq": 3, + "queue": [] + } + }, + null + ], + "drives": [ + null, + null, + {}, + null + ] + }, + "artifacts": [ + {}, + {}, + { + "ceiling": { + "type": "rect", + "pose": { + "pos": [ + -0.16563984082067273, + 0.5310119846240917, + 2.899926275594506 + ], + "ori": [ + 7.439076933447094, + -6.619190567618229, + 25.62468990667535 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "color_temperature": 5435.545128012807, + "color": [ + 0.9274425226364398, + 0.8512061868529345, + 0.8168286553750347 + ], + "intensity": 13359.790087502224, + "width": 2.0946845329614012, + "height": 1.5582651695708059 + } + }, + "key": { + "type": "disk", + "pose": { + "pos": [ + 0.9381230051554605, + -0.2775335590229431, + 2.0535333959435094 + ], + "ori": [ + -20.361574489999697, + 35.59292740580253, + -9.275735626464623 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "color_temperature": 7275.8734899608835, + "color": [ + 0.7949340802755329, + 0.8247190221526906, + 0.7969322647981743 + ], + "intensity": 5677.652526187932, + "radius": 0.22808126985323984 + } + } + }, + {} + ], + "background": { + "type": "dome", + "pose": { + "pos": null, + "ori": null, + "scale": null + }, + "dr": { + "intensity": 700.8408129568494, + "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, + -1.7193983793258667, + 2.0904994010925293, + -1.9418998956680298, + -1.5707999467849731, + 2.484900712966919, + 0.017999999225139618, + 0.017999999225139618 + ], + [ + 2.5253334045410156, + -2.2544138431549072, + 2.2529420852661133, + -1.569225549697876, + -1.5706356763839722, + 4.0954461097717285, + 0.007139482069760561, + 0.007651272229850292 + ], + [ + 0.9141026735305786, + -1.7193984985351562, + 2.0904998779296875, + -1.9419008493423462, + -1.5707999467849731, + 2.484900712966919, + 0.017999999225139618, + 0.017999999225139618 + ], + [ + 1.2962161302566528, + -1.2796134948730469, + 2.2372632026672363, + -2.52840256690979, + -1.570814609527588, + 2.695765256881714, + 0.007728277239948511, + 0.007170999888330698 + ] + ], + "joint_vel": [ + [ + 2.5628919343810024e-38, + -1.7532914663576465e-38, + 0.0, + -7.020979729875415e-37, + 4.778419691868472e-37, + 7.626964860851685e-37, + 6.796700004894317e-38, + -2.1610813706429614e-38 + ], + [ + -0.00029453489696606994, + -0.0001458136539440602, + 0.0012132353149354458, + -0.00021089926303829998, + -0.0025454505812376738, + 0.007051276974380016, + -0.009022677317261696, + 0.0003022487508133054 + ], + [ + 0.0, + 2.687796953258288e-38, + 1.8110692441193016e-38, + 2.386106137991572e-37, + -3.0521177384011684e-37, + -8.581693494825892e-37, + -3.7505226509431143e-38, + 8.208381530320395e-38 + ], + [ + 0.0001783927291398868, + -0.007699965033680201, + -0.0025517139583826065, + 0.009259049780666828, + 0.00014045635180082172, + 0.0005887150182388723, + -0.0069683813489973545, + 0.00024074831162579358 + ] + ] + } + }, + "cameras": { + "cameras": { + "camera0": [ + [ + 0.04877230152487755, + -0.0003755339130293578, + -0.030596528202295303, + -0.27531692385673523, + 0.6568631529808044, + 0.6476078033447266, + -0.27080538868904114 + ], + [ + 0.051086559891700745, + -0.0028908976819366217, + -0.02858327142894268, + -0.2839406132698059, + 0.6497488617897034, + 0.648340106010437, + -0.2772350311279297 + ], + [ + 0.04891752824187279, + 0.0052416445687413216, + -0.030455194413661957, + -0.2874741852283478, + 0.6453593373298645, + 0.6484774351119995, + -0.28345534205436707 + ], + [ + 0.04786303639411926, + 0.0035531376488506794, + -0.029548712074756622, + -0.28345102071762085, + 0.6532328724861145, + 0.6461825370788574, + -0.27457332611083984 + ] + ], + "camera1": [ + [ + 0.07168591767549515, + 0.5982121229171753, + 1.9666595458984375, + 0.04745753854513168, + 0.0033555827103555202, + 0.272432416677475, + 0.960997998714447 + ], + [ + 0.03929751366376877, + 0.584588348865509, + 1.969649314880371, + 0.05095304176211357, + 0.002940801437944174, + 0.27968481183052063, + 0.9587343335151672 + ], + [ + 0.03502156585454941, + 0.5636409521102905, + 1.9682435989379883, + 0.03273988142609596, + -0.002504051197320223, + 0.25508713722229004, + 0.9663603901863098 + ], + [ + 0.04604846239089966, + 0.5973445177078247, + 1.9582839012145996, + 0.03656291589140892, + 0.007367382291704416, + 0.26839402318000793, + 0.9625868797302246 + ] + ] + } + } + } +} \ No newline at end of file diff --git a/episodes/c6_p006_e019/wrist.mp4 b/episodes/c6_p006_e019/wrist.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..9f03ee3d8a7847bacd682ba0c48349c89e7cb5aa --- /dev/null +++ b/episodes/c6_p006_e019/wrist.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:145ffe97024ee4bfc67bf6d98da3aabe52a81a7e39fb67348d4da303ca0c9d45 +size 6888030 diff --git a/episodes/c7_p006_e013/data.npz b/episodes/c7_p006_e013/data.npz new file mode 100644 index 0000000000000000000000000000000000000000..7c772f93bf7fa58d3d4ecfb19422d7e533d11587 --- /dev/null +++ b/episodes/c7_p006_e013/data.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:95cd216d127e5cbb05acf2ffd00422a253bb0950ac29218fdb2ee6274e7e4425 +size 186751 diff --git a/episodes/c7_p006_e013/device_events.jsonl b/episodes/c7_p006_e013/device_events.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..cd7ac203b531822b432e6836388601f8859f6c8a --- /dev/null +++ b/episodes/c7_p006_e013/device_events.jsonl @@ -0,0 +1,35 @@ +{"env_id": 0, "seq": 1, "step": 90, "t": 0.45, "topic": "conveyor_1.belt.station.pick.captured", "source": "conveyor_1.belt", "data": {"rider": "carrier_3"}, "cause": null} +{"env_id": 0, "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": 0, "seq": 3, "step": 95, "t": 0.475, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_3"}, "cause": null} +{"env_id": 0, "seq": 4, "step": 5927, "t": 29.635, "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": 6540, "t": 32.7, "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": 6540, "t": 32.7, "topic": "a4s_sealer_1.seal.started", "source": "a4s_sealer_1", "data": {"dwell": 4.6139047288557915}, "cause": "task-0-1"} +{"env_id": 0, "seq": 7, "step": 6540, "t": 32.7, "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": 6540, "t": 32.7, "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": 6540, "t": 32.7, "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": 6959, "t": 34.795, "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": 6959, "t": 34.795, "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": 6959, "t": 34.795, "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": 6959, "t": 34.795, "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": 6959, "t": 34.795, "topic": "labware.plate_3.changed", "source": "labware.plate_3", "data": {"key": "sealed", "value": true}, "cause": "task-0-1"} +{"env_id": 0, "seq": 15, "step": 6959, "t": 34.795, "topic": "a4s_sealer_1.sealed", "source": "a4s_sealer_1", "data": {"plate": "plate_3"}, "cause": "task-0-1"} +{"env_id": 0, "seq": 16, "step": 6959, "t": 34.795, "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": 6959, "t": 34.795, "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": 6959, "t": 34.795, "topic": "a4s_sealer_1.heater.started", "source": "a4s_sealer_1.heater", "data": {"duration": 4.6139047288557915}, "cause": "program-0-3"} +{"env_id": 0, "seq": 19, "step": 7882, "t": 39.41, "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": 7882, "t": 39.41, "topic": "a4s_sealer_1.heater.finished", "source": "a4s_sealer_1.heater", "data": {"elapsed": 4.615000000002361}, "cause": "program-0-3"} +{"env_id": 0, "seq": 21, "step": 7882, "t": 39.41, "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": 4.615000000002361}}, "cause": "program-0-3"} +{"env_id": 0, "seq": 22, "step": 7882, "t": 39.41, "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": 7882, "t": 39.41, "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": 7882, "t": 39.41, "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": 8302, "t": 41.51, "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": 8302, "t": 41.51, "topic": "a4s_sealer_1.drawer.reached", "source": "a4s_sealer_1.drawer", "data": {"position": "out", "q": 2.3840744489689314e-08}, "cause": "program-0-4"} +{"env_id": 0, "seq": 27, "step": 8302, "t": 41.51, "topic": "a4s_sealer_1.drawer.at_out", "source": "a4s_sealer_1.drawer", "data": {"q": 2.3840744489689314e-08}, "cause": "program-0-4"} +{"env_id": 0, "seq": 28, "step": 8302, "t": 41.51, "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": 8302, "t": 41.51, "topic": "a4s_sealer_1.seal.finished", "source": "a4s_sealer_1", "data": {}, "cause": "task-0-1"} +{"env_id": 0, "seq": 30, "step": 8302, "t": 41.51, "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": 8877, "t": 44.385, "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": 10584, "t": 52.92, "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": 10584, "t": 52.92, "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": 10584, "t": 52.92, "topic": "conveyor_1.belt.state.changed", "source": "conveyor_1.belt", "data": {"from": "at_station", "to": "running"}, "cause": null} +{"env_id": 0, "seq": 35, "step": 10584, "t": 52.92, "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/c7_p006_e013/env.mp4 b/episodes/c7_p006_e013/env.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..3a82c84d9a34f8251ff4f4486f4c99c21ff7aa43 --- /dev/null +++ b/episodes/c7_p006_e013/env.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:dc5055e70f485fd02c8965581c0f9f193f434e8f79cd1758a9dad5474b8b0079 +size 1285154 diff --git a/episodes/c7_p006_e013/meta.json b/episodes/c7_p006_e013/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..87e812a334bff2450352100c245e3299707de852 --- /dev/null +++ b/episodes/c7_p006_e013/meta.json @@ -0,0 +1,32 @@ +{ + "source": "raw/c7_p006/magicsim/13", + "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/c7_p006_e013/scene_snapshot.json b/episodes/c7_p006_e013/scene_snapshot.json new file mode 100644 index 0000000000000000000000000000000000000000..1daa78d7e4786230a47f0d339284ab26332d14d8 --- /dev/null +++ b/episodes/c7_p006_e013/scene_snapshot.json @@ -0,0 +1,1558 @@ +{ + "trajectory_id": 13, + "env_id": 0, + "run_id": "c7_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_96_black/plate_96_black.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 0.9605 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_96_white/plate_96_white.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.0285 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_48_clear/plate_48_clear.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.0965 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_96_clear/plate_96_clear.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.1645 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_384_white/plate_384_white.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.2325 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "a4s_sealer": [ + { + "asset": "$MAGICSIM_ASSETS/Articulated/A4SSealer/Object.usd", + "pose": { + "pos": [ + 0.4787302017211914, + 0.07873058319091797, + 0.8999999761581421 + ], + "ori": [ + -0.6959326267242432, + 0.0, + 0.0, + 0.7181071043014526 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "articulation", + "solver_position_iteration_count": 16.0, + "solver_velocity_iteration_count": 1.0, + "enabled_self_collisions": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "joint_position": [ + 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": 0.16736193052827253, + "direction": [ + 1.0, + 0.0, + 0.0 + ], + "enabled": true, + "drive": "surface_velocity", + "lines": null, + "station_line": null, + "riders": [ + "carrier" + ], + "stations": { + "pick": { + "position": -0.055683519737028675, + "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": 0.16736193052827253, + "holds": [], + "station": "pick", + "rider": "carrier_3", + "arrived": true, + "applied_speed": 0.0 + } + } + } + ], + "carrier": [ + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + -1.2571659088134766, + 1.0782556533813477, + 0.8999999761581421 + ], + "ori": [ + -0.31282058358192444, + -1.098368507257419e-08, + 2.0047727389282954e-07, + 0.9498122334480286 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 1.6172521100088488e-08, + -1.8438072402204853e-08, + -3.725290298461914e-09 + ], + "angular_velocity": [ + 1.8178943719249219e-06, + 1.6864687495399266e-06, + 8.748929758439772e-08 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + 1.6981573104858398, + 0.8242425918579102, + 0.9000002145767212 + ], + "ori": [ + 0.6821449398994446, + 5.5584505389560945e-06, + 4.7508791567452135e-07, + 0.731217086315155 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -3.2001321415009443e-06, + 5.539148446587205e-07, + 8.493661880493164e-07 + ], + "angular_velocity": [ + -3.1562387448502705e-05, + 3.587247192626819e-06, + 3.335842120577581e-05 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + 0.09384346008300781, + 0.4499988555908203, + 0.8999999761581421 + ], + "ori": [ + 1.0, + 3.4725824438197606e-09, + -3.129508596710906e-10, + 5.274429895507637e-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": [ + 5.835507632667714e-10, + 7.827991588271743e-10, + 7.450580596923828e-09 + ], + "angular_velocity": [ + -2.177010927084666e-08, + 4.982187817859085e-08, + -1.4885012333820669e-08 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + -0.1312236785888672, + 1.149998664855957, + 0.8999999761581421 + ], + "ori": [ + 1.014057397696888e-05, + 6.767830296183774e-09, + -4.171992973311944e-09, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 6.151028131284875e-09, + 1.3300431866980489e-08, + 5.21540641784668e-08 + ], + "angular_velocity": [ + -2.9703338100262044e-07, + 5.120896275911946e-07, + -7.979345184594422e-08 + ] + } + } + ], + "plate": [ + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_6_clear/Object.usd", + "pose": { + "pos": [ + -1.2497186660766602, + 1.078134536743164, + 0.9179999828338623 + ], + "ori": [ + -0.304649293422699, + -9.453243876578199e-08, + 4.968937332705536e-07, + 0.9524645805358887 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 2.5122008082689717e-06, + -6.761962367818342e-08, + -8.866190910339355e-07 + ], + "angular_velocity": [ + 5.708167009288445e-06, + 1.7446542187826708e-05, + 1.5832663848414086e-05 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_96_black/Object.usd", + "pose": { + "pos": [ + 1.6952781677246094, + 0.8343038558959961, + 0.918000340461731 + ], + "ori": [ + 0.6813384890556335, + 5.563348167925142e-06, + 4.608249639659334e-07, + 0.7319685816764832 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -1.3391065749601694e-06, + 3.161962922604289e-07, + 1.0058283805847168e-07 + ], + "angular_velocity": [ + -4.407131564221345e-05, + 2.8193107937113382e-05, + 1.5073996110004373e-05 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/pcr_96_blue/Object.usd", + "pose": { + "pos": [ + 0.0896310806274414, + 0.4402027130126953, + 0.9180000424385071 + ], + "ori": [ + 0.9950588345527649, + 2.7691657855655194e-09, + 4.876460346636691e-12, + -0.09928774833679199 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -1.649600811504115e-08, + 1.9940930684470004e-08, + -5.591660737991333e-06 + ], + "angular_velocity": [ + -3.167933755321428e-07, + -2.1551868485403247e-06, + 4.545248799558976e-08 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/deep_well_96_2ml/Object.usd", + "pose": { + "pos": [ + -0.1437082290649414, + 1.1505126953125, + 0.9179999828338623 + ], + "ori": [ + 0.06648634374141693, + 8.380777849481547e-09, + -3.191458430862326e-09, + 0.997787356376648 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 1.568702430176927e-07, + 2.273451116252545e-08, + -1.087784767150879e-06 + ], + "angular_velocity": [ + 2.7771494615080883e-07, + 5.406147920439253e-06, + 1.0675999817522097e-07 + ] + } + } + ], + "deco_hub_west": [ + { + "asset": "$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": 3.2799999999999523, + "step": 656, + "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": 0.16736193052827253, + "holds": [], + "station": "pick", + "rider": "carrier_3", + "arrived": true, + "settle_count": 565, + "released": { + "pick": [] + }, + "last_pos": { + "carrier_1": [ + -1.407165914773941, + 0.6282556653022766, + 0.0 + ], + "carrier_2": [ + 1.5481573045253754, + 0.3742426037788391, + 2.384185791015625e-07 + ], + "carrier_3": [ + -0.056156545877456665, + -1.1324882507324219e-06, + 0.0 + ], + "carrier_4": [ + -0.28122368454933167, + 0.699998676776886, + 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": [ + 0.1198752982909208, + 0.4930580149799093, + 3.129664341133437 + ], + "ori": [ + -2.037743370769739, + -12.46441066675686, + -13.891614284047392 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "color_temperature": 5217.909289427363, + "color": [ + 0.9332637872174712, + 0.8018863517112351, + 0.970683874117146 + ], + "intensity": 10402.372079633093, + "width": 2.4140328418160006, + "height": 1.5342655529151543 + } + }, + "key": { + "type": "disk", + "pose": { + "pos": [ + 0.9873510262149523, + 0.04159787151820171, + 2.5620890744166 + ], + "ori": [ + -29.250657707622125, + -1.9704806614559942, + 24.29262057819983 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "color_temperature": 4526.735227524219, + "color": [ + 0.8709766187570597, + 0.9429046697481263, + 0.7942999758909212 + ], + "intensity": 3391.5050841572856, + "radius": 0.1783265191085874 + } + } + }, + {}, + {}, + {} + ], + "background": { + "type": "dome", + "pose": { + "pos": null, + "ori": null, + "scale": null + }, + "dr": { + "intensity": 979.9254346047957, + "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 + ], + [ + 0.9141042828559875, + -1.7193962335586548, + 2.0904979705810547, + -1.941900372505188, + -1.5707999467849731, + 2.4849014282226562, + 0.017999999225139618, + 0.017999999225139618 + ], + [ + 1.2622472047805786, + -1.374937891960144, + 2.3746840953826904, + -2.5705156326293945, + -1.5708024501800537, + 3.015378475189209, + 0.007664842531085014, + 0.007150316145271063 + ], + [ + 1.5021058320999146, + -1.2894706726074219, + 2.248114824295044, + -2.5286126136779785, + -1.5711108446121216, + 6.213944911956787, + 0.017999986186623573, + 0.017999986186623573 + ] + ], + "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 + ], + [ + 0.0, + -2.684415620063872e-38, + -1.5071441425291278e-38, + -2.3931473825151114e-37, + 2.382806472471657e-37, + 3.6546875126563086e-37, + -2.667814437157016e-38, + -3.3304626970444784e-38 + ], + [ + 8.180821896530688e-05, + -0.00925710890442133, + -0.0029983108397573233, + 0.011051543988287449, + 5.927832899033092e-05, + 0.0005875648930668831, + -0.006483367178589106, + 0.0002502564457245171 + ], + [ + 1.0217901035503019e-05, + 3.4059219160553766e-06, + 6.811932507844176e-06, + -6.8119588831905276e-06, + -6.811956609453773e-06, + 4.938858566908011e-13, + 1.8193821915701847e-07, + 1.8192839945641026e-07 + ] + ] + } + }, + "cameras": { + "cameras": { + "camera0": [ + [ + 0.0515766404569149, + 0.003869479289278388, + -0.030177392065525055, + -0.2616178095340729, + 0.6591219902038574, + 0.6489204168319702, + -0.2757111191749573 + ], + [ + 0.049115099012851715, + 0.0012340990360826254, + -0.025237292051315308, + -0.28749731183052063, + 0.6416419744491577, + 0.6518146991729736, + -0.28421542048454285 + ], + [ + 0.04957985505461693, + -0.001587728038430214, + -0.032626327127218246, + -0.2961167097091675, + 0.6434276103973389, + 0.6515274047851562, + -0.2717128396034241 + ], + [ + 0.047102004289627075, + -0.0028673165943473577, + -0.02991967275738716, + -0.2677721381187439, + 0.6563498973846436, + 0.651284396648407, + -0.270797997713089 + ] + ], + "camera1": [ + [ + 0.025729477405548096, + 0.5726606249809265, + 1.935927152633667, + 0.03006134368479252, + 0.010884955525398254, + 0.28754234313964844, + 0.9572341442108154 + ], + [ + 0.047106608748435974, + 0.5616968870162964, + 1.9361932277679443, + 0.026756638661026955, + 0.009835987351834774, + 0.26523882150650024, + 0.9637612104415894 + ], + [ + 0.035893362015485764, + 0.5609809756278992, + 1.956145167350769, + 0.045632731169462204, + -0.006308643147349358, + 0.2849392890930176, + 0.9574379324913025 + ], + [ + 0.03360886126756668, + 0.5675130486488342, + 1.9721378087997437, + 0.03576111048460007, + 0.026929659768939018, + 0.2736949622631073, + 0.9607741832733154 + ] + ] + } + } + } +} \ No newline at end of file diff --git a/episodes/c7_p006_e013/wrist.mp4 b/episodes/c7_p006_e013/wrist.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..359247253fd66e3c9d9d793a882f5e3a2b46c741 --- /dev/null +++ b/episodes/c7_p006_e013/wrist.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:f5de7745c9f5a45c959b3ad1f7d54b436fa7e17cfb0cc69446b384f3553375e7 +size 7890470 diff --git a/episodes/c7_p006_e014/data.npz b/episodes/c7_p006_e014/data.npz new file mode 100644 index 0000000000000000000000000000000000000000..cfbc5a3d343aa9a4b926078a33b77831f8429a55 --- /dev/null +++ b/episodes/c7_p006_e014/data.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:992a1239ae05959873c20a850c4fc556ec275bc36ec220d1acec2b310a90331c +size 189790 diff --git a/episodes/c7_p006_e014/device_events.jsonl b/episodes/c7_p006_e014/device_events.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..0b3a4e6314c7e952397326719eb61ad799bca8ef --- /dev/null +++ b/episodes/c7_p006_e014/device_events.jsonl @@ -0,0 +1,35 @@ +{"env_id": 1, "seq": 1, "step": 167, "t": 0.835, "topic": "conveyor_1.belt.station.pick.captured", "source": "conveyor_1.belt", "data": {"rider": "carrier_1"}, "cause": null} +{"env_id": 1, "seq": 2, "step": 167, "t": 0.835, "topic": "conveyor_1.belt.state.changed", "source": "conveyor_1.belt", "data": {"from": "running", "to": "at_station"}, "cause": null} +{"env_id": 1, "seq": 3, "step": 172, "t": 0.86, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_1"}, "cause": null} +{"env_id": 1, "seq": 4, "step": 6610, "t": 33.05, "topic": "a4s_sealer_1.plate_present.present", "source": "a4s_sealer_1.plate_present", "data": {"object": "plate_1"}, "cause": null} +{"env_id": 1, "seq": 5, "step": 7224, "t": 36.12, "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": 7224, "t": 36.12, "topic": "a4s_sealer_1.seal.started", "source": "a4s_sealer_1", "data": {"dwell": 3.0359709188749653}, "cause": "task-1-1"} +{"env_id": 1, "seq": 7, "step": 7224, "t": 36.12, "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": 7224, "t": 36.12, "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": 7224, "t": 36.12, "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": 7643, "t": 38.215, "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": 7643, "t": 38.215, "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": 7643, "t": 38.215, "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": 7643, "t": 38.215, "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": 7643, "t": 38.215, "topic": "labware.plate_1.changed", "source": "labware.plate_1", "data": {"key": "sealed", "value": true}, "cause": "task-1-1"} +{"env_id": 1, "seq": 15, "step": 7643, "t": 38.215, "topic": "a4s_sealer_1.sealed", "source": "a4s_sealer_1", "data": {"plate": "plate_1"}, "cause": "task-1-1"} +{"env_id": 1, "seq": 16, "step": 7643, "t": 38.215, "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": 7643, "t": 38.215, "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": 7643, "t": 38.215, "topic": "a4s_sealer_1.heater.started", "source": "a4s_sealer_1.heater", "data": {"duration": 3.0359709188749653}, "cause": "program-1-3"} +{"env_id": 1, "seq": 19, "step": 8251, "t": 41.255, "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": 8251, "t": 41.255, "topic": "a4s_sealer_1.heater.finished", "source": "a4s_sealer_1.heater", "data": {"elapsed": 3.0400000000015552}, "cause": "program-1-3"} +{"env_id": 1, "seq": 21, "step": 8251, "t": 41.255, "topic": "a4s_sealer_1.heater.command.succeeded", "source": "a4s_sealer_1.heater", "data": {"command_id": "program-1-3", "name": "run", "source": "program:seal", "result": {"elapsed": 3.0400000000015552}}, "cause": "program-1-3"} +{"env_id": 1, "seq": 22, "step": 8251, "t": 41.255, "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": 8251, "t": 41.255, "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": 8251, "t": 41.255, "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": 8671, "t": 43.355, "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": 8671, "t": 43.355, "topic": "a4s_sealer_1.drawer.reached", "source": "a4s_sealer_1.drawer", "data": {"position": "out", "q": 0.0}, "cause": "program-1-4"} +{"env_id": 1, "seq": 27, "step": 8671, "t": 43.355, "topic": "a4s_sealer_1.drawer.at_out", "source": "a4s_sealer_1.drawer", "data": {"q": 0.0}, "cause": "program-1-4"} +{"env_id": 1, "seq": 28, "step": 8671, "t": 43.355, "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": 8671, "t": 43.355, "topic": "a4s_sealer_1.seal.finished", "source": "a4s_sealer_1", "data": {}, "cause": "task-1-1"} +{"env_id": 1, "seq": 30, "step": 8671, "t": 43.355, "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": 9251, "t": 46.255, "topic": "a4s_sealer_1.plate_present.absent", "source": "a4s_sealer_1.plate_present", "data": {"object": "plate_1"}, "cause": null} +{"env_id": 1, "seq": 32, "step": 10968, "t": 54.84, "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": 10968, "t": 54.84, "topic": "conveyor_1.belt.station.pick.released", "source": "conveyor_1.belt", "data": {"rider": "carrier_1"}, "cause": "task-1-5"} +{"env_id": 1, "seq": 34, "step": 10968, "t": 54.84, "topic": "conveyor_1.belt.state.changed", "source": "conveyor_1.belt", "data": {"from": "at_station", "to": "running"}, "cause": null} +{"env_id": 1, "seq": 35, "step": 10968, "t": 54.84, "topic": "conveyor_1.belt.command.succeeded", "source": "conveyor_1.belt", "data": {"command_id": "task-1-5", "name": "release", "source": "task", "result": {"state": "running"}}, "cause": "task-1-5"} diff --git a/episodes/c7_p006_e014/env.mp4 b/episodes/c7_p006_e014/env.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..508e18609e09d09c2181f4c1576b1e8512f1d8b0 --- /dev/null +++ b/episodes/c7_p006_e014/env.