diff --git a/episodes/c4_p008_e004/data.npz b/episodes/c4_p008_e004/data.npz new file mode 100644 index 0000000000000000000000000000000000000000..7d3f321b9b738ec4698d2402b4d71007824cfbab --- /dev/null +++ b/episodes/c4_p008_e004/data.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:5362903107d81a1d935b9e0b6f5fc51d1e38c2d69fcea5a8362e7e4c5ebc1cef +size 189026 diff --git a/episodes/c4_p008_e004/device_events.jsonl b/episodes/c4_p008_e004/device_events.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..58518b865d62e919b325aa981aed4f96ed50a400 --- /dev/null +++ b/episodes/c4_p008_e004/device_events.jsonl @@ -0,0 +1,35 @@ +{"env_id": 2, "seq": 1, "step": 127, "t": 0.635, "topic": "conveyor_1.belt.station.pick.captured", "source": "conveyor_1.belt", "data": {"rider": "carrier_1"}, "cause": null} +{"env_id": 2, "seq": 2, "step": 127, "t": 0.635, "topic": "conveyor_1.belt.state.changed", "source": "conveyor_1.belt", "data": {"from": "running", "to": "at_station"}, "cause": null} +{"env_id": 2, "seq": 3, "step": 132, "t": 0.66, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_1"}, "cause": null} +{"env_id": 2, "seq": 4, "step": 6062, "t": 30.31, "topic": "a4s_sealer_1.plate_present.present", "source": "a4s_sealer_1.plate_present", "data": {"object": "plate_1"}, "cause": null} +{"env_id": 2, "seq": 5, "step": 6676, "t": 33.38, "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": 6676, "t": 33.38, "topic": "a4s_sealer_1.seal.started", "source": "a4s_sealer_1", "data": {"dwell": 2.939030156114589}, "cause": "task-2-1"} +{"env_id": 2, "seq": 7, "step": 6676, "t": 33.38, "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": 6676, "t": 33.38, "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": 6676, "t": 33.38, "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": 7095, "t": 35.475, "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": 7095, "t": 35.475, "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": 7095, "t": 35.475, "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": 7095, "t": 35.475, "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": 7095, "t": 35.475, "topic": "labware.plate_1.changed", "source": "labware.plate_1", "data": {"key": "sealed", "value": true}, "cause": "task-2-1"} +{"env_id": 2, "seq": 15, "step": 7095, "t": 35.475, "topic": "a4s_sealer_1.sealed", "source": "a4s_sealer_1", "data": {"plate": "plate_1"}, "cause": "task-2-1"} +{"env_id": 2, "seq": 16, "step": 7095, "t": 35.475, "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": 7095, "t": 35.475, "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": 7095, "t": 35.475, "topic": "a4s_sealer_1.heater.started", "source": "a4s_sealer_1.heater", "data": {"duration": 2.939030156114589}, "cause": "program-2-3"} +{"env_id": 2, "seq": 19, "step": 7683, "t": 38.415, "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": 7683, "t": 38.415, "topic": "a4s_sealer_1.heater.finished", "source": "a4s_sealer_1.heater", "data": {"elapsed": 2.940000000001504}, "cause": "program-2-3"} +{"env_id": 2, "seq": 21, "step": 7683, "t": 38.415, "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": 2.940000000001504}}, "cause": "program-2-3"} +{"env_id": 2, "seq": 22, "step": 7683, "t": 38.415, "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": 7683, "t": 38.415, "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": 7683, "t": 38.415, "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": 8103, "t": 40.515, "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": 8103, "t": 40.515, "topic": "a4s_sealer_1.drawer.reached", "source": "a4s_sealer_1.drawer", "data": {"position": "out", "q": 1.424587292575552e-08}, "cause": "program-2-4"} +{"env_id": 2, "seq": 27, "step": 8103, "t": 40.515, "topic": "a4s_sealer_1.drawer.at_out", "source": "a4s_sealer_1.drawer", "data": {"q": 1.424587292575552e-08}, "cause": "program-2-4"} +{"env_id": 2, "seq": 28, "step": 8103, "t": 40.515, "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": 8103, "t": 40.515, "topic": "a4s_sealer_1.seal.finished", "source": "a4s_sealer_1", "data": {}, "cause": "task-2-1"} +{"env_id": 2, "seq": 30, "step": 8103, "t": 40.515, "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": 8678, "t": 43.39, "topic": "a4s_sealer_1.plate_present.absent", "source": "a4s_sealer_1.plate_present", "data": {"object": "plate_1"}, "cause": null} +{"env_id": 2, "seq": 32, "step": 10464, "t": 52.32, "topic": "conveyor_1.belt.command.started", "source": "conveyor_1.belt", "data": {"command_id": "task-2-5", "name": "release", "source": "task"}, "cause": "task-2-5"} +{"env_id": 2, "seq": 33, "step": 10464, "t": 52.32, "topic": "conveyor_1.belt.station.pick.released", "source": "conveyor_1.belt", "data": {"rider": "carrier_1"}, "cause": "task-2-5"} +{"env_id": 2, "seq": 34, "step": 10464, "t": 52.32, "topic": "conveyor_1.belt.state.changed", "source": "conveyor_1.belt", "data": {"from": "at_station", "to": "running"}, "cause": null} +{"env_id": 2, "seq": 35, "step": 10464, "t": 52.32, "topic": "conveyor_1.belt.command.succeeded", "source": "conveyor_1.belt", "data": {"command_id": "task-2-5", "name": "release", "source": "task", "result": {"state": "running"}}, "cause": "task-2-5"} diff --git a/episodes/c4_p008_e004/env.mp4 b/episodes/c4_p008_e004/env.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..f37b28a0d36693ea81784ff2cb3ec7ca48948013 --- /dev/null +++ b/episodes/c4_p008_e004/env.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:d0e90b73243936a932973df857388169e622036335a416f0ab77fdbfb58b0370 +size 1263351 diff --git a/episodes/c4_p008_e004/meta.json b/episodes/c4_p008_e004/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..6ee79827c2ee8dcb9fa12f2886a13d4acd930e78 --- /dev/null +++ b/episodes/c4_p008_e004/meta.json @@ -0,0 +1,32 @@ +{ + "source": "raw/c4_p008/magicsim/4", + "fps": 25, + "frames": 1201, + "kept_ticks": "even", + "video_frames": { + "wrist": 1201, + "env": 1201 + }, + "joint_target_source": "joint_pos_target", + "fk_vs_recorded_eef_max_m": 0.0, + "curobo_joints": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "joint_order": [ + "shoulder_pan", + "shoulder_lift", + "elbow", + "wrist_1", + "wrist_2", + "wrist_3", + "finger_left", + "finger_right" + ], + "frames_note": "eef / actions in the robot base frame; camera_pose = local pose (wrist: in plate_gripper_base, env: env frame), pos + quat wxyz", + "dr_version": "v2" +} \ No newline at end of file diff --git a/episodes/c4_p008_e004/scene_snapshot.json b/episodes/c4_p008_e004/scene_snapshot.json new file mode 100644 index 0000000000000000000000000000000000000000..fc21a667bfc692ec6558bbe36263114949f11a9d --- /dev/null +++ b/episodes/c4_p008_e004/scene_snapshot.json @@ -0,0 +1,1558 @@ +{ + "trajectory_id": 4, + "env_id": 2, + "run_id": "c4_p008", + "task_type": "BioPlateCell", + "success": true, + "timing": { + "fps": 50.0, + "sim_dt": 0.005, + "decimation": 4 + }, + "restore_interface": { + "scene": "scene_manager.reset_to(snapshot['scene'], env_ids=[env_id])", + "robots": "robot_manager.set_state({'robots': snapshot['robots']}, env_ids=[env_id])" + }, + "snapshot": { + "env_id": 2, + "scene": { + "objects": [ + {}, + {}, + { + "rac_cell": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/rac_cell.usd", + "pose": { + "pos": [ + 0.0, + 0.0, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "physics_material": { + "static_friction": 0.6, + "dynamic_friction": 0.5, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "robot_mount": [ + { + "asset": "Cube", + "pose": { + "pos": [ + 0.0, + 0.0, + 0.9075 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": "color", + "value": [ + 0.55, + 0.56, + 0.58 + ], + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": { + "size": [ + 0.2, + 0.2, + 0.015 + ] + } + }, + "type_specific": {} + } + ], + "plate_rack": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/plate_hotel.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 0.9 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "physics_material": { + "static_friction": 0.6, + "dynamic_friction": 0.5, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "hotel_plate": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_96_white/plate_96_white.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 0.9605 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/deep_well_24_10ml/deep_well_24_10ml.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.0285 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_96_black/plate_96_black.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.0965 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_6_clear/plate_6_clear.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.1645 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/deep_well_24_10ml/deep_well_24_10ml.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.2325 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "a4s_sealer": [ + { + "asset": "$MAGICSIM_ASSETS/Articulated/A4SSealer/Object.usd", + "pose": { + "pos": [ + 0.4988422393798828, + 0.11703014373779297, + 0.8999999761581421 + ], + "ori": [ + 0.735316276550293, + 0.0, + 0.0, + -0.6777241230010986 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "articulation", + "solver_position_iteration_count": 16.0, + "solver_velocity_iteration_count": 1.0, + "enabled_self_collisions": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "joint_position": [ + 1.6820824247365529e-12 + ], + "joint_velocity": [ + 0.0 + ], + "linear_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "angular_velocity": [ + 0.0, + 0.0, + 0.0 + ] + } + } + ], + "conveyor": [ + { + "asset": "Cube", + "pose": { + "pos": [ + 0.15, + 0.45, + 0.9 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "conveyor", + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9 + }, + "ratio": 1.0 + }, + "primitive_params": { + "size": [ + 2.4, + 0.076, + 0.03 + ] + }, + "conveyor": { + "speed": 0.2521506124647856, + "direction": [ + 1.0, + 0.0, + 0.0 + ], + "enabled": true, + "drive": "surface_velocity", + "lines": null, + "station_line": null, + "riders": [ + "carrier" + ], + "stations": { + "pick": { + "position": -0.24907503829200695, + "slow_distance": 0.03, + "slow_speed": 0.03 + } + }, + "rails": { + "height": 0.01, + "thickness": 0.01, + "gap": 0.001, + "friction": 0.05 + }, + "legs": 0.87, + "loop": { + "radius": 0.35, + "side": "left", + "curve_extra_width": 0.0, + "segments": 18, + "curve_rails": "both" + }, + "snap_distance": 0.1, + "junction_snap": 0.02, + "collision_approximation": "auto", + "plate_mass": 1.0, + "lift_drop": 0.004, + "accel": 0.0, + "decel": 0.0, + "drive_damping": 1000000.0, + "drive_max_force": 1000000000.0 + } + }, + "type_specific": { + "controller": { + "state": "at_station", + "speed": 0.2521506124647856, + "holds": [], + "station": "pick", + "rider": "carrier_1", + "arrived": true, + "applied_speed": 0.0 + } + } + } + ], + "carrier": [ + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + -0.09906768798828125, + 0.4474201202392578, + 0.8999999761581421 + ], + "ori": [ + 0.9999403357505798, + 1.4690597627264879e-09, + 