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:db4b587b39e464481dbb8731dbccf14eed4b30ae18b02491a9dfbe9276a2dbe7 +size 1291342 diff --git a/episodes/c7_p006_e014/meta.json b/episodes/c7_p006_e014/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..4e30254c323f719c6d937d2f564597db4e965174 --- /dev/null +++ b/episodes/c7_p006_e014/meta.json @@ -0,0 +1,32 @@ +{ + "source": "raw/c7_p006/magicsim/14", + "fps": 25, + "frames": 1192, + "kept_ticks": "even", + "video_frames": { + "wrist": 1192, + "env": 1192 + }, + "joint_target_source": "joint_pos_target", + "fk_vs_recorded_eef_max_m": 0.0, + "curobo_joints": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "joint_order": [ + "shoulder_pan", + "shoulder_lift", + "elbow", + "wrist_1", + "wrist_2", + "wrist_3", + "finger_left", + "finger_right" + ], + "frames_note": "eef / actions in the robot base frame; camera_pose = local pose (wrist: in plate_gripper_base, env: env frame), pos + quat wxyz", + "dr_version": "v2" +} \ No newline at end of file diff --git a/episodes/c7_p006_e014/scene_snapshot.json b/episodes/c7_p006_e014/scene_snapshot.json new file mode 100644 index 0000000000000000000000000000000000000000..370a86ee083d2a1ed08895457957a4e3f15c7cde --- /dev/null +++ b/episodes/c7_p006_e014/scene_snapshot.json @@ -0,0 +1,1558 @@ +{ + "trajectory_id": 14, + "env_id": 1, + "run_id": "c7_p006", + "task_type": "BioPlateCell", + "success": true, + "timing": { + "fps": 50.0, + "sim_dt": 0.005, + "decimation": 4 + }, + "restore_interface": { + "scene": "scene_manager.reset_to(snapshot['scene'], env_ids=[env_id])", + "robots": "robot_manager.set_state({'robots': snapshot['robots']}, env_ids=[env_id])" + }, + "snapshot": { + "env_id": 1, + "scene": { + "objects": [ + {}, + { + "rac_cell": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/rac_cell.usd", + "pose": { + "pos": [ + 0.0, + 0.0, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "physics_material": { + "static_friction": 0.6, + "dynamic_friction": 0.5, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "robot_mount": [ + { + "asset": "Cube", + "pose": { + "pos": [ + 0.0, + 0.0, + 0.9075 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": "color", + "value": [ + 0.55, + 0.56, + 0.58 + ], + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": { + "size": [ + 0.2, + 0.2, + 0.015 + ] + } + }, + "type_specific": {} + } + ], + "plate_rack": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/plate_hotel.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 0.9 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "physics_material": { + "static_friction": 0.6, + "dynamic_friction": 0.5, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "hotel_plate": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_6_clear/plate_6_clear.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 0.9605 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$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": [ + 1.6820832920982909e-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": 0.2067687246914299, + "direction": [ + 1.0, + 0.0, + 0.0 + ], + "enabled": true, + "drive": "surface_velocity", + "lines": null, + "station_line": null, + "riders": [ + "carrier" + ], + "stations": { + "pick": { + "position": -0.28977481671272876, + "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": 0.2067687246914299, + "holds": [], + "station": "pick", + "rider": "carrier_1", + "arrived": true, + "applied_speed": 0.0 + } + } + } + ], + "carrier": [ + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + -0.14020538330078125, + 0.44744014739990234, + 0.8999999761581421 + ], + "ori": [ + 0.9999526143074036, + -2.5166568828893787e-09, + 1.47196332900279e-09, + 0.009733548387885094 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -1.0051204313299422e-10, + 6.996727641706002e-10, + 0.0 + ], + "angular_velocity": [ + -1.3963807532491046e-07, + -2.8528884143952382e-08, + -1.526939463758481e-08 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + 1.5162200927734375, + 0.49576759338378906, + 0.8999999761581421 + ], + "ori": [ + 0.9704264402389526, + 1.4345138410476466e-09, + -2.5833848837919504e-08, + 0.24139747023582458 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -5.3511919340110126e-09, + 4.166383860138012e-08, + -4.842877388000488e-08 + ], + "angular_velocity": [ + -6.83109362853429e-07, + 3.3135509625026316e-07, + 2.7085528131465253e-07 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + 0.7603063583374023, + 1.1524715423583984, + 0.8999999761581421 + ], + "ori": [ + -0.012570183724164963, + -1.6691323878603725e-09, + 1.6338193020715153e-08, + 0.9999210238456726 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 2.7802226298945243e-08, + -1.6772359856531693e-07, + 1.1175870895385742e-08 + ], + "angular_velocity": [ + 3.2404414014308713e-06, + 1.1406712729922219e-07, + 1.3025996850046795e-06 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + -1.3737115859985352, + 0.6735773086547852, + 0.8999999761581421 + ], + "ori": [ + -0.8227922916412354, + 5.558409910122464e-08, + 8.032082376985272e-08, + 0.5683421492576599 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 1.5079706372489454e-09, + -5.340552888810635e-09, + 2.9802322387695312e-08 + ], + "angular_velocity": [ + 4.897738108411431e-07, + 7.582639227621257e-08, + -1.2828650142182596e-08 + ] + } + } + ], + "plate": [ + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_12_clear/Object.usd", + "pose": { + "pos": [ + -0.14309406280517578, + 0.45479583740234375, + 0.9179999828338623 + ], + "ori": [ + 0.9995855093002319, + -3.290212102768919e-09, + 1.652934566997999e-09, + -0.028788866475224495 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -2.3764799905734435e-08, + -8.161315179222584e-09, + 8.940696716308594e-08 + ], + "angular_velocity": [ + 5.643106533170794e-07, + -1.535282990516862e-06, + 7.709419236334725e-08 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_96_white/Object.usd", + "pose": { + "pos": [ + 1.5083026885986328, + 0.49573230743408203, + 0.9180000424385071 + ], + "ori": [ + 0.9676859974861145, + -1.2038145769110997e-07, + -1.8363017773026513e-07, + 0.25215813517570496 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 4.81042661704123e-06, + 3.709276825247798e-06, + -4.246830940246582e-06 + ], + "angular_velocity": [ + -2.5117791665252298e-05, + -4.414505383465439e-05, + -3.2177729735849425e-05 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/pcr_384_red/Object.usd", + "pose": { + "pos": [ + 0.7632083892822266, + 1.1484251022338867, + 0.9179999828338623 + ], + "ori": [ + -0.04768051579594612, + -3.8566724924748996e-08, + 3.1666962740928284e-07, + 0.998862624168396 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 3.0682024316774914e-06, + -1.8887710666604107e-06, + -6.198883056640625e-06 + ], + "angular_velocity": [ + -6.731783651048318e-05, + -1.0210657819698099e-05, + 4.581085522659123e-05 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/deep_well_96_1ml/Object.usd", + "pose": { + "pos": [ + -1.3749589920043945, + 0.6732959747314453, + 0.9179999828338623 + ], + "ori": [ + -0.7618553042411804, + 5.61450121949747e-08, + 8.82117916489733e-08, + 0.6477473378181458 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 8.267079465440474e-09, + 2.4480641513946466e-08, + 3.166496753692627e-07 + ], + "angular_velocity": [ + -2.923261490650475e-06, + -8.792940207058564e-07, + 1.4773166867598775e-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": 7.379999999999865, + "step": 1476, + "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": 1.6820832920982909e-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": 0.2067687246914299, + "holds": [], + "station": "pick", + "rider": "carrier_1", + "arrived": true, + "settle_count": 1308, + "released": { + "pick": [] + }, + "last_pos": { + "carrier_1": [ + -0.2902053892612457, + -0.002559840679168701, + 0.0 + ], + "carrier_2": [ + 1.366220086812973, + 0.04576760530471802, + 0.0 + ], + "carrier_3": [ + 0.6103063523769379, + 0.7024715542793274, + 0.0 + ], + "carrier_4": [ + -1.5237115919589996, + 0.2235773205757141, + 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": [ + 0.4560898006442541, + 0.5345393076966454, + 2.797863614166069 + ], + "ori": [ + -0.4211208136783924, + -2.6526276913757165, + 13.844674311188925 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "color_temperature": 3487.1821877006505, + "color": [ + 0.8816187532267199, + 0.8263075266757928, + 0.8168831081730363 + ], + "intensity": 6189.194111409349, + "width": 1.8941513636003744, + "height": 1.5791131588743998 + } + }, + "key": { + "type": "disk", + "pose": { + "pos": [ + -1.1762648153280169, + -0.3931617185045644, + 2.4931497399513716 + ], + "ori": [ + 15.123935379130735, + -26.62113475387942, + 9.225685521259088 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "color_temperature": 6358.32023920146, + "color": [ + 0.7522868146055226, + 0.8415235365604621, + 0.8749082446776408 + ], + "intensity": 5297.1678570272115, + "radius": 0.4111242954585358 + } + } + }, + {}, + {} + ], + "background": { + "type": "dome", + "pose": { + "pos": null, + "ori": null, + "scale": null + }, + "dr": { + "intensity": 979.9254346047957, + "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": [ + [ + 0.7809430360794067, + -1.5004953145980835, + 2.1074869632720947, + -2.17781925201416, + -1.5707827806472778, + 2.5506978034973145, + 0.0071372101083397865, + 0.006635600700974464 + ], + [ + 0.9141108989715576, + -1.719395399093628, + 2.0904974937438965, + -1.941900372505188, + -1.5707999467849731, + 2.484905242919922, + 0.01799999363720417, + 0.018000004813075066 + ], + [ + 1.8560166358947754, + -2.114682197570801, + 2.464890956878662, + -1.9209485054016113, + -1.5706807374954224, + 3.5076820850372314, + 0.007680325303226709, + 0.007132107391953468 + ], + [ + 1.1688249111175537, + -1.5739986896514893, + 2.138775110244751, + -2.1355507373809814, + -1.5707958936691284, + 2.7464499473571777, + 0.018000703305006027, + 0.017999298870563507 + ] + ], + "joint_vel": [ + [ + 8.914254431147128e-05, + -0.007640256080776453, + -0.00611812062561512, + 0.013096647337079048, + -0.00016960054927039891, + -0.0007638591341674328, + -0.007795736193656921, + -0.00034542311914265156 + ], + [ + -2.7562803710276917e-38, + 2.8759666741641386e-38, + 1.5473392679395137e-38, + 3.339477866636804e-37, + -6.413349362398151e-37, + 2.0966606534332666e-37, + 7.797115131324972e-08, + -7.797118684038651e-08 + ], + [ + 0.07355440407991409, + -0.059567950665950775, + 0.027844727039337158, + 0.029552849009633064, + 6.422953447327018e-06, + 0.06031353399157524, + -0.007441380992531776, + 0.0005451485048979521 + ], + [ + 0.024762947112321854, + 0.013913783244788647, + 0.00527704693377018, + -0.018405450507998466, + 4.65862249257043e-05, + 0.02496071718633175, + 1.3005793334741611e-05, + -1.3056663192401174e-05 + ] + ] + } + }, + "cameras": { + "cameras": { + "camera0": [ + [ + 0.05116254836320877, + 0.0027149179950356483, + -0.0318731851875782, + -0.2677319347858429, + 0.6535401344299316, + 0.6497695446014404, + -0.2810772657394409 + ], + [ + 0.045461297035217285, + -0.00015597461606375873, + -0.0277105700224638, + -0.2893003225326538, + 0.6436057090759277, + 0.6507985591888428, + -0.2802467942237854 + ], + [ + 0.04821555316448212, + 0.0007554530748166144, + -0.03263415768742561, + -0.29691004753112793, + 0.6421878933906555, + 0.6492675542831421, + -0.27908921241760254 + ], + [ + 0.0511685274541378, + -0.002529487479478121, + -0.03260030597448349, + -0.2809375524520874, + 0.6475380063056946, + 0.655362606048584, + -0.2688278555870056 + ] + ], + "camera1": [ + [ + 0.025729477405548096, + 0.5726606249809265, + 1.935927152633667, + 0.03006134368479252, + 0.010884955525398254, + 0.28754234313964844, + 0.9572341442108154 + ], + [ + 0.047106608748435974, + 0.5616968870162964, + 1.9361932277679443, + 0.026756638661026955, + 0.009835987351834774, + 0.26523882150650024, + 0.9637612104415894 + ], + [ + 0.035893362015485764, + 0.5609809756278992, + 1.956145167350769, + 0.045632731169462204, + -0.006308643147349358, + 0.2849392890930176, + 0.9574379324913025 + ], + [ + 0.055190276354551315, + 0.5806149244308472, + 1.9368242025375366, + 0.03209138661623001, + 0.028654398396611214, + 0.27371925115585327, + 0.9608469605445862 + ] + ] + } + } + } +} \ No newline at end of file diff --git a/episodes/c7_p006_e014/wrist.mp4 b/episodes/c7_p006_e014/wrist.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..c55440d2e7ce63d842cfc7301a69c8ff743a0aaa --- /dev/null +++ b/episodes/c7_p006_e014/wrist.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:c3a8d0c38bfe187e73f4a0bf7c0ffd23fa2afb3126dee5c32c5a4477006b27d2 +size 7332840 diff --git a/episodes/c7_p006_e015/data.npz b/episodes/c7_p006_e015/data.npz new file mode 100644 index 0000000000000000000000000000000000000000..7682983580b8b91e570cd1164b0ed0231d3cf030 --- /dev/null +++ b/episodes/c7_p006_e015/data.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:b45dc03ead0b22f5cb0244c5a0f023d8aea23429c8e2dca85c6ee19ed088d009 +size 190706 diff --git a/episodes/c7_p006_e015/device_events.jsonl b/episodes/c7_p006_e015/device_events.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..faf303e8c74130a949410ee8d3e305c3f7884dc0 --- /dev/null +++ b/episodes/c7_p006_e015/device_events.jsonl @@ -0,0 +1,36 @@ +{"env_id": 3, "seq": 1, "step": 125, "t": 0.625, "topic": "conveyor_1.belt.station.pick.captured", "source": "conveyor_1.belt", "data": {"rider": "carrier_4"}, "cause": null} +{"env_id": 3, "seq": 2, "step": 125, "t": 0.625, "topic": "conveyor_1.belt.state.changed", "source": "conveyor_1.belt", "data": {"from": "running", "to": "at_station"}, "cause": null} +{"env_id": 3, "seq": 3, "step": 130, "t": 0.65, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_4"}, "cause": null} +{"env_id": 3, "seq": 4, "step": 630, "t": 3.15, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_4"}, "cause": null} +{"env_id": 3, "seq": 5, "step": 5678, "t": 28.39, "topic": "a4s_sealer_1.plate_present.present", "source": "a4s_sealer_1.plate_present", "data": {"object": "plate_4"}, "cause": null} +{"env_id": 3, "seq": 6, "step": 6288, "t": 31.44, "topic": "a4s_sealer_1.command.started", "source": "a4s_sealer_1", "data": {"command_id": "task-3-1", "name": "seal", "source": "task"}, "cause": "task-3-1"} +{"env_id": 3, "seq": 7, "step": 6288, "t": 31.44, "topic": "a4s_sealer_1.seal.started", "source": "a4s_sealer_1", "data": {"dwell": 2.134295464646752}, "cause": "task-3-1"} +{"env_id": 3, "seq": 8, "step": 6288, "t": 31.44, "topic": "a4s_sealer_1.drawer.command.started", "source": "a4s_sealer_1.drawer", "data": {"command_id": "program-3-2", "name": "close", "source": "program:seal"}, "cause": "program-3-2"} +{"env_id": 3, "seq": 9, "step": 6288, "t": 31.44, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "at_out", "to": "moving"}, "cause": null} +{"env_id": 3, "seq": 10, "step": 6288, "t": 31.44, "topic": "a4s_sealer_1.drawer.moving", "source": "a4s_sealer_1.drawer", "data": {"target": 0.3, "goal": "in"}, "cause": "program-3-2"} +{"env_id": 3, "seq": 11, "step": 6707, "t": 33.535, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "moving", "to": "at_in"}, "cause": null} +{"env_id": 3, "seq": 12, "step": 6707, "t": 33.535, "topic": "a4s_sealer_1.drawer.reached", "source": "a4s_sealer_1.drawer", "data": {"position": "in", "q": 0.30000001192092896}, "cause": "program-3-2"} +{"env_id": 3, "seq": 13, "step": 6707, "t": 33.535, "topic": "a4s_sealer_1.drawer.at_in", "source": "a4s_sealer_1.drawer", "data": {"q": 0.30000001192092896}, "cause": "program-3-2"} +{"env_id": 3, "seq": 14, "step": 6707, "t": 33.535, "topic": "a4s_sealer_1.drawer.command.succeeded", "source": "a4s_sealer_1.drawer", "data": {"command_id": "program-3-2", "name": "close", "source": "program:seal", "result": {"position": "in"}}, "cause": "program-3-2"} +{"env_id": 3, "seq": 15, "step": 6707, "t": 33.535, "topic": "labware.plate_4.changed", "source": "labware.plate_4", "data": {"key": "sealed", "value": true}, "cause": "task-3-1"} +{"env_id": 3, "seq": 16, "step": 6707, "t": 33.535, "topic": "a4s_sealer_1.sealed", "source": "a4s_sealer_1", "data": {"plate": "plate_4"}, "cause": "task-3-1"} +{"env_id": 3, "seq": 17, "step": 6707, "t": 33.535, "topic": "a4s_sealer_1.heater.command.started", "source": "a4s_sealer_1.heater", "data": {"command_id": "program-3-3", "name": "run", "source": "program:seal"}, "cause": "program-3-3"} +{"env_id": 3, "seq": 18, "step": 6707, "t": 33.535, "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": 6707, "t": 33.535, "topic": "a4s_sealer_1.heater.started", "source": "a4s_sealer_1.heater", "data": {"duration": 2.134295464646752}, "cause": "program-3-3"} +{"env_id": 3, "seq": 20, "step": 7134, "t": 35.67, "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": 7134, "t": 35.67, "topic": "a4s_sealer_1.heater.finished", "source": "a4s_sealer_1.heater", "data": {"elapsed": 2.1350000000010922}, "cause": "program-3-3"} +{"env_id": 3, "seq": 22, "step": 7134, "t": 35.67, "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": 2.1350000000010922}}, "cause": "program-3-3"} +{"env_id": 3, "seq": 23, "step": 7134, "t": 35.67, "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": 7134, "t": 35.67, "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": 7134, "t": 35.67, "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": 7554, "t": 37.77, "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": 7554, "t": 37.77, "topic": "a4s_sealer_1.drawer.reached", "source": "a4s_sealer_1.drawer", "data": {"position": "out", "q": 2.0471254899567803e-11}, "cause": "program-3-4"} +{"env_id": 3, "seq": 28, "step": 7554, "t": 37.77, "topic": "a4s_sealer_1.drawer.at_out", "source": "a4s_sealer_1.drawer", "data": {"q": 2.0471254899567803e-11}, "cause": "program-3-4"} +{"env_id": 3, "seq": 29, "step": 7554, "t": 37.77, "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": 7554, "t": 37.77, "topic": "a4s_sealer_1.seal.finished", "source": "a4s_sealer_1", "data": {}, "cause": "task-3-1"} +{"env_id": 3, "seq": 31, "step": 7554, "t": 37.77, "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": 8135, "t": 40.675, "topic": "a4s_sealer_1.plate_present.absent", "source": "a4s_sealer_1.plate_present", "data": {"object": "plate_4"}, "cause": null} +{"env_id": 3, "seq": 33, "step": 9840, "t": 49.2, "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": 9840, "t": 49.2, "topic": "conveyor_1.belt.station.pick.released", "source": "conveyor_1.belt", "data": {"rider": "carrier_4"}, "cause": "task-3-5"} +{"env_id": 3, "seq": 35, "step": 9840, "t": 49.2, "topic": "conveyor_1.belt.state.changed", "source": "conveyor_1.belt", "data": {"from": "at_station", "to": "running"}, "cause": null} +{"env_id": 3, "seq": 36, "step": 9840, "t": 49.2, "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_p006_e015/env.mp4 b/episodes/c7_p006_e015/env.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..228d5dc79fad0e299dd48d22a98b19d0562b7749 --- /dev/null +++ b/episodes/c7_p006_e015/env.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:4136e239afa9c41780e567659d72deca9e7791cc6999705d4a5ac2fbd6c600d2 +size 1211748 diff --git a/episodes/c7_p006_e015/meta.json b/episodes/c7_p006_e015/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..9abcc3b2162193d7bfbeb5fa3946b0da3de63b56 --- /dev/null +++ b/episodes/c7_p006_e015/meta.json @@ -0,0 +1,32 @@ +{ + "source": "raw/c7_p006/magicsim/15", + "fps": 25, + "frames": 1211, + "kept_ticks": "even", + "video_frames": { + "wrist": 1211, + "env": 1211 + }, + "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_p006_e015/scene_snapshot.json b/episodes/c7_p006_e015/scene_snapshot.json new file mode 100644 index 0000000000000000000000000000000000000000..c95fd039a36ea52f70c3c46e3a0a6b962beb553e --- /dev/null +++ b/episodes/c7_p006_e015/scene_snapshot.json @@ -0,0 +1,1558 @@ +{ + "trajectory_id": 15, + "env_id": 3, + "run_id": "c7_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": 3, + "scene": { + "objects": [ + {}, + {}, + {}, + { + "rac_cell": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/rac_cell.usd", + "pose": { + "pos": [ + 0.0, + 0.0, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "physics_material": { + "static_friction": 0.6, + "dynamic_friction": 0.5, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "robot_mount": [ + { + "asset": "Cube", + "pose": { + "pos": [ + 0.0, + 0.0, + 0.9075 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": "color", + "value": [ + 0.55, + 0.56, + 0.58 + ], + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": { + "size": [ + 0.2, + 0.2, + 0.015 + ] + } + }, + "type_specific": {} + } + ], + "plate_rack": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/plate_hotel.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 0.9 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "physics_material": { + "static_friction": 0.6, + "dynamic_friction": 0.5, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "hotel_plate": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_12_clear/plate_12_clear.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 0.9605 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/pcr_384_red/pcr_384_red.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.0285 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/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": [ + 6.055497249468633e-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": 0.2106587211437306, + "direction": [ + 1.0, + 0.0, + 0.0 + ], + "enabled": true, + "drive": "surface_velocity", + "lines": null, + "station_line": null, + "riders": [ + "carrier" + ], + "stations": { + "pick": { + "position": -0.25027161307287327, + "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": 0.2106587211437306, + "holds": [], + "station": "pick", + "rider": "carrier_4", + "arrived": true, + "applied_speed": 0.0 + } + } + } + ], + "carrier": [ + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + -1.3725099563598633, + 0.6706066131591797, + 0.8999999761581421 + ], + "ori": [ + -0.824436366558075, + -7.254276113144442e-08, + -3.682879423649865e-08, + 0.5659548044204712 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 3.900991085714622e-09, + 5.339374720136902e-09, + -2.60770320892334e-08 + ], + "angular_velocity": [ + -3.2238119729299797e-07, + 1.1202420324707418e-08, + -6.324520285261315e-08 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + 0.3716449737548828, + 1.1500024795532227, + 0.8999999761581421 + ], + "ori": [ + -3.085860953433439e-05, + -8.411224494686564e-11, + -4.749265217207643e-11, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -2.0246799792289494e-09, + -1.3948141530661928e-09, + 1.4901161193847656e-08 + ], + "angular_velocity": [ + 6.892859971685539e-08, + -1.8942475321637176e-07, + -1.820690798126634e-08 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + 1.6784210205078125, + 0.9137744903564453, + 0.8999999761581421 + ], + "ori": [ + 0.5854806303977966, + 2.5998755148748387e-08, + -3.84629217364818e-08, + 0.8106865286827087 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -2.9696835213144368e-08, + 5.528200563986729e-09, + 8.195638656616211e-08 + ], + "angular_velocity": [ + -4.840491101276712e-07, + -9.820064406085294e-07, + -2.4573157020313374e-07 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + -0.09976005554199219, + 0.4500293731689453, + 0.8999999761581421 + ], + "ori": [ + 1.0, + 2.805674359507293e-09, + -2.8711857336105595e-09, + -0.0004167419974692166 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -2.1055819310333845e-09, + -2.3176167651683954e-09, + 0.0 + ], + "angular_velocity": [ + 7.939938484469167e-08, + -1.5625543881014892e-07, + 1.1776659647466658e-08 + ] + } + } + ], + "plate": [ + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_48_clear/Object.usd", + "pose": { + "pos": [ + -1.3783788681030273, + 0.6617450714111328, + 0.9179999828338623 + ], + "ori": [ + -0.8560014367103577, + -7.897910592191693e-08, + -2.9627566178191955e-08, + 0.516973614692688 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -1.3837416545925407e-08, + 5.99587721694661e-08, + 2.2351741790771484e-08 + ], + "angular_velocity": [ + -2.036279965977883e-06, + -1.2421880910551408e-06, + -2.2402293353707137e-08 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_384_white/Object.usd", + "pose": { + "pos": [ + 0.3605947494506836, + 1.1540040969848633, + 0.9180000424385071 + ], + "ori": [ + -0.06112813204526901, + 2.1320797904955668e-10, + -1.2460135145886397e-09, + 0.9981299638748169 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 5.796301216776101e-09, + -1.2638952995303043e-08, + -4.969537258148193e-06 + ], + "angular_velocity": [ + -3.5599310876932577e-07, + 1.7917774357556482e-06, + -4.636655148715363e-08 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_96_clear/Object.usd", + "pose": { + "pos": [ + 1.670210838317871, + 0.9248437881469727, + 0.9180000424385071 + ], + "ori": [ + 0.6173901557922363, + -8.17263270391777e-08, + -1.6649153167236364e-09, + 0.7866571545600891 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -2.277846533615957e-06, + -3.8371408663806506e-06, + -5.7034194469451904e-06 + ], + "angular_velocity": [ + 4.5866949221817777e-05, + -8.163133315974846e-05, + 3.59511686838232e-05 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/reservoir_12ch/Object.usd", + "pose": { + "pos": [ + -0.11294078826904297, + 0.4534883499145508, + 0.9179999828338623 + ], + "ori": [ + 0.9999919533729553, + 1.0135722483539666e-08, + -4.305226730672018e-10, + -0.004010341130197048 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -7.524581491225035e-08, + -1.049948892273278e-07, + -2.950429916381836e-06 + ], + "angular_velocity": [ + 1.7938193650479661e-06, + -2.1439095689856913e-06, + 8.979724697155689e-08 + ] + } + } + ], + "deco_hub_west": [ + { + "asset": "$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": 0.9600000000000007, + "step": 192, + "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": 6.055497249468633e-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": 0.2106587211437306, + "holds": [], + "station": "pick", + "rider": "carrier_4", + "arrived": true, + "settle_count": 66, + "released": { + "pick": [] + }, + "last_pos": { + "carrier_1": [ + -1.5225099623203278, + 0.22060662508010864, + 0.0 + ], + "carrier_2": [ + 0.22164496779441833, + 0.7000024914741516, + 0.0 + ], + "carrier_3": [ + 1.528421014547348, + 0.46377450227737427, + 0.0 + ], + "carrier_4": [ + -0.24976006150245667, + 2.9385089874267578e-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": [] + } + } + ], + "drives": [ + null, + null, + null, + {} + ] + }, + "artifacts": [ + {}, + {}, + {}, + { + "ceiling": { + "type": "rect", + "pose": { + "pos": [ + 0.16134085565274925, + -0.2174582200196013, + 2.9810966814865942 + ], + "ori": [ + 5.272376374400832, + -2.682999562069572, + -3.115141671837872 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "color_temperature": 5413.690757240041, + "color": [ + 0.9107665862535324, + 0.9201850382662388, + 0.9636834123066484 + ], + "intensity": 10566.382991791685, + "width": 2.667990698983257, + "height": 1.1246270277171302 + } + }, + "key": { + "type": "sphere", + "pose": { + "pos": [ + 1.7426349589676122, + -0.7382046690428641, + 2.56117986218056 + ], + "ori": [ + 38.06550063005379, + -20.68077490113029, + -27.721623646910032 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "color_temperature": 3541.714257125402, + "color": [ + 0.9403459926184607, + 0.7558968254413259, + 0.8103399393635625 + ], + "intensity": 2625.5983120892624, + "radius": 0.15746450442217452 + } + } + } + ], + "background": { + "type": "dome", + "pose": { + "pos": null, + "ori": null, + "scale": null + }, + "dr": { + "intensity": 979.9254346047957, + "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": [ + [ + 0.780945897102356, + -1.352615237236023, + 2.198051929473877, + -2.4162838459014893, + -1.5707820653915405, + 2.5507078170776367, + 0.0071329656057059765, + 0.006639644969254732 + ], + [ + 0.9141108989715576, + -1.719395399093628, + 2.0904974937438965, + -1.941900372505188, + -1.5707999467849731, + 2.484905242919922, + 0.01799999363720417, + 0.018000004813075066 + ], + [ + 1.3097460269927979, + -1.6796091794967651, + 2.2550339698791504, + -2.146207571029663, + -1.570788025856018, + 3.054854154586792, + 0.00767304003238678, + 0.007141181733459234 + ], + [ + 0.9140999913215637, + -1.7194000482559204, + 2.0905001163482666, + -1.9419000148773193, + -1.5707999467849731, + 2.4848999977111816, + 0.017999999225139618, + 0.017999999225139618 + ] + ], + "joint_vel": [ + [ + 0.00016487715765833855, + -0.018875259906053543, + -0.007892963476479053, + 0.025428801774978638, + -0.0001555204944452271, + -0.0007456110324710608, + -0.0076921735890209675, + -0.0003740261308848858 + ], + [ + -2.7562803710276917e-38, + 2.8759666741641386e-38, + 1.5473392679395137e-38, + 3.339477866636804e-37, + -6.413349362398151e-37, + 2.0966606534332666e-37, + 7.797115131324972e-08, + -7.797118684038651e-08 + ], + [ + 0.025536993518471718, + -0.020732298493385315, + 0.009231409057974815, + 0.009974724613130093, + 0.00010837430454557762, + 0.021123122423887253, + -0.0068247453309595585, + 0.0003649606369435787 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + ] + } + }, + "cameras": { + "cameras": { + "camera0": [ + [ + 0.054619792848825455, + -6.655212473560823e-06, + -0.03176700323820114, + -0.2678055763244629, + 0.6588009595870972, + 0.6453554630279541, + -0.27888667583465576 + ], + [ + 0.048786379396915436, + 0.0024846161250025034, + -0.02751418761909008, + -0.2930152714252472, + 0.6435158848762512, + 0.6513223648071289, + -0.2753334939479828 + ], + [ + 0.050821274518966675, + 0.00044614760554395616, + -0.031112710013985634, + -0.2961762249469757, + 0.6409748792648315, + 0.6508910655975342, + -0.2788757085800171 + ], + [ + 0.051911208778619766, + -0.0035870089195668697, + -0.03201645240187645, + -0.27409496903419495, + 0.6496427655220032, + 0.6536452174186707, + -0.27492576837539673 + ] + ], + "camera1": [ + [ + 0.025729477405548096, + 0.5726606249809265, + 1.935927152633667, + 0.03006134368479252, + 0.010884955525398254, + 0.28754234313964844, + 0.9572341442108154 + ], + [ + 0.047106608748435974, + 0.5616968870162964, + 1.9361932277679443, + 0.026756638661026955, + 0.009835987351834774, + 0.26523882150650024, + 0.9637612104415894 + ], + [ + 0.035893362015485764, + 0.5609809756278992, + 1.956145167350769, + 0.045632731169462204, + -0.006308643147349358, + 0.2849392890930176, + 0.9574379324913025 + ], + [ + 0.055190276354551315, + 0.5806149244308472, + 1.9368242025375366, + 0.03209138661623001, + 0.028654398396611214, + 0.27371925115585327, + 0.9608469605445862 + ] + ] + } + } + } +} \ No newline at end of file diff --git a/episodes/c7_p006_e015/wrist.mp4 b/episodes/c7_p006_e015/wrist.