3.3324731862904855e-09, + 0.0109321940690279 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -2.2582504755064292e-09, + -4.220801486098935e-09, + 7.450580596923828e-09 + ], + "angular_velocity": [ + 1.2018104200706148e-07, + -1.4632566092132038e-07, + -5.726567664510185e-08 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + 1.6838312149047852, + 0.7044210433959961, + 0.8999999761581421 + ], + "ori": [ + 0.803441047668457, + -4.483963422785564e-09, + 1.0391815408183902e-07, + 0.5953842401504517 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 2.6486354776089627e-10, + -5.580468032118091e-11, + 0.0 + ], + "angular_velocity": [ + -4.02634370288979e-09, + 3.4185411834641855e-08, + 3.047745389395118e-10 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + -1.3554868698120117, + 0.6339492797851562, + 0.8999999761581421 + ], + "ori": [ + -0.8549455404281616, + -4.952693899440419e-08, + 1.8346604235830455e-08, + 0.518717885017395 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -6.675033858982715e-10, + -3.0408964235562053e-10, + 0.0 + ], + "angular_velocity": [ + 2.547862365531728e-08, + -5.5243582153252646e-08, + -2.2002533128784307e-10 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + 0.06119060516357422, + 1.1499958038330078, + 0.8999999761581421 + ], + "ori": [ + -3.999450200353749e-05, + -4.6183963320345356e-08, + 1.673867586760025e-07, + 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": [ + -1.587212494769119e-08, + -2.1714757281188213e-07, + 3.129243850708008e-07 + ], + "angular_velocity": [ + 3.303087578387931e-05, + 6.584396032849327e-07, + -4.37001426689676e-06 + ] + } + } + ], + "plate": [ + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_24_clear/Object.usd", + "pose": { + "pos": [ + -0.09397602081298828, + 0.4529857635498047, + 0.9179999828338623 + ], + "ori": [ + 0.9994226098060608, + 1.7906054416982897e-10, + 2.0634192132718e-09, + 0.033978406339883804 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -5.969966565544382e-08, + -8.450300015283574e-08, + 1.4156103134155273e-07 + ], + "angular_velocity": [ + 2.0713637240987737e-06, + -2.7639916879707016e-06, + -4.3076795464003226e-08 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_384_black/Object.usd", + "pose": { + "pos": [ + 1.6797895431518555, + 0.6918344497680664, + 0.9180000424385071 + ], + "ori": [ + 0.7662602066993713, + 1.892671797065759e-09, + 1.0404689021470404e-07, + 0.6425305604934692 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 5.997434548987712e-09, + -2.04170227391387e-08, + -5.479902029037476e-06 + ], + "angular_velocity": [ + 1.9638328012661077e-06, + 7.033484621388197e-07, + 3.0760968883214446e-08 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_1536_black/Object.usd", + "pose": { + "pos": [ + -1.3573989868164062, + 0.6444721221923828, + 0.9180000424385071 + ], + "ori": [ + -0.8111172914505005, + -5.2006544848381964e-08, + 1.516443148830149e-08, + 0.5848835110664368 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -1.0162016117476469e-08, + 1.1076110695285024e-08, + -5.517154932022095e-06 + ], + "angular_velocity": [ + -8.683146575094725e-07, + -1.012492703011958e-06, + 2.7806272839825397e-09 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/deep_well_24_10ml/Object.usd", + "pose": { + "pos": [ + 0.07205772399902344, + 1.1398649215698242, + 0.9179999828338623 + ], + "ori": [ + 0.01825116202235222, + 1.9064064815665915e-07, + 1.259897089767037e-06, + 0.9998334646224976 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -1.394755599903874e-07, + -1.9865186914103106e-05, + -1.0110437870025635e-05 + ], + "angular_velocity": [ + 0.0005286055966280401, + -3.586660386645235e-05, + 2.669245623110328e-05 + ] + } + } + ], + "deco_hub_west": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/hub_c.usd", + "pose": { + "pos": [ + -3.36, + 0.0, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_hub_east": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/hub_a.usd", + "pose": { + "pos": [ + 3.36, + 0.0, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_hub_back": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/hub_e.usd", + "pose": { + "pos": [ + -3.0, + -2.1, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_bench_east": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/bench_a.usd", + "pose": { + "pos": [ + 2.6, + -2.5, + 0.0 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_bench_gap": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/bench_b.usd", + "pose": { + "pos": [ + -0.1, + -2.9, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ] + }, + {} + ], + "devices": { + "hub": [ + null, + null, + { + "t": 4.459999999999927, + "step": 892, + "counter": 0, + "devices": { + "a4s_sealer_1": { + "mode": "auto", + "units": { + "drawer": { + "state": "at_out", + "active": null, + "target": 0.0, + "goal_name": "out", + "profile": null, + "q_start": null, + "reversing": false, + "blocked_for": 0.0, + "settled_for": 0.0, + "last_q": 1.6820824247365529e-12 + }, + "heater": { + "state": "ready", + "active": null, + "duration": 0.0, + "t_start": null, + "elapsed": 0.0 + } + }, + "queues": {}, + "program": null, + "sensors": { + "plate_present": { + "occupants": [], + "pending": {} + } + }, + "interlocks": {} + }, + "conveyor_1": { + "mode": "auto", + "units": { + "belt": { + "state": "at_station", + "active": null, + "controller": { + "speed": 0.2521506124647856, + "holds": [], + "station": "pick", + "rider": "carrier_1", + "arrived": true, + "settle_count": 764, + "released": { + "pick": [] + }, + "last_pos": { + "carrier_1": [ + -0.24906769394874573, + -0.0025798678398132324, + 0.0 + ], + "carrier_2": [ + 1.5338312089443207, + 0.25442105531692505, + 0.0 + ], + "carrier_3": [ + -1.5054868757724762, + 0.1839492917060852, + 0.0 + ], + "carrier_4": [ + -0.08880940079689026, + 0.6999958157539368, + 0.0 + ] + }, + "command": 0.0 + }, + "belt": { + "target_speed": 0.0, + "command_speed": 0.0 + }, + "seen": { + "state": "at_station", + "station": "pick", + "rider": "carrier_1", + "arrived": true + } + } + }, + "queues": {}, + "program": null, + "sensors": {}, + "interlocks": {} + } + }, + "zones": {}, + "labware": { + "plate_1": { + "sealed": false + }, + "plate_2": { + "sealed": false + }, + "plate_3": { + "sealed": false + }, + "plate_4": { + "sealed": false + } + }, + "rules": {}, + "records": [], + "bus": { + "seq": 3, + "queue": [] + } + }, + null + ], + "drives": [ + null, + null, + {}, + null + ] + }, + "artifacts": [ + {}, + {}, + { + "ceiling": { + "type": "rect", + "pose": { + "pos": [ + -0.4073058677715517, + 0.33826262687518904, + 3.157908077899852 + ], + "ori": [ + -7.150934086057318, + 10.408246384173555, + -27.207740088797987 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "color_temperature": 3518.9189476539127, + "color": [ + 0.8445715346118794, + 0.8064071418425108, + 0.9087397753635484 + ], + "intensity": 6674.709142422114, + "width": 2.6132839158117775, + "height": 0.9860613397212517 + } + }, + "key": { + "type": "disk", + "pose": { + "pos": [ + 0.1713373583924931, + -0.7326663671096609, + 2.046873801281426 + ], + "ori": [ + 0.9126861501207557, + 16.209387152077483, + -4.361588967866361 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "color_temperature": 3892.755201707317, + "color": [ + 0.9905098909265845, + 0.9612512874135187, + 0.775030024595603 + ], + "intensity": 2568.649871613215, + "radius": 0.1406671667802936 + } + } + }, + {} + ], + "background": { + "type": "dome", + "pose": { + "pos": null, + "ori": null, + "scale": null + }, + "dr": { + "intensity": 1239.1908942456269, + "texture": null, + "color": [ + 0.92, + 0.94, + 0.96 + ] + } + } + }, + "robots": { + "UR5e": { + "root_pose": [ + [ + 11.0, + -11.0, + 0.9150000214576721, + 1.0, + 0.0, + 0.0, + 0.0 + ], + [ + 11.0, + 11.0, + 0.9150000214576721, + 1.0, + 0.0, + 0.0, + 0.0 + ], + [ + -11.0, + -11.0, + 0.9150000214576721, + 1.0, + 0.0, + 0.0, + 0.0 + ], + [ + -11.0, + 11.0, + 0.9150000214576721, + 1.0, + 0.0, + 0.0, + 0.0 + ] + ], + "root_vel": [ + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + ], + "joint_pos": [ + [ + 0.9140999913215637, + -1.7194000482559204, + 2.0905001163482666, + -1.9419000148773193, + -1.5707999467849731, + 2.4848999977111816, + 0.017999999225139618, + 0.017999999225139618 + ], + [ + 0.9140999913215637, + -1.7194000482559204, + 2.0905001163482666, + -1.9419000148773193, + -1.5707999467849731, + 2.4848999977111816, + 0.017999999225139618, + 0.017999999225139618 + ], + [ + 0.9141013026237488, + -1.719399094581604, + 2.0904998779296875, + -1.941900610923767, + -1.5707999467849731, + 2.4849002361297607, + 0.01799999736249447, + 0.018000001087784767 + ], + [ + 0.9140999913215637, + -1.7194000482559204, + 2.0905001163482666, + -1.9419000148773193, + -1.5707999467849731, + 2.4848999977111816, + 0.017999999225139618, + 0.017999999225139618 + ] + ], + "joint_vel": [ + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + [ + -2.561200847394255e-38, + 2.955124903375076e-38, + 2.948814015611143e-38, + 7.019193242489217e-37, + -7.28138089352723e-37, + 2.525459777178695e-37, + 2.5990399166175848e-08, + -2.5990386731677972e-08 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + ] + } + }, + "cameras": { + "cameras": { + "camera0": [ + [ + 0.05270354822278023, + -0.004611928015947342, + -0.03086533397436142, + -0.2738820016384125, + 0.6435596346855164, + 0.6552174687385559, + -0.2854989767074585 + ], + [ + 0.05128544941544533, + 0.0005197433056309819, + -0.032905515283346176, + -0.2743202745914459, + 0.6562078595161438, + 0.6407666802406311, + -0.2890635132789612 + ], + [ + 0.04568713903427124, + 0.0028165061958134174, + -0.027396511286497116, + -0.2719375789165497, + 0.6573951244354248, + 0.64564448595047, + -0.27753350138664246 + ], + [ + 0.050671450793743134, + -0.004004643298685551, + -0.034341249614953995, + -0.27721691131591797, + 0.645467221736908, + 0.6549783945083618, + -0.278435081243515 + ] + ], + "camera1": [ + [ + 0.05692974478006363, + 0.5798348188400269, + 1.9612079858779907, + 0.047226838767528534, + 0.010735795833170414, + 0.2624160349369049, + 0.9637386798858643 + ], + [ + 0.07411216199398041, + 0.5934097170829773, + 1.9464149475097656, + 0.023316457867622375, + 0.0005378026398830116, + 0.2824692130088806, + 0.9589927792549133 + ], + [ + 0.040998611599206924, + 0.5914180278778076, + 1.9396604299545288, + 0.030185524374246597, + 0.014137162826955318, + 0.2636910378932953, + 0.9640311002731323 + ], + [ + 0.07050036638975143, + 0.559451162815094, + 1.9429826736450195, + 0.03812794014811516, + 0.013016299344599247, + 0.2732433080673218, + 0.9611008763313293 + ] + ] + } + } + } +} \ No newline at end of file diff --git a/episodes/c4_p008_e004/wrist.mp4 b/episodes/c4_p008_e004/wrist.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..3fd419fba797ad574fb1a1f8eb6820101ea86226 --- /dev/null +++ b/episodes/c4_p008_e004/wrist.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:5c39466584d7d5a7d10ab0ca741568dd2ac27a0f3c02cd95b9f370a78b746dfe +size 6873899 diff --git a/episodes/c4_p008_e005/data.npz b/episodes/c4_p008_e005/data.npz new file mode 100644 index 0000000000000000000000000000000000000000..26ffc188541902a5177cefd8fd4eaaa80838198b --- /dev/null +++ b/episodes/c4_p008_e005/data.