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..b1feed71db1ee434ee691106acdcce4ad04180b3 --- /dev/null +++ b/episodes/c7_p006_e015/wrist.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:d1657c2b47b0622cfbb433dafe3bd350f5347e6c00f5d6b0cf27219754218cd8 +size 6330546 diff --git a/episodes/c8_p006_e016/data.npz b/episodes/c8_p006_e016/data.npz new file mode 100644 index 0000000000000000000000000000000000000000..53c7cfa0ac74b26f6ca089c67e9f547254f05660 --- /dev/null +++ b/episodes/c8_p006_e016/data.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:76a63d97fec14d853bbbfd76707a74ea4085912153455189e4a9bc74db0fbb79 +size 192888 diff --git a/episodes/c8_p006_e016/device_events.jsonl b/episodes/c8_p006_e016/device_events.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..5d975ad9e82fc60df5032c3ba51c2fa66a5bb557 --- /dev/null +++ b/episodes/c8_p006_e016/device_events.jsonl @@ -0,0 +1,39 @@ +{"env_id": 3, "seq": 1, "step": 87, "t": 0.435, "topic": "conveyor_1.belt.station.pick.captured", "source": "conveyor_1.belt", "data": {"rider": "carrier_2"}, "cause": null} +{"env_id": 3, "seq": 2, "step": 87, "t": 0.435, "topic": "conveyor_1.belt.state.changed", "source": "conveyor_1.belt", "data": {"from": "running", "to": "at_station"}, "cause": null} +{"env_id": 3, "seq": 3, "step": 92, "t": 0.46, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_2"}, "cause": null} +{"env_id": 3, "seq": 4, "step": 1425, "t": 7.125, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_2"}, "cause": null} +{"env_id": 3, "seq": 5, "step": 1510, "t": 7.55, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_2"}, "cause": null} +{"env_id": 3, "seq": 6, "step": 1573, "t": 7.865, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_2"}, "cause": null} +{"env_id": 3, "seq": 7, "step": 1589, "t": 7.945, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_2"}, "cause": null} +{"env_id": 3, "seq": 8, "step": 6235, "t": 31.175, "topic": "a4s_sealer_1.plate_present.present", "source": "a4s_sealer_1.plate_present", "data": {"object": "plate_2"}, "cause": null} +{"env_id": 3, "seq": 9, "step": 6848, "t": 34.24, "topic": "a4s_sealer_1.command.started", "source": "a4s_sealer_1", "data": {"command_id": "task-3-1", "name": "seal", "source": "task"}, "cause": "task-3-1"} +{"env_id": 3, "seq": 10, "step": 6848, "t": 34.24, "topic": "a4s_sealer_1.seal.started", "source": "a4s_sealer_1", "data": {"dwell": 4.541067412665984}, "cause": "task-3-1"} +{"env_id": 3, "seq": 11, "step": 6848, "t": 34.24, "topic": "a4s_sealer_1.drawer.command.started", "source": "a4s_sealer_1.drawer", "data": {"command_id": "program-3-2", "name": "close", "source": "program:seal"}, "cause": "program-3-2"} +{"env_id": 3, "seq": 12, "step": 6848, "t": 34.24, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "at_out", "to": "moving"}, "cause": null} +{"env_id": 3, "seq": 13, "step": 6848, "t": 34.24, "topic": "a4s_sealer_1.drawer.moving", "source": "a4s_sealer_1.drawer", "data": {"target": 0.3, "goal": "in"}, "cause": "program-3-2"} +{"env_id": 3, "seq": 14, "step": 7267, "t": 36.335, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "moving", "to": "at_in"}, "cause": null} +{"env_id": 3, "seq": 15, "step": 7267, "t": 36.335, "topic": "a4s_sealer_1.drawer.reached", "source": "a4s_sealer_1.drawer", "data": {"position": "in", "q": 0.30000001192092896}, "cause": "program-3-2"} +{"env_id": 3, "seq": 16, "step": 7267, "t": 36.335, "topic": "a4s_sealer_1.drawer.at_in", "source": "a4s_sealer_1.drawer", "data": {"q": 0.30000001192092896}, "cause": "program-3-2"} +{"env_id": 3, "seq": 17, "step": 7267, "t": 36.335, "topic": "a4s_sealer_1.drawer.command.succeeded", "source": "a4s_sealer_1.drawer", "data": {"command_id": "program-3-2", "name": "close", "source": "program:seal", "result": {"position": "in"}}, "cause": "program-3-2"} +{"env_id": 3, "seq": 18, "step": 7267, "t": 36.335, "topic": "labware.plate_2.changed", "source": "labware.plate_2", "data": {"key": "sealed", "value": true}, "cause": "task-3-1"} +{"env_id": 3, "seq": 19, "step": 7267, "t": 36.335, "topic": "a4s_sealer_1.sealed", "source": "a4s_sealer_1", "data": {"plate": "plate_2"}, "cause": "task-3-1"} +{"env_id": 3, "seq": 20, "step": 7267, "t": 36.335, "topic": "a4s_sealer_1.heater.command.started", "source": "a4s_sealer_1.heater", "data": {"command_id": "program-3-3", "name": "run", "source": "program:seal"}, "cause": "program-3-3"} +{"env_id": 3, "seq": 21, "step": 7267, "t": 36.335, "topic": "a4s_sealer_1.heater.state.changed", "source": "a4s_sealer_1.heater", "data": {"from": "ready", "to": "running"}, "cause": null} +{"env_id": 3, "seq": 22, "step": 7267, "t": 36.335, "topic": "a4s_sealer_1.heater.started", "source": "a4s_sealer_1.heater", "data": {"duration": 4.541067412665984}, "cause": "program-3-3"} +{"env_id": 3, "seq": 23, "step": 8176, "t": 40.88, "topic": "a4s_sealer_1.heater.state.changed", "source": "a4s_sealer_1.heater", "data": {"from": "running", "to": "ready"}, "cause": null} +{"env_id": 3, "seq": 24, "step": 8176, "t": 40.88, "topic": "a4s_sealer_1.heater.finished", "source": "a4s_sealer_1.heater", "data": {"elapsed": 4.545000000002325}, "cause": "program-3-3"} +{"env_id": 3, "seq": 25, "step": 8176, "t": 40.88, "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": 4.545000000002325}}, "cause": "program-3-3"} +{"env_id": 3, "seq": 26, "step": 8176, "t": 40.88, "topic": "a4s_sealer_1.drawer.command.started", "source": "a4s_sealer_1.drawer", "data": {"command_id": "program-3-4", "name": "open", "source": "program:seal"}, "cause": "program-3-4"} +{"env_id": 3, "seq": 27, "step": 8176, "t": 40.88, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "at_in", "to": "moving"}, "cause": null} +{"env_id": 3, "seq": 28, "step": 8176, "t": 40.88, "topic": "a4s_sealer_1.drawer.moving", "source": "a4s_sealer_1.drawer", "data": {"target": 0.0, "goal": "out"}, "cause": "program-3-4"} +{"env_id": 3, "seq": 29, "step": 8596, "t": 42.98, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "moving", "to": "at_out"}, "cause": null} +{"env_id": 3, "seq": 30, "step": 8596, "t": 42.98, "topic": "a4s_sealer_1.drawer.reached", "source": "a4s_sealer_1.drawer", "data": {"position": "out", "q": 3.4756690858728234e-09}, "cause": "program-3-4"} +{"env_id": 3, "seq": 31, "step": 8596, "t": 42.98, "topic": "a4s_sealer_1.drawer.at_out", "source": "a4s_sealer_1.drawer", "data": {"q": 3.4756690858728234e-09}, "cause": "program-3-4"} +{"env_id": 3, "seq": 32, "step": 8596, "t": 42.98, "topic": "a4s_sealer_1.drawer.command.succeeded", "source": "a4s_sealer_1.drawer", "data": {"command_id": "program-3-4", "name": "open", "source": "program:seal", "result": {"position": "out"}}, "cause": "program-3-4"} +{"env_id": 3, "seq": 33, "step": 8596, "t": 42.98, "topic": "a4s_sealer_1.seal.finished", "source": "a4s_sealer_1", "data": {}, "cause": "task-3-1"} +{"env_id": 3, "seq": 34, "step": 8596, "t": 42.98, "topic": "a4s_sealer_1.command.succeeded", "source": "a4s_sealer_1", "data": {"command_id": "task-3-1", "name": "seal", "source": "task"}, "cause": "task-3-1"} +{"env_id": 3, "seq": 35, "step": 9170, "t": 45.85, "topic": "a4s_sealer_1.plate_present.absent", "source": "a4s_sealer_1.plate_present", "data": {"object": "plate_2"}, "cause": null} +{"env_id": 3, "seq": 36, "step": 10968, "t": 54.84, "topic": "conveyor_1.belt.command.started", "source": "conveyor_1.belt", "data": {"command_id": "task-3-5", "name": "release", "source": "task"}, "cause": "task-3-5"} +{"env_id": 3, "seq": 37, "step": 10968, "t": 54.84, "topic": "conveyor_1.belt.station.pick.released", "source": "conveyor_1.belt", "data": {"rider": "carrier_2"}, "cause": "task-3-5"} +{"env_id": 3, "seq": 38, "step": 10968, "t": 54.84, "topic": "conveyor_1.belt.state.changed", "source": "conveyor_1.belt", "data": {"from": "at_station", "to": "running"}, "cause": null} +{"env_id": 3, "seq": 39, "step": 10968, "t": 54.84, "topic": "conveyor_1.belt.command.succeeded", "source": "conveyor_1.belt", "data": {"command_id": "task-3-5", "name": "release", "source": "task", "result": {"state": "running"}}, "cause": "task-3-5"} diff --git a/episodes/c8_p006_e016/env.mp4 b/episodes/c8_p006_e016/env.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..5abcdceab9fa683c0ad8daf4bfff8bc80f088b6a --- /dev/null +++ b/episodes/c8_p006_e016/env.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:bd0275af7367d7c0cace4f113ad1a900f4a79a5c0c75d4b7627dd8f2469faf41 +size 1255952 diff --git a/episodes/c8_p006_e016/meta.json b/episodes/c8_p006_e016/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..7f0b0d63c668c35a39b80c633aa3b18dd239d064 --- /dev/null +++ b/episodes/c8_p006_e016/meta.json @@ -0,0 +1,32 @@ +{ + "source": "raw/c8_p006/magicsim/16", + "fps": 25, + "frames": 1252, + "kept_ticks": "even", + "video_frames": { + "wrist": 1252, + "env": 1252 + }, + "joint_target_source": "joint_pos_target", + "fk_vs_recorded_eef_max_m": 0.0, + "curobo_joints": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "joint_order": [ + "shoulder_pan", + "shoulder_lift", + "elbow", + "wrist_1", + "wrist_2", + "wrist_3", + "finger_left", + "finger_right" + ], + "frames_note": "eef / actions in the robot base frame; camera_pose = local pose (wrist: in plate_gripper_base, env: env frame), pos + quat wxyz", + "dr_version": "v2" +} \ No newline at end of file diff --git a/episodes/c8_p006_e016/scene_snapshot.json b/episodes/c8_p006_e016/scene_snapshot.json new file mode 100644 index 0000000000000000000000000000000000000000..d46a762bd2958a3163432ab83dc288051bb6c15f --- /dev/null +++ b/episodes/c8_p006_e016/scene_snapshot.json @@ -0,0 +1,1558 @@ +{ + "trajectory_id": 16, + "env_id": 3, + "run_id": "c8_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": 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/plate_96_clear/plate_96_clear.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.0285 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_24_clear/plate_24_clear.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.0965 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_96_white/plate_96_white.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.1645 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_12_clear/plate_12_clear.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.2325 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "a4s_sealer": [ + { + "asset": "$MAGICSIM_ASSETS/Articulated/A4SSealer/Object.usd", + "pose": { + "pos": [ + 0.5170612335205078, + 0.08798694610595703, + 0.8999999761581421 + ], + "ori": [ + 0.715570330619812, + 0.0, + 0.0, + -0.6985406875610352 + ], + "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": [ + 4.373417860498163e-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": 0.162679702261342, + "direction": [ + 1.0, + 0.0, + 0.0 + ], + "enabled": true, + "drive": "surface_velocity", + "lines": null, + "station_line": null, + "riders": [ + "carrier" + ], + "stations": { + "pick": { + "position": -0.2241144246952848, + "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": 0.162679702261342, + "holds": [], + "station": "pick", + "rider": "carrier_2", + "arrived": true, + "applied_speed": 0.0 + } + } + } + ], + "carrier": [ + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + 1.4521846771240234, + 0.46860218048095703, + 0.8999999761581421 + ], + "ori": [ + 0.9890471696853638, + -1.8177459537582763e-09, + 7.712094429734861e-08, + 0.1476002335548401 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 9.32522198127117e-07, + 5.549309207708575e-07, + -3.1031668186187744e-06 + ], + "angular_velocity": [ + -4.515871842158958e-05, + 8.065669680945575e-05, + -6.05846480539185e-07 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + -0.07424640655517578, + 0.4499969482421875, + 0.8999999761581421 + ], + "ori": [ + 1.0, + -2.9302213988557924e-09, + -3.765467049277049e-09, + 5.122522452438716e-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": [ + 3.1390889887461526e-10, + -3.151696237324586e-09, + 3.725290298461914e-09 + ], + "angular_velocity": [ + 1.2341730837306386e-07, + 5.7732350455808046e-08, + 2.265637455423075e-08 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + -1.3968629837036133, + 0.8388690948486328, + 0.8999999761581421 + ], + "ori": [ + -0.6661982536315918, + -1.495221368941202e-07, + -4.687024457439293e-08, + 0.7457747459411621 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -3.813511284533888e-09, + 2.8537670004880056e-09, + 7.450580596923828e-09 + ], + "angular_velocity": [ + -2.515444066375494e-07, + -4.832545528188348e-07, + 3.7645861539203906e-08 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + 0.09085464477539062, + 1.1499958038330078, + 0.8999999761581421 + ], + "ori": [ + 1.3376317838265095e-05, + -1.0793946847442726e-09, + -3.1967722913250896e-10, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 2.890195860416611e-10, + -5.068135910946125e-10, + 3.725290298461914e-09 + ], + "angular_velocity": [ + 1.0648010118075035e-07, + 3.792334624108662e-08, + -1.2217371114786602e-08 + ] + } + } + ], + "plate": [ + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_48_clear/Object.usd", + "pose": { + "pos": [ + 1.4462928771972656, + 0.4738740921020508, + 0.9179999828338623 + ], + "ori": [ + 0.9945871233940125, + 4.3902045376853494e-07, + 2.0401519407187152e-07, + 0.10390615463256836 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -1.312086169491522e-06, + -2.42514033743646e-07, + -8.03917646408081e-06 + ], + "angular_velocity": [ + -0.00016715867968741804, + 5.37870146217756e-05, + 2.175312147301156e-05 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_384_white/Object.usd", + "pose": { + "pos": [ + -0.07977771759033203, + 0.4431753158569336, + 0.9180000424385071 + ], + "ori": [ + 0.9965033531188965, + -4.469162817599681e-09, + -4.2214165496545775e-09, + 0.08355323225259781 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -6.806490038258062e-09, + -2.6923144602619686e-08, + -5.271285772323608e-06 + ], + "angular_velocity": [ + 1.1068522098867106e-06, + -1.606619434824097e-06, + 9.988884386302743e-09 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_96_clear/Object.usd", + "pose": { + "pos": [ + -1.3867387771606445, + 0.8449172973632812, + 0.9180000424385071 + ], + "ori": [ + -0.7343305349349976, + -1.294855138667117e-07, + -2.1310138720309624e-07, + 0.6787920594215393 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 2.2032440938346554e-07, + 2.7456549105409067e-06, + -2.0116567611694336e-07 + ], + "angular_velocity": [ + -1.6748494090279564e-05, + -1.756170968292281e-05, + 1.7226473573828116e-05 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/reservoir_12ch/Object.usd", + "pose": { + "pos": [ + 0.09643173217773438, + 1.1483650207519531, + 0.9179999828338623 + ], + "ori": [ + 0.031058186665177345, + 1.0188423438250993e-09, + 6.987821432602459e-09, + 0.9995176792144775 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 3.950691507270676e-08, + 1.264983051640911e-08, + -2.5294721126556396e-06 + ], + "angular_velocity": [ + -3.885732837716205e-07, + 1.535556179987907e-06, + 3.451912533591894e-08 + ] + } + } + ], + "deco_hub_west": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/hub_e.usd", + "pose": { + "pos": [ + -3.36, + 0.0, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_hub_east": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/hub_d.usd", + "pose": { + "pos": [ + 3.36, + 0.0, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_hub_back": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/hub_a.usd", + "pose": { + "pos": [ + -3.0, + -2.1, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_bench_east": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/bench_c.usd", + "pose": { + "pos": [ + 2.6, + -2.5, + 0.0 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_bench_gap": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/bench_b.usd", + "pose": { + "pos": [ + -0.1, + -2.9, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ] + } + ], + "devices": { + "hub": [ + null, + null, + null, + { + "t": 5.039999999999915, + "step": 1008, + "counter": 0, + "devices": { + "a4s_sealer_1": { + "mode": "auto", + "units": { + "drawer": { + "state": "at_out", + "active": null, + "target": 0.0, + "goal_name": "out", + "profile": null, + "q_start": null, + "reversing": false, + "blocked_for": 0.0, + "settled_for": 0.0, + "last_q": 4.373417860498163e-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": 0.162679702261342, + "holds": [], + "station": "pick", + "rider": "carrier_2", + "arrived": true, + "settle_count": 920, + "released": { + "pick": [] + }, + "last_pos": { + "carrier_1": [ + 1.302184671163559, + 0.018602192401885986, + 0.0 + ], + "carrier_2": [ + -0.22424641251564026, + -3.039836883544922e-06, + 0.0 + ], + "carrier_3": [ + -1.5468629896640778, + 0.38886910676956177, + 0.0 + ], + "carrier_4": [ + -0.05914536118507385, + 0.6999958157539368, + 0.0 + ] + }, + "command": 0.0 + }, + "belt": { + "target_speed": 0.0, + "command_speed": 0.0 + }, + "seen": { + "state": "at_station", + "station": "pick", + "rider": "carrier_2", + "arrived": true + } + } + }, + "queues": {}, + "program": null, + "sensors": {}, + "interlocks": {} + } + }, + "zones": {}, + "labware": { + "plate_1": { + "sealed": false + }, + "plate_2": { + "sealed": false + }, + "plate_3": { + "sealed": false + }, + "plate_4": { + "sealed": false + } + }, + "rules": {}, + "records": [], + "bus": { + "seq": 3, + "queue": [] + } + } + ], + "drives": [ + null, + null, + null, + {} + ] + }, + "artifacts": [ + {}, + {}, + {}, + { + "ceiling": { + "type": "rect", + "pose": { + "pos": [ + -0.5972018301797168, + -0.012918126880971548, + 2.8627497040169896 + ], + "ori": [ + -3.6629029307083645, + -10.381675290048772, + 3.457437486798071 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "color_temperature": 6453.945944465917, + "color": [ + 0.9196383458473196, + 0.8354361742985492, + 0.9066683319011322 + ], + "intensity": 4840.6359008901945, + "width": 1.8038699421680597, + "height": 1.1278748784104575 + } + }, + "key": { + "type": "disk", + "pose": { + "pos": [ + 0.9968303776699448, + -0.9109269393851069, + 2.1618285829935933 + ], + "ori": [ + 3.2615441639125606, + 7.549321853426434, + -15.240697252077737 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "color_temperature": 5107.824409425957, + "color": [ + 0.7599026317974445, + 0.9978237228439012, + 0.9265357767062343 + ], + "intensity": 2912.135844714207, + "radius": 0.22585589112608623 + } + } + } + ], + "background": { + "type": "dome", + "pose": { + "pos": null, + "ori": null, + "scale": null + }, + "dr": { + "intensity": 1093.5034863410342, + "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": [ + [ + 1.4373549222946167, + -1.5245939493179321, + 2.1751017570495605, + -2.222170114517212, + -1.5708461999893188, + 6.136470794677734, + 0.007687113247811794, + 0.007251566741615534 + ], + [ + 1.4230798482894897, + -1.538307547569275, + 2.1481680870056152, + -2.182318925857544, + -1.5712181329727173, + 0.4610183835029602, + 0.006686108186841011, + 0.008223328739404678 + ], + [ + -0.020381733775138855, + -2.0376627445220947, + 2.3525333404541016, + -1.8855074644088745, + -1.5707969665527344, + 4.694070339202881, + 0.007855895906686783, + 0.007105608005076647 + ], + [ + 0.9141077399253845, + -1.7193962335586548, + 2.090498208999634, + -1.9419009685516357, + -1.5707999467849731, + 2.4849038124084473, + 0.01799999549984932, + 0.018000002950429916 + ] + ], + "joint_vel": [ + [ + -0.0004149011510889977, + 0.0011505719739943743, + 0.0008649489027447999, + -0.0022867736406624317, + 4.068588532391004e-05, + 0.00039097509579733014, + -0.005970483645796776, + -0.0006684405962005258 + ], + [ + 0.027157960459589958, + 0.009565338492393494, + -0.006028743460774422, + -0.008931329473853111, + -0.001314086839556694, + -0.07890001684427261, + -0.006464805454015732, + 8.383517706533894e-05 + ], + [ + -0.0005093342624604702, + -0.0003333328349981457, + -0.001041783718392253, + 0.00013863827916793525, + -0.0016191686736419797, + 0.0034068624954670668, + -0.009162185713648796, + 0.00035328263766132295 + ], + [ + 2.2863807149081079e-38, + 0.0, + 0.0, + -5.28579287152103e-37, + 5.653252789431752e-37, + -3.6950926646805275e-37, + 5.1980777016069624e-08, + -5.1980777016069624e-08 + ] + ] + } + }, + "cameras": { + "cameras": { + "camera0": [ + [ + 0.05157817155122757, + 0.0030614137649536133, + -0.03245037421584129, + -0.2691996395587921, + 0.6552338600158691, + 0.64777010679245, + -0.28034621477127075 + ], + [ + 0.04779631644487381, + 0.002299059648066759, + -0.030778029933571815, + -0.29814422130584717, + 0.6426455974578857, + 0.649199903011322, + -0.2768685519695282 + ], + [ + 0.05100776627659798, + -0.002375781536102295, + -0.03364357724785805, + -0.2846856117248535, + 0.6499711871147156, + 0.6416120529174805, + -0.2912483215332031 + ], + [ + 0.04816727712750435, + -0.0046495492570102215, + -0.028080206364393234, + -0.2780601680278778, + 0.6419988870620728, + 0.6657912135124207, + -0.259310781955719 + ] + ], + "camera1": [ + [ + 0.02615947276353836, + 0.5948325991630554, + 1.9727696180343628, + 0.02896626479923725, + 0.01970462128520012, + 0.26615583896636963, + 0.963293194770813 + ], + [ + 0.04103856906294823, + 0.576558530330658, + 1.9476584196090698, + 0.030472513288259506, + 0.006323642563074827, + 0.26012641191482544, + 0.9650728702545166 + ], + [ + 0.0527331717312336, + 0.5644567608833313, + 1.9565356969833374, + 0.057875435799360275, + 0.007280176971107721, + 0.26178696751594543, + 0.9633613228797913 + ], + [ + 0.0645175352692604, + 0.5588828921318054, + 1.9600121974945068, + 0.04307552054524422, + 0.021027294918894768, + 0.26173102855682373, + 0.9639497995376587 + ] + ] + } + } + } +} \ No newline at end of file diff --git a/episodes/c8_p006_e016/wrist.mp4 b/episodes/c8_p006_e016/wrist.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..9e539b1235fc59d6e11eb72e58d5e5c9b0eef70a --- /dev/null +++ b/episodes/c8_p006_e016/wrist.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:bf75fe36027558e19bd148409c3bcb42c99933566300f4170e8b95373b31a948 +size 6900711 diff --git a/episodes/c8_p006_e017/data.npz b/episodes/c8_p006_e017/data.npz new file mode 100644 index 0000000000000000000000000000000000000000..3616f79e0dc140a465edadf8c53b88b403653bfa --- /dev/null +++ b/episodes/c8_p006_e017/data.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:f1da81ea04b10e05c1ad33da24495a1897292af7bb3a912f5e5c5639419f6aa8 +size 195250 diff --git a/episodes/c8_p006_e017/device_events.jsonl b/episodes/c8_p006_e017/device_events.