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:2bbc928be226f8884bc22ad100b805ece7d373bda704a9443e4f84b7a6d5ab9c +size 187994 diff --git a/episodes/c4_p008_e005/device_events.jsonl b/episodes/c4_p008_e005/device_events.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..81f616234b146eefb73d2e3df6e0963464d4e665 --- /dev/null +++ b/episodes/c4_p008_e005/device_events.jsonl @@ -0,0 +1,35 @@ +{"env_id": 1, "seq": 1, "step": 140, "t": 0.7, "topic": "conveyor_1.belt.station.pick.captured", "source": "conveyor_1.belt", "data": {"rider": "carrier_1"}, "cause": null} +{"env_id": 1, "seq": 2, "step": 140, "t": 0.7, "topic": "conveyor_1.belt.state.changed", "source": "conveyor_1.belt", "data": {"from": "running", "to": "at_station"}, "cause": null} +{"env_id": 1, "seq": 3, "step": 145, "t": 0.725, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_1"}, "cause": null} +{"env_id": 1, "seq": 4, "step": 6402, "t": 32.01, "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": 7016, "t": 35.08, "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": 7016, "t": 35.08, "topic": "a4s_sealer_1.seal.started", "source": "a4s_sealer_1", "data": {"dwell": 2.529505528956438}, "cause": "task-1-1"} +{"env_id": 1, "seq": 7, "step": 7016, "t": 35.08, "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": 7016, "t": 35.08, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "at_out", "to": "moving"}, "cause": null} +{"env_id": 1, "seq": 9, "step": 7016, "t": 35.08, "topic": "a4s_sealer_1.drawer.moving", "source": "a4s_sealer_1.drawer", "data": {"target": 0.3, "goal": "in"}, "cause": "program-1-2"} +{"env_id": 1, "seq": 10, "step": 7435, "t": 37.175, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "moving", "to": "at_in"}, "cause": null} +{"env_id": 1, "seq": 11, "step": 7435, "t": 37.175, "topic": "a4s_sealer_1.drawer.reached", "source": "a4s_sealer_1.drawer", "data": {"position": "in", "q": 0.30000001192092896}, "cause": "program-1-2"} +{"env_id": 1, "seq": 12, "step": 7435, "t": 37.175, "topic": "a4s_sealer_1.drawer.at_in", "source": "a4s_sealer_1.drawer", "data": {"q": 0.30000001192092896}, "cause": "program-1-2"} +{"env_id": 1, "seq": 13, "step": 7435, "t": 37.175, "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": 7435, "t": 37.175, "topic": "labware.plate_1.changed", "source": "labware.plate_1", "data": {"key": "sealed", "value": true}, "cause": "task-1-1"} +{"env_id": 1, "seq": 15, "step": 7435, "t": 37.175, "topic": "a4s_sealer_1.sealed", "source": "a4s_sealer_1", "data": {"plate": "plate_1"}, "cause": "task-1-1"} +{"env_id": 1, "seq": 16, "step": 7435, "t": 37.175, "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": 7435, "t": 37.175, "topic": "a4s_sealer_1.heater.state.changed", "source": "a4s_sealer_1.heater", "data": {"from": "ready", "to": "running"}, "cause": null} +{"env_id": 1, "seq": 18, "step": 7435, "t": 37.175, "topic": "a4s_sealer_1.heater.started", "source": "a4s_sealer_1.heater", "data": {"duration": 2.529505528956438}, "cause": "program-1-3"} +{"env_id": 1, "seq": 19, "step": 7941, "t": 39.705, "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": 7941, "t": 39.705, "topic": "a4s_sealer_1.heater.finished", "source": "a4s_sealer_1.heater", "data": {"elapsed": 2.5300000000012943}, "cause": "program-1-3"} +{"env_id": 1, "seq": 21, "step": 7941, "t": 39.705, "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": 2.5300000000012943}}, "cause": "program-1-3"} +{"env_id": 1, "seq": 22, "step": 7941, "t": 39.705, "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": 7941, "t": 39.705, "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": 7941, "t": 39.705, "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": 8361, "t": 41.805, "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": 8361, "t": 41.805, "topic": "a4s_sealer_1.drawer.reached", "source": "a4s_sealer_1.drawer", "data": {"position": "out", "q": 1.8481320640528764e-10}, "cause": "program-1-4"} +{"env_id": 1, "seq": 27, "step": 8361, "t": 41.805, "topic": "a4s_sealer_1.drawer.at_out", "source": "a4s_sealer_1.drawer", "data": {"q": 1.8481320640528764e-10}, "cause": "program-1-4"} +{"env_id": 1, "seq": 28, "step": 8361, "t": 41.805, "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": 8361, "t": 41.805, "topic": "a4s_sealer_1.seal.finished", "source": "a4s_sealer_1", "data": {}, "cause": "task-1-1"} +{"env_id": 1, "seq": 30, "step": 8361, "t": 41.805, "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": 8944, "t": 44.72, "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": 10636, "t": 53.18, "topic": "conveyor_1.belt.command.started", "source": "conveyor_1.belt", "data": {"command_id": "task-1-5", "name": "release", "source": "task"}, "cause": "task-1-5"} +{"env_id": 1, "seq": 33, "step": 10636, "t": 53.18, "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": 10636, "t": 53.18, "topic": "conveyor_1.belt.state.changed", "source": "conveyor_1.belt", "data": {"from": "at_station", "to": "running"}, "cause": null} +{"env_id": 1, "seq": 35, "step": 10636, "t": 53.18, "topic": "conveyor_1.belt.command.succeeded", "source": "conveyor_1.belt", "data": {"command_id": "task-1-5", "name": "release", "source": "task", "result": {"state": "running"}}, "cause": "task-1-5"} diff --git a/episodes/c4_p008_e005/env.mp4 b/episodes/c4_p008_e005/env.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..25ec4d4f7f75a626fe8f5880287040b42b57cdf6 --- /dev/null +++ b/episodes/c4_p008_e005/env.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:ffda3d45881920f51a7e31f82a17d47864aa9f6f075b0f0a3369818d94bda6ab +size 1293567 diff --git a/episodes/c4_p008_e005/meta.json b/episodes/c4_p008_e005/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..3c53bf28f25b05ab0c366304ec631a6f0ec257cf --- /dev/null +++ b/episodes/c4_p008_e005/meta.json @@ -0,0 +1,32 @@ +{ + "source": "raw/c4_p008/magicsim/5", + "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/c4_p008_e005/scene_snapshot.json b/episodes/c4_p008_e005/scene_snapshot.json new file mode 100644 index 0000000000000000000000000000000000000000..9a8fd77c2b284cae595b716e0cac3e69c4fd9b74 --- /dev/null +++ b/episodes/c4_p008_e005/scene_snapshot.json @@ -0,0 +1,1558 @@ +{ + "trajectory_id": 5, + "env_id": 1, + "run_id": "c4_p008", + "task_type": "BioPlateCell", + "success": true, + "timing": { + "fps": 50.0, + "sim_dt": 0.005, + "decimation": 4 + }, + "restore_interface": { + "scene": "scene_manager.reset_to(snapshot['scene'], env_ids=[env_id])", + "robots": "robot_manager.set_state({'robots': snapshot['robots']}, env_ids=[env_id])" + }, + "snapshot": { + "env_id": 1, + "scene": { + "objects": [ + {}, + { + "rac_cell": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/rac_cell.usd", + "pose": { + "pos": [ + 0.0, + 0.0, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "physics_material": { + "static_friction": 0.6, + "dynamic_friction": 0.5, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "robot_mount": [ + { + "asset": "Cube", + "pose": { + "pos": [ + 0.0, + 0.0, + 0.9075 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": "color", + "value": [ + 0.55, + 0.56, + 0.58 + ], + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": { + "size": [ + 0.2, + 0.2, + 0.015 + ] + } + }, + "type_specific": {} + } + ], + "plate_rack": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/plate_hotel.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 0.9 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "physics_material": { + "static_friction": 0.6, + "dynamic_friction": 0.5, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "hotel_plate": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_96_black/plate_96_black.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 0.9605 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_96_clear/plate_96_clear.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.0285 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/pcr_384_red/pcr_384_red.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.0965 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_6_clear/plate_6_clear.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.1645 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_96_black/plate_96_black.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.2325 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "a4s_sealer": [ + { + "asset": "$MAGICSIM_ASSETS/Articulated/A4SSealer/Object.usd", + "pose": { + "pos": [ + 0.5011758804321289, + 0.07409000396728516, + 0.8999999761581421 + ], + "ori": [ + -0.6871027946472168, + 0.0, + 0.0, + 0.7265602350234985 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "articulation", + "solver_position_iteration_count": 16.0, + "solver_velocity_iteration_count": 1.0, + "enabled_self_collisions": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "joint_position": [ + 6.728333168393164e-13 + ], + "joint_velocity": [ + 0.0 + ], + "linear_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "angular_velocity": [ + 0.0, + 0.0, + 0.0 + ] + } + } + ], + "conveyor": [ + { + "asset": "Cube", + "pose": { + "pos": [ + 0.15, + 0.45, + 0.9 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "conveyor", + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9 + }, + "ratio": 1.0 + }, + "primitive_params": { + "size": [ + 2.4, + 0.076, + 0.03 + ] + }, + "conveyor": { + "speed": 0.2966905296732779, + "direction": [ + 1.0, + 0.0, + 0.0 + ], + "enabled": true, + "drive": "surface_velocity", + "lines": null, + "station_line": null, + "riders": [ + "carrier" + ], + "stations": { + "pick": { + "position": -0.02199333938758058, + "slow_distance": 0.03, + "slow_speed": 0.03 + } + }, + "rails": { + "height": 0.01, + "thickness": 0.01, + "gap": 0.001, + "friction": 0.05 + }, + "legs": 0.87, + "loop": { + "radius": 0.35, + "side": "left", + "curve_extra_width": 0.0, + "segments": 18, + "curve_rails": "both" + }, + "snap_distance": 0.1, + "junction_snap": 0.02, + "collision_approximation": "auto", + "plate_mass": 1.0, + "lift_drop": 0.004, + "accel": 0.0, + "decel": 0.0, + "drive_damping": 1000000.0, + "drive_max_force": 1000000000.0 + } + }, + "type_specific": { + "controller": { + "state": "at_station", + "speed": 0.2966905296732779, + "holds": [], + "station": "pick", + "rider": "carrier_1", + "arrived": true, + "applied_speed": 0.0 + } + } + } + ], + "carrier": [ + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + 0.12752532958984375, + 0.44733238220214844, + 0.8999999761581421 + ], + "ori": [ + 0.9999418258666992, + -1.0021161678253065e-08, + 1.0190141175314693e-08, + 0.010786768980324268 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 1.9117152305625496e-11, + -1.1281564127330057e-08, + 1.862645149230957e-08 + ], + "angular_velocity": [ + 3.4956286754095345e-07, + 8.759104730415856e-08, + 2.8001931440257977e-08 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + 0.35256290435791016, + 1.1525135040283203, + 0.8999999761581421 + ], + "ori": [ + -0.008318246342241764, + 2.40724307154494e-09, + 1.9625843172832447e-09, + 0.999965488910675 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 1.080674660869363e-09, + -3.062006648235638e-09, + 0.0 + ], + "angular_velocity": [ + 1.1949197187277605e-07, + 6.97361883794656e-08, + 2.5436008854740066e-08 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + -1.3942127227783203, + 0.8476705551147461, + 0.8999999761581421 + ], + "ori": [ + -0.6477883458137512, + -8.809233520423732e-08, + -5.839659422690602e-08, + 0.761820375919342 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -2.878518330362567e-07, + -7.550088412244804e-07, + -4.936009645462036e-06 + ], + "angular_velocity": [ + 6.551598926307634e-05, + -1.76977500814246e-05, + 1.3528089084502426e-06 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + 1.6974382400512695, + 0.8143186569213867, + 0.8999999761581421 + ], + "ori": [ + 0.6993849873542786, + 2.3105261703904034e-08, + 3.4414448180086765e-08, + 0.7147451639175415 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -3.6543208459249854e-09, + 1.6767716104482133e-09, + 3.725290298461914e-09 + ], + "angular_velocity": [ + -8.870650702874627e-08, + -1.293490825560184e-08, + -4.441965018031624e-08 + ] + } + } + ], + "plate": [ + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_12_clear/Object.usd", + "pose": { + "pos": [ + 0.1343822479248047, + 0.44296836853027344, + 0.9179999828338623 + ], + "ori": [ + 0.9998829364776611, + -6.604281566069403e-09, + 9.57056389694344e-09, + 0.015305212698876858 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -3.0421901442423405e-08, + -9.073389861669057e-08, + 1.4901161193847656e-07 + ], + "angular_velocity": [ + 1.845463316385576e-06, + -2.1913776890869485e-06, + -3.224429434567355e-08 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_96_white/Object.usd", + "pose": { + "pos": [ + 0.3533344268798828, + 1.1588630676269531, + 0.9180000424385071 + ], + "ori": [ + -0.08640322834253311, + 3.0716535981412108e-09, + 1.8410462043760845e-10, + 0.9962602257728577 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 3.2394009252811884e-08, + -7.029953508208564e-09, + -5.774199962615967e-06 + ], + "angular_velocity": [ + -2.069112952085561e-07, + 1.6636716964057996e-06, + 2.5394390945621126e-07 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/pcr_384_red/Object.usd", + "pose": { + "pos": [ + -1.3950309753417969, + 0.837712287902832, + 0.9179999232292175 + ], + "ori": [ + -0.6058300137519836, + -8.348600033514231e-08, + -6.424573939511902e-08, + 0.7955940961837769 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -4.476614492432418e-07, + -1.4242607448977651e-06, + -1.1067837476730347e-05 + ], + "angular_velocity": [ + 6.499156006611884e-05, + -1.7608095731702633e-05, + 1.3922556263423758e-06 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/deep_well_96_1ml/Object.usd", + "pose": { + "pos": [ + 1.7065296173095703, + 0.8195400238037109, + 0.9179999828338623 + ], + "ori": [ + 0.7654242515563965, + 2.2172699232214654e-08, + 3.443963336735578e-08, + 0.6435259580612183 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -6.942606489701575e-08, + -5.26459587035788e-08, + 1.1920928955078125e-07 + ], + "angular_velocity": [ + 2.452716216794215e-06, + -1.256502628166345e-06, + 6.436719957036985e-08 + ] + } + } + ], + "deco_hub_west": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/hub_a.usd", + "pose": { + "pos": [ + -3.36, + 0.0, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_hub_east": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/hub_c.usd", + "pose": { + "pos": [ + 3.36, + 0.0, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_hub_back": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/hub_d.usd", + "pose": { + "pos": [ + -3.0, + -2.1, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_bench_east": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/bench_c.usd", + "pose": { + "pos": [ + 2.6, + -2.5, + 0.0 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_bench_gap": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/bench_b.usd", + "pose": { + "pos": [ + -0.1, + -2.9, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ] + }, + {}, + {} + ], + "devices": { + "hub": [ + null, + { + "t": 5.199999999999911, + "step": 1040, + "counter": 0, + "devices": { + "a4s_sealer_1": { + "mode": "auto", + "units": { + "drawer": { + "state": "at_out", + "active": null, + "target": 0.0, + "goal_name": "out", + "profile": null, + "q_start": null, + "reversing": false, + "blocked_for": 0.0, + "settled_for": 0.0, + "last_q": 6.728333168393164e-13 + }, + "heater": { + "state": "ready", + "active": null, + "duration": 0.0, + "t_start": null, + "elapsed": 0.0 + } + }, + "queues": {}, + "program": null, + "sensors": { + "plate_present": { + "occupants": [], + "pending": {} + } + }, + "interlocks": {} + }, + "conveyor_1": { + "mode": "auto", + "units": { + "belt": { + "state": "at_station", + "active": null, + "controller": { + "speed": 0.2966905296732779, + "holds": [], + "station": "pick", + "rider": "carrier_1", + "arrived": true, + "settle_count": 899, + "released": { + "pick": [] + }, + "last_pos": { + "carrier_1": [ + -0.022474676370620728, + -0.0026676058769226074, + 0.0 + ], + "carrier_2": [ + 0.20256289839744568, + 0.7025135159492493, + 0.0 + ], + "carrier_3": [ + -1.5442127287387848, + 0.39767056703567505, + 0.0 + ], + "carrier_4": [ + 1.547438234090805, + 0.3643186688423157, + 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": [ + 0.3522834098882627, + -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": 1239.1908942456269, + "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": [ + [ + 0.9141023755073547, + -1.7193982601165771, + 2.0904994010925293, + -1.9418996572494507, + -1.5707999467849731, + 2.484901189804077, + 0.017999999225139618, + 0.017999999225139618 + ], + [ + 0.9141038656234741, + -1.7193957567214966, + 2.0904979705810547, + -1.9419001340866089, + -1.5707999467849731, + 2.484901189804077, + 0.017999999225139618, + 0.017999999225139618 + ], + [ + 1.1814067363739014, + -1.2778116464614868, + 2.244511604309082, + -2.5375213623046875, + -1.5707846879959106, + 2.6843230724334717, + 0.007666421588510275, + 0.007035027723759413 + ], + [ + 0.9965208768844604, + -1.2443535327911377, + 2.1918678283691406, + -2.518205165863037, + -1.5708905458450317, + 2.5263991355895996, + 0.007592624519020319, + 0.007016787771135569 + ] + ], + "joint_vel": [ + [ + 3.4059653444273863e-06, + 3.4059371500916313e-06, + -9.468329766060268e-12, + -1.7300392889108007e-12, + -3.4059778499795357e-06, + 1.3189174145195048e-12, + -6.00108450345832e-13, + 6.936142740894546e-13 + ], + [ + 2.2357660946363883e-38, + -3.0225609906722436e-38, + -3.3708960431937995e-38, + -3.840493187000905e-37, + 6.292638149564897e-37, + 5.6207058949877126e-37, + -6.110783464266434e-38, + 6.177132143955285e-38 + ], + [ + -0.00036123121390119195, + -0.00014429497241508216, + -0.00021103568724356592, + -7.285976607818156e-05, + 0.00014938674576114863, + -0.0009714376064948738, + -0.007851437665522099, + 0.00021955158445052803 + ], + [ + -0.00032369059044867754, + 6.668629066552967e-05, + -0.00019607951981015503, + -0.002974970266222954, + 0.0028673182241618633, + 0.010926280170679092, + -0.008316226303577423, + 0.0004257367691025138 + ] + ] + } + }, + "cameras": { + "cameras": { + "camera0": [ + [ + 0.053204163908958435, + -0.0012666393304243684, + -0.029828861355781555, + -0.2699712812900543, + 0.6475034952163696, + 0.652820885181427, + -0.28579649329185486 + ], + [ + 0.05178913101553917, + 0.0020792903378605843, + -0.03244585171341896, + -0.27538052201271057, + 0.6552912592887878, + 0.6409596800804138, + -0.28970617055892944 + ], + [ + 0.04592089354991913, + 0.0012368479510769248, + -0.027205513790249825, + -0.2720865309238434, + 0.6574669480323792, + 0.6476218104362488, + -0.2725658714771271 + ], + [ + 0.05206630751490593, + -0.0029319599270820618, + -0.0320790596306324, + -0.2730458974838257, + 0.6504623889923096, + 0.6482706665992737, + -0.28651314973831177 + ] + ], + "camera1": [ + [ + 0.05692974478006363, + 0.5798348188400269, + 1.9612079858779907, + 0.047226838767528534, + 0.010735795833170414, + 0.2624160349369049, + 0.9637386798858643 + ], + [ + 0.07411216199398041, + 0.5934097170829773, + 1.9464149475097656, + 0.023316457867622375, + 0.0005378026398830116, + 0.2824692130088806, + 0.9589927792549133 + ], + [ + 0.040998611599206924, + 0.5914180278778076, + 1.9396604299545288, + 0.030185524374246597, + 0.014137162826955318, + 0.2636910378932953, + 0.9640311002731323 + ], + [ + 0.07050036638975143, + 0.559451162815094, + 1.9429826736450195, + 0.03812794014811516, + 0.013016299344599247, + 0.2732433080673218, + 0.9611008763313293 + ] + ] + } + } + } +} \ No newline at end of file diff --git a/episodes/c4_p008_e005/wrist.mp4 b/episodes/c4_p008_e005/wrist.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..6b0917ff72fc84bfefba139b866bc8fe76edf885 --- /dev/null +++ b/episodes/c4_p008_e005/wrist.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:6db39bf09a18599e7ec0d3a0ddd442dc5942f0822716d8e29d4b067e61806c87 +size 6842816 diff --git a/episodes/c4_p008_e006/data.npz b/episodes/c4_p008_e006/data.npz new file mode 100644 index 0000000000000000000000000000000000000000..2983bc7b4a8e3356351ca3c75d979697942fe4b9 --- /dev/null +++ b/episodes/c4_p008_e006/data.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:2ce9b73b8a55bff33d3475374d2ecb019d413581983e1624453ebe5f89e8146d +size 208193 diff --git a/episodes/c4_p008_e006/device_events.jsonl b/episodes/c4_p008_e006/device_events.