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..c7dac82565eac836d79533112b173f7c87b4237e --- /dev/null +++ b/episodes/c8_p006_e017/device_events.jsonl @@ -0,0 +1,36 @@ +{"env_id": 0, "seq": 1, "step": 99, "t": 0.495, "topic": "conveyor_1.belt.station.pick.captured", "source": "conveyor_1.belt", "data": {"rider": "carrier_3"}, "cause": null} +{"env_id": 0, "seq": 2, "step": 99, "t": 0.495, "topic": "conveyor_1.belt.state.changed", "source": "conveyor_1.belt", "data": {"from": "running", "to": "at_station"}, "cause": null} +{"env_id": 0, "seq": 3, "step": 104, "t": 0.52, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_3"}, "cause": null} +{"env_id": 0, "seq": 4, "step": 672, "t": 3.36, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_3"}, "cause": null} +{"env_id": 0, "seq": 5, "step": 5631, "t": 28.155, "topic": "a4s_sealer_1.plate_present.present", "source": "a4s_sealer_1.plate_present", "data": {"object": "plate_3"}, "cause": null} +{"env_id": 0, "seq": 6, "step": 6244, "t": 31.22, "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": 6244, "t": 31.22, "topic": "a4s_sealer_1.seal.started", "source": "a4s_sealer_1", "data": {"dwell": 4.952984905865202}, "cause": "task-0-1"} +{"env_id": 0, "seq": 8, "step": 6244, "t": 31.22, "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": 6244, "t": 31.22, "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": 6244, "t": 31.22, "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": 6663, "t": 33.315, "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": 6663, "t": 33.315, "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": 6663, "t": 33.315, "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": 6663, "t": 33.315, "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": 6663, "t": 33.315, "topic": "labware.plate_3.changed", "source": "labware.plate_3", "data": {"key": "sealed", "value": true}, "cause": "task-0-1"} +{"env_id": 0, "seq": 16, "step": 6663, "t": 33.315, "topic": "a4s_sealer_1.sealed", "source": "a4s_sealer_1", "data": {"plate": "plate_3"}, "cause": "task-0-1"} +{"env_id": 0, "seq": 17, "step": 6663, "t": 33.315, "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": 6663, "t": 33.315, "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": 6663, "t": 33.315, "topic": "a4s_sealer_1.heater.started", "source": "a4s_sealer_1.heater", "data": {"duration": 4.952984905865202}, "cause": "program-0-3"} +{"env_id": 0, "seq": 20, "step": 7654, "t": 38.27, "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": 7654, "t": 38.27, "topic": "a4s_sealer_1.heater.finished", "source": "a4s_sealer_1.heater", "data": {"elapsed": 4.955000000002535}, "cause": "program-0-3"} +{"env_id": 0, "seq": 22, "step": 7654, "t": 38.27, "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": 4.955000000002535}}, "cause": "program-0-3"} +{"env_id": 0, "seq": 23, "step": 7654, "t": 38.27, "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": 7654, "t": 38.27, "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": 7654, "t": 38.27, "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": 8074, "t": 40.37, "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": 8074, "t": 40.37, "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": 28, "step": 8074, "t": 40.37, "topic": "a4s_sealer_1.drawer.at_out", "source": "a4s_sealer_1.drawer", "data": {"q": 0.0}, "cause": "program-0-4"} +{"env_id": 0, "seq": 29, "step": 8074, "t": 40.37, "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": 8074, "t": 40.37, "topic": "a4s_sealer_1.seal.finished", "source": "a4s_sealer_1", "data": {}, "cause": "task-0-1"} +{"env_id": 0, "seq": 31, "step": 8074, "t": 40.37, "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": 8655, "t": 43.275, "topic": "a4s_sealer_1.plate_present.absent", "source": "a4s_sealer_1.plate_present", "data": {"object": "plate_3"}, "cause": null} +{"env_id": 0, "seq": 33, "step": 10364, "t": 51.82, "topic": "conveyor_1.belt.command.started", "source": "conveyor_1.belt", "data": {"command_id": "task-0-5", "name": "release", "source": "task"}, "cause": "task-0-5"} +{"env_id": 0, "seq": 34, "step": 10364, "t": 51.82, "topic": "conveyor_1.belt.station.pick.released", "source": "conveyor_1.belt", "data": {"rider": "carrier_3"}, "cause": "task-0-5"} +{"env_id": 0, "seq": 35, "step": 10364, "t": 51.82, "topic": "conveyor_1.belt.state.changed", "source": "conveyor_1.belt", "data": {"from": "at_station", "to": "running"}, "cause": null} +{"env_id": 0, "seq": 36, "step": 10364, "t": 51.82, "topic": "conveyor_1.belt.command.succeeded", "source": "conveyor_1.belt", "data": {"command_id": "task-0-5", "name": "release", "source": "task", "result": {"state": "running"}}, "cause": "task-0-5"} diff --git a/episodes/c8_p006_e017/env.mp4 b/episodes/c8_p006_e017/env.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..1a260c6736d05988d0e0bb0a77eabb3f6c51b61c --- /dev/null +++ b/episodes/c8_p006_e017/env.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:ce9f4fa38ba7ef220fb56697d11a7791504ef3fa604b3abeaadabac8e28f225b +size 1395849 diff --git a/episodes/c8_p006_e017/meta.json b/episodes/c8_p006_e017/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..951cc51a5e609ce630405c3b3f2ae54b13796120 --- /dev/null +++ b/episodes/c8_p006_e017/meta.json @@ -0,0 +1,32 @@ +{ + "source": "raw/c8_p006/magicsim/17", + "fps": 25, + "frames": 1275, + "kept_ticks": "even", + "video_frames": { + "wrist": 1275, + "env": 1275 + }, + "joint_target_source": "joint_pos_target", + "fk_vs_recorded_eef_max_m": 0.0, + "curobo_joints": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "joint_order": [ + "shoulder_pan", + "shoulder_lift", + "elbow", + "wrist_1", + "wrist_2", + "wrist_3", + "finger_left", + "finger_right" + ], + "frames_note": "eef / actions in the robot base frame; camera_pose = local pose (wrist: in plate_gripper_base, env: env frame), pos + quat wxyz", + "dr_version": "v2" +} \ No newline at end of file diff --git a/episodes/c8_p006_e017/scene_snapshot.json b/episodes/c8_p006_e017/scene_snapshot.json new file mode 100644 index 0000000000000000000000000000000000000000..75e9dc09af9a7e6760c39c0f1c1c36457f38a9b8 --- /dev/null +++ b/episodes/c8_p006_e017/scene_snapshot.json @@ -0,0 +1,1558 @@ +{ + "trajectory_id": 17, + "env_id": 0, + "run_id": "c8_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_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": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_384_white/plate_384_white.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.0285 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_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": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_384_white/plate_384_white.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.1645 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_24_clear/plate_24_clear.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.2325 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "a4s_sealer": [ + { + "asset": "$MAGICSIM_ASSETS/Articulated/A4SSealer/Object.usd", + "pose": { + "pos": [ + 0.5099220275878906, + 0.11313915252685547, + 0.8999999761581421 + ], + "ori": [ + -0.6833606958389282, + 0.0, + 0.0, + 0.7300809025764465 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "articulation", + "solver_position_iteration_count": 16.0, + "solver_velocity_iteration_count": 1.0, + "enabled_self_collisions": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "joint_position": [ + 6.728331542089905e-13 + ], + "joint_velocity": [ + 0.0 + ], + "linear_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "angular_velocity": [ + 0.0, + 0.0, + 0.0 + ] + } + } + ], + "conveyor": [ + { + "asset": "Cube", + "pose": { + "pos": [ + 0.15, + 0.45, + 0.9 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "conveyor", + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9 + }, + "ratio": 1.0 + }, + "primitive_params": { + "size": [ + 2.4, + 0.076, + 0.03 + ] + }, + "conveyor": { + "speed": 0.19509012976168222, + "direction": [ + 1.0, + 0.0, + 0.0 + ], + "enabled": true, + "drive": "surface_velocity", + "lines": null, + "station_line": null, + "riders": [ + "carrier" + ], + "stations": { + "pick": { + "position": -0.27352020290362117, + "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": 0.19509012976168222, + "holds": [], + "station": "pick", + "rider": "carrier_3", + "arrived": true, + "applied_speed": 0.0 + } + } + } + ], + "carrier": [ + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + 1.383925437927246, + 0.4543800354003906, + 0.8999999761581421 + ], + "ori": [ + 0.9986070394515991, + -6.094768578712717e-10, + -3.118126423728995e-09, + 0.05276361480355263 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 2.8758184722477154e-10, + 2.3282836769666915e-10, + 0.0 + ], + "angular_velocity": [ + -2.7687843129342582e-08, + 1.9418351371314202e-08, + -2.9285329716799424e-10 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + 0.4495840072631836, + 1.1499958038330078, + 0.8999999761581421 + ], + "ori": [ + 5.097667235531844e-05, + 1.8573415028200202e-10, + 1.745917965756405e-09, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -1.067651078656695e-09, + -7.860641582091432e-10, + 1.1175870895385742e-08 + ], + "angular_velocity": [ + 2.742116933518446e-08, + -1.0076409751036408e-07, + -1.3433697709785974e-08 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + -0.12295818328857422, + 0.45000267028808594, + 0.8999999761581421 + ], + "ori": [ + 1.0, + 6.120521311991922e-10, + -1.2357099787863035e-09, + -3.508246663841419e-05 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 1.0019827190177466e-09, + 2.9171509652314853e-10, + 3.725290298461914e-09 + ], + "angular_velocity": [ + 2.8839686194714886e-09, + 8.525837102979494e-08, + -9.089489161340225e-09 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + -1.1429176330566406, + 1.134150505065918, + 0.8999999761581421 + ], + "ori": [ + -0.1318080872297287, + -6.116320605542569e-08, + -1.107514702169965e-08, + 0.9912753105163574 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -2.04093897337998e-09, + -1.2396084159149723e-11, + -3.725290298461914e-09 + ], + "angular_velocity": [ + -5.638115752049089e-08, + -1.807411535992287e-07, + 1.1511557040932985e-08 + ] + } + } + ], + "plate": [ + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_6_clear/Object.usd", + "pose": { + "pos": [ + 1.372757911682129, + 0.4436836242675781, + 0.9179999828338623 + ], + "ori": [ + 0.9943888783454895, + -1.9353203484229198e-09, + -4.681263710004657e-10, + 0.1057872474193573 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -2.35646258062161e-08, + -1.4404379911070464e-08, + 8.195638656616211e-08 + ], + "angular_velocity": [ + 4.90649028961343e-07, + -1.3022905704929144e-06, + 5.276282522004294e-08 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_96_black/Object.usd", + "pose": { + "pos": [ + 0.4384326934814453, + 1.1581754684448242, + 0.9180000424385071 + ], + "ori": [ + 0.024666618555784225, + -1.4079949428591476e-09, + 1.798509785544411e-09, + 0.9996957778930664 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 4.110277451729871e-09, + -1.1604858407565644e-08, + -5.0961971282958984e-06 + ], + "angular_velocity": [ + -9.116299111155968e-07, + 8.054456088757433e-07, + 1.7136605023893026e-08 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/pcr_96_blue/Object.usd", + "pose": { + "pos": [ + -0.132354736328125, + 0.46199512481689453, + 0.9180000424385071 + ], + "ori": [ + 0.9967897534370422, + 1.7193779733304382e-09, + -1.1025553803278854e-09, + 0.08006404340267181 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -6.0941083290799725e-09, + -4.2034145053548855e-09, + -5.550682544708252e-06 + ], + "angular_velocity": [ + 1.7544809907121817e-06, + -1.5525752132816706e-06, + -3.698826844811265e-08 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/deep_well_96_2ml/Object.usd", + "pose": { + "pos": [ + -1.1523714065551758, + 1.1319303512573242, + 0.9179999828338623 + ], + "ori": [ + -0.056726809591054916, + -6.0341619700921e-08, + -1.4726375674456449e-08, + 0.9983897805213928 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 1.6762530208325188e-07, + 3.803668491286771e-08, + -1.426786184310913e-06 + ], + "angular_velocity": [ + -2.7970372684649192e-08, + 4.779535629495513e-06, + 2.603591156002949e-07 + ] + } + } + ], + "deco_hub_west": [ + { + "asset": "$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": 1.0599999999999994, + "step": 212, + "counter": 0, + "devices": { + "a4s_sealer_1": { + "mode": "auto", + "units": { + "drawer": { + "state": "at_out", + "active": null, + "target": 0.0, + "goal_name": "out", + "profile": null, + "q_start": null, + "reversing": false, + "blocked_for": 0.0, + "settled_for": 0.0, + "last_q": 6.728331542089905e-13 + }, + "heater": { + "state": "ready", + "active": null, + "duration": 0.0, + "t_start": null, + "elapsed": 0.0 + } + }, + "queues": {}, + "program": null, + "sensors": { + "plate_present": { + "occupants": [], + "pending": {} + } + }, + "interlocks": {} + }, + "conveyor_1": { + "mode": "auto", + "units": { + "belt": { + "state": "at_station", + "active": null, + "controller": { + "speed": 0.19509012976168222, + "holds": [], + "station": "pick", + "rider": "carrier_3", + "arrived": true, + "settle_count": 112, + "released": { + "pick": [] + }, + "last_pos": { + "carrier_1": [ + 1.2339254319667816, + 0.00438004732131958, + 0.0 + ], + "carrier_2": [ + 0.2995840013027191, + 0.6999958157539368, + 0.0 + ], + "carrier_3": [ + -0.2729581892490387, + 2.682209014892578e-06, + 0.0 + ], + "carrier_4": [ + -1.292917639017105, + 0.6841505169868469, + 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": [ + 0.23417410069267242, + -0.4873377750820106, + 2.624670924531302 + ], + "ori": [ + -0.9440177321283745, + 1.7740425039752914, + 23.514460081313686 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "color_temperature": 4154.47877811413, + "color": [ + 0.8732188642155908, + 0.9145954959797583, + 0.9466089767189925 + ], + "intensity": 4226.75762303965, + "width": 1.604063297349072, + "height": 1.1253751314200904 + } + }, + "key": { + "type": "disk", + "pose": { + "pos": [ + 0.06365101868996925, + 1.4825843929701301, + 1.7135880013906382 + ], + "ori": [ + -8.252849696758176, + 39.755089311355874, + 30.202510977258697 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "color_temperature": 5505.172037190023, + "color": [ + 0.9356670794407822, + 0.8868730046715069, + 0.7899965711068213 + ], + "intensity": 4477.744118279552, + "radius": 0.3156021925036346 + } + } + }, + {}, + {}, + {} + ], + "background": { + "type": "dome", + "pose": { + "pos": null, + "ori": null, + "scale": null + }, + "dr": { + "intensity": 845.2526962905574, + "texture": null, + "color": [ + 0.92, + 0.94, + 0.96 + ] + } + } + }, + "robots": { + "UR5e": { + "root_pose": [ + [ + 11.0, + -11.0, + 0.9150000214576721, + 1.0, + 0.0, + 0.0, + 0.0 + ], + [ + 11.0, + 11.0, + 0.9150000214576721, + 1.0, + 0.0, + 0.0, + 0.0 + ], + [ + -11.0, + -11.0, + 0.9150000214576721, + 1.0, + 0.0, + 0.0, + 0.0 + ], + [ + -11.0, + 11.0, + 0.9150000214576721, + 1.0, + 0.0, + 0.0, + 0.0 + ] + ], + "root_vel": [ + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + ], + "joint_pos": [ + [ + 0.9140999913215637, + -1.7194000482559204, + 2.0905001163482666, + -1.9419000148773193, + -1.5707999467849731, + 2.4848999977111816, + 0.017999999225139618, + 0.017999999225139618 + ], + [ + 0.9140999913215637, + -1.7194000482559204, + 2.0905001163482666, + -1.9419000148773193, + -1.5707999467849731, + 2.4848999977111816, + 0.017999999225139618, + 0.017999999225139618 + ], + [ + 1.3209044933319092, + -1.3099770545959473, + 2.278444766998291, + -2.539170503616333, + -1.5713649988174438, + 6.0320048332214355, + 0.017999986186623573, + 0.017999986186623573 + ], + [ + 1.1587752103805542, + -1.5083906650543213, + 2.1042985916137695, + -2.1666505336761475, + -1.5708990097045898, + 2.5626204013824463, + 0.006987260654568672, + 0.008008119650185108 + ] + ], + "joint_vel": [ + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + [ + -6.811924777139211e-06, + 6.811839284637244e-06, + 1.362386410619365e-05, + -1.1177836434228539e-11, + -6.8119588831905276e-06, + 2.7247831894783303e-05, + 1.819426529436896e-07, + 1.8194428719198186e-07 + ], + [ + 0.003332702908664942, + 0.0010878860484808683, + 0.0010289245983585715, + 0.003812476061284542, + -0.000658587203361094, + -0.0022904695942997932, + -0.005268289241939783, + 0.0001843651698436588 + ] + ] + } + }, + "cameras": { + "cameras": { + "camera0": [ + [ + 0.051897671073675156, + -0.0010914194863289595, + -0.030819110572338104, + -0.2856592833995819, + 0.6426111459732056, + 0.6541911959648132, + -0.27835872769355774 + ], + [ + 0.047757588326931, + 0.003586592385545373, + -0.03377769514918327, + -0.28237929940223694, + 0.6449124813079834, + 0.6610487103462219, + -0.2595464587211609 + ], + [ + 0.04871539771556854, + -0.0008784487727098167, + -0.031380947679281235, + -0.27921268343925476, + 0.6491966843605042, + 0.6478410959243774, + -0.28440436720848083 + ], + [ + 0.04839405044913292, + -0.002951936097815633, + -0.030933013185858727, + -0.2749704420566559, + 0.6416980624198914, + 0.6647980809211731, + -0.26581647992134094 + ] + ], + "camera1": [ + [ + 0.07423640787601471, + 0.5638993978500366, + 1.929558277130127, + 0.04568637162446976, + 0.01811630092561245, + 0.2760564684867859, + 0.9598840475082397 + ], + [ + 0.03133406117558479, + 0.6028285622596741, + 1.970253348350525, + 0.0428759828209877, + 0.00736848684027791, + 0.2721940279006958, + 0.9612584114074707 + ], + [ + 0.0527331717312336, + 0.5644567608833313, + 1.9565356969833374, + 0.057875435799360275, + 0.007280176971107721, + 0.26178696751594543, + 0.9633613228797913 + ], + [ + 0.0645175352692604, + 0.5588828921318054, + 1.9600121974945068, + 0.04307552054524422, + 0.021027294918894768, + 0.26173102855682373, + 0.9639497995376587 + ] + ] + } + } + } +} \ No newline at end of file diff --git a/episodes/c8_p006_e017/wrist.mp4 b/episodes/c8_p006_e017/wrist.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..7783f6e4ef28a08a8a0c799232e2484b28c344f4 --- /dev/null +++ b/episodes/c8_p006_e017/wrist.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:9be91cae6a6f6ec57b19968cd713d44bdf211674489f9e859e39a1dc491fca9a +size 7354118 diff --git a/episodes/c8_p006_e018/data.npz b/episodes/c8_p006_e018/data.npz new file mode 100644 index 0000000000000000000000000000000000000000..f547a3f2b4d6667b0ffbad0b51a05c2a08f77a59 --- /dev/null +++ b/episodes/c8_p006_e018/data.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:d6edbee982e67467c8e2d8565ed3b90bd82671f1771db141e281ab1e99796b86 +size 202443 diff --git a/episodes/c8_p006_e018/device_events.jsonl b/episodes/c8_p006_e018/device_events.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..e51b160a4622b53addbeb4da1dba95794ce9b98b --- /dev/null +++ b/episodes/c8_p006_e018/device_events.jsonl @@ -0,0 +1,36 @@ +{"env_id": 1, "seq": 1, "step": 107, "t": 0.535, "topic": "conveyor_1.belt.station.pick.captured", "source": "conveyor_1.belt", "data": {"rider": "carrier_2"}, "cause": null} +{"env_id": 1, "seq": 2, "step": 107, "t": 0.535, "topic": "conveyor_1.belt.state.changed", "source": "conveyor_1.belt", "data": {"from": "running", "to": "at_station"}, "cause": null} +{"env_id": 1, "seq": 3, "step": 112, "t": 0.56, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_2"}, "cause": null} +{"env_id": 1, "seq": 4, "step": 1485, "t": 7.425, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_2"}, "cause": null} +{"env_id": 1, "seq": 5, "step": 6319, "t": 31.595, "topic": "a4s_sealer_1.plate_present.present", "source": "a4s_sealer_1.plate_present", "data": {"object": "plate_2"}, "cause": null} +{"env_id": 1, "seq": 6, "step": 6932, "t": 34.66, "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": 6932, "t": 34.66, "topic": "a4s_sealer_1.seal.started", "source": "a4s_sealer_1", "data": {"dwell": 2.556229576752542}, "cause": "task-1-1"} +{"env_id": 1, "seq": 8, "step": 6932, "t": 34.66, "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": 6932, "t": 34.66, "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": 6932, "t": 34.66, "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": 7351, "t": 36.755, "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": 7351, "t": 36.755, "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": 7351, "t": 36.755, "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": 7351, "t": 36.755, "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": 7351, "t": 36.755, "topic": "labware.plate_2.changed", "source": "labware.plate_2", "data": {"key": "sealed", "value": true}, "cause": "task-1-1"} +{"env_id": 1, "seq": 16, "step": 7351, "t": 36.755, "topic": "a4s_sealer_1.sealed", "source": "a4s_sealer_1", "data": {"plate": "plate_2"}, "cause": "task-1-1"} +{"env_id": 1, "seq": 17, "step": 7351, "t": 36.755, "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": 7351, "t": 36.755, "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": 7351, "t": 36.755, "topic": "a4s_sealer_1.heater.started", "source": "a4s_sealer_1.heater", "data": {"duration": 2.556229576752542}, "cause": "program-1-3"} +{"env_id": 1, "seq": 20, "step": 7863, "t": 39.315, "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": 7863, "t": 39.315, "topic": "a4s_sealer_1.heater.finished", "source": "a4s_sealer_1.heater", "data": {"elapsed": 2.5600000000013097}, "cause": "program-1-3"} +{"env_id": 1, "seq": 22, "step": 7863, "t": 39.315, "topic": "a4s_sealer_1.heater.command.succeeded", "source": "a4s_sealer_1.heater", "data": {"command_id": "program-1-3", "name": "run", "source": "program:seal", "result": {"elapsed": 2.5600000000013097}}, "cause": "program-1-3"} +{"env_id": 1, "seq": 23, "step": 7863, "t": 39.315, "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": 7863, "t": 39.315, "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": 7863, "t": 39.315, "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": 8283, "t": 41.415, "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": 8283, "t": 41.415, "topic": "a4s_sealer_1.drawer.reached", "source": "a4s_sealer_1.drawer", "data": {"position": "out", "q": 3.2487457168883793e-10}, "cause": "program-1-4"} +{"env_id": 1, "seq": 28, "step": 8283, "t": 41.415, "topic": "a4s_sealer_1.drawer.at_out", "source": "a4s_sealer_1.drawer", "data": {"q": 3.2487457168883793e-10}, "cause": "program-1-4"} +{"env_id": 1, "seq": 29, "step": 8283, "t": 41.415, "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": 8283, "t": 41.415, "topic": "a4s_sealer_1.seal.finished", "source": "a4s_sealer_1", "data": {}, "cause": "task-1-1"} +{"env_id": 1, "seq": 31, "step": 8283, "t": 41.415, "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": 8863, "t": 44.315, "topic": "a4s_sealer_1.plate_present.absent", "source": "a4s_sealer_1.plate_present", "data": {"object": "plate_2"}, "cause": null} +{"env_id": 1, "seq": 33, "step": 11108, "t": 55.54, "topic": "conveyor_1.belt.command.started", "source": "conveyor_1.belt", "data": {"command_id": "task-1-5", "name": "release", "source": "task"}, "cause": "task-1-5"} +{"env_id": 1, "seq": 34, "step": 11108, "t": 55.54, "topic": "conveyor_1.belt.station.pick.released", "source": "conveyor_1.belt", "data": {"rider": "carrier_2"}, "cause": "task-1-5"} +{"env_id": 1, "seq": 35, "step": 11108, "t": 55.54, "topic": "conveyor_1.belt.state.changed", "source": "conveyor_1.belt", "data": {"from": "at_station", "to": "running"}, "cause": null} +{"env_id": 1, "seq": 36, "step": 11108, "t": 55.54, "topic": "conveyor_1.belt.command.succeeded", "source": "conveyor_1.belt", "data": {"command_id": "task-1-5", "name": "release", "source": "task", "result": {"state": "running"}}, "cause": "task-1-5"} diff --git a/episodes/c8_p006_e018/env.mp4 b/episodes/c8_p006_e018/env.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..03e3bfea917520723346a56b3a06957b3608392c --- /dev/null +++ b/episodes/c8_p006_e018/env.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:b8b77cfaf52a08b6bfacdbecdd59cb06a5aa08c88982200fb61f04c2464b418f +size 1237023 diff --git a/episodes/c8_p006_e018/meta.json b/episodes/c8_p006_e018/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..9d91de703403e6f93619cafb01c68159efe81a9a --- /dev/null +++ b/episodes/c8_p006_e018/meta.json @@ -0,0 +1,32 @@ +{ + "source": "raw/c8_p006/magicsim/18", + "fps": 25, + "frames": 1259, + "kept_ticks": "even", + "video_frames": { + "wrist": 1259, + "env": 1259 + }, + "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_p006_e018/scene_snapshot.json b/episodes/c8_p006_e018/scene_snapshot.json new file mode 100644 index 0000000000000000000000000000000000000000..6ab85f4cfb43d402f5794b068396ea0d4fb94cb7 --- /dev/null +++ b/episodes/c8_p006_e018/scene_snapshot.json @@ -0,0 +1,1558 @@ +{ + "trajectory_id": 18, + "env_id": 1, + "run_id": "c8_p006", + "task_type": "BioPlateCell", + "success": true, + "timing": { + "fps": 50.0, + "sim_dt": 0.005, + "decimation": 4 + }, + "restore_interface": { + "scene": "scene_manager.reset_to(snapshot['scene'], env_ids=[env_id])", + "robots": "robot_manager.set_state({'robots': snapshot['robots']}, env_ids=[env_id])" + }, + "snapshot": { + "env_id": 1, + "scene": { + "objects": [ + {}, + { + "rac_cell": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/rac_cell.usd", + "pose": { + "pos": [ + 0.0, + 0.0, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "physics_material": { + "static_friction": 0.6, + "dynamic_friction": 0.5, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "robot_mount": [ + { + "asset": "Cube", + "pose": { + "pos": [ + 0.0, + 0.0, + 0.9075 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": "color", + "value": [ + 0.55, + 0.56, + 0.58 + ], + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": { + "size": [ + 0.2, + 0.2, + 0.015 + ] + } + }, + "type_specific": {} + } + ], + "plate_rack": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/plate_hotel.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 0.9 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "physics_material": { + "static_friction": 0.6, + "dynamic_friction": 0.5, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "hotel_plate": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_12_clear/plate_12_clear.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 0.9605 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/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": [ + 4.037000768397636e-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": 0.2695069289658385, + "direction": [ + 1.0, + 0.0, + 0.0 + ], + "enabled": true, + "drive": "surface_velocity", + "lines": null, + "station_line": null, + "riders": [ + "carrier" + ], + "stations": { + "pick": { + "position": -0.15897308512784214, + "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": 0.2695069289658385, + "holds": [], + "station": "pick", + "rider": "carrier_2", + "arrived": true, + "applied_speed": 0.0 + } + } + } + ], + "carrier": [ + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + 0.09324455261230469, + 1.1499958038330078, + 0.8999999761581421 + ], + "ori": [ + 4.1485556721454486e-05, + -5.5925611364138206e-11, + -4.474693504619154e-09, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -1.8753354424916324e-10, + -1.1220970819181275e-09, + 0.0 + ], + "angular_velocity": [ + 8.609643487034191e-08, + -7.501089527295335e-09, + -2.326876247238374e-09 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + -0.009296417236328125, + 0.4499349594116211, + 0.8999999761581421 + ], + "ori": [ + 0.9999951720237732, + 1.26410970580082e-09, + -4.679829301856842e-10, + 0.0031334981322288513 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 9.14486042447038e-10, + 2.4197115422452953e-09, + 1.1175870895385742e-08 + ], + "angular_velocity": [ + -1.3225172779129934e-07, + 8.080027669166157e-08, + -2.4150931920985386e-08 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + -1.393514633178711, + 0.7458019256591797, + 0.8999999761581421 + ], + "ori": [ + -0.7531884908676147, + 2.26244161183331e-08, + 1.2213932976123942e-08, + 0.6578047275543213 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 2.691750466965459e-08, + -2.5600246367218915e-09, + 1.1175870895385742e-08 + ], + "angular_velocity": [ + -2.7423814685789694e-07, + 5.43335545444279e-07, + 3.505716392737668e-07 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + 1.6422615051269531, + 0.9888763427734375, + 0.8999999761581421 + ], + "ori": [ + 0.48652780055999756, + 1.3668594078808383e-07, + 5.6783619584166445e-08, + 0.8736652135848999 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 5.438337211671751e-07, + -1.0690724820960895e-06, + -2.954155206680298e-06 + ], + "angular_velocity": [ + 9.119593596551567e-05, + 5.229977978160605e-05, + 9.03849354472186e-07 + ] + } + } + ], + "plate": [ + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_12_clear/Object.usd", + "pose": { + "pos": [ + 0.08125782012939453, + 1.1424026489257812, + 0.9179999828338623 + ], + "ori": [ + 0.0444500632584095, + -1.5495091321149346e-10, + -1.0549754403399447e-09, + 0.9990116357803345 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 2.9349982000326236e-08, + 4.849646906279759e-09, + 8.568167686462402e-08 + ], + "angular_velocity": [ + -2.798263381009747e-07, + 1.7808832808441366e-06, + 9.474567974621095e-08 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_96_white/Object.usd", + "pose": { + "pos": [ + -0.0026407241821289062, + 0.44076061248779297, + 0.9180000424385071 + ], + "ori": [ + 0.999085009098053, + 2.416172817376605e-09, + 1.7259621509779777e-10, + 0.04277055710554123 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -6.211910985598479e-09, + 1.9698848774396538e-08, + -5.085021257400513e-06 + ], + "angular_velocity": [ + 3.5744218251920756e-08, + -1.5750761122035328e-06, + -1.806438731932758e-08 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/pcr_384_red/Object.usd", + "pose": { + "pos": [ + -1.3821001052856445, + 0.7397804260253906, + 0.9179999828338623 + ], + "ori": [ + -0.8118359446525574, + -6.782125439031006e-08, + 1.658837902596133e-07, + 0.5838857889175415 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -5.972647159069311e-07, + -4.57744681625627e-06, + -5.7853758335113525e-06 + ], + "angular_velocity": [ + 2.6295324460079428e-06, + -5.402885653893463e-05, + -2.3147846150095575e-05 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/deep_well_96_1ml/Object.usd", + "pose": { + "pos": [ + 1.6454687118530273, + 0.9970541000366211, + 0.9179999232292175 + ], + "ori": [ + 0.4332268536090851, + 6.570785444637295e-07, + 1.0242143844152451e-07, + 0.90128493309021 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 2.5084855224122293e-06, + 1.0197719348070677e-05, + -4.187226295471191e-06 + ], + "angular_velocity": [ + -3.341660340083763e-05, + 0.0001662669819779694, + -6.786001904401928e-05 + ] + } + } + ], + "deco_hub_west": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/hub_a.usd", + "pose": { + "pos": [ + -3.36, + 0.0, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_hub_east": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/hub_c.usd", + "pose": { + "pos": [ + 3.36, + 0.0, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_hub_back": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/hub_d.usd", + "pose": { + "pos": [ + -3.0, + -2.1, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_bench_east": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/bench_c.usd", + "pose": { + "pos": [ + 2.6, + -2.5, + 0.0 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_bench_gap": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/bench_b.usd", + "pose": { + "pos": [ + -0.1, + -2.9, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ] + }, + {}, + {} + ], + "devices": { + "hub": [ + null, + { + "t": 5.339999999999908, + "step": 1068, + "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": 4.037000768397636e-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": 0.2695069289658385, + "holds": [], + "station": "pick", + "rider": "carrier_2", + "arrived": true, + "settle_count": 960, + "released": { + "pick": [] + }, + "last_pos": { + "carrier_1": [ + -0.05675545334815979, + 0.6999958157539368, + 0.0 + ], + "carrier_2": [ + -0.1592964231967926, + -6.502866744995117e-05, + 0.0 + ], + "carrier_3": [ + -1.5435146391391754, + 0.29580193758010864, + 0.0 + ], + "carrier_4": [ + 1.4922614991664886, + 0.5388763546943665, + 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": [ + -0.27334261306645596, + 0.46665458718899455, + 3.0192514921115263 + ], + "ori": [ + 14.901261458746848, + 9.690202419801455, + 2.479628089030868 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "color_temperature": 6594.929884329417, + "color": [ + 0.9048827001085891, + 0.9764134576276142, + 0.8940441279000761 + ], + "intensity": 10525.747929900317, + "width": 2.703552779679236, + "height": 1.7838100365280893 + } + }, + "key": { + "type": "sphere", + "pose": { + "pos": [ + -0.7058681349138027, + -0.6991673648239907, + 2.7397409678031415 + ], + "ori": [ + 37.086699215226815, + 15.469891112961818, + 38.14227624660259 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "color_temperature": 2969.5773124668444, + "color": [ + 0.9174068303830278, + 0.7964712985062344, + 0.9999662955391112 + ], + "intensity": 2188.1385917224998, + "radius": 0.09286131392988117 + } + } + }, + {}, + {} + ], + "background": { + "type": "dome", + "pose": { + "pos": null, + "ori": null, + "scale": null + }, + "dr": { + "intensity": 845.2526962905574, + "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": [ + [ + 1.279812216758728, + -1.4751662015914917, + 2.067548990249634, + -2.1631510257720947, + -1.5708361864089966, + 2.6905694007873535, + 0.006724905222654343, + 0.007162256632000208 + ], + [ + 0.91410231590271, + -1.719397783279419, + 2.09049916267395, + -1.941900372505188, + -1.5707999467849731, + 2.48490047454834, + 0.017999999225139618, + 0.017999999225139618 + ], + [ + 0.9141029119491577, + -1.7193981409072876, + 2.09049916267395, + -1.9419001340866089, + -1.5707999467849731, + 2.4849002361297607, + 0.01799999736249447, + 0.018000001087784767 + ], + [ + 2.750927209854126, + -1.7760155200958252, + 2.168525218963623, + -1.9617141485214233, + -1.5702000856399536, + 4.322933197021484, + 0.007769822608679533, + 0.006990508176386356 + ] + ], + "joint_vel": [ + [ + 0.001328188693150878, + 0.00039435276994481683, + 0.00032951051252894104, + 0.002310987561941147, + -0.0008930090116336942, + -0.004222869407385588, + -0.008164264261722565, + 0.0001211990020237863 + ], + [ + 2.871682063979619e-38, + -1.563558176625302e-38, + -3.3606208820742913e-38, + -6.293919272672921e-37, + 4.880091182207252e-37, + -2.5868082652144286e-36, + 5.992270608464012e-38, + -3.2171503401028593e-38 + ], + [ + -2.7247906721970773e-38, + 3.0088988911644624e-38, + 2.93478982058018e-38, + 3.3282044765432496e-37, + -7.1346745852458565e-37, + 2.6409778900070385e-37, + 2.5990386731677972e-08, + -2.5990388508034812e-08 + ], + [ + 0.008260579779744148, + 0.024115050211548805, + -0.018321994692087173, + -0.005864008795469999, + 0.0005195641424506903, + 0.007333791349083185, + -0.009522149339318275, + 0.0004298645944800228 + ] + ] + } + }, + "cameras": { + "cameras": { + "camera0": [ + [ + 0.052472155541181564, + 0.0005298027535900474, + -0.03177142143249512, + -0.28721970319747925, + 0.6501818299293518, + 0.6481953859329224, + -0.2731505334377289 + ], + [ + 0.04781878739595413, + 0.0034111288841813803, + -0.03243960067629814, + -0.2864128649234772, + 0.6445205807685852, + 0.6584565043449402, + -0.26267072558403015 + ], + [ + 0.04897686466574669, + 0.0032085997518152, + -0.028167055919766426, + -0.2652682662010193, + 0.6558568477630615, + 0.6469305753707886, + -0.2845442295074463 + ], + [ + 0.04679993540048599, + -0.0006331911426968873, + -0.028495458886027336, + -0.2749425768852234, + 0.6448118090629578, + 0.6610130667686462, + -0.26774245500564575 + ] + ], + "camera1": [ + [ + 0.07423640787601471, + 0.5638993978500366, + 1.929558277130127, + 0.04568637162446976, + 0.01811630092561245, + 0.2760564684867859, + 0.9598840475082397 + ], + [ + 0.03133406117558479, + 0.6028285622596741, + 1.970253348350525, + 0.0428759828209877, + 0.00736848684027791, + 0.2721940279006958, + 0.9612584114074707 + ], + [ + 0.03907379135489464, + 0.5692023038864136, + 1.9363471269607544, + 0.03076772950589657, + -0.001070721889846027, + 0.2862304449081421, + 0.9576660990715027 + ], + [ + 0.0645175352692604, + 0.5588828921318054, + 1.9600121974945068, + 0.04307552054524422, + 0.021027294918894768, + 0.26173102855682373, + 0.9639497995376587 + ] + ] + } + } + } +} \ No newline at end of file diff --git a/episodes/c8_p006_e018/wrist.mp4 b/episodes/c8_p006_e018/wrist.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..62a5e3e1dc4e60f68189f06e7b94267079122b3c --- /dev/null +++ b/episodes/c8_p006_e018/wrist.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:99ade22d22e95603018c183810477528324df3b1effa3a28a2d5e548f6196b69 +size 7300419 diff --git a/episodes/c8_p006_e019/data.npz b/episodes/c8_p006_e019/data.npz new file mode 100644 index 0000000000000000000000000000000000000000..099d04253435fae2107b2588e9894127f242af49 --- /dev/null +++ b/episodes/c8_p006_e019/data.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:6e5189b0d3689b8bee4db26df09a8cb2b31e102cec7903ae4a0016fca262d122 +size 187284 diff --git a/episodes/c8_p006_e019/device_events.jsonl b/episodes/c8_p006_e019/device_events.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..a71f1f1b5a39d33a56ec6c3ea68765b58147c766 --- /dev/null +++ b/episodes/c8_p006_e019/device_events.jsonl @@ -0,0 +1,35 @@ +{"env_id": 2, "seq": 1, "step": 91, "t": 0.455, "topic": "conveyor_1.belt.station.pick.captured", "source": "conveyor_1.belt", "data": {"rider": "carrier_3"}, "cause": null} +{"env_id": 2, "seq": 2, "step": 91, "t": 0.455, "topic": "conveyor_1.belt.state.changed", "source": "conveyor_1.belt", "data": {"from": "running", "to": "at_station"}, "cause": null} +{"env_id": 2, "seq": 3, "step": 96, "t": 0.48, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_3"}, "cause": null} +{"env_id": 2, "seq": 4, "step": 6499, "t": 32.495, "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": 7112, "t": 35.56, "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": 7112, "t": 35.56, "topic": "a4s_sealer_1.seal.started", "source": "a4s_sealer_1", "data": {"dwell": 3.4374631600839147}, "cause": "task-2-1"} +{"env_id": 2, "seq": 7, "step": 7112, "t": 35.56, "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": 7112, "t": 35.56, "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": 7112, "t": 35.56, "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": 7531, "t": 37.655, "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": 7531, "t": 37.655, "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": 7531, "t": 37.655, "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": 7531, "t": 37.655, "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": 7531, "t": 37.655, "topic": "labware.plate_3.changed", "source": "labware.plate_3", "data": {"key": "sealed", "value": true}, "cause": "task-2-1"} +{"env_id": 2, "seq": 15, "step": 7531, "t": 37.655, "topic": "a4s_sealer_1.sealed", "source": "a4s_sealer_1", "data": {"plate": "plate_3"}, "cause": "task-2-1"} +{"env_id": 2, "seq": 16, "step": 7531, "t": 37.655, "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": 7531, "t": 37.655, "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": 7531, "t": 37.655, "topic": "a4s_sealer_1.heater.started", "source": "a4s_sealer_1.heater", "data": {"duration": 3.4374631600839147}, "cause": "program-2-3"} +{"env_id": 2, "seq": 19, "step": 8219, "t": 41.095, "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": 8219, "t": 41.095, "topic": "a4s_sealer_1.heater.finished", "source": "a4s_sealer_1.heater", "data": {"elapsed": 3.44000000000176}, "cause": "program-2-3"} +{"env_id": 2, "seq": 21, "step": 8219, "t": 41.095, "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": 3.44000000000176}}, "cause": "program-2-3"} +{"env_id": 2, "seq": 22, "step": 8219, "t": 41.095, "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": 8219, "t": 41.095, "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": 8219, "t": 41.095, "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": 8639, "t": 43.195, "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": 8639, "t": 43.195, "topic": "a4s_sealer_1.drawer.reached", "source": "a4s_sealer_1.drawer", "data": {"position": "out", "q": 3.2817806250307058e-09}, "cause": "program-2-4"} +{"env_id": 2, "seq": 27, "step": 8639, "t": 43.195, "topic": "a4s_sealer_1.drawer.at_out", "source": "a4s_sealer_1.drawer", "data": {"q": 3.2817806250307058e-09}, "cause": "program-2-4"} +{"env_id": 2, "seq": 28, "step": 8639, "t": 43.195, "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": 8639, "t": 43.195, "topic": "a4s_sealer_1.seal.finished", "source": "a4s_sealer_1", "data": {}, "cause": "task-2-1"} +{"env_id": 2, "seq": 30, "step": 8639, "t": 43.195, "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": 9214, "t": 46.07, "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": 10912, "t": 54.56, "topic": "conveyor_1.belt.command.started", "source": "conveyor_1.belt", "data": {"command_id": "task-2-5", "name": "release", "source": "task"}, "cause": "task-2-5"} +{"env_id": 2, "seq": 33, "step": 10912, "t": 54.56, "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": 10912, "t": 54.56, "topic": "conveyor_1.belt.state.changed", "source": "conveyor_1.belt", "data": {"from": "at_station", "to": "running"}, "cause": null} +{"env_id": 2, "seq": 35, "step": 10912, "t": 54.56, "topic": "conveyor_1.belt.command.succeeded", "source": "conveyor_1.belt", "data": {"command_id": "task-2-5", "name": "release", "source": "task", "result": {"state": "running"}}, "cause": "task-2-5"} diff --git a/episodes/c8_p006_e019/env.mp4 b/episodes/c8_p006_e019/env.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..9520d5a35bef983310e2df4cf823b5aa8dd77e1a --- /dev/null +++ b/episodes/c8_p006_e019/env.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:92820ababb4601f8a57f03b13db1f2050b08e30b41c33b3eac85c0ecb251fa41 +size 1249523 diff --git a/episodes/c8_p006_e019/meta.json b/episodes/c8_p006_e019/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..0703876661566ee3c56ab0a58e3085eb1dc6720a --- /dev/null +++ b/episodes/c8_p006_e019/meta.json @@ -0,0 +1,32 @@ +{ + "source": "raw/c8_p006/magicsim/19", + "fps": 25, + "frames": 1206, + "kept_ticks": "even", + "video_frames": { + "wrist": 1206, + "env": 1206 + }, + "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_p006_e019/scene_snapshot.json b/episodes/c8_p006_e019/scene_snapshot.json new file mode 100644 index 0000000000000000000000000000000000000000..8f712d51e8ab6245daf59743291b2d13f5f3cb12 --- /dev/null +++ b/episodes/c8_p006_e019/scene_snapshot.json @@ -0,0 +1,1558 @@ +{ + "trajectory_id": 19, + "env_id": 2, + "run_id": "c8_p006", + "task_type": "BioPlateCell", + "success": true, + "timing": { + "fps": 50.0, + "sim_dt": 0.005, + "decimation": 4 + }, + "restore_interface": { + "scene": "scene_manager.reset_to(snapshot['scene'], env_ids=[env_id])", + "robots": "robot_manager.set_state({'robots': snapshot['robots']}, env_ids=[env_id])" + }, + "snapshot": { + "env_id": 2, + "scene": { + "objects": [ + {}, + {}, + { + "rac_cell": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/rac_cell.usd", + "pose": { + "pos": [ + 0.0, + 0.0, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "physics_material": { + "static_friction": 0.6, + "dynamic_friction": 0.5, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "robot_mount": [ + { + "asset": "Cube", + "pose": { + "pos": [ + 0.0, + 0.0, + 0.9075 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": "color", + "value": [ + 0.55, + 0.56, + 0.58 + ], + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": { + "size": [ + 0.2, + 0.2, + 0.015 + ] + } + }, + "type_specific": {} + } + ], + "plate_rack": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/plate_hotel.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 0.9 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "physics_material": { + "static_friction": 0.6, + "dynamic_friction": 0.5, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "hotel_plate": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_96_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": [ + 4.373418294179032e-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": 0.18563538249583242, + "direction": [ + 1.0, + 0.0, + 0.0 + ], + "enabled": true, + "drive": "surface_velocity", + "lines": null, + "station_line": null, + "riders": [ + "carrier" + ], + "stations": { + "pick": { + "position": -0.08380537880083141, + "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": 0.18563538249583242, + "holds": [], + "station": "pick", + "rider": "carrier_3", + "arrived": true, + "applied_speed": 0.0 + } + } + } + ], + "carrier": [ + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + -0.026144027709960938, + 1.149998664855957, + 0.8999999761581421 + ], + "ori": [ + -6.326203583739698e-05, + 1.0672878136830377e-09, + 3.239736257043546e-09, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -1.7475327851457223e-09, + -4.066615488795833e-09, + 3.725290298461914e-09 + ], + "angular_velocity": [ + 1.3523298036943743e-07, + -1.8097688325724448e-07, + -1.1383374243223443e-08 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + -1.3966569900512695, + 0.8124322891235352, + 0.8999999761581421 + ], + "ori": [ + -0.680800199508667, + 9.14429598708466e-09, + -1.500558788336548e-08, + 0.7324692606925964 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 3.1699276092922446e-08, + -1.9395770323171746e-08, + -6.332993507385254e-08 + ], + "angular_velocity": [ + 1.1455182402642095e-06, + 2.464042268002231e-07, + 4.964349500369281e-07 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + 0.0666351318359375, + 0.45000457763671875, + 0.8999999761581421 + ], + "ori": [ + 1.0, + 1.6235287558785672e-09, + -6.112782502398773e-10, + 6.407462933566421e-05 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -2.1775548031399694e-10, + 1.7832642029702583e-09, + 3.725290298461914e-09 + ], + "angular_velocity": [ + -1.2513302749539434e-07, + -2.6608034886521637e-08, + -1.6082291054431153e-09 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + 1.6664419174194336, + 0.6564340591430664, + 0.8999999761581421 + ], + "ori": [ + 0.8411685824394226, + 1.4930000702406687e-07, + -5.5977142920937695e-08, + 0.5407730340957642 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 1.3293977030315318e-09, + 7.835776472120415e-10, + 3.725290298461914e-09 + ], + "angular_velocity": [ + -5.684682946593966e-09, + 1.9159256225975696e-07, + -3.741388354683295e-08 + ] + } + } + ], + "plate": [ + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_24_clear/Object.usd", + "pose": { + "pos": [ + -0.027078628540039062, + 1.1561317443847656, + 0.9179999828338623 + ], + "ori": [ + -0.051091279834508896, + 2.1631063606974976e-09, + 2.7302566873999012e-09, + 0.9986940622329712 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 2.9600730755419136e-09, + -2.1726405563526896e-08, + 1.3783574104309082e-07 + ], + "angular_velocity": [ + -3.609831082940218e-07, + 1.459921463720093e-06, + -3.150263694351452e-08 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_384_black/Object.usd", + "pose": { + "pos": [ + -1.3946056365966797, + 0.8278398513793945, + 0.9180000424385071 + ], + "ori": [ + -0.6934891939163208, + -5.522022661352821e-08, + 2.355164774314744e-08, + 0.7204670906066895 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 2.145024609490065e-06, + -3.525215674926585e-07, + -6.016343832015991e-06 + ], + "angular_velocity": [ + -1.9991693989140913e-06, + 5.780694482382387e-05, + 1.3462421520671342e-05 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_1536_black/Object.usd", + "pose": { + "pos": [ + 0.0772085189819336, + 0.4425210952758789, + 0.9180000424385071 + ], + "ori": [ + 0.9992112517356873, + 1.049164866095964e-09, + -9.86689396853535e-10, + 0.039710111916065216 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -1.849918440655074e-08, + 2.4345400362335567e-08, + -5.3942203521728516e-06 + ], + "angular_velocity": [ + -3.1763303809384524e-07, + -1.6231060726568103e-06, + 1.4059914121844486e-07 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/deep_well_24_10ml/Object.usd", + "pose": { + "pos": [ + 1.6607208251953125, + 0.670562744140625, + 0.9179999828338623 + ], + "ori": [ + 0.7811194658279419, + 1.404942935323561e-07, + -6.788499007370774e-08, + 0.6243816018104553 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 9.18725646670282e-08, + -2.174222828443817e-07, + -6.183981895446777e-07 + ], + "angular_velocity": [ + 7.763445864839014e-06, + 5.020483513362706e-06, + 3.337566170102946e-07 + ] + } + } + ], + "deco_hub_west": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/hub_c.usd", + "pose": { + "pos": [ + -3.36, + 0.0, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_hub_east": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/hub_a.usd", + "pose": { + "pos": [ + 3.36, + 0.0, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_hub_back": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/hub_e.usd", + "pose": { + "pos": [ + -3.0, + -2.1, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_bench_east": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/bench_a.usd", + "pose": { + "pos": [ + 2.6, + -2.5, + 0.0 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_bench_gap": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/bench_b.usd", + "pose": { + "pos": [ + -0.1, + -2.9, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ] + }, + {} + ], + "devices": { + "hub": [ + null, + null, + { + "t": 6.559999999999882, + "step": 1312, + "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": 4.373418294179032e-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": 0.18563538249583242, + "holds": [], + "station": "pick", + "rider": "carrier_3", + "arrived": true, + "settle_count": 1220, + "released": { + "pick": [] + }, + "last_pos": { + "carrier_1": [ + -0.17614403367042542, + 0.699998676776886, + 0.0 + ], + "carrier_2": [ + -1.546656996011734, + 0.3624323010444641, + 0.0 + ], + "carrier_3": [ + -0.08336487412452698, + 4.589557647705078e-06, + 0.0 + ], + "carrier_4": [ + 1.5164419114589691, + 0.20643407106399536, + 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": [ + -0.47485845346891314, + -0.16633746189445775, + 2.776516975128896 + ], + "ori": [ + 8.94011136356972, + 5.61107488101457, + -23.911281316614907 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "color_temperature": 6778.606728556088, + "color": [ + 0.9994436988476395, + 0.9952205498721438, + 0.7905483817263806 + ], + "intensity": 10368.125459005683, + "width": 1.4005890648086825, + "height": 1.3749568253968718 + } + }, + "key": { + "type": "sphere", + "pose": { + "pos": [ + -1.0966962895295747, + 1.3540209492754725, + 2.4624213904363628 + ], + "ori": [ + -8.381097501765112, + 38.01644838184829, + 16.523933304632692 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "color_temperature": 6582.5419896267285, + "color": [ + 0.8945359744606067, + 0.8342427269825173, + 0.8079508580899448 + ], + "intensity": 3659.8371292969364, + "radius": 0.21689411256166774 + } + } + }, + {} + ], + "background": { + "type": "dome", + "pose": { + "pos": null, + "ori": null, + "scale": null + }, + "dr": { + "intensity": 845.2526962905574, + "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": [ + [ + 2.3242359161376953, + -2.3358888626098633, + 2.8025875091552734, + -2.0351927280426025, + -1.5690667629241943, + 3.890624523162842, + 0.007346819154918194, + 0.006693822331726551 + ], + [ + 0.9915316700935364, + -1.3485982418060303, + 2.1922664642333984, + -2.414541244506836, + -1.5707519054412842, + 2.476921319961548, + 0.007613015361130238, + 0.007004318293184042 + ], + [ + 0.9141058921813965, + -1.7193968296051025, + 2.090498447418213, + -1.9419008493423462, + -1.5707999467849731, + 2.484900951385498, + 0.017999999225139618, + 0.017999999225139618 + ], + [ + 2.5787956714630127, + -2.1516613960266113, + 2.3810291290283203, + -1.798766016960144, + -1.570131540298462, + 4.150407314300537, + 0.01800002157688141, + 0.017999976873397827 + ] + ], + "joint_vel": [ + [ + 0.010594573803246021, + 0.018997037783265114, + -0.004060888662934303, + -0.015108608640730381, + 0.0004493539163377136, + 0.008833127096295357, + -0.008677606470882893, + 0.0001803177292458713 + ], + [ + 0.0002002493420150131, + -0.01867639273405075, + -0.007918703369796276, + 0.025578223168849945, + -0.0004964469699189067, + -0.0018864781595766544, + -0.007801844738423824, + 0.0002156468981411308 + ], + [ + 2.416105920242978e-38, + -3.044800157820464e-38, + 0.0, + -5.966502859678745e-37, + 7.1157424824734425e-37, + 2.434805990410475e-36, + 0.0, + 9.828352059483714e-38 + ], + [ + -0.016626954078674316, + -0.02982277423143387, + 0.011413974687457085, + 0.01788862608373165, + -4.469602572498843e-05, + -0.016662195324897766, + -1.8501208387533552e-06, + 1.850207468123699e-06 + ] + ] + } + }, + "cameras": { + "cameras": { + "camera0": [ + [ + 0.049427978694438934, + -0.0028144060634076595, + -0.029887044802308083, + -0.28719404339790344, + 0.6455995440483093, + 0.6527469158172607, + -0.2732073962688446 + ], + [ + 0.046867452561855316, + 0.0034887318033725023, + -0.033417779952287674, + -0.2849908173084259, + 0.6479953527450562, + 0.6576395630836487, + -0.25766730308532715 + ], + [ + 0.04816857725381851, + 0.0012135093566030264, + -0.02865150198340416, + -0.26952406764030457, + 0.6547823548316956, + 0.6454921364784241, + -0.28628090023994446 + ], + [ + 0.04718571901321411, + -0.0002924727159552276, + -0.030385728925466537, + -0.27710023522377014, + 0.6455947756767273, + 0.6617554426193237, + -0.2617298662662506 + ] + ], + "camera1": [ + [ + 0.07423640787601471, + 0.5638993978500366, + 1.929558277130127, + 0.04568637162446976, + 0.01811630092561245, + 0.2760564684867859, + 0.9598840475082397 + ], + [ + 0.03133406117558479, + 0.6028285622596741, + 1.970253348350525, + 0.0428759828209877, + 0.00736848684027791, + 0.2721940279006958, + 0.9612584114074707 + ], + [ + 0.03907379135489464, + 0.5692023038864136, + 1.9363471269607544, + 0.03076772950589657, + -0.001070721889846027, + 0.2862304449081421, + 0.9576660990715027 + ], + [ + 0.0645175352692604, + 0.5588828921318054, + 1.9600121974945068, + 0.04307552054524422, + 0.021027294918894768, + 0.26173102855682373, + 0.9639497995376587 + ] + ] + } + } + } +} \ No newline at end of file diff --git a/episodes/c8_p006_e019/wrist.mp4 b/episodes/c8_p006_e019/wrist.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..b9c246cef8eaf50ada39a083fefbecb8d25e376d --- /dev/null +++ b/episodes/c8_p006_e019/wrist.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:980237965a9a9d50c0a01f0642620da68f84ef93a6067338120bd626088c5ddc +size 6153163 diff --git a/episodes/c9_p008_e008/data.npz b/episodes/c9_p008_e008/data.npz new file mode 100644 index 0000000000000000000000000000000000000000..0d3b7db2e9b746ec9aa08794cbde53d4103f2c4d --- /dev/null +++ b/episodes/c9_p008_e008/data.