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..1920f6c0ca87d90ece3f7a299911a3e8028b9f92 --- /dev/null +++ b/episodes/c4_p008_e006/device_events.jsonl @@ -0,0 +1,35 @@ +{"env_id": 3, "seq": 1, "step": 45, "t": 0.225, "topic": "conveyor_1.belt.station.pick.captured", "source": "conveyor_1.belt", "data": {"rider": "carrier_3"}, "cause": null} +{"env_id": 3, "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": 3, "seq": 3, "step": 50, "t": 0.25, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_3"}, "cause": null} +{"env_id": 3, "seq": 4, "step": 5978, "t": 29.89, "topic": "a4s_sealer_1.plate_present.present", "source": "a4s_sealer_1.plate_present", "data": {"object": "plate_3"}, "cause": null} +{"env_id": 3, "seq": 5, "step": 6584, "t": 32.92, "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": 6, "step": 6584, "t": 32.92, "topic": "a4s_sealer_1.seal.started", "source": "a4s_sealer_1", "data": {"dwell": 4.97197665642616}, "cause": "task-3-1"} +{"env_id": 3, "seq": 7, "step": 6584, "t": 32.92, "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": 8, "step": 6584, "t": 32.92, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "at_out", "to": "moving"}, "cause": null} +{"env_id": 3, "seq": 9, "step": 6584, "t": 32.92, "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": 10, "step": 7003, "t": 35.015, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "moving", "to": "at_in"}, "cause": null} +{"env_id": 3, "seq": 11, "step": 7003, "t": 35.015, "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": 12, "step": 7003, "t": 35.015, "topic": "a4s_sealer_1.drawer.at_in", "source": "a4s_sealer_1.drawer", "data": {"q": 0.30000001192092896}, "cause": "program-3-2"} +{"env_id": 3, "seq": 13, "step": 7003, "t": 35.015, "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": 14, "step": 7003, "t": 35.015, "topic": "labware.plate_3.changed", "source": "labware.plate_3", "data": {"key": "sealed", "value": true}, "cause": "task-3-1"} +{"env_id": 3, "seq": 15, "step": 7003, "t": 35.015, "topic": "a4s_sealer_1.sealed", "source": "a4s_sealer_1", "data": {"plate": "plate_3"}, "cause": "task-3-1"} +{"env_id": 3, "seq": 16, "step": 7003, "t": 35.015, "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": 17, "step": 7003, "t": 35.015, "topic": "a4s_sealer_1.heater.state.changed", "source": "a4s_sealer_1.heater", "data": {"from": "ready", "to": "running"}, "cause": null} +{"env_id": 3, "seq": 18, "step": 7003, "t": 35.015, "topic": "a4s_sealer_1.heater.started", "source": "a4s_sealer_1.heater", "data": {"duration": 4.97197665642616}, "cause": "program-3-3"} +{"env_id": 3, "seq": 19, "step": 7998, "t": 39.99, "topic": "a4s_sealer_1.heater.state.changed", "source": "a4s_sealer_1.heater", "data": {"from": "running", "to": "ready"}, "cause": null} +{"env_id": 3, "seq": 20, "step": 7998, "t": 39.99, "topic": "a4s_sealer_1.heater.finished", "source": "a4s_sealer_1.heater", "data": {"elapsed": 4.975000000002545}, "cause": "program-3-3"} +{"env_id": 3, "seq": 21, "step": 7998, "t": 39.99, "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": 4.975000000002545}}, "cause": "program-3-3"} +{"env_id": 3, "seq": 22, "step": 7998, "t": 39.99, "topic": "a4s_sealer_1.drawer.command.started", "source": "a4s_sealer_1.drawer", "data": {"command_id": "program-3-4", "name": "open", "source": "program:seal"}, "cause": "program-3-4"} +{"env_id": 3, "seq": 23, "step": 7998, "t": 39.99, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "at_in", "to": "moving"}, "cause": null} +{"env_id": 3, "seq": 24, "step": 7998, "t": 39.99, "topic": "a4s_sealer_1.drawer.moving", "source": "a4s_sealer_1.drawer", "data": {"target": 0.0, "goal": "out"}, "cause": "program-3-4"} +{"env_id": 3, "seq": 25, "step": 8418, "t": 42.09, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "moving", "to": "at_out"}, "cause": null} +{"env_id": 3, "seq": 26, "step": 8418, "t": 42.09, "topic": "a4s_sealer_1.drawer.reached", "source": "a4s_sealer_1.drawer", "data": {"position": "out", "q": 0.0}, "cause": "program-3-4"} +{"env_id": 3, "seq": 27, "step": 8418, "t": 42.09, "topic": "a4s_sealer_1.drawer.at_out", "source": "a4s_sealer_1.drawer", "data": {"q": 0.0}, "cause": "program-3-4"} +{"env_id": 3, "seq": 28, "step": 8418, "t": 42.09, "topic": "a4s_sealer_1.drawer.command.succeeded", "source": "a4s_sealer_1.drawer", "data": {"command_id": "program-3-4", "name": "open", "source": "program:seal", "result": {"position": "out"}}, "cause": "program-3-4"} +{"env_id": 3, "seq": 29, "step": 8418, "t": 42.09, "topic": "a4s_sealer_1.seal.finished", "source": "a4s_sealer_1", "data": {}, "cause": "task-3-1"} +{"env_id": 3, "seq": 30, "step": 8418, "t": 42.09, "topic": "a4s_sealer_1.command.succeeded", "source": "a4s_sealer_1", "data": {"command_id": "task-3-1", "name": "seal", "source": "task"}, "cause": "task-3-1"} +{"env_id": 3, "seq": 31, "step": 8999, "t": 44.995, "topic": "a4s_sealer_1.plate_present.absent", "source": "a4s_sealer_1.plate_present", "data": {"object": "plate_3"}, "cause": null} +{"env_id": 3, "seq": 32, "step": 11216, "t": 56.08, "topic": "conveyor_1.belt.command.started", "source": "conveyor_1.belt", "data": {"command_id": "task-3-5", "name": "release", "source": "task"}, "cause": "task-3-5"} +{"env_id": 3, "seq": 33, "step": 11216, "t": 56.08, "topic": "conveyor_1.belt.station.pick.released", "source": "conveyor_1.belt", "data": {"rider": "carrier_3"}, "cause": "task-3-5"} +{"env_id": 3, "seq": 34, "step": 11216, "t": 56.08, "topic": "conveyor_1.belt.state.changed", "source": "conveyor_1.belt", "data": {"from": "at_station", "to": "running"}, "cause": null} +{"env_id": 3, "seq": 35, "step": 11216, "t": 56.08, "topic": "conveyor_1.belt.command.succeeded", "source": "conveyor_1.belt", "data": {"command_id": "task-3-5", "name": "release", "source": "task", "result": {"state": "running"}}, "cause": "task-3-5"} diff --git a/episodes/c4_p008_e006/env.mp4 b/episodes/c4_p008_e006/env.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..b977490f885d1453b39dde67be6c81d6e0837653 --- /dev/null +++ b/episodes/c4_p008_e006/env.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:cf5e4cfc4a59887d4d8f3288e5fb54b81b910b11930801b2dc680251d70834b0 +size 1309909 diff --git a/episodes/c4_p008_e006/meta.json b/episodes/c4_p008_e006/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..41426bf07ba5c2317893f6f8ec109d9fbb8d2dd9 --- /dev/null +++ b/episodes/c4_p008_e006/meta.json @@ -0,0 +1,32 @@ +{ + "source": "raw/c4_p008/magicsim/6", + "fps": 25, + "frames": 1324, + "kept_ticks": "even", + "video_frames": { + "wrist": 1324, + "env": 1324 + }, + "joint_target_source": "joint_pos_target", + "fk_vs_recorded_eef_max_m": 0.0, + "curobo_joints": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "joint_order": [ + "shoulder_pan", + "shoulder_lift", + "elbow", + "wrist_1", + "wrist_2", + "wrist_3", + "finger_left", + "finger_right" + ], + "frames_note": "eef / actions in the robot base frame; camera_pose = local pose (wrist: in plate_gripper_base, env: env frame), pos + quat wxyz", + "dr_version": "v2" +} \ No newline at end of file diff --git a/episodes/c4_p008_e006/scene_snapshot.json b/episodes/c4_p008_e006/scene_snapshot.json new file mode 100644 index 0000000000000000000000000000000000000000..7a91390f5422b6acc46a35967db8411518f25a14 --- /dev/null +++ b/episodes/c4_p008_e006/scene_snapshot.json @@ -0,0 +1,1558 @@ +{ + "trajectory_id": 6, + "env_id": 3, + "run_id": "c4_p008", + "task_type": "BioPlateCell", + "success": true, + "timing": { + "fps": 50.0, + "sim_dt": 0.005, + "decimation": 4 + }, + "restore_interface": { + "scene": "scene_manager.reset_to(snapshot['scene'], env_ids=[env_id])", + "robots": "robot_manager.set_state({'robots': snapshot['robots']}, env_ids=[env_id])" + }, + "snapshot": { + "env_id": 3, + "scene": { + "objects": [ + {}, + {}, + {}, + { + "rac_cell": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/rac_cell.usd", + "pose": { + "pos": [ + 0.0, + 0.0, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "physics_material": { + "static_friction": 0.6, + "dynamic_friction": 0.5, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "robot_mount": [ + { + "asset": "Cube", + "pose": { + "pos": [ + 0.0, + 0.0, + 0.9075 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": "color", + "value": [ + 0.55, + 0.56, + 0.58 + ], + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": { + "size": [ + 0.2, + 0.2, + 0.015 + ] + } + }, + "type_specific": {} + } + ], + "plate_rack": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/plate_hotel.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 0.9 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "physics_material": { + "static_friction": 0.6, + "dynamic_friction": 0.5, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "hotel_plate": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_48_clear/plate_48_clear.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 0.9605 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/deep_well_96_2ml/deep_well_96_2ml.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.0285 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/pcr_384_red/pcr_384_red.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.0965 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_96_black/plate_96_black.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.1645 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_12_clear/plate_12_clear.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.2325 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "a4s_sealer": [ + { + "asset": "$MAGICSIM_ASSETS/Articulated/A4SSealer/Object.usd", + "pose": { + "pos": [ + 0.4977226257324219, + 0.10507011413574219, + 0.8999999761581421 + ], + "ori": [ + 0.7244132161140442, + 0.0, + 0.0, + -0.6893659830093384 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "articulation", + "solver_position_iteration_count": 16.0, + "solver_velocity_iteration_count": 1.0, + "enabled_self_collisions": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "joint_position": [ + 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": 0.21314164669812513, + "direction": [ + 1.0, + 0.0, + 0.0 + ], + "enabled": true, + "drive": "surface_velocity", + "lines": null, + "station_line": null, + "riders": [ + "carrier" + ], + "stations": { + "pick": { + "position": -0.15608033158769466, + "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": 0.21314164669812513, + "holds": [], + "station": "pick", + "rider": "carrier_3", + "arrived": true, + "applied_speed": 0.0 + } + } + } + ], + "carrier": [ + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + 0.4060516357421875, + 1.1499929428100586, + 0.8999999761581421 + ], + "ori": [ + 6.671933078905568e-05, + -5.82759507317121e-10, + 4.927554808631385e-09, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -4.921565377458137e-10, + 3.060584008451883e-10, + 1.1175870895385742e-08 + ], + "angular_velocity": [ + -3.315387075986109e-08, + -5.5103907214970604e-08, + -4.135376041602967e-09 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + -1.1124420166015625, + 1.1411209106445312, + 0.8999999761581421 + ], + "ori": [ + -0.08438022434711456, + 3.7423109944256794e-08, + 3.8409750935386455e-09, + 0.9964336156845093 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -3.77583075916732e-10, + 3.9323237999155936e-09, + 3.725290298461914e-09 + ], + "angular_velocity": [ + -1.1462100246717455e-07, + 2.2476559280448782e-08, + -2.064138371338231e-08 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + -0.0062103271484375, + 0.4499969482421875, + 0.8999999761581421 + ], + "ori": [ + 1.0, + -1.7732766366407304e-08, + 4.1738137390723296e-09, + -1.4078459571464919e-05 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -1.4047808249983973e-08, + -3.041199647668691e-08, + 1.4901161193847656e-08 + ], + "angular_velocity": [ + 4.404854280437576e-06, + -8.904885362426285e-07, + 5.636916284856852e-07 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + 1.6980829238891602, + 0.7801399230957031, + 0.8999999761581421 + ], + "ori": [ + 0.7293458580970764, + -2.7400202995409018e-08, + 2.826294576152577e-08, + 0.6841452121734619 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 1.8509759280860294e-09, + -3.3981690794604447e-09, + 1.1175870895385742e-08 + ], + "angular_velocity": [ + 2.5341563514302834e-07, + -4.161502253907656e-09, + -3.777749668643082e-08 + ] + } + } + ], + "plate": [ + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_48_clear/Object.usd", + "pose": { + "pos": [ + 