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:7dd429224159850787130b2448e7d61f5d15d1ebb44f73acb9ed3db6e5229cdb +size 184754 diff --git a/episodes/c9_p008_e008/device_events.jsonl b/episodes/c9_p008_e008/device_events.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..f7d301b7196d59328114bef765c344655c37ecb5 --- /dev/null +++ b/episodes/c9_p008_e008/device_events.jsonl @@ -0,0 +1,36 @@ +{"env_id": 1, "seq": 1, "step": 34, "t": 0.17, "topic": "conveyor_1.belt.station.pick.captured", "source": "conveyor_1.belt", "data": {"rider": "carrier_4"}, "cause": null} +{"env_id": 1, "seq": 2, "step": 34, "t": 0.17, "topic": "conveyor_1.belt.state.changed", "source": "conveyor_1.belt", "data": {"from": "running", "to": "at_station"}, "cause": null} +{"env_id": 1, "seq": 3, "step": 39, "t": 0.195, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_4"}, "cause": null} +{"env_id": 1, "seq": 4, "step": 2163, "t": 10.815, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_4"}, "cause": null} +{"env_id": 1, "seq": 5, "step": 6931, "t": 34.655, "topic": "a4s_sealer_1.plate_present.present", "source": "a4s_sealer_1.plate_present", "data": {"object": "plate_4"}, "cause": null} +{"env_id": 1, "seq": 6, "step": 7544, "t": 37.72, "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": 7544, "t": 37.72, "topic": "a4s_sealer_1.seal.started", "source": "a4s_sealer_1", "data": {"dwell": 3.1096200014592803}, "cause": "task-1-1"} +{"env_id": 1, "seq": 8, "step": 7544, "t": 37.72, "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": 7544, "t": 37.72, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "at_out", "to": "moving"}, "cause": null} +{"env_id": 1, "seq": 10, "step": 7544, "t": 37.72, "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": 7963, "t": 39.815, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "moving", "to": "at_in"}, "cause": null} +{"env_id": 1, "seq": 12, "step": 7963, "t": 39.815, "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": 7963, "t": 39.815, "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": 7963, "t": 39.815, "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": 7963, "t": 39.815, "topic": "labware.plate_4.changed", "source": "labware.plate_4", "data": {"key": "sealed", "value": true}, "cause": "task-1-1"} +{"env_id": 1, "seq": 16, "step": 7963, "t": 39.815, "topic": "a4s_sealer_1.sealed", "source": "a4s_sealer_1", "data": {"plate": "plate_4"}, "cause": "task-1-1"} +{"env_id": 1, "seq": 17, "step": 7963, "t": 39.815, "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": 7963, "t": 39.815, "topic": "a4s_sealer_1.heater.state.changed", "source": "a4s_sealer_1.heater", "data": {"from": "ready", "to": "running"}, "cause": null} +{"env_id": 1, "seq": 19, "step": 7963, "t": 39.815, "topic": "a4s_sealer_1.heater.started", "source": "a4s_sealer_1.heater", "data": {"duration": 3.1096200014592803}, "cause": "program-1-3"} +{"env_id": 1, "seq": 20, "step": 8585, "t": 42.925, "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": 8585, "t": 42.925, "topic": "a4s_sealer_1.heater.finished", "source": "a4s_sealer_1.heater", "data": {"elapsed": 3.110000000001591}, "cause": "program-1-3"} +{"env_id": 1, "seq": 22, "step": 8585, "t": 42.925, "topic": "a4s_sealer_1.heater.command.succeeded", "source": "a4s_sealer_1.heater", "data": {"command_id": "program-1-3", "name": "run", "source": "program:seal", "result": {"elapsed": 3.110000000001591}}, "cause": "program-1-3"} +{"env_id": 1, "seq": 23, "step": 8585, "t": 42.925, "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": 8585, "t": 42.925, "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": 8585, "t": 42.925, "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": 9005, "t": 45.025, "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": 9005, "t": 45.025, "topic": "a4s_sealer_1.drawer.reached", "source": "a4s_sealer_1.drawer", "data": {"position": "out", "q": 1.1211380268605353e-08}, "cause": "program-1-4"} +{"env_id": 1, "seq": 28, "step": 9005, "t": 45.025, "topic": "a4s_sealer_1.drawer.at_out", "source": "a4s_sealer_1.drawer", "data": {"q": 1.1211380268605353e-08}, "cause": "program-1-4"} +{"env_id": 1, "seq": 29, "step": 9005, "t": 45.025, "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": 9005, "t": 45.025, "topic": "a4s_sealer_1.seal.finished", "source": "a4s_sealer_1", "data": {}, "cause": "task-1-1"} +{"env_id": 1, "seq": 31, "step": 9005, "t": 45.025, "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": 9586, "t": 47.93, "topic": "a4s_sealer_1.plate_present.absent", "source": "a4s_sealer_1.plate_present", "data": {"object": "plate_4"}, "cause": null} +{"env_id": 1, "seq": 33, "step": 11252, "t": 56.26, "topic": "conveyor_1.belt.command.started", "source": "conveyor_1.belt", "data": {"command_id": "task-1-5", "name": "release", "source": "task"}, "cause": "task-1-5"} +{"env_id": 1, "seq": 34, "step": 11252, "t": 56.26, "topic": "conveyor_1.belt.station.pick.released", "source": "conveyor_1.belt", "data": {"rider": "carrier_4"}, "cause": "task-1-5"} +{"env_id": 1, "seq": 35, "step": 11252, "t": 56.26, "topic": "conveyor_1.belt.state.changed", "source": "conveyor_1.belt", "data": {"from": "at_station", "to": "running"}, "cause": null} +{"env_id": 1, "seq": 36, "step": 11252, "t": 56.26, "topic": "conveyor_1.belt.command.succeeded", "source": "conveyor_1.belt", "data": {"command_id": "task-1-5", "name": "release", "source": "task", "result": {"state": "running"}}, "cause": "task-1-5"} diff --git a/episodes/c9_p008_e008/env.mp4 b/episodes/c9_p008_e008/env.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..f9e708c7a2b0da3979159ab375b290411cf60974 --- /dev/null +++ b/episodes/c9_p008_e008/env.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:02cdd0411a227e9357f59211bcfcf2d23bf4814d2eb0109be07e4f4c847c23da +size 1278437 diff --git a/episodes/c9_p008_e008/meta.json b/episodes/c9_p008_e008/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..f07953b7d2487c4322ce517626a6a80ca45d5c0d --- /dev/null +++ b/episodes/c9_p008_e008/meta.json @@ -0,0 +1,32 @@ +{ + "source": "raw/c9_p008/magicsim/8", + "fps": 25, + "frames": 1195, + "kept_ticks": "even", + "video_frames": { + "wrist": 1195, + "env": 1195 + }, + "joint_target_source": "joint_pos_target", + "fk_vs_recorded_eef_max_m": 0.0, + "curobo_joints": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "joint_order": [ + "shoulder_pan", + "shoulder_lift", + "elbow", + "wrist_1", + "wrist_2", + "wrist_3", + "finger_left", + "finger_right" + ], + "frames_note": "eef / actions in the robot base frame; camera_pose = local pose (wrist: in plate_gripper_base, env: env frame), pos + quat wxyz", + "dr_version": "v2" +} \ No newline at end of file diff --git a/episodes/c9_p008_e008/scene_snapshot.json b/episodes/c9_p008_e008/scene_snapshot.json new file mode 100644 index 0000000000000000000000000000000000000000..5c5c58a4bcb8a268d8b5c41b9a19e5a2db393a0e --- /dev/null +++ b/episodes/c9_p008_e008/scene_snapshot.json @@ -0,0 +1,1558 @@ +{ + "trajectory_id": 8, + "env_id": 1, + "run_id": "c9_p008", + "task_type": "BioPlateCell", + "success": true, + "timing": { + "fps": 50.0, + "sim_dt": 0.005, + "decimation": 4 + }, + "restore_interface": { + "scene": "scene_manager.reset_to(snapshot['scene'], env_ids=[env_id])", + "robots": "robot_manager.set_state({'robots': snapshot['robots']}, env_ids=[env_id])" + }, + "snapshot": { + "env_id": 1, + "scene": { + "objects": [ + {}, + { + "rac_cell": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/rac_cell.usd", + "pose": { + "pos": [ + 0.0, + 0.0, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "physics_material": { + "static_friction": 0.6, + "dynamic_friction": 0.5, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "robot_mount": [ + { + "asset": "Cube", + "pose": { + "pos": [ + 0.0, + 0.0, + 0.9075 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": "color", + "value": [ + 0.55, + 0.56, + 0.58 + ], + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": { + "size": [ + 0.2, + 0.2, + 0.015 + ] + } + }, + "type_specific": {} + } + ], + "plate_rack": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/plate_hotel.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 0.9 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "physics_material": { + "static_friction": 0.6, + "dynamic_friction": 0.5, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "hotel_plate": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_24_clear/plate_24_clear.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 0.9605 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/deep_well_96_2ml/deep_well_96_2ml.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.0285 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_6_clear/plate_6_clear.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.0965 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/pcr_384_red/pcr_384_red.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.1645 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_48_clear/plate_48_clear.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.2325 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "a4s_sealer": [ + { + "asset": "$MAGICSIM_ASSETS/Articulated/A4SSealer/Object.usd", + "pose": { + "pos": [ + 0.4984111785888672, + 0.10499954223632812, + 0.8999999761581421 + ], + "ori": [ + -0.6763609051704407, + 0.0, + 0.0, + 0.7365703582763672 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "articulation", + "solver_position_iteration_count": 16.0, + "solver_velocity_iteration_count": 1.0, + "enabled_self_collisions": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "joint_position": [ + 3.027749708936489e-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": 0.22164253274946752, + "direction": [ + 1.0, + 0.0, + 0.0 + ], + "enabled": true, + "drive": "surface_velocity", + "lines": null, + "station_line": null, + "riders": [ + "carrier" + ], + "stations": { + "pick": { + "position": -0.02367729861064788, + "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": 0.22164253274946752, + "holds": [], + "station": "pick", + "rider": "carrier_4", + "arrived": true, + "applied_speed": 0.0 + } + } + } + ], + "carrier": [ + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + 1.5379343032836914, + 1.0939655303955078, + 0.8999999761581421 + ], + "ori": [ + 0.2824620008468628, + -4.048139601309231e-08, + 1.2243089031471754e-07, + 0.9592784643173218 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -5.927737447564141e-07, + 8.24862240733637e-07, + -2.6300549507141113e-06 + ], + "angular_velocity": [ + -7.063390512485057e-05, + -4.9572081479709595e-05, + -2.3732437171020138e-07 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + -1.2460365295410156, + 0.5113697052001953, + 0.8999999761581421 + ], + "ori": [ + 0.9555653929710388, + -4.6482668381031544e-08, + 2.113470003450857e-07, + -0.2947794497013092 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 3.153880001605103e-08, + 7.270973867434805e-08, + 3.3527612686157227e-08 + ], + "angular_velocity": [ + -5.248924026091117e-06, + 2.2775718662160216e-06, + 3.2057403132057516e-07 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + 0.11598396301269531, + 1.1499977111816406, + 0.8999999761581421 + ], + "ori": [ + 1.630127189855557e-05, + 4.799194375237903e-10, + -5.126667090848969e-09, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -4.3113967951313725e-10, + -1.2809214799958113e-10, + 0.0 + ], + "angular_velocity": [ + -4.355284488610778e-08, + -3.75678013142533e-08, + 5.602142749694394e-09 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + 0.12612152099609375, + 0.45000267028808594, + 0.8999999761581421 + ], + "ori": [ + 1.0, + 5.163097061000599e-09, + -2.61195065576203e-10, + -4.0542490751249716e-05 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 2.2533064303331685e-09, + 2.41239628273604e-09, + 1.862645149230957e-08 + ], + "angular_velocity": [ + -9.867225259085899e-08, + 2.0088916130589496e-07, + -3.5248973517809645e-08 + ] + } + } + ], + "plate": [ + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_12_clear/Object.usd", + "pose": { + "pos": [ + 1.5330352783203125, + 1.1032800674438477, + 0.9179999828338623 + ], + "ori": [ + 0.2883862555027008, + -3.996626674052095e-08, + 1.1585373727029946e-07, + 0.957514226436615 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -1.2912394140585093e-06, + 1.7835440075941733e-06, + -3.509223461151123e-06 + ], + "angular_velocity": [ + -6.988256063777953e-05, + -4.929587885271758e-05, + -4.398376063363685e-08 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_96_white/Object.usd", + "pose": { + "pos": [ + -1.2321434020996094, + 0.509765625, + 0.9180000424385071 + ], + "ori": [ + 0.977449357509613, + -2.674583754469495e-08, + 2.1425205432024086e-07, + -0.21116989850997925 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 3.896916922485616e-08, + 2.4955352273536846e-07, + -6.768852472305298e-06 + ], + "angular_velocity": [ + -6.6958050410903525e-06, + 2.67390390717992e-07, + 9.598638825991657e-07 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/pcr_384_red/Object.usd", + "pose": { + "pos": [ + 0.11357975006103516, + 1.1586618423461914, + 0.9179999828338623 + ], + "ori": [ + -0.04741637781262398, + 6.362131377279923e-10, + -5.114004331119304e-09, + 0.9988753199577332 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 1.343133959608167e-08, + -1.2350682254691492e-08, + -5.848705768585205e-06 + ], + "angular_velocity": [ + -9.592213245923631e-08, + 1.1598658602451906e-06, + 1.2442033892057225e-07 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/deep_well_96_1ml/Object.usd", + "pose": { + "pos": [ + 0.1150054931640625, + 0.44061851501464844, + 0.9179999828338623 + ], + "ori": [ + 0.9999932050704956, + -9.786272903156146e-10, + 1.991742104578975e-09, + 0.0036923810839653015 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -1.8440706739397683e-08, + 3.7658722362721164e-08, + 2.3469328880310059e-07 + ], + "angular_velocity": [ + -6.132702310424065e-07, + -1.9269009499112144e-06, + -3.9558170072950816e-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": 8.63999999999995, + "step": 1728, + "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": 3.027749708936489e-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": 0.22164253274946752, + "holds": [], + "station": "pick", + "rider": "carrier_4", + "arrived": true, + "settle_count": 1693, + "released": { + "pick": [] + }, + "last_pos": { + "carrier_1": [ + 1.387934297323227, + 0.6439655423164368, + 0.0 + ], + "carrier_2": [ + -1.39603653550148, + 0.06136971712112427, + 0.0 + ], + "carrier_3": [ + -0.034016042947769165, + 0.6999977231025696, + 0.0 + ], + "carrier_4": [ + -0.023878484964370728, + 2.682209014892578e-06, + 0.0 + ] + }, + "command": 0.0 + }, + "belt": { + "target_speed": 0.0, + "command_speed": 0.0 + }, + "seen": { + "state": "at_station", + "station": "pick", + "rider": "carrier_4", + "arrived": true + } + } + }, + "queues": {}, + "program": null, + "sensors": {}, + "interlocks": {} + } + }, + "zones": {}, + "labware": { + "plate_1": { + "sealed": false + }, + "plate_2": { + "sealed": false + }, + "plate_3": { + "sealed": false + }, + "plate_4": { + "sealed": false + } + }, + "rules": {}, + "records": [], + "bus": { + "seq": 3, + "queue": [] + } + }, + null, + null + ], + "drives": [ + null, + {}, + null, + null + ] + }, + "artifacts": [ + {}, + { + "ceiling": { + "type": "rect", + "pose": { + "pos": [ + 0.8373528986051141, + -0.17129688390162162, + 3.078219202368274 + ], + "ori": [ + -11.035848129191184, + -12.300548161025517, + -18.954461832612928 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "color_temperature": 4720.3699004399, + "color": [ + 0.8958175623357221, + 0.8333786689603598, + 0.8290241908203415 + ], + "intensity": 10723.153607358137, + "width": 2.243506311526336, + "height": 1.5119637041817144 + } + }, + "key": { + "type": "disk", + "pose": { + "pos": [ + 1.4054845595086785, + -0.8801343942941819, + 2.6704419663778625 + ], + "ori": [ + -39.27581932793608, + 8.70654272480963, + -23.973789342375813 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "color_temperature": 6889.90452212145, + "color": [ + 0.9837783515969625, + 0.779039539617523, + 0.9965796087858146 + ], + "intensity": 2183.8310988871317, + "radius": 0.2313397517798658 + } + } + }, + {}, + {} + ], + "background": { + "type": "dome", + "pose": { + "pos": null, + "ori": null, + "scale": null + }, + "dr": { + "intensity": 774.9370997697486, + "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": [ + [ + 0.9743345379829407, + -1.500115990638733, + 2.097216844558716, + -2.167900323867798, + -1.5707859992980957, + 2.4902803897857666, + 0.007193037774413824, + 0.0065118554048240185 + ], + [ + 0.9141024351119995, + -1.7193983793258667, + 2.090501070022583, + -1.9419018030166626, + -1.5707999467849731, + 2.4849002361297607, + 0.017999999225139618, + 0.017999999225139618 + ], + [ + 0.9141018986701965, + -1.7193994522094727, + 2.0904998779296875, + -1.9419002532958984, + -1.5707999467849731, + 2.484900712966919, + 0.018000001087784767, + 0.01799999736249447 + ], + [ + 0.9140999913215637, + -1.7194000482559204, + 2.0905001163482666, + -1.9419000148773193, + -1.5707999467849731, + 2.4848999977111816, + 0.017999999225139618, + 0.017999999225139618 + ] + ], + "joint_vel": [ + [ + 6.876821134937927e-05, + -4.83303410874214e-05, + -0.0003007985942531377, + 0.0005061515839770436, + -0.00040919179446063936, + -0.0016797083662822843, + -0.009549963288009167, + -0.0002995602262672037 + ], + [ + 0.0, + 2.632369713540691e-38, + 2.001227968065415e-38, + 3.431058214370411e-37, + -7.1210257139955785e-37, + -2.4687341839871567e-36, + 0.0, + 0.0 + ], + [ + -2.845269830004639e-38, + 0.0, + 0.0, + 4.126063016318519e-37, + -1.2205556252798878e-38, + 3.7325929810401397e-37, + -2.5990376073536936e-08, + 2.5990388508034812e-08 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + ] + } + }, + "cameras": { + "cameras": { + "camera0": [ + [ + 0.049390759319067, + 0.0010803681798279285, + -0.028629647567868233, + -0.29568859934806824, + 0.6363913416862488, + 0.655299723148346, + -0.2795650362968445 + ], + [ + 0.05308334901928902, + 0.0035792584531009197, + -0.03227052465081215, + -0.2855697274208069, + 0.6436469554901123, + 0.6561369299888611, + -0.2713906168937683 + ], + [ + 0.04660388454794884, + 0.00038453968591056764, + -0.02867775224149227, + -0.26852962374687195, + 0.644818902015686, + 0.6612690091133118, + -0.27353930473327637 + ], + [ + 0.051860030740499496, + -0.004213632084429264, + -0.03269248828291893, + -0.27979186177253723, + 0.6507956981658936, + 0.6500290632247925, + -0.27503398060798645 + ] + ], + "camera1": [ + [ + 0.030147718265652657, + 0.5746894478797913, + 1.9371446371078491, + 0.043323297053575516, + 0.009577770717442036, + 0.25509384274482727, + 0.9658977389335632 + ], + [ + 0.05058201029896736, + 0.5718167424201965, + 1.9532772302627563, + 0.038451336324214935, + 0.012150244787335396, + 0.2761662006378174, + 0.9602635502815247 + ], + [ + 0.026187492534518242, + 0.5722955465316772, + 1.9571621417999268, + 0.04543182626366615, + 0.027338465675711632, + 0.2651708126068115, + 0.9627424478530884 + ], + [ + 0.03928128629922867, + 0.576295018196106, + 1.9623768329620361, + 0.031683970242738724, + 0.032089076936244965, + 0.28444892168045044, + 0.9576299786567688 + ] + ] + } + } + } +} \ No newline at end of file diff --git a/episodes/c9_p008_e008/wrist.mp4 b/episodes/c9_p008_e008/wrist.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..30b4893d9e43c6b33bd01951d0fc0e92e1eb90ac --- /dev/null +++ b/episodes/c9_p008_e008/wrist.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:ed0333b99e5919eb1d6d6a2d33adb5a88c318fabd54e541b49d90c9d6f83eb59 +size 6804338 diff --git a/episodes/c9_p008_e009/data.npz b/episodes/c9_p008_e009/data.npz new file mode 100644 index 0000000000000000000000000000000000000000..fbdc51d339219896f5d38d976b4a0bac940b53b0 --- /dev/null +++ b/episodes/c9_p008_e009/data.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:f7ceb431aaa23ce5c3c5493976554a4aaa35246c9ee88d293408cac52c17934a +size 208938 diff --git a/episodes/c9_p008_e009/device_events.jsonl b/episodes/c9_p008_e009/device_events.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..9efb7f9aa4989d7112366360ec5aca96f634c572 --- /dev/null +++ b/episodes/c9_p008_e009/device_events.jsonl @@ -0,0 +1,35 @@ +{"env_id": 0, "seq": 1, "step": 148, "t": 0.74, "topic": "conveyor_1.belt.station.pick.captured", "source": "conveyor_1.belt", "data": {"rider": "carrier_3"}, "cause": null} +{"env_id": 0, "seq": 2, "step": 148, "t": 0.74, "topic": "conveyor_1.belt.state.changed", "source": "conveyor_1.belt", "data": {"from": "running", "to": "at_station"}, "cause": null} +{"env_id": 0, "seq": 3, "step": 153, "t": 0.765, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_3"}, "cause": null} +{"env_id": 0, "seq": 4, "step": 5835, "t": 29.175, "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": 6444, "t": 32.22, "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": 6444, "t": 32.22, "topic": "a4s_sealer_1.seal.started", "source": "a4s_sealer_1", "data": {"dwell": 4.352535970905489}, "cause": "task-0-1"} +{"env_id": 0, "seq": 7, "step": 6444, "t": 32.22, "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": 6444, "t": 32.22, "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": 6444, "t": 32.22, "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": 6863, "t": 34.315, "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": 6863, "t": 34.315, "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": 6863, "t": 34.315, "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": 6863, "t": 34.315, "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": 6863, "t": 34.315, "topic": "labware.plate_3.changed", "source": "labware.plate_3", "data": {"key": "sealed", "value": true}, "cause": "task-0-1"} +{"env_id": 0, "seq": 15, "step": 6863, "t": 34.315, "topic": "a4s_sealer_1.sealed", "source": "a4s_sealer_1", "data": {"plate": "plate_3"}, "cause": "task-0-1"} +{"env_id": 0, "seq": 16, "step": 6863, "t": 34.315, "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": 6863, "t": 34.315, "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": 6863, "t": 34.315, "topic": "a4s_sealer_1.heater.started", "source": "a4s_sealer_1.heater", "data": {"duration": 4.352535970905489}, "cause": "program-0-3"} +{"env_id": 0, "seq": 19, "step": 7734, "t": 38.67, "topic": "a4s_sealer_1.heater.state.changed", "source": "a4s_sealer_1.heater", "data": {"from": "running", "to": "ready"}, "cause": null} +{"env_id": 0, "seq": 20, "step": 7734, "t": 38.67, "topic": "a4s_sealer_1.heater.finished", "source": "a4s_sealer_1.heater", "data": {"elapsed": 4.355000000002228}, "cause": "program-0-3"} +{"env_id": 0, "seq": 21, "step": 7734, "t": 38.67, "topic": "a4s_sealer_1.heater.command.succeeded", "source": "a4s_sealer_1.heater", "data": {"command_id": "program-0-3", "name": "run", "source": "program:seal", "result": {"elapsed": 4.355000000002228}}, "cause": "program-0-3"} +{"env_id": 0, "seq": 22, "step": 7734, "t": 38.67, "topic": "a4s_sealer_1.drawer.command.started", "source": "a4s_sealer_1.drawer", "data": {"command_id": "program-0-4", "name": "open", "source": "program:seal"}, "cause": "program-0-4"} +{"env_id": 0, "seq": 23, "step": 7734, "t": 38.67, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "at_in", "to": "moving"}, "cause": null} +{"env_id": 0, "seq": 24, "step": 7734, "t": 38.67, "topic": "a4s_sealer_1.drawer.moving", "source": "a4s_sealer_1.drawer", "data": {"target": 0.0, "goal": "out"}, "cause": "program-0-4"} +{"env_id": 0, "seq": 25, "step": 8154, "t": 40.77, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "moving", "to": "at_out"}, "cause": null} +{"env_id": 0, "seq": 26, "step": 8154, "t": 40.77, "topic": "a4s_sealer_1.drawer.reached", "source": "a4s_sealer_1.drawer", "data": {"position": "out", "q": 7.14283243663516e-10}, "cause": "program-0-4"} +{"env_id": 0, "seq": 27, "step": 8154, "t": 40.77, "topic": "a4s_sealer_1.drawer.at_out", "source": "a4s_sealer_1.drawer", "data": {"q": 7.14283243663516e-10}, "cause": "program-0-4"} +{"env_id": 0, "seq": 28, "step": 8154, "t": 40.77, "topic": "a4s_sealer_1.drawer.command.succeeded", "source": "a4s_sealer_1.drawer", "data": {"command_id": "program-0-4", "name": "open", "source": "program:seal", "result": {"position": "out"}}, "cause": "program-0-4"} +{"env_id": 0, "seq": 29, "step": 8154, "t": 40.77, "topic": "a4s_sealer_1.seal.finished", "source": "a4s_sealer_1", "data": {}, "cause": "task-0-1"} +{"env_id": 0, "seq": 30, "step": 8154, "t": 40.77, "topic": "a4s_sealer_1.command.succeeded", "source": "a4s_sealer_1", "data": {"command_id": "task-0-1", "name": "seal", "source": "task"}, "cause": "task-0-1"} +{"env_id": 0, "seq": 31, "step": 8735, "t": 43.675, "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": 10952, "t": 54.76, "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": 10952, "t": 54.76, "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": 10952, "t": 54.76, "topic": "conveyor_1.belt.state.changed", "source": "conveyor_1.belt", "data": {"from": "at_station", "to": "running"}, "cause": null} +{"env_id": 0, "seq": 35, "step": 10952, "t": 54.76, "topic": "conveyor_1.belt.command.succeeded", "source": "conveyor_1.belt", "data": {"command_id": "task-0-5", "name": "release", "source": "task", "result": {"state": "running"}}, "cause": "task-0-5"} diff --git a/episodes/c9_p008_e009/env.mp4 b/episodes/c9_p008_e009/env.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..07efbc075107e26c3763f5642b32b619d06eadcf --- /dev/null +++ b/episodes/c9_p008_e009/env.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:16cf1c2138295565634ead4862abcb3618e09a65f39890b1767d4f55c4ec7b28 +size 1353462 diff --git a/episodes/c9_p008_e009/meta.json b/episodes/c9_p008_e009/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..0a83bf8fe92b65d8e77681d3c249a54d1f18d570 --- /dev/null +++ b/episodes/c9_p008_e009/meta.json @@ -0,0 +1,32 @@ +{ + "source": "raw/c9_p008/magicsim/9", + "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/c9_p008_e009/scene_snapshot.json b/episodes/c9_p008_e009/scene_snapshot.json new file mode 100644 index 0000000000000000000000000000000000000000..7e4d89644717cc21ec5d2b710a0aa9b3948e3b57 --- /dev/null +++ b/episodes/c9_p008_e009/scene_snapshot.json @@ -0,0 +1,1558 @@ +{ + "trajectory_id": 9, + "env_id": 0, + "run_id": "c9_p008", + "task_type": "BioPlateCell", + "success": true, + "timing": { + "fps": 50.0, + "sim_dt": 0.005, + "decimation": 4 + }, + "restore_interface": { + "scene": "scene_manager.reset_to(snapshot['scene'], env_ids=[env_id])", + "robots": "robot_manager.set_state({'robots': snapshot['robots']}, env_ids=[env_id])" + }, + "snapshot": { + "env_id": 0, + "scene": { + "objects": [ + { + "rac_cell": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/rac_cell.usd", + "pose": { + "pos": [ + 0.0, + 0.0, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "physics_material": { + "static_friction": 0.6, + "dynamic_friction": 0.5, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "robot_mount": [ + { + "asset": "Cube", + "pose": { + "pos": [ + 0.0, + 0.0, + 0.9075 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": "color", + "value": [ + 0.55, + 0.56, + 0.58 + ], + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": { + "size": [ + 0.2, + 0.2, + 0.015 + ] + } + }, + "type_specific": {} + } + ], + "plate_rack": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/plate_hotel.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 0.9 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "physics_material": { + "static_friction": 0.6, + "dynamic_friction": 0.5, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "hotel_plate": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_96_white/plate_96_white.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 0.9605 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/pcr_384_red/pcr_384_red.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.0285 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/deep_well_24_10ml/deep_well_24_10ml.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.0965 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/deep_well_24_10ml/deep_well_24_10ml.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.1645 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_384_white/plate_384_white.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.2325 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "a4s_sealer": [ + { + "asset": "$MAGICSIM_ASSETS/Articulated/A4SSealer/Object.usd", + "pose": { + "pos": [ + 0.49117279052734375, + 0.08234405517578125, + 0.8999999761581421 + ], + "ori": [ + 0.7138956785202026, + 0.0, + 0.0, + -0.7002520561218262 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "articulation", + "solver_position_iteration_count": 16.0, + "solver_velocity_iteration_count": 1.0, + "enabled_self_collisions": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "joint_position": [ + 2.6913319663146584e-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": 0.25279480374975644, + "direction": [ + 1.0, + 0.0, + 0.0 + ], + "enabled": true, + "drive": "surface_velocity", + "lines": null, + "station_line": null, + "riders": [ + "carrier" + ], + "stations": { + "pick": { + "position": -0.15549204076265288, + "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": 0.25279480374975644, + "holds": [], + "station": "pick", + "rider": "carrier_3", + "arrived": true, + "applied_speed": 0.0 + } + } + } + ], + "carrier": [ + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + -1.3808813095092773, + 0.6935491561889648, + 0.8999999761581421 + ], + "ori": [ + -0.802949070930481, + -7.484369035637428e-08, + 2.778372021339237e-08, + 0.5960477590560913 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -2.87933602294288e-07, + 6.225606057341793e-07, + -3.7886202335357666e-06 + ], + "angular_velocity": [ + -4.5107954065315425e-05, + -3.183943408657797e-05, + -1.6402657365688356e-06 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + 1.6037483215332031, + 0.5634174346923828, + 0.8999999761581421 + ], + "ori": [ + 0.9199778437614441, + 1.2885875477763875e-08, + -2.764783069153509e-08, + 0.39197051525115967 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -7.430605020175562e-10, + -8.127676309754861e-11, + -3.725290298461914e-09 + ], + "angular_velocity": [ + 3.186862329584983e-09, + -1.4247408586243182e-08, + -1.1480094208593528e-08 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + -0.005572319030761719, + 0.4473848342895508, + 0.8999999761581421 + ], + "ori": [ + 0.9999471306800842, + -2.8749711500353214e-09, + 3.6683101001244722e-09, + 0.010287929326295853 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -1.2642598079537493e-10, + -8.506936488572592e-09, + 3.725290298461914e-09 + ], + "angular_velocity": [ + 1.9160074771207292e-07, + -2.4694717382089948e-08, + 4.2017230583724086e-08 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + 0.6451044082641602, + 1.1524839401245117, + 0.8999999761581421 + ], + "ori": [ + -0.012366076931357384, + -1.666016907764245e-10, + -1.7170493915585894e-09, + 0.999923586845398 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -1.2817449324131758e-09, + -2.4865036696297693e-09, + 3.725290298461914e-09 + ], + "angular_velocity": [ + 2.520965836083633e-07, + -5.7745680237530905e-08, + -1.8179576954935328e-08 + ] + } + } + ], + "plate": [ + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_6_clear/Object.usd", + "pose": { + "pos": [ + -1.3754119873046875, + 0.6905250549316406, + 0.9179999828338623 + ], + "ori": [ + -0.8168066143989563, + 2.444620861297153e-07, + -1.1385135678665392e-07, + 0.5769115686416626 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -3.788602498389082e-06, + -1.0216474493063288e-06, + -5.189329385757446e-06 + ], + "angular_velocity": [ + 9.117036825045943e-06, + -0.0001274766691494733, + -3.5283879697090015e-05 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_96_black/Object.usd", + "pose": { + "pos": [ + 1.607131004333496, + 0.5534086227416992, + 0.9180000424385071 + ], + "ori": [ + 0.9229193329811096, + 1.2647518587982631e-08, + -2.6249594498040096e-08, + 0.3849933445453644 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -5.0597869005741813e-08, + -1.1271620081743094e-08, + -5.733221769332886e-06 + ], + "angular_velocity": [ + 3.6291294236434624e-07, + -6.34996354165196e-07, + 2.4182045876841585e-07 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/pcr_96_blue/Object.usd", + "pose": { + "pos": [ + 0.0049610137939453125, + 0.4428224563598633, + 0.9180000424385071 + ], + "ori": [ + 0.9996234178543091, + -2.0535659839282516e-09, + 3.538445980666438e-09, + 0.02744387462735176 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -2.5647635126802015e-08, + -8.129465811634873e-08, + -5.833804607391357e-06 + ], + "angular_velocity": [ + 7.252310183503141e-07, + -2.148055955331074e-06, + 4.796140729013132e-08 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/deep_well_96_2ml/Object.usd", + "pose": { + "pos": [ + 0.6542024612426758, + 1.1454887390136719, + 0.9179999828338623 + ], + "ori": [ + 0.03870920091867447, + -1.547827976899896e-10, + -2.906853868722692e-09, + 0.9992505311965942 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 5.112701018106236e-08, + 3.11664649643717e-08, + -1.2814998626708984e-06 + ], + "angular_velocity": [ + -1.8070982150675263e-06, + 2.4361370378755964e-06, + 5.465557961770173e-08 + ] + } + } + ], + "deco_hub_west": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/hub_d.usd", + "pose": { + "pos": [ + -3.36, + 0.0, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_hub_east": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/hub_e.usd", + "pose": { + "pos": [ + 3.36, + 0.0, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_hub_back": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/hub_b.usd", + "pose": { + "pos": [ + -3.0, + -2.1, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_bench_east": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/bench_a.usd", + "pose": { + "pos": [ + 2.6, + -2.5, + 0.0 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_bench_gap": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/bench_b.usd", + "pose": { + "pos": [ + -0.1, + -2.9, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ] + }, + {}, + {}, + {} + ], + "devices": { + "hub": [ + { + "t": 2.0399999999999787, + "step": 408, + "counter": 0, + "devices": { + "a4s_sealer_1": { + "mode": "auto", + "units": { + "drawer": { + "state": "at_out", + "active": null, + "target": 0.0, + "goal_name": "out", + "profile": null, + "q_start": null, + "reversing": false, + "blocked_for": 0.0, + "settled_for": 0.0, + "last_q": 2.6913319663146584e-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": 0.25279480374975644, + "holds": [], + "station": "pick", + "rider": "carrier_3", + "arrived": true, + "settle_count": 259, + "released": { + "pick": [] + }, + "last_pos": { + "carrier_1": [ + -1.5308813154697418, + 0.2435491681098938, + 0.0 + ], + "carrier_2": [ + 1.4537483155727386, + 0.11341744661331177, + 0.0 + ], + "carrier_3": [ + -0.1555723249912262, + -0.0026151537895202637, + 0.0 + ], + "carrier_4": [ + 0.4951044023036957, + 0.7024839520454407, + 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": [ + -0.5536090640157367, + 0.1575985022632841, + 2.6444853905457126 + ], + "ori": [ + 9.374572282162436, + 1.115213557443333, + -20.387279918911844 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "color_temperature": 7195.172635229268, + "color": [ + 0.8999971287443937, + 0.9943630726384125, + 0.9208057092464749 + ], + "intensity": 7197.566995110568, + "width": 2.3871763833497894, + "height": 1.4520647332066954 + } + }, + "key": { + "type": "disk", + "pose": { + "pos": [ + -0.7961583814727001, + -0.5096439458988472, + 1.6499458392404656 + ], + "ori": [ + 17.35892952250009, + 29.850206888560052, + 33.39506777794955 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "color_temperature": 4899.693389002923, + "color": [ + 0.986311888637696, + 0.8126019091117747, + 0.7985036472328847 + ], + "intensity": 8400.563526006048, + "radius": 0.3169731873429359 + } + } + }, + {}, + {}, + {} + ], + "background": { + "type": "dome", + "pose": { + "pos": null, + "ori": null, + "scale": null + }, + "dr": { + "intensity": 774.9370997697486, + "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": [ + [ + 0.9141013026237488, + -1.7193983793258667, + 2.0904994010925293, + -1.9419007301330566, + -1.5707999467849731, + 2.4849002361297607, + 0.018000001087784767, + 0.01799999736249447 + ], + [ + 0.9141027331352234, + -1.7193984985351562, + 2.090500593185425, + -1.9419013261795044, + -1.5707999467849731, + 2.4849002361297607, + 0.017999999225139618, + 0.017999999225139618 + ], + [ + 0.9141021370887756, + -1.719397783279419, + 2.0904994010925293, + -1.9419007301330566, + -1.5707999467849731, + 2.484900712966919, + 0.018000001087784767, + 0.01799999736249447 + ], + [ + 1.092119812965393, + -1.5967918634414673, + 2.20174503326416, + -2.1757354736328125, + -1.5728424787521362, + 3.0400631427764893, + 0.00686506275087595, + 0.007952815853059292 + ] + ], + "joint_vel": [ + [ + 0.0, + -2.4543316607916016e-38, + -1.691813980390481e-38, + -3.6030300460674385e-37, + 5.968113568185578e-37, + -2.6938640599309794e-36, + -2.5990372520823257e-08, + 2.5990388508034812e-08 + ], + [ + 2.608631157035643e-38, + 0.0, + 0.0, + -3.847191617868132e-37, + 6.265979399164073e-37, + 5.630045493200499e-37, + -6.099113450655537e-38, + 6.168459788019272e-38 + ], + [ + 2.887347740031692e-38, + -1.6208522261570722e-38, + -2.6110060776729807e-38, + -5.253676904380739e-37, + 2.0575590452925012e-37, + -2.930947796502633e-37, + -2.5990372520823257e-08, + 2.5990399166175848e-08 + ], + [ + 0.04518279805779457, + 0.01774699054658413, + -0.004633825272321701, + -0.011572010815143585, + 0.0005029570311307907, + -0.05081454664468765, + -0.0073100910522043705, + 0.0002545270253904164 + ] + ] + } + }, + "cameras": { + "cameras": { + "camera0": [ + [ + 0.04879379644989967, + 0.0017678664298728108, + -0.03080039657652378, + -0.2933151125907898, + 0.640895664691925, + 0.6553404331207275, + -0.27156561613082886 + ], + [ + 0.05182359367609024, + 0.00017840531654655933, + -0.029538163915276527, + -0.2891222834587097, + 0.6473337411880493, + 0.6513549089431763, + -0.2703777551651001 + ], + [ + 0.04844348505139351, + -0.00110615196172148, + -0.03170238807797432, + -0.27024710178375244, + 0.6499318480491638, + 0.6572059392929077, + -0.2695096433162689 + ], + [ + 0.04906819760799408, + 0.000591618474572897, + -0.028422173112630844, + -0.28087273240089417, + 0.650557816028595, + 0.6453790664672852, + -0.28525593876838684 + ] + ], + "camera1": [ + [ + 0.030147718265652657, + 0.5746894478797913, + 1.9371446371078491, + 0.043323297053575516, + 0.009577770717442036, + 0.25509384274482727, + 0.9658977389335632 + ], + [ + 0.05058201029896736, + 0.5718167424201965, + 1.9532772302627563, + 0.038451336324214935, + 0.012150244787335396, + 0.2761662006378174, + 0.9602635502815247 + ], + [ + 0.026187492534518242, + 0.5722955465316772, + 1.9571621417999268, + 0.04543182626366615, + 0.027338465675711632, + 0.2651708126068115, + 0.9627424478530884 + ], + [ + 0.06964617967605591, + 0.5721126794815063, + 1.9444674253463745, + 0.03937879204750061, + 0.0208919458091259, + 0.2631703019142151, + 0.9637189507484436 + ] + ] + } + } + } +} \ No newline at end of file diff --git a/episodes/c9_p008_e009/wrist.mp4 b/episodes/c9_p008_e009/wrist.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..20dfa50410116c3aa952caba5285f58e923be8f2 --- /dev/null +++ b/episodes/c9_p008_e009/wrist.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:ef2c8955e08c206deac885619e8d8a9c0cb1ae9eaacd8b7e9fcdf7a69a53f9b6 +size 8746658 diff --git a/episodes/c9_p008_e010/data.npz b/episodes/c9_p008_e010/data.npz new file mode 100644 index 0000000000000000000000000000000000000000..d6a31540dda281d79c36b0586b5f22beedb18b50 --- /dev/null +++ b/episodes/c9_p008_e010/data.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:284e7eaa20e9d463601c106af8798f0a5298e592082aa5169396b92e4aec42fe +size 185816 diff --git a/episodes/c9_p008_e010/device_events.jsonl b/episodes/c9_p008_e010/device_events.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..b36f22a46cc655d047b73e2cd894ae817d9fcc0b --- /dev/null +++ b/episodes/c9_p008_e010/device_events.jsonl @@ -0,0 +1,36 @@ +{"env_id": 2, "seq": 1, "step": 158, "t": 0.79, "topic": "conveyor_1.belt.station.pick.captured", "source": "conveyor_1.belt", "data": {"rider": "carrier_3"}, "cause": null} +{"env_id": 2, "seq": 2, "step": 158, "t": 0.79, "topic": "conveyor_1.belt.state.changed", "source": "conveyor_1.belt", "data": {"from": "running", "to": "at_station"}, "cause": null} +{"env_id": 2, "seq": 3, "step": 163, "t": 0.815, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_3"}, "cause": null} +{"env_id": 2, "seq": 4, "step": 1945, "t": 9.725, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_3"}, "cause": null} +{"env_id": 2, "seq": 5, "step": 6657, "t": 33.285, "topic": "a4s_sealer_1.plate_present.present", "source": "a4s_sealer_1.plate_present", "data": {"object": "plate_3"}, "cause": null} +{"env_id": 2, "seq": 6, "step": 7268, "t": 36.34, "topic": "a4s_sealer_1.command.started", "source": "a4s_sealer_1", "data": {"command_id": "task-2-1", "name": "seal", "source": "task"}, "cause": "task-2-1"} +{"env_id": 2, "seq": 7, "step": 7268, "t": 36.34, "topic": "a4s_sealer_1.seal.started", "source": "a4s_sealer_1", "data": {"dwell": 2.643497391520828}, "cause": "task-2-1"} +{"env_id": 2, "seq": 8, "step": 7268, "t": 36.34, "topic": "a4s_sealer_1.drawer.command.started", "source": "a4s_sealer_1.drawer", "data": {"command_id": "program-2-2", "name": "close", "source": "program:seal"}, "cause": "program-2-2"} +{"env_id": 2, "seq": 9, "step": 7268, "t": 36.34, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "at_out", "to": "moving"}, "cause": null} +{"env_id": 2, "seq": 10, "step": 7268, "t": 36.34, "topic": "a4s_sealer_1.drawer.moving", "source": "a4s_sealer_1.drawer", "data": {"target": 0.3, "goal": "in"}, "cause": "program-2-2"} +{"env_id": 2, "seq": 11, "step": 7687, "t": 38.435, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "moving", "to": "at_in"}, "cause": null} +{"env_id": 2, "seq": 12, "step": 7687, "t": 38.435, "topic": "a4s_sealer_1.drawer.reached", "source": "a4s_sealer_1.drawer", "data": {"position": "in", "q": 0.30000001192092896}, "cause": "program-2-2"} +{"env_id": 2, "seq": 13, "step": 7687, "t": 38.435, "topic": "a4s_sealer_1.drawer.at_in", "source": "a4s_sealer_1.drawer", "data": {"q": 0.30000001192092896}, "cause": "program-2-2"} +{"env_id": 2, "seq": 14, "step": 7687, "t": 38.435, "topic": "a4s_sealer_1.drawer.command.succeeded", "source": "a4s_sealer_1.drawer", "data": {"command_id": "program-2-2", "name": "close", "source": "program:seal", "result": {"position": "in"}}, "cause": "program-2-2"} +{"env_id": 2, "seq": 15, "step": 7687, "t": 38.435, "topic": "labware.plate_3.changed", "source": "labware.plate_3", "data": {"key": "sealed", "value": true}, "cause": "task-2-1"} +{"env_id": 2, "seq": 16, "step": 7687, "t": 38.435, "topic": "a4s_sealer_1.sealed", "source": "a4s_sealer_1", "data": {"plate": "plate_3"}, "cause": "task-2-1"} +{"env_id": 2, "seq": 17, "step": 7687, "t": 38.435, "topic": "a4s_sealer_1.heater.command.started", "source": "a4s_sealer_1.heater", "data": {"command_id": "program-2-3", "name": "run", "source": "program:seal"}, "cause": "program-2-3"} +{"env_id": 2, "seq": 18, "step": 7687, "t": 38.435, "topic": "a4s_sealer_1.heater.state.changed", "source": "a4s_sealer_1.heater", "data": {"from": "ready", "to": "running"}, "cause": null} +{"env_id": 2, "seq": 19, "step": 7687, "t": 38.435, "topic": "a4s_sealer_1.heater.started", "source": "a4s_sealer_1.heater", "data": {"duration": 2.643497391520828}, "cause": "program-2-3"} +{"env_id": 2, "seq": 20, "step": 8216, "t": 41.08, "topic": "a4s_sealer_1.heater.state.changed", "source": "a4s_sealer_1.heater", "data": {"from": "running", "to": "ready"}, "cause": null} +{"env_id": 2, "seq": 21, "step": 8216, "t": 41.08, "topic": "a4s_sealer_1.heater.finished", "source": "a4s_sealer_1.heater", "data": {"elapsed": 2.645000000001353}, "cause": "program-2-3"} +{"env_id": 2, "seq": 22, "step": 8216, "t": 41.08, "topic": "a4s_sealer_1.heater.command.succeeded", "source": "a4s_sealer_1.heater", "data": {"command_id": "program-2-3", "name": "run", "source": "program:seal", "result": {"elapsed": 2.645000000001353}}, "cause": "program-2-3"} +{"env_id": 2, "seq": 23, "step": 8216, "t": 41.08, "topic": "a4s_sealer_1.drawer.command.started", "source": "a4s_sealer_1.drawer", "data": {"command_id": "program-2-4", "name": "open", "source": "program:seal"}, "cause": "program-2-4"} +{"env_id": 2, "seq": 24, "step": 8216, "t": 41.08, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "at_in", "to": "moving"}, "cause": null} +{"env_id": 2, "seq": 25, "step": 8216, "t": 41.08, "topic": "a4s_sealer_1.drawer.moving", "source": "a4s_sealer_1.drawer", "data": {"target": 0.0, "goal": "out"}, "cause": "program-2-4"} +{"env_id": 2, "seq": 26, "step": 8636, "t": 43.18, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "moving", "to": "at_out"}, "cause": null} +{"env_id": 2, "seq": 27, "step": 8636, "t": 43.18, "topic": "a4s_sealer_1.drawer.reached", "source": "a4s_sealer_1.drawer", "data": {"position": "out", "q": 3.567839801377204e-09}, "cause": "program-2-4"} +{"env_id": 2, "seq": 28, "step": 8636, "t": 43.18, "topic": "a4s_sealer_1.drawer.at_out", "source": "a4s_sealer_1.drawer", "data": {"q": 3.567839801377204e-09}, "cause": "program-2-4"} +{"env_id": 2, "seq": 29, "step": 8636, "t": 43.18, "topic": "a4s_sealer_1.drawer.command.succeeded", "source": "a4s_sealer_1.drawer", "data": {"command_id": "program-2-4", "name": "open", "source": "program:seal", "result": {"position": "out"}}, "cause": "program-2-4"} +{"env_id": 2, "seq": 30, "step": 8636, "t": 43.18, "topic": "a4s_sealer_1.seal.finished", "source": "a4s_sealer_1", "data": {}, "cause": "task-2-1"} +{"env_id": 2, "seq": 31, "step": 8636, "t": 43.18, "topic": "a4s_sealer_1.command.succeeded", "source": "a4s_sealer_1", "data": {"command_id": "task-2-1", "name": "seal", "source": "task"}, "cause": "task-2-1"} +{"env_id": 2, "seq": 32, "step": 9219, "t": 46.095, "topic": "a4s_sealer_1.plate_present.absent", "source": "a4s_sealer_1.plate_present", "data": {"object": "plate_3"}, "cause": null} +{"env_id": 2, "seq": 33, "step": 10944, "t": 54.72, "topic": "conveyor_1.belt.command.started", "source": "conveyor_1.belt", "data": {"command_id": "task-2-5", "name": "release", "source": "task"}, "cause": "task-2-5"} +{"env_id": 2, "seq": 34, "step": 10944, "t": 54.72, "topic": "conveyor_1.belt.station.pick.released", "source": "conveyor_1.belt", "data": {"rider": "carrier_3"}, "cause": "task-2-5"} +{"env_id": 2, "seq": 35, "step": 10944, "t": 54.72, "topic": "conveyor_1.belt.state.changed", "source": "conveyor_1.belt", "data": {"from": "at_station", "to": "running"}, "cause": null} +{"env_id": 2, "seq": 36, "step": 10944, "t": 54.72, "topic": "conveyor_1.belt.command.succeeded", "source": "conveyor_1.belt", "data": {"command_id": "task-2-5", "name": "release", "source": "task", "result": {"state": "running"}}, "cause": "task-2-5"} diff --git a/episodes/c9_p008_e010/env.mp4 b/episodes/c9_p008_e010/env.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..08753543357a49f709a9f7943677ef14bc6d492d --- /dev/null +++ b/episodes/c9_p008_e010/env.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:2eec7dc13e3f6a9b0949e965f7b31ffd2eadde4f123daf12d459b4f382e26b15 +size 1219541 diff --git a/episodes/c9_p008_e010/meta.json b/episodes/c9_p008_e010/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..7bc27d4a82bf793fce824e2056b8612e593ef045 --- /dev/null +++ b/episodes/c9_p008_e010/meta.json @@ -0,0 +1,32 @@ +{ + "source": "raw/c9_p008/magicsim/10", + "fps": 25, + "frames": 1182, + "kept_ticks": "even", + "video_frames": { + "wrist": 1182, + "env": 1182 + }, + "joint_target_source": "joint_pos_target", + "fk_vs_recorded_eef_max_m": 0.0, + "curobo_joints": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "joint_order": [ + "shoulder_pan", + "shoulder_lift", + "elbow", + "wrist_1", + "wrist_2", + "wrist_3", + "finger_left", + "finger_right" + ], + "frames_note": "eef / actions in the robot base frame; camera_pose = local pose (wrist: in plate_gripper_base, env: env frame), pos + quat wxyz", + "dr_version": "v2" +} \ No newline at end of file diff --git a/episodes/c9_p008_e010/scene_snapshot.json b/episodes/c9_p008_e010/scene_snapshot.json new file mode 100644 index 0000000000000000000000000000000000000000..9d78b36515d94362c651b5b4a9dd1d811aca3106 --- /dev/null +++ b/episodes/c9_p008_e010/scene_snapshot.json @@ -0,0 +1,1558 @@ +{ + "trajectory_id": 10, + "env_id": 2, + "run_id": "c9_p008", + "task_type": "BioPlateCell", + "success": true, + "timing": { + "fps": 50.0, + "sim_dt": 0.005, + "decimation": 4 + }, + "restore_interface": { + "scene": "scene_manager.reset_to(snapshot['scene'], env_ids=[env_id])", + "robots": "robot_manager.set_state({'robots': snapshot['robots']}, env_ids=[env_id])" + }, + "snapshot": { + "env_id": 2, + "scene": { + "objects": [ + {}, + {}, + { + "rac_cell": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/rac_cell.usd", + "pose": { + "pos": [ + 0.0, + 0.0, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "physics_material": { + "static_friction": 0.6, + "dynamic_friction": 0.5, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "robot_mount": [ + { + "asset": "Cube", + "pose": { + "pos": [ + 0.0, + 0.0, + 0.9075 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": "color", + "value": [ + 0.55, + 0.56, + 0.58 + ], + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": { + "size": [ + 0.2, + 0.2, + 0.015 + ] + } + }, + "type_specific": {} + } + ], + "plate_rack": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/plate_hotel.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 0.9 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "physics_material": { + "static_friction": 0.6, + "dynamic_friction": 0.5, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "hotel_plate": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_6_clear/plate_6_clear.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 0.9605 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_96_white/plate_96_white.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.0285 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_96_white/plate_96_white.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.0965 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_384_white/plate_384_white.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.1645 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_96_black/plate_96_black.