0.40068817138671875, + 1.1470537185668945, + 0.9179999828338623 + ], + "ori": [ + -0.07290526479482651, + -2.8789726158606754e-10, + 4.7270782843611414e-09, + 0.9973388910293579 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 1.1487890638761655e-08, + 1.1916266196010383e-08, + 1.30385160446167e-07 + ], + "angular_velocity": [ + -1.1464027238616836e-06, + 1.5756344282635837e-06, + -4.7939973768507116e-08 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_384_white/Object.usd", + "pose": { + "pos": [ + -1.1101884841918945, + 1.131063461303711, + 0.9180000424385071 + ], + "ori": [ + -0.029941203072667122, + 4.8806668928591534e-08, + 3.3663511089798703e-08, + 0.9995516538619995 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -5.469094332966051e-08, + 6.142683872667476e-08, + -5.066394805908203e-06 + ], + "angular_velocity": [ + 7.77278000896331e-06, + -1.8143371107726125e-06, + -9.480052653998428e-07 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_96_clear/Object.usd", + "pose": { + "pos": [ + 0.0007610321044921875, + 0.4570770263671875, + 0.9180000424385071 + ], + "ori": [ + 0.9997945427894592, + -1.1266961053024716e-07, + 7.209060015611612e-08, + 0.020268473774194717 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 1.791975137166446e-07, + -4.52451149612898e-06, + -5.461275577545166e-06 + ], + "angular_velocity": [ + -7.112255389074562e-07, + 1.97355002455879e-05, + -1.9106082618236542e-05 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/reservoir_12ch/Object.usd", + "pose": { + "pos": [ + 1.703744888305664, + 0.7796316146850586, + 0.9179999828338623 + ], + "ori": [ + 0.7405421733856201, + -3.1436382386118567e-08, + 2.1735360178354313e-08, + 0.6720098853111267 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 3.968915862628819e-09, + -1.4412221105430945e-07, + -2.4475157260894775e-06 + ], + "angular_velocity": [ + 4.232226274325512e-06, + 6.662789928668644e-07, + 6.198534663326427e-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": 3.3199999999999514, + "step": 664, + "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": 0.21314164669812513, + "holds": [], + "station": "pick", + "rider": "carrier_3", + "arrived": true, + "settle_count": 618, + "released": { + "pick": [] + }, + "last_pos": { + "carrier_1": [ + 0.256051629781723, + 0.6999929547309875, + 0.0 + ], + "carrier_2": [ + -1.262442022562027, + 0.6911209225654602, + 0.0 + ], + "carrier_3": [ + -0.15621033310890198, + -3.039836883544922e-06, + 0.0 + ], + "carrier_4": [ + 1.5480829179286957, + 0.3301399350166321, + 0.0 + ] + }, + "command": 0.0 + }, + "belt": { + "target_speed": 0.0, + "command_speed": 0.0 + }, + "seen": { + "state": "at_station", + "station": "pick", + "rider": "carrier_3", + "arrived": true + } + } + }, + "queues": {}, + "program": null, + "sensors": {}, + "interlocks": {} + } + }, + "zones": {}, + "labware": { + "plate_1": { + "sealed": false + }, + "plate_2": { + "sealed": false + }, + "plate_3": { + "sealed": false + }, + "plate_4": { + "sealed": false + } + }, + "rules": {}, + "records": [], + "bus": { + "seq": 3, + "queue": [] + } + } + ], + "drives": [ + null, + null, + null, + {} + ] + }, + "artifacts": [ + {}, + {}, + {}, + { + "ceiling": { + "type": "rect", + "pose": { + "pos": [ + -0.3994210044723612, + 0.5697129651984143, + 3.078830577521624 + ], + "ori": [ + 14.966335056768692, + -1.4212082075760932, + -3.1151844052268203 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "color_temperature": 6514.443555304514, + "color": [ + 0.9708206511623525, + 0.8774297521813582, + 0.8967145730999371 + ], + "intensity": 11842.58505258929, + "width": 2.685133266281159, + "height": 1.0284321995717134 + } + }, + "key": { + "type": "sphere", + "pose": { + "pos": [ + 1.3581806465730795, + -0.08081334685601593, + 2.581020869262733 + ], + "ori": [ + 32.42558026252074, + -10.893086423923517, + 27.937380806437147 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "color_temperature": 5957.005024727826, + "color": [ + 0.8393210127053254, + 0.7876057334209208, + 0.7827002209842716 + ], + "intensity": 9286.223161891532, + "radius": 0.2468139726107842 + } + } + } + ], + "background": { + "type": "dome", + "pose": { + "pos": null, + "ori": null, + "scale": null + }, + "dr": { + "intensity": 1239.1908942456269, + "texture": null, + "color": [ + 0.92, + 0.94, + 0.96 + ] + } + } + }, + "robots": { + "UR5e": { + "root_pose": [ + [ + 11.0, + -11.0, + 0.9150000214576721, + 1.0, + 0.0, + 0.0, + 0.0 + ], + [ + 11.0, + 11.0, + 0.9150000214576721, + 1.0, + 0.0, + 0.0, + 0.0 + ], + [ + -11.0, + -11.0, + 0.9150000214576721, + 1.0, + 0.0, + 0.0, + 0.0 + ], + [ + -11.0, + 11.0, + 0.9150000214576721, + 1.0, + 0.0, + 0.0, + 0.0 + ] + ], + "root_vel": [ + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + ], + "joint_pos": [ + [ + 0.9141006469726562, + -1.7193982601165771, + 2.0904994010925293, + -1.941900372505188, + -1.5707999467849731, + 2.4848999977111816, + 0.01799999736249447, + 0.018000001087784767 + ], + [ + 0.9141018986701965, + -1.719398021697998, + 2.0904994010925293, + -1.941900610923767, + -1.5707999467849731, + 2.484900951385498, + 0.01799999736249447, + 0.018000001087784767 + ], + [ + 0.9545888304710388, + -1.689372181892395, + 2.094672441482544, + -1.9760780334472656, + -1.570791244506836, + 2.5150809288024902, + 0.018001234158873558, + 0.017998769879341125 + ], + [ + 0.9140999913215637, + -1.7194000482559204, + 2.0905001163482666, + -1.9419000148773193, + -1.5707999467849731, + 2.4848999977111816, + 0.017999999225139618, + 0.017999999225139618 + ] + ], + "joint_vel": [ + [ + 5.108951427246211e-06, + 1.0217871931672562e-05, + -2.043582935584709e-05, + -1.0217925591859967e-05, + -3.405978532100562e-06, + 2.0435873011592776e-05, + 2.5991750973730632e-08, + -2.5991214513965133e-08 + ], + [ + -2.5548849149558504e-38, + 2.9536232719407056e-38, + 2.9447031664361996e-38, + 6.970803828126907e-37, + -7.238009248705974e-37, + 2.5911396451364935e-37, + 2.5990374297180097e-08, + -2.5990399166175848e-08 + ], + [ + 0.02315422147512436, + 0.017509039491415024, + 0.002662255195900798, + -0.019213257357478142, + 3.782670682994649e-05, + 0.0170197281986475, + 4.0839353459887207e-05, + -4.08758241974283e-05 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + ] + } + }, + "cameras": { + "cameras": { + "camera0": [ + [ + 0.05272166058421135, + -0.0015975093701854348, + -0.029288889840245247, + -0.2700967788696289, + 0.6465134620666504, + 0.652742326259613, + -0.28808942437171936 + ], + [ + 0.05515820533037186, + 0.0006762089324183762, + -0.031589530408382416, + -0.2773301303386688, + 0.653536856174469, + 0.6430739164352417, + -0.28711241483688354 + ], + [ + 0.04602397233247757, + 0.0011548593174666166, + -0.029841868206858635, + -0.262948602437973, + 0.656217098236084, + 0.6526826024055481, + -0.2724749445915222 + ], + [ + 0.052570685744285583, + -0.002875603036954999, + -0.03076528012752533, + -0.27976784110069275, + 0.6485427618026733, + 0.6489408612251282, + -0.28283917903900146 + ] + ], + "camera1": [ + [ + 0.05692974478006363, + 0.5798348188400269, + 1.9612079858779907, + 0.047226838767528534, + 0.010735795833170414, + 0.2624160349369049, + 0.9637386798858643 + ], + [ + 0.07411216199398041, + 0.5934097170829773, + 1.9464149475097656, + 0.023316457867622375, + 0.0005378026398830116, + 0.2824692130088806, + 0.9589927792549133 + ], + [ + 0.040998611599206924, + 0.5914180278778076, + 1.9396604299545288, + 0.030185524374246597, + 0.014137162826955318, + 0.2636910378932953, + 0.9640311002731323 + ], + [ + 0.07050036638975143, + 0.559451162815094, + 1.9429826736450195, + 0.03812794014811516, + 0.013016299344599247, + 0.2732433080673218, + 0.9611008763313293 + ] + ] + } + } + } +} \ No newline at end of file diff --git a/episodes/c4_p008_e006/wrist.mp4 b/episodes/c4_p008_e006/wrist.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..2c9090470eb144eeafe2cbb4931c4dc4dc46770c --- /dev/null +++ b/episodes/c4_p008_e006/wrist.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:b9e5fce184945c5c9494301ebec6ddf7a3598101114d1ecaddb60a9fae5b132e +size 7573163 diff --git a/episodes/c4_p008_e007/data.npz b/episodes/c4_p008_e007/data.npz new file mode 100644 index 0000000000000000000000000000000000000000..db08018e86d4dda10b6b8ebedfc690bb195c9cf9 --- /dev/null +++ b/episodes/c4_p008_e007/data.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:616d02156d682ce23d81b95386f97389ac2b7b80779d03ed1bfdfa881f5d9af8 +size 188523 diff --git a/episodes/c4_p008_e007/device_events.jsonl b/episodes/c4_p008_e007/device_events.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..7cf07dafcaca003848d9124b604f8b760e898006 --- /dev/null +++ b/episodes/c4_p008_e007/device_events.jsonl @@ -0,0 +1,39 @@ +{"env_id": 0, "seq": 1, "step": 155, "t": 0.775, "topic": "conveyor_1.belt.station.pick.captured", "source": "conveyor_1.belt", "data": {"rider": "carrier_4"}, "cause": null} +{"env_id": 0, "seq": 2, "step": 155, "t": 0.775, "topic": "conveyor_1.belt.state.changed", "source": "conveyor_1.belt", "data": {"from": "running", "to": "at_station"}, "cause": null} +{"env_id": 0, "seq": 3, "step": 160, "t": 0.8, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_4"}, "cause": null} +{"env_id": 0, "seq": 4, "step": 1944, "t": 9.72, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_4"}, "cause": null} +{"env_id": 0, "seq": 5, "step": 1958, "t": 9.79, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_4"}, "cause": null} +{"env_id": 0, "seq": 6, "step": 2000, "t": 10.0, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_4"}, "cause": null} +{"env_id": 0, "seq": 7, "step": 2045, "t": 10.225, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_4"}, "cause": null} +{"env_id": 0, "seq": 8, "step": 7003, "t": 35.015, "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": 7616, "t": 38.08, "topic": "a4s_sealer_1.command.started", "source": "a4s_sealer_1", "data": {"command_id": "task-0-1", "name": "seal", "source": "task"}, "cause": "task-0-1"} +{"env_id": 0, "seq": 10, "step": 7616, "t": 38.08, "topic": "a4s_sealer_1.seal.started", "source": "a4s_sealer_1", "data": {"dwell": 3.2238351200505457}, "cause": "task-0-1"} +{"env_id": 0, "seq": 11, "step": 7616, "t": 38.08, "topic": "a4s_sealer_1.drawer.command.started", "source": "a4s_sealer_1.drawer", "data": {"command_id": "program-0-2", "name": "close", "source": "program:seal"}, "cause": "program-0-2"} +{"env_id": 0, "seq": 12, "step": 7616, "t": 38.08, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "at_out", "to": "moving"}, "cause": null} +{"env_id": 0, "seq": 13, "step": 7616, "t": 38.08, "topic": "a4s_sealer_1.drawer.moving", "source": "a4s_sealer_1.drawer", "data": {"target": 0.3, "goal": "in"}, "cause": "program-0-2"} +{"env_id": 0, "seq": 14, "step": 8035, "t": 40.175, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "moving", "to": "at_in"}, "cause": null} +{"env_id": 0, "seq": 15, "step": 8035, "t": 40.175, "topic": "a4s_sealer_1.drawer.reached", "source": "a4s_sealer_1.drawer", "data": {"position": "in", "q": 0.30000001192092896}, "cause": "program-0-2"} +{"env_id": 0, "seq": 16, "step": 8035, "t": 40.175, "topic": "a4s_sealer_1.drawer.at_in", "source": "a4s_sealer_1.drawer", "data": {"q": 0.30000001192092896}, "cause": "program-0-2"} +{"env_id": 0, "seq": 17, "step": 8035, "t": 40.175, "topic": "a4s_sealer_1.drawer.command.succeeded", "source": "a4s_sealer_1.drawer", "data": {"command_id": "program-0-2", "name": "close", "source": "program:seal", "result": {"position": "in"}}, "cause": "program-0-2"} +{"env_id": 0, "seq": 18, "step": 8035, "t": 40.175, "topic": "labware.plate_4.changed", "source": "labware.plate_4", "data": {"key": "sealed", "value": true}, "cause": "task-0-1"} +{"env_id": 0, "seq": 19, "step": 8035, "t": 40.175, "topic": "a4s_sealer_1.sealed", "source": "a4s_sealer_1", "data": {"plate": "plate_4"}, "cause": "task-0-1"} +{"env_id": 0, "seq": 20, "step": 8035, "t": 40.175, "topic": "a4s_sealer_1.heater.command.started", "source": "a4s_sealer_1.heater", "data": {"command_id": "program-0-3", "name": "run", "source": "program:seal"}, "cause": "program-0-3"} +{"env_id": 0, "seq": 21, "step": 8035, "t": 40.175, "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": 8035, "t": 40.175, "topic": "a4s_sealer_1.heater.started", "source": "a4s_sealer_1.heater", "data": {"duration": 3.2238351200505457}, "cause": "program-0-3"} +{"env_id": 0, "seq": 23, "step": 8680, "t": 43.4, "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": 8680, "t": 43.4, "topic": "a4s_sealer_1.heater.finished", "source": "a4s_sealer_1.heater", "data": {"elapsed": 3.22500000000165}, "cause": "program-0-3"} +{"env_id": 0, "seq": 25, "step": 8680, "t": 43.4, "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": 3.22500000000165}}, "cause": "program-0-3"} +{"env_id": 0, "seq": 26, "step": 8680, "t": 43.4, "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": 8680, "t": 43.4, "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": 8680, "t": 43.4, "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": 9100, "t": 45.5, "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": 9100, "t": 45.5, "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": 9100, "t": 45.5, "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": 9100, "t": 45.5, "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": 9100, "t": 45.5, "topic": "a4s_sealer_1.seal.finished", "source": "a4s_sealer_1", "data": {}, "cause": "task-0-1"} +{"env_id": 0, "seq": 34, "step": 9100, "t": 45.5, "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": 9680, "t": 48.4, "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": 11404, "t": 57.02, "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": 11404, "t": 57.02, "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": 11404, "t": 57.02, "topic": "conveyor_1.belt.state.changed", "source": "conveyor_1.belt", "data": {"from": "at_station", "to": "running"}, "cause": null} +{"env_id": 0, "seq": 39, "step": 11404, "t": 57.02, "topic": "conveyor_1.belt.command.succeeded", "source": "conveyor_1.belt", "data": {"command_id": "task-0-5", "name": "release", "source": "task", "result": {"state": "running"}}, "cause": "task-0-5"} diff --git a/episodes/c4_p008_e007/env.mp4 b/episodes/c4_p008_e007/env.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..d98eb368e0a89625e556c68533c7783d234e9b2f --- /dev/null +++ b/episodes/c4_p008_e007/env.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:566032f7229b27153f8a665b2d9cf67355743a2a5fe3779ac1500237de1aa66d +size 1185690 diff --git a/episodes/c4_p008_e007/meta.json b/episodes/c4_p008_e007/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..a058358382cb15067bd452e64a190de415cd1112 --- /dev/null +++ b/episodes/c4_p008_e007/meta.json @@ -0,0 +1,32 @@ +{ + "source": "raw/c4_p008/magicsim/7", + "fps": 25, + "frames": 1242, + "kept_ticks": "even", + "video_frames": { + "wrist": 1242, + "env": 1242 + }, + "joint_target_source": "joint_pos_target", + "fk_vs_recorded_eef_max_m": 0.0, + "curobo_joints": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "joint_order": [ + "shoulder_pan", + "shoulder_lift", + "elbow", + "wrist_1", + "wrist_2", + "wrist_3", + "finger_left", + "finger_right" + ], + "frames_note": "eef / actions in the robot base frame; camera_pose = local pose (wrist: in plate_gripper_base, env: env frame), pos + quat wxyz", + "dr_version": "v2" +} \ No newline at end of file diff --git a/episodes/c4_p008_e007/scene_snapshot.json b/episodes/c4_p008_e007/scene_snapshot.json new file mode 100644 index 0000000000000000000000000000000000000000..f2000a9e170d5aa758b5257a1e42c26c619c9845 --- /dev/null +++ b/episodes/c4_p008_e007/scene_snapshot.json @@ -0,0 +1,1558 @@ +{ + "trajectory_id": 7, + "env_id": 0, + "run_id": "c4_p008", + "task_type": "BioPlateCell", + "success": true, + "timing": { + "fps": 50.0, + "sim_dt": 0.005, + "decimation": 4 + }, + "restore_interface": { + "scene": "scene_manager.reset_to(snapshot['scene'], env_ids=[env_id])", + "robots": "robot_manager.set_state({'robots': snapshot['robots']}, env_ids=[env_id])" + }, + "snapshot": { + "env_id": 0, + "scene": { + "objects": [ + { + "rac_cell": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/rac_cell.usd", + "pose": { + "pos": [ + 0.0, + 0.0, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "physics_material": { + "static_friction": 0.6, + "dynamic_friction": 0.5, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "robot_mount": [ + { + "asset": "Cube", + "pose": { + "pos": [ + 0.0, + 0.0, + 0.9075 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": "color", + "value": [ + 0.55, + 0.56, + 0.58 + ], + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": { + "size": [ + 0.2, + 0.2, + 0.015 + ] + } + }, + "type_specific": {} + } + ], + "plate_rack": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/plate_hotel.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 0.9 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "physics_material": { + "static_friction": 0.6, + "dynamic_friction": 0.5, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "hotel_plate": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_96_white/plate_96_white.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 0.9605 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_48_clear/plate_48_clear.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.0285 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/pcr_96_blue/pcr_96_blue.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.0965 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_96_clear/plate_96_clear.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.1645 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_24_clear/plate_24_clear.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.2325 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "a4s_sealer": [ + { + "asset": "$MAGICSIM_ASSETS/Articulated/A4SSealer/Object.usd", + "pose": { + "pos": [ + 0.4612903594970703, + 0.12853145599365234, + 0.8999999761581421 + ], + "ori": [ + -0.6984633207321167, + 0.0, + 0.0, + 0.7156458497047424 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "articulation", + "solver_position_iteration_count": 16.0, + "solver_velocity_iteration_count": 1.0, + "enabled_self_collisions": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "joint_position": [ + 0.0 + ], + "joint_velocity": [ + 0.0 + ], + "linear_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "angular_velocity": [ + 0.0, + 0.0, + 0.0 + ] + } + } + ], + "conveyor": [ + { + "asset": "Cube", + "pose": { + "pos": [ + 0.15, + 0.45, + 0.9 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "conveyor", + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9 + }, + "ratio": 1.0 + }, + "primitive_params": { + "size": [ + 2.4, + 0.076, + 0.03 + ] + }, + "conveyor": { + "speed": 0.16468082082888524, + "direction": [ + 1.0, + 0.0, + 0.0 + ], + "enabled": true, + "drive": "surface_velocity", + "lines": null, + "station_line": null, + "riders": [ + "carrier" + ], + "stations": { + "pick": { + "position": -0.09939712684709426, + "slow_distance": 0.03, + "slow_speed": 0.03 + } + }, + "rails": { + "height": 0.01, + "thickness": 0.01, + "gap": 0.001, + "friction": 0.05 + }, + "legs": 0.87, + "loop": { + "radius": 0.35, + "side": "left", + "curve_extra_width": 0.0, + "segments": 18, + "curve_rails": "both" + }, + "snap_distance": 0.1, + "junction_snap": 0.02, + "collision_approximation": "auto", + "plate_mass": 1.0, + "lift_drop": 0.004, + "accel": 0.0, + "decel": 0.0, + "drive_damping": 1000000.0, + "drive_max_force": 1000000000.0 + } + }, + "type_specific": { + "controller": { + "state": "at_station", + "speed": 0.16468082082888524, + "holds": [], + "station": "pick", + "rider": "carrier_4", + "arrived": true, + "applied_speed": 0.0 + } + } + } + ], + "carrier": [ + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + 0.4667491912841797, + 1.1536312103271484, + 0.8999999761581421 + ], + "ori": [ + -0.002976515330374241, + 2.821597622215677e-09, + 6.250707684785084e-08, + 0.9999956488609314 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -4.074135695475434e-09, + -1.6425410365172866e-08, + 1.1175870895385742e-08 + ], + "angular_velocity": [ + 4.277185894352442e-07, + -3.162195980621618e-07, + -7.770525201067358e-08 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + 1.6972532272338867, + 0.801213264465332, + 0.8999999761581421 + ], + "ori": [ + 0.7076922655105591, + -8.685689945053809e-10, + 1.202556809687394e-08, + 0.7065208554267883 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -1.8643770260950987e-07, + -3.0998247524394174e-08, + 9.313225746154785e-08 + ], + "angular_velocity": [ + -7.889866537880152e-11, + -3.9604929042980075e-06, + -2.503875066395267e-06 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + -1.1208457946777344, + 1.1405115127563477, + 0.8999999761581421 + ], + "ori": [ + -0.08847184479236603, + -9.465521699780766e-10, + 4.352224358683543e-09, + 0.9960787296295166 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -1.1330170579526566e-08, + -1.157573024102021e-07, + 7.450580596923828e-09 + ], + "angular_velocity": [ + 1.0791605973281548e-06, + -4.213924853502249e-08, + -1.0628502877807477e-06 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + 0.05077552795410156, + 0.4499979019165039, + 0.8999999761581421 + ], + "ori": [ + 1.0, + 4.00226207730725e-09, + -2.4262867270863353e-09, + 4.8435576900374144e-05 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 3.444375451522319e-09, + 2.497116291522161e-09, + 2.9802322387695312e-08 + ], + "angular_velocity": [ + -1.6690376014594221e-07, + 3.446297114351182e-07, + -1.946461836155322e-08 + ] + } + } + ], + "plate": [ + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_6_clear/Object.usd", + "pose": { + "pos": [ + 0.45833396911621094, + 1.1467914581298828, + 0.9179999828338623 + ], + "ori": [ + 0.045162420719861984, + 8.772715887062077e-10, + 6.420065545853504e-08, + 0.9989797472953796 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 3.5909408779843943e-10, + -7.508123189836624e-08, + 1.5273690223693848e-07 + ], + "angular_velocity": [ + 2.2622873530053766e-07, + 