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.2325 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "a4s_sealer": [ + { + "asset": "$MAGICSIM_ASSETS/Articulated/A4SSealer/Object.usd", + "pose": { + "pos": [ + 0.5116128921508789, + 0.08402252197265625, + 0.8999999761581421 + ], + "ori": [ + -0.7064942717552185, + 0.0, + 0.0, + 0.7077187895774841 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "articulation", + "solver_position_iteration_count": 16.0, + "solver_velocity_iteration_count": 1.0, + "enabled_self_collisions": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "joint_position": [ + 4.037002936801981e-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": 0.22343853288168725, + "direction": [ + 1.0, + 0.0, + 0.0 + ], + "enabled": true, + "drive": "surface_velocity", + "lines": null, + "station_line": null, + "riders": [ + "carrier" + ], + "stations": { + "pick": { + "position": -0.20266965907485496, + "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": 0.22343853288168725, + "holds": [], + "station": "pick", + "rider": "carrier_3", + "arrived": true, + "applied_speed": 0.0 + } + } + } + ], + "carrier": [ + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + 1.6964149475097656, + 0.7743558883666992, + 0.8999999761581421 + ], + "ori": [ + 0.7366275191307068, + -2.574047464065643e-08, + 2.2991645920455994e-08, + 0.6762986779212952 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 8.308187471328665e-10, + 2.784747710204982e-10, + -3.725290298461914e-09 + ], + "angular_velocity": [ + -2.9476748153456356e-08, + 1.1855767212409773e-07, + 5.162325678043089e-09 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + 0.028199195861816406, + 1.1499862670898438, + 0.8999999761581421 + ], + "ori": [ + -0.00012358010280877352, + -8.217343472338712e-10, + 2.393396814071025e-09, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -2.7701689830905707e-09, + -1.5789236584851096e-09, + 1.1175870895385742e-08 + ], + "angular_velocity": [ + 1.0957698037827868e-07, + -2.584798153293377e-07, + -1.0918766335521468e-08 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + -0.05309104919433594, + 0.4476661682128906, + 0.8999999761581421 + ], + "ori": [ + 0.9999269247055054, + 1.4252779512169411e-11, + 4.1008663131947287e-10, + 0.012090139091014862 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 1.6760879351096492e-09, + 6.940781838160603e-10, + 1.1175870895385742e-08 + ], + "angular_velocity": [ + -7.391868450667971e-09, + 1.5077267789820326e-07, + -1.9816743801470693e-08 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + -1.3875007629394531, + 0.8824996948242188, + 0.8999999761581421 + ], + "ori": [ + -0.6142870187759399, + -3.978709983698536e-08, + -6.066098734436309e-08, + 0.7890827655792236 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -2.180416736052848e-09, + -1.088698242668329e-09, + 1.1175870895385742e-08 + ], + "angular_velocity": [ + 1.0708940578751935e-07, + 5.525166102415824e-09, + 3.3849957503662154e-08 + ] + } + } + ], + "plate": [ + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_24_clear/Object.usd", + "pose": { + "pos": [ + 1.6980657577514648, + 0.7750310897827148, + 0.9179999828338623 + ], + "ori": [ + 0.7147414088249207, + -2.5576690987350048e-08, + 2.3261357284809492e-08, + 0.699388861656189 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -1.0338343514604276e-09, + -2.8955636111049898e-08, + 5.587935447692871e-08 + ], + "angular_velocity": [ + 1.2928459227623534e-06, + 4.922906668980431e-07, + 1.1081960593628537e-07 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_384_black/Object.usd", + "pose": { + "pos": [ + 0.020069122314453125, + 1.1498346328735352, + 0.9180000424385071 + ], + "ori": [ + 0.048340700566768646, + -7.954252256858751e-10, + 1.3538654641820358e-09, + 0.9988309144973755 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 8.024676034779077e-09, + -1.197119026130622e-08, + -5.535781383514404e-06 + ], + "angular_velocity": [ + -8.61705586885364e-08, + 1.784601067811309e-06, + -1.5478576642635744e-08 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_1536_black/Object.usd", + "pose": { + "pos": [ + -0.05309009552001953, + 0.44048213958740234, + 0.9180000424385071 + ], + "ori": [ + 0.9997805953025818, + -1.3493901551697718e-09, + 6.406134511749428e-10, + -0.020948128774762154 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -2.343629068590758e-09, + 1.8899102727232275e-08, + -5.453824996948242e-06 + ], + "angular_velocity": [ + -1.0671907091364119e-07, + -1.603758732926508e-06, + -2.758376815847896e-08 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/deep_well_24_10ml/Object.usd", + "pose": { + "pos": [ + -1.3863811492919922, + 0.8849830627441406, + 0.9179999828338623 + ], + "ori": [ + -0.6329176425933838, + -3.8964234505556306e-08, + -6.198890645237043e-08, + 0.7742190957069397 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -9.458444338861227e-08, + 8.439185705810814e-08, + -9.424984455108643e-07 + ], + "angular_velocity": [ + -3.1731462968309643e-06, + -1.9168262497260002e-06, + -2.443163396037562e-07 + ] + } + } + ], + "deco_hub_west": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/hub_c.usd", + "pose": { + "pos": [ + -3.36, + 0.0, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_hub_east": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/hub_a.usd", + "pose": { + "pos": [ + 3.36, + 0.0, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_hub_back": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/hub_e.usd", + "pose": { + "pos": [ + -3.0, + -2.1, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_bench_east": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/bench_a.usd", + "pose": { + "pos": [ + 2.6, + -2.5, + 0.0 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_bench_gap": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/bench_b.usd", + "pose": { + "pos": [ + -0.1, + -2.9, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ] + }, + {} + ], + "devices": { + "hub": [ + null, + null, + { + "t": 7.61999999999986, + "step": 1524, + "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": 4.037002936801981e-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": 0.22343853288168725, + "holds": [], + "station": "pick", + "rider": "carrier_3", + "arrived": true, + "settle_count": 1365, + "released": { + "pick": [] + }, + "last_pos": { + "carrier_1": [ + 1.5464149415493011, + 0.3243559002876282, + 0.0 + ], + "carrier_2": [ + -0.12180081009864807, + 0.6999862790107727, + 0.0 + ], + "carrier_3": [ + -0.20309105515480042, + -0.00233381986618042, + 0.0 + ], + "carrier_4": [ + -1.5375007688999176, + 0.4324997067451477, + 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": [ + -0.0945083600069444, + 0.5728032676026737, + 2.8162472549497153 + ], + "ori": [ + 9.943898541211194, + 13.630284019015999, + 25.709247296795084 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "color_temperature": 7154.202683976282, + "color": [ + 0.9971679663782781, + 0.8117983576436948, + 0.9365169252923862 + ], + "intensity": 8411.25447486317, + "width": 1.906752206729624, + "height": 1.3982268682237822 + } + }, + "key": { + "type": "sphere", + "pose": { + "pos": [ + -1.1371769263610207, + 0.2640318576379639, + 2.402214364952472 + ], + "ori": [ + 8.449152235349338, + 14.241344427875696, + 17.707764414701316 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "color_temperature": 4143.336077217953, + "color": [ + 0.7695032790419378, + 0.849054688413207, + 0.9386415776196152 + ], + "intensity": 8311.571193610896, + "radius": 0.1697120740560008 + } + } + }, + {} + ], + "background": { + "type": "dome", + "pose": { + "pos": null, + "ori": null, + "scale": null + }, + "dr": { + "intensity": 774.9370997697486, + "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": [ + [ + 1.061315655708313, + -1.557038426399231, + 2.1421875953674316, + -2.1558926105499268, + -1.5707045793533325, + 2.5812323093414307, + 0.007184164132922888, + 0.006524369120597839 + ], + [ + 0.7827246189117432, + -1.2129778861999512, + 2.11268949508667, + -2.4704761505126953, + -1.570796251296997, + 2.3461410999298096, + 0.01800002157688141, + 0.017999976873397827 + ], + [ + 0.9141018986701965, + -1.7193994522094727, + 2.0904998779296875, + -1.9419002532958984, + -1.5707999467849731, + 2.484900712966919, + 0.018000001087784767, + 0.01799999736249447 + ], + [ + 0.9981244802474976, + -1.619866967201233, + 2.175560712814331, + -2.126455783843994, + -1.5707968473434448, + 2.6711585521698, + 0.01800055056810379, + 0.017999479547142982 + ] + ], + "joint_vel": [ + [ + 0.03403132036328316, + -0.022237511351704597, + 0.0173798855394125, + 0.004005890805274248, + -4.683002771344036e-05, + 0.03363286703824997, + -0.0089503712952137, + -2.5307770556537434e-05 + ], + [ + -0.00010816229769261554, + 0.013117161579430103, + 0.004279918968677521, + -0.016430746763944626, + -8.715257536096033e-06, + -2.0878131181234494e-05, + -6.3570469137630425e-06, + 6.35773812973639e-06 + ], + [ + -2.845269830004639e-38, + 0.0, + 0.0, + 4.126063016318519e-37, + -1.2205556252798878e-38, + 3.7325929810401397e-37, + -2.5990376073536936e-08, + 2.5990388508034812e-08 + ], + [ + 0.011079344898462296, + 0.01354492548853159, + 0.011511879041790962, + -0.023989224806427956, + 1.4328886209113989e-05, + 0.02428152970969677, + 8.378650818485767e-06, + -8.692571100255009e-06 + ] + ] + } + }, + "cameras": { + "cameras": { + "camera0": [ + [ + 0.04959443584084511, + 0.002678504679352045, + -0.02895480953156948, + -0.3015422821044922, + 0.6374754309654236, + 0.655021607875824, + -0.27137425541877747 + ], + [ + 0.05151771754026413, + 0.001796092139557004, + -0.029893627390265465, + -0.28120529651641846, + 0.6488856077194214, + 0.6518161296844482, + -0.2738736569881439 + ], + [ + 0.046967919915914536, + 0.0004859080945607275, + -0.027920303866267204, + -0.27209970355033875, + 0.6467114686965942, + 0.6591319441795349, + -0.2706862986087799 + ], + [ + 0.05216439440846443, + -0.004168567713350058, + -0.031813498586416245, + -0.277826189994812, + 0.6494491696357727, + 0.6550888419151306, + -0.26811742782592773 + ] + ], + "camera1": [ + [ + 0.030147718265652657, + 0.5746894478797913, + 1.9371446371078491, + 0.043323297053575516, + 0.009577770717442036, + 0.25509384274482727, + 0.9658977389335632 + ], + [ + 0.05058201029896736, + 0.5718167424201965, + 1.9532772302627563, + 0.038451336324214935, + 0.012150244787335396, + 0.2761662006378174, + 0.9602635502815247 + ], + [ + 0.026187492534518242, + 0.5722955465316772, + 1.9571621417999268, + 0.04543182626366615, + 0.027338465675711632, + 0.2651708126068115, + 0.9627424478530884 + ], + [ + 0.03928128629922867, + 0.576295018196106, + 1.9623768329620361, + 0.031683970242738724, + 0.032089076936244965, + 0.28444892168045044, + 0.9576299786567688 + ] + ] + } + } + } +} \ No newline at end of file diff --git a/episodes/c9_p008_e010/wrist.mp4 b/episodes/c9_p008_e010/wrist.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..ea0f7c9bd73b5833e9c7260df3b8aa9af4f21c2e --- /dev/null +++ b/episodes/c9_p008_e010/wrist.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:ef7721e754a23f8ca0294360afc7079fba42819ad8c0deb5ab22f8a1205eb2fe +size 6233971 diff --git a/index/episodes.csv b/index/episodes.csv index 82f1a4d61053fb519176d22e4db1eded49fdb5e1..e0a8ad6f1b584525de9c8b0ba707dcad49774e25 100644 --- a/index/episodes.csv +++ b/index/episodes.csv @@ -1955,3 +1955,20 @@ c5_p005_e030,2,True,-0.07450485229492188,0.4499998092651367,0.0026187186459851,0 c5_p005_e031,1,True,-0.03182506561279297,0.4499979019165039,0.01056452842951905,0.005965721012136702,-7.805861570322719,pcr_384_red,0.46412086486816406,0.06696701049804688,-92.47554467929427,0.16477175006005487,443.51851155622717,rect,-0.1615650323435046,0.5240802500160706,3.0844913714730127,11648.483630427885,6679.666049147745,sphere,1.1619296435836133,-0.01273161027020242,2.5339142775794827,2056.1442246255774,3769.9525115616593,0.053278848528862,1.9913402866222896e-05,-0.03016902692615986,-0.28545331954956055,0.6397275328636169,0.6573349833488464,-0.277805358171463,0.03560471162199974,0.5897470712661743,1.9290919303894043,0.05311943218111992,0.025275705382227898,0.2553834319114685,0.965048611164093,1319,1,,2.079892873764038,0.3261506463088444,0.0,0.006816540844738483,0.530705079605762,12,release,0.042102813720703125,"Pre-grasping the small plate, moving the arm toward it; the ",v2,True,False c6_p006_e016,1,True,-0.10736942291259766,0.44866275787353516,-0.011069924242474737,-0.009954756880785162,-3.4470533054408463,plate_96_white,0.5109195709228516,0.12035942077636719,-91.49011012694017,0.2000562372710482,1180.5338958230868,rect,0.2074525673931631,-0.32886353390156564,3.1750767279859193,10290.275113553333,4516.872992811438,disk,0.7285039254971282,1.279130439170111,1.8510225984399145,9545.674420710775,3406.0981150000657,0.049213193356990814,-0.003697272390127182,-0.03008257783949375,-0.28705793619155884,0.6464626789093018,0.6498396992683411,-0.2781944274902344,0.03929751366376877,0.584588348865509,1.969649314880371,0.05095304176211357,0.002940801437944174,0.27968481183052063,0.9587343335151672,1227,1,,2.059377908706665,0.31935205917699544,0.0,0.007303698919713497,0.5158924205378973,12,release,0.04210782051086426,"Pre-grasping the small plate, moving the arm toward it; the ",v2,True,False c7_p006_e012,2,True,-0.14681720733642578,0.4474964141845703,0.0017677033083520568,-0.005917898130024626,-11.74497078134047,plate_1536_black,0.4677009582519531,0.06300163269042969,-90.72762367119496,0.21400445697967968,358.1898284491201,rect,0.16462103424762842,0.06355200784875537,2.890793713012817,5807.437781957598,3381.202638705004,disk,-1.286471789662957,0.08630343856560296,2.7161085627340777,6195.281338263429,4022.8010086841814,0.04688393697142601,-0.0018930971855297685,-0.033661942929029465,-0.29502424597740173,0.6479132175445557,0.6443787217140198,-0.27918678522109985,0.035893362015485764,0.5609809756278992,1.956145167350769,0.045632731169462204,-0.006308643147349358,0.2849392890930176,0.9574379324913025,1197,1,,2.0866241455078125,0.3334001526155072,0.0,0.007374506443738937,0.5271512113617377,12,release,0.042287588119506836,"Pre-grasping the small plate, moving the arm toward it; the ",v2,True,False +c1_p005_e039,0,True,-0.01331329345703125,0.45000171661376953,-0.003555691041487176,0.004517042816620331,8.682569388791535,deep_well_96_2ml,0.5042552947998047,0.08044242858886719,-90.56581214725338,0.24559556059052806,1065.8016030971382,rect,0.3248928545709987,0.10567782679414395,2.9917821882027007,5263.635990443103,5689.137539713256,disk,0.7853889576376663,-1.0713652475182567,1.618545094505618,7327.059074728842,6712.752624089941,0.053285472095012665,-0.0012465128675103188,-0.030961692333221436,-0.2742904722690582,0.6519636511802673,0.6527813076972961,-0.2712649405002594,0.056424085050821304,0.5770604610443115,1.9717471599578857,0.05339242145419121,0.0213716309517622,0.27341562509536743,0.9601752161979675,1292,1,,2.0440289974212646,0.26776353654856233,0.0,0.007529912516474724,0.544891640866873,12,release,0.04310816526412964,"Pre-grasping the small plate, moving the arm toward it; the ",v2,True,False +c3_p006_e004,0,True,-0.1112060546875,0.45000457763671875,-0.010908017083111881,0.009514655548311223,-9.521067853594786,deep_well_96_2ml,0.5018272399902344,0.11866378784179688,-90.04183064297952,0.29040286956033495,1232.1384136877552,rect,-0.23641376511439954,-0.40384188075848093,2.759641785926893,8191.115157481537,7108.518821576057,disk,1.10334083261196,-0.5139323596171926,2.5203104192470693,4325.105616702176,6405.780586133362,0.04836370795965195,0.0010005143703892827,-0.02691265381872654,-0.2884393632411957,0.6476643681526184,0.6506337523460388,-0.2720465362071991,0.0531422384083271,0.5822756886482239,1.9486342668533325,0.05222398042678833,-0.0006053658435121179,0.27215883135795593,0.9608339667320251,1282,1,,2.0467348098754883,0.32428294001821384,0.0,0.00746725220233202,0.5405616224648986,12,release,0.04323488473892212,"Pre-grasping the small plate, moving the arm toward it; the ",v2,True,False +c4_p006_e006,1,True,0.08783435821533203,0.45000743865966797,-0.0011166151775029796,-0.011866492741872244,10.789162260049068,deep_well_96_1ml,0.4743375778198242,0.07537841796875,-89.9065529822233,0.1803764429250878,1359.0242390111566,rect,0.4000824795434056,0.3790952665929651,2.849765915776396,8534.871275780552,3260.9851769591683,sphere,1.7967349130408654,0.571514453361935,2.638967758516376,9107.083478894827,4428.657909294793,0.050529222935438156,-0.0018422389402985573,-0.03073352389037609,-0.27585315704345703,0.6543075442314148,0.6446895003318787,-0.2831290662288666,0.06447694450616837,0.5917888283729553,1.9724717140197754,0.037673477083444595,0.025395015254616737,0.27396517992019653,0.9606658220291138,1168,1,,2.0829579830169678,0.3333032075788057,0.0,0.007426138035953045,0.5539383561643836,12,release,0.04220104217529297,"Pre-grasping the small plate, moving the arm toward it; the ",v2,True,False +c4_p006_e007,3,True,0.1281452178955078,0.4499969482421875,0.012562603082491528,-0.011667411684656195,-0.016083964627085834,plate_96_clear,0.5011758804321289,0.07409000396728516,-93.19759233197499,0.2966905296732779,1359.0242390111566,rect,0.3522834098882627,-0.10891490028007483,2.6034271778873657,10732.552982477995,6901.295265947807,sphere,-1.1548822399765413,-1.1919134241251013,2.308977895205053,7501.944559979612,6371.855133623176,0.05080726742744446,0.002900930820032954,-0.029969671741127968,-0.27946504950523376,0.6449743509292603,0.6503763198852539,-0.28795477747917175,0.058745212852954865,0.6020344495773315,1.9702739715576172,0.043858326971530914,0.011509216390550137,0.26676326990127563,0.9626948237419128,1244,1,,2.1776504516601562,0.23957804895081103,0.0,0.007290643639862537,0.5128617363344051,12,release,0.04254961013793945,"Pre-grasping the small plate, moving the arm toward it; the ",v2,True,False +c6_p006_e017,3,True,-0.1357717514038086,0.4474000930786133,-0.009282820801587762,-0.004269553175186302,8.499387347181852,reservoir_12ch,0.4729146957397461,0.0952615737915039,-93.56765610145162,0.26743546751945013,1180.5338958230868,rect,0.7629765983101328,0.38027494532056194,3.0222560733961004,9199.957757980943,6051.225306340751,disk,0.039828754861301,1.2010630163839646,2.147792461194458,2825.3891278197407,6161.666438640918,0.049318280071020126,0.0006796558736823499,-0.031868450343608856,-0.27868226170539856,0.6538694500923157,0.6467927694320679,-0.2764959931373596,0.04604846239089966,0.5973445177078247,1.9582839012145996,0.03656291589140892,0.007367382291704416,0.26839402318000793,0.9625868797302246,1206,1,,2.077972412109375,0.298237096441973,0.0,0.007397838868200779,0.5265339966832504,12,release,0.04241347312927246,"Pre-grasping the small plate, moving the arm toward it; the ",v2,True,False +c6_p006_e018,0,True,0.016941070556640625,0.4499950408935547,-0.010343901022036386,0.006758661138625568,1.7337354340271816,plate_6_clear,0.474884033203125,0.11899375915527344,-86.63888250421144,0.21282991190426115,700.8408129568494,rect,0.11737693996917742,-0.16744078628815623,2.862790752596309,12440.814794970796,5924.428342615436,sphere,0.2739688958370925,0.21652696925960235,1.608435151157114,3618.338441933862,4637.239682643137,0.051145635545253754,-1.454045377613511e-05,-0.030384913086891174,-0.27602919936180115,0.6574925780296326,0.6485996246337891,-0.26613879203796387,0.07168591767549515,0.5982121229171753,1.9666595458984375,0.04745753854513168,0.0033555827103555202,0.272432416677475,0.960997998714447,1203,1,,2.093165874481201,0.28191027969378385,0.0,0.007378897629678249,0.5295095594347464,12,release,0.04206550121307373,"Pre-grasping the small plate, moving the arm toward it; the ",v2,True,False +c6_p006_e019,2,True,-0.056654930114746094,0.45000171661376953,0.010967342894505003,-0.00410056351976187,-1.0569226828638136,deep_well_24_10ml,0.5113554000854492,0.10975074768066406,-91.73156323661549,0.2950903521349226,700.8408129568494,rect,-0.16563984082067273,0.5310119846240917,2.899926275594506,13359.790087502224,5435.545128012807,disk,0.9381230051554605,-0.2775335590229431,2.0535333959435094,5677.652526187932,7275.8734899608835,0.04891752824187279,0.0052416445687413216,-0.030455194413661957,-0.2874741852283478,0.6453593373298645,0.6484774351119995,-0.28345534205436707,0.03502156585454941,0.5636409521102905,1.9682435989379883,0.03273988142609596,-0.002504051197320223,0.25508713722229004,0.9663603901863098,1283,1,,2.0719540119171143,0.26369305327051634,0.0,0.00752019789069891,0.5424785658612626,12,release,0.04345345497131348,"Pre-grasping the small plate, moving the arm toward it; the ",v2,True,False +c7_p006_e013,0,True,0.09384346008300781,0.4499988555908203,-0.0042124827934665815,-0.009796098141779687,-11.396919889464215,pcr_96_blue,0.4787302017211914,0.07873058319091797,-91.79683951563818,0.16736193052827253,979.9254346047957,rect,0.1198752982909208,0.4930580149799093,3.129664341133437,10402.372079633093,5217.909289427363,disk,0.9873510262149523,0.04159787151820171,2.5620890744166,3391.5050841572856,4526.735227524219,0.0515766404569149,0.003869479289278388,-0.030177392065525055,-0.2616178095340729,0.6591219902038574,0.6489204168319702,-0.2757111191749573,0.025729477405548096,0.5726606249809265,1.935927152633667,0.03006134368479252,0.010884955525398254,0.28754234313964844,0.9572341442108154,1248,1,,2.0965375900268555,0.29402022645533715,0.0,0.006883119232952595,0.5112179487179487,12,release,0.04210186004638672,"Pre-grasping the small plate, moving the arm toward it; the ",v2,True,False +c7_p006_e014,1,True,-0.14020538330078125,0.44744014739990234,-0.002744945002281589,0.00741052775621108,-4.414817022625925,plate_12_clear,0.5010499954223633,0.1187429428100586,-88.53705766770034,0.2067687246914299,979.9254346047957,rect,0.4560898006442541,0.5345393076966454,2.797863614166069,6189.194111409349,3487.1821877006505,disk,-1.1762648153280169,-0.3931617185045644,2.4931497399513716,5297.1678570272115,6358.32023920146,0.045461297035217285,-0.00015597461606375873,-0.0277105700224638,-0.2893003225326538,0.6436057090759277,0.6507985591888428,-0.2802467942237854,0.047106608748435974,0.5616968870162964,1.9361932277679443,0.026756638661026955,0.009835987351834774,0.26523882150650024,0.9637612104415894,1192,1,,2.1488516330718994,0.3134240276289813,0.0,0.007362194359302521,0.5293624161073825,12,release,0.04259133338928223,"Pre-grasping the small plate, moving the arm toward it; the ",v2,True,False +c7_p006_e015,3,True,-0.09976005554199219,0.4500293731689453,-0.013183611150507996,0.0034479896143677917,-0.4117973510496995,reservoir_12ch,0.46644115447998047,0.05382251739501953,-94.3000692184742,0.2106587211437306,979.9254346047957,rect,0.16134085565274925,-0.2174582200196013,2.9810966814865942,10566.382991791685,5413.690757240041,sphere,1.7426349589676122,-0.7382046690428641,2.56117986218056,2625.5983120892624,3541.714257125402,0.051911208778619766,-0.0035870089195668697,-0.03201645240187645,-0.27409496903419495,0.6496427655220032,0.6536452174186707,-0.27492576837539673,0.055190276354551315,0.5806149244308472,1.9368242025375366,0.03209138661623001,0.028654398396611214,0.27371925115585327,0.9608469605445862,1211,1,,2.095111608505249,0.29596527312226484,0.0,0.0073991636745631695,0.5243600330305532,12,release,0.04244875907897949,"Pre-grasping the small plate, moving the arm toward it; the ",v2,True,False +c8_p006_e016,3,True,-0.07424640655517578,0.4499969482421875,-0.0055313809227960755,-0.0068215757163659655,9.58508380057728,plate_384_white,0.5170612335205078,0.08798694610595703,-88.62008018851587,0.162679702261342,1093.5034863410342,rect,-0.5972018301797168,-0.012918126880971548,2.8627497040169896,4840.6359008901945,6453.945944465917,disk,0.9968303776699448,-0.9109269393851069,2.1618285829935933,2912.135844714207,5107.824409425957,0.04816727712750435,-0.0046495492570102215,-0.028080206364393234,-0.2780601680278778,0.6419988870620728,0.6657912135124207,-0.259310781955719,0.0645175352692604,0.5588828921318054,1.9600121974945068,0.04307552054524422,0.021027294918894768,0.26173102855682373,0.9639497995376587,1252,1,,2.067978620529175,0.3095892237714828,0.0,0.007377986330538988,0.512779552715655,12,release,0.04211163520812988,"Pre-grasping the small plate, moving the arm toward it; the ",v2,True,False +c8_p006_e017,0,True,-0.12295818328857422,0.45000267028808594,-0.00939739446619245,0.011991795190771407,9.188514365017483,pcr_96_blue,0.5099220275878906,0.11313915252685547,-93.78635380310023,0.19509012976168222,845.2526962905574,rect,0.23417410069267242,-0.4873377750820106,2.624670924531302,4226.75762303965,4154.47877811413,disk,0.06365101868996925,1.4825843929701301,1.7135880013906382,4477.744118279552,5505.172037190023,0.051897671073675156,-0.0010914194863289595,-0.030819110572338104,-0.2856592833995819,0.6426111459732056,0.6541911959648132,-0.27835872769355774,0.07423640787601471,0.5638993978500366,1.929558277130127,0.04568637162446976,0.01811630092561245,0.2760564684867859,0.9598840475082397,1275,1,,1.9991363286972046,0.3144922203889464,0.0,0.006826598197221756,0.4980392156862745,12,release,0.04205584526062012,"Pre-grasping the small plate, moving the arm toward it; the ",v2,True,False +c8_p006_e018,1,True,-0.009296417236328125,0.4499349594116211,0.006598067031886739,-0.00921587776357736,4.543567721721132,plate_96_white,0.4953346252441406,0.08161735534667969,-94.7172394143877,0.2695069289658385,845.2526962905574,rect,-0.27334261306645596,0.46665458718899455,3.0192514921115263,10525.747929900317,6594.929884329417,sphere,-0.7058681349138027,-0.6991673648239907,2.7397409678031415,2188.1385917224998,2969.5773124668444,0.04781878739595413,0.0034111288841813803,-0.03243960067629814,-0.2864128649234772,0.6445205807685852,0.6584565043449402,-0.26267072558403015,0.03133406117558479,0.6028285622596741,1.970253348350525,0.0428759828209877,0.00736848684027791,0.2721940279006958,0.9612584114074707,1259,1,,2.0973451137542725,0.2846638458422514,0.0,0.007303805090487003,0.5607625099285147,12,release,0.04221540689468384,"Pre-grasping the small plate, moving the arm toward it; the ",v2,True,False +c8_p006_e019,2,True,0.0666351318359375,0.45000457763671875,0.010572428056459962,-0.0074848372711165045,4.544298040596857,plate_1536_black,0.4940500259399414,0.12068843841552734,-88.4793647150569,0.18563538249583242,845.2526962905574,rect,-0.47485845346891314,-0.16633746189445775,2.776516975128896,10368.125459005683,6778.606728556088,sphere,-1.0966962895295747,1.3540209492754725,2.4624213904363628,3659.8371292969364,6582.5419896267285,0.04816857725381851,0.0012135093566030264,-0.02865150198340416,-0.26952406764030457,0.6547823548316956,0.6454921364784241,-0.28628090023994446,0.03907379135489464,0.5692023038864136,1.9363471269607544,0.03076772950589657,-0.001070721889846027,0.2862304449081421,0.9576660990715027,1206,1,,2.065760612487793,0.2514193513445489,0.0,0.0073803868144750595,0.5281923714759535,12,release,0.042283207178115845,"Pre-grasping the small plate, moving the arm toward it; the ",v2,True,False +c9_p008_e008,1,True,0.12612152099609375,0.45000267028808594,-0.0111152668814318,-0.00938505658549929,0.42776250288034134,deep_well_96_1ml,0.4984111785888672,0.10499954223632812,-94.88015299755519,0.22164253274946752,774.9370997697486,rect,0.8373528986051141,-0.17129688390162162,3.078219202368274,10723.153607358137,4720.3699004399,disk,1.4054845595086785,-0.8801343942941819,2.6704419663778625,2183.8310988871317,6889.90452212145,0.05308334901928902,0.0035792584531009197,-0.03227052465081215,-0.2855697274208069,0.6436469554901123,0.6561369299888611,-0.2713906168937683,0.05058201029896736,0.5718167424201965,1.9532772302627563,0.038451336324214935,0.012150244787335396,0.2761662006378174,0.9602635502815247,1195,1,,2.136812686920166,0.29597311636567336,0.0,0.007431365549564362,0.5263598326359833,12,release,0.04326319694519043,"Pre-grasping the small plate, moving the arm toward it; the ",v2,True,False +c9_p008_e009,0,True,-0.005572319030761719,0.4473848342895508,0.010437233216893861,-0.00477813306067523,1.966300782883252,pcr_96_blue,0.49117279052734375,0.08234405517578125,-88.8944599767783,0.25279480374975644,774.9370997697486,rect,-0.5536090640157367,0.1575985022632841,2.6444853905457126,7197.566995110568,7195.172635229268,disk,-0.7961583814727001,-0.5096439458988472,1.6499458392404656,8400.563526006048,4899.693389002923,0.04879379644989967,0.0017678664298728108,-0.03080039657652378,-0.2933151125907898,0.640895664691925,0.6553404331207275,-0.27156561613082886,0.030147718265652657,0.5746894478797913,1.9371446371078491,0.043323297053575516,0.009577770717442036,0.25509384274482727,0.9658977389335632,1322,1,,2.098707914352417,0.3341525598711934,0.0,0.0068484218791127205,0.5332829046898638,12,release,0.04244661331176758,"Pre-grasping the small plate, moving the arm toward it; the ",v2,True,False +c9_p008_e010,2,True,-0.05309104919433594,0.4476661682128906,-0.00017274572107246262,-0.007181951483906091,-3.786116069016657,plate_1536_black,0.5116128921508789,0.08402252197265625,-90.0992231714612,0.22343853288168725,774.9370997697486,rect,-0.0945083600069444,0.5728032676026737,2.8162472549497153,8411.25447486317,7154.202683976282,sphere,-1.1371769263610207,0.2640318576379639,2.402214364952472,8311.571193610896,4143.336077217953,0.046967919915914536,0.0004859080945607275,-0.027920303866267204,-0.27209970355033875,0.6467114686965942,0.6591319441795349,-0.2706862986087799,0.026187492534518242,0.5722955465316772,1.9571621417999268,0.04543182626366615,0.027338465675711632,0.2651708126068115,0.9627424478530884,1182,1,,2.102072238922119,0.30283715086726937,0.0,0.0073662009090185165,0.5406091370558376,12,release,0.04239189624786377,"Pre-grasping the small plate, moving the arm toward it; the ",v2,True,False