1.6615587128399056e-06, + -7.74204380604715e-08 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_96_black/Object.usd", + "pose": { + "pos": [ + 1.702676773071289, + 0.7920637130737305, + 0.9180000424385071 + ], + "ori": [ + 0.7513489127159119, + 2.832409222719434e-07, + 1.8790980504945765e-07, + 0.6599051356315613 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -4.9389682317269035e-06, + 2.403657390459557e-06, + -6.433576345443726e-06 + ], + "angular_velocity": [ + -4.066563997184858e-05, + -0.00020067361765541136, + 1.4639645087299868e-05 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/pcr_96_blue/Object.usd", + "pose": { + "pos": [ + -1.1324653625488281, + 1.1456184387207031, + 0.9180000424385071 + ], + "ori": [ + -0.061135005205869675, + 2.0747311424429427e-08, + 4.296406928006036e-07, + 0.9981295466423035 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 2.3867048639658606e-06, + -6.420835234166589e-06, + -5.424022674560547e-06 + ], + "angular_velocity": [ + -6.636545003857464e-05, + 4.751977030537091e-06, + 5.269642497296445e-05 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/deep_well_96_2ml/Object.usd", + "pose": { + "pos": [ + 0.062397003173828125, + 0.45633983612060547, + 0.9179999828338623 + ], + "ori": [ + 0.9992119669914246, + 4.921307805716424e-09, + -1.9559200925556297e-09, + -0.03969322144985199 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -4.782815210546687e-08, + -2.5688336791063193e-08, + -1.1511147022247314e-06 + ], + "angular_velocity": [ + 1.5019611510069808e-06, + -2.62387015936838e-06, + -1.2958080830571816e-08 + ] + } + } + ], + "deco_hub_west": [ + { + "asset": "$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": 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": 0.0 + }, + "heater": { + "state": "ready", + "active": null, + "duration": 0.0, + "t_start": null, + "elapsed": 0.0 + } + }, + "queues": {}, + "program": null, + "sensors": { + "plate_present": { + "occupants": [], + "pending": {} + } + }, + "interlocks": {} + }, + "conveyor_1": { + "mode": "auto", + "units": { + "belt": { + "state": "at_station", + "active": null, + "controller": { + "speed": 0.16468082082888524, + "holds": [], + "station": "pick", + "rider": "carrier_4", + "arrived": true, + "settle_count": 1368, + "released": { + "pick": [] + }, + "last_pos": { + "carrier_1": [ + 0.3167491853237152, + 0.7036312222480774, + 0.0 + ], + "carrier_2": [ + 1.5472532212734222, + 0.351213276386261, + 0.0 + ], + "carrier_3": [ + -1.2708458006381989, + 0.6905115246772766, + 0.0 + ], + "carrier_4": [ + -0.09922447800636292, + -2.086162567138672e-06, + 0.0 + ] + }, + "command": 0.0 + }, + "belt": { + "target_speed": 0.0, + "command_speed": 0.0 + }, + "seen": { + "state": "at_station", + "station": "pick", + "rider": "carrier_4", + "arrived": true + } + } + }, + "queues": {}, + "program": null, + "sensors": {}, + "interlocks": {} + } + }, + "zones": {}, + "labware": { + "plate_1": { + "sealed": false + }, + "plate_2": { + "sealed": false + }, + "plate_3": { + "sealed": false + }, + "plate_4": { + "sealed": false + } + }, + "rules": {}, + "records": [], + "bus": { + "seq": 3, + "queue": [] + } + }, + null, + null, + null + ], + "drives": [ + {}, + null, + null, + null + ] + }, + "artifacts": [ + { + "ceiling": { + "type": "rect", + "pose": { + "pos": [ + -0.3605653243325035, + -0.09965641515023405, + 2.797715494353235 + ], + "ori": [ + -3.113744716071075, + -8.432550805386274, + 10.717466710259181 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "color_temperature": 5253.176768629841, + "color": [ + 0.9736802205846038, + 0.9946259070435455, + 0.8377846759583659 + ], + "intensity": 12715.223920473863, + "width": 2.682313032799647, + "height": 1.3419829474618141 + } + }, + "key": { + "type": "disk", + "pose": { + "pos": [ + 1.4639160267997426, + 0.25533169004305534, + 2.2890668357996704 + ], + "ori": [ + -35.74963558369954, + -38.3808988157315, + -1.6842863655094646 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "color_temperature": 7324.010049300755, + "color": [ + 0.9478003277965782, + 0.8553559428886279, + 0.8095218669690846 + ], + "intensity": 8721.49757621121, + "radius": 0.33686381866596304 + } + } + }, + {}, + {}, + {} + ], + "background": { + "type": "dome", + "pose": { + "pos": null, + "ori": null, + "scale": null + }, + "dr": { + "intensity": 1239.1908942456269, + "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, + -1.719398021697998, + 2.0904994010925293, + -1.9419000148773193, + -1.5707999467849731, + 2.484901189804077, + 0.01799999736249447, + 0.018000001087784767 + ], + [ + 0.7637633085250854, + -1.173104166984558, + 2.075169086456299, + -2.472837448120117, + -1.5708339214324951, + 2.303819179534912, + 0.007689543534070253, + 0.007047578692436218 + ], + [ + 1.1814591884613037, + -1.5210506916046143, + 2.1180942058563232, + -2.1674129962921143, + -1.5708445310592651, + 2.6841108798980713, + 0.007244798354804516, + 0.007678997702896595 + ], + [ + 0.9962685704231262, + -1.476668119430542, + 2.069361925125122, + -2.1634860038757324, + -1.5708616971969604, + 2.5269434452056885, + 0.007724425755441189, + 0.007091641891747713 + ] + ], + "joint_vel": [ + [ + 3.405963752811658e-06, + 6.8118947638140526e-06, + -6.811957518948475e-06, + -2.284081940511634e-14, + 3.347774396025502e-14, + 8.087598516240413e-13, + 2.5990431140598957e-08, + -2.5989967511463874e-08 + ], + [ + -0.00020777800818905234, + 3.552569978637621e-05, + -0.0002940800623036921, + -0.0015137313166633248, + 0.0019302787259221077, + 0.005264611449092627, + -0.008304520510137081, + 0.00030318478820845485 + ], + [ + 0.000637146586086601, + -0.00013154408952686936, + -0.001308289822191, + 2.0725439753732644e-05, + 0.00048136155237443745, + 0.002219806658104062, + -0.005402735900133848, + 0.00020247441716492176 + ], + [ + 0.002570953220129013, + 0.0008409246802330017, + 0.00151348439976573, + 0.003129319055005908, + -0.0007555197225883603, + -0.0028181925881654024, + -0.006234046071767807, + 7.275953248608857e-05 + ] + ] + } + }, + "cameras": { + "cameras": { + "camera0": [ + [ + 0.05652007460594177, + -0.0026385432574898005, + -0.03009374439716339, + -0.27613434195518494, + 0.6467108726501465, + 0.6508780121803284, + -0.28613391518592834 + ], + [ + 0.0506305918097496, + 0.001622054143808782, + -0.0318278968334198, + -0.2793799340724945, + 0.6522019505500793, + 0.6444896459579468, + -0.28497809171676636 + ], + [ + 0.04719698801636696, + 0.0012622352223843336, + -0.030625803396105766, + -0.27279531955718994, + 0.6552927494049072, + 0.6475533843040466, + -0.2772159278392792 + ], + [ + 0.051723845303058624, + -0.0013950580032542348, + -0.034013714641332626, + -0.2705380618572235, + 0.6460728645324707, + 0.6563639640808105, + -0.2803308367729187 + ] + ], + "camera1": [ + [ + 0.05692974478006363, + 0.5798348188400269, + 1.9612079858779907, + 0.047226838767528534, + 0.010735795833170414, + 0.2624160349369049, + 0.9637386798858643 + ], + [ + 0.07411216199398041, + 0.5934097170829773, + 1.9464149475097656, + 0.023316457867622375, + 0.0005378026398830116, + 0.2824692130088806, + 0.9589927792549133 + ], + [ + 0.040998611599206924, + 0.5914180278778076, + 1.9396604299545288, + 0.030185524374246597, + 0.014137162826955318, + 0.2636910378932953, + 0.9640311002731323 + ], + [ + 0.07050036638975143, + 0.559451162815094, + 1.9429826736450195, + 0.03812794014811516, + 0.013016299344599247, + 0.2732433080673218, + 0.9611008763313293 + ] + ] + } + } + } +} \ No newline at end of file diff --git a/episodes/c4_p008_e007/wrist.mp4 b/episodes/c4_p008_e007/wrist.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..37a4c7e2649feff2600d053d5d411c818e802c95 --- /dev/null +++ b/episodes/c4_p008_e007/wrist.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:229a1eab5657da6c89ef26bea2f7266e1bb32cdd4bc8a3dc0154ba6ae6ee93fa +size 7053142 diff --git a/episodes/c5_p007_e029/data.npz b/episodes/c5_p007_e029/data.npz new file mode 100644 index 0000000000000000000000000000000000000000..1296c6c3033adfa7caf2317f57de20814b66d3ef --- /dev/null +++ b/episodes/c5_p007_e029/data.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:908ff0e8a51db56956692d510059b7f773ab307689c6f68bc51b04acec37112e +size 204723 diff --git a/episodes/c5_p007_e029/device_events.jsonl b/episodes/c5_p007_e029/device_events.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..9c06b9c90e2f552fafe5e2297f24e490ed774561 --- /dev/null +++ b/episodes/c5_p007_e029/device_events.jsonl @@ -0,0 +1,36 @@ +{"env_id": 2, "seq": 1, "step": 77, "t": 0.385, "topic": "conveyor_1.belt.station.pick.captured", "source": "conveyor_1.belt", "data": {"rider": "carrier_2"}, "cause": null} +{"env_id": 2, "seq": 2, "step": 77, "t": 0.385, "topic": "conveyor_1.belt.state.changed", "source": "conveyor_1.belt", "data": {"from": "running", "to": "at_station"}, "cause": null} +{"env_id": 2, "seq": 3, "step": 82, "t": 0.41, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_2"}, "cause": null} +{"env_id": 2, "seq": 4, "step": 1404, "t": 7.02, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_2"}, "cause": null} +{"env_id": 2, "seq": 5, "step": 6202, "t": 31.01, "topic": "a4s_sealer_1.plate_present.present", "source": "a4s_sealer_1.plate_present", "data": {"object": "plate_2"}, "cause": null} +{"env_id": 2, "seq": 6, "step": 6816, "t": 34.08, "topic": "a4s_sealer_1.command.started", "source": "a4s_sealer_1", "data": {"command_id": "task-2-1", "name": "seal", "source": "task"}, "cause": "task-2-1"} +{"env_id": 2, "seq": 7, "step": 6816, "t": 34.08, "topic": "a4s_sealer_1.seal.started", "source": "a4s_sealer_1", "data": {"dwell": 4.988618306856415}, "cause": "task-2-1"} +{"env_id": 2, "seq": 8, "step": 6816, "t": 34.08, "topic": "a4s_sealer_1.drawer.command.started", "source": "a4s_sealer_1.drawer", "data": {"command_id": "program-2-2", "name": "close", "source": "program:seal"}, "cause": "program-2-2"} +{"env_id": 2, "seq": 9, "step": 6816, "t": 34.08, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "at_out", "to": "moving"}, "cause": null} +{"env_id": 2, "seq": 10, "step": 6816, "t": 34.08, "topic": "a4s_sealer_1.drawer.moving", "source": "a4s_sealer_1.drawer", "data": {"target": 0.3, "goal": "in"}, "cause": "program-2-2"} +{"env_id": 2, "seq": 11, "step": 7235, "t": 36.175, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "moving", "to": "at_in"}, "cause": null} +{"env_id": 2, "seq": 12, "step": 7235, "t": 36.175, "topic": "a4s_sealer_1.drawer.reached", "source": "a4s_sealer_1.drawer", "data": {"position": "in", "q": 0.30000001192092896}, "cause": "program-2-2"} +{"env_id": 2, "seq": 13, "step": 7235, "t": 36.175, "topic": "a4s_sealer_1.drawer.at_in", "source": "a4s_sealer_1.drawer", "data": {"q": 0.30000001192092896}, "cause": "program-2-2"} +{"env_id": 2, "seq": 14, "step": 7235, "t": 36.175, "topic": "a4s_sealer_1.drawer.command.succeeded", "source": "a4s_sealer_1.drawer", "data": {"command_id": "program-2-2", "name": "close", "source": "program:seal", "result": {"position": "in"}}, "cause": "program-2-2"} +{"env_id": 2, "seq": 15, "step": 7235, "t": 36.175, "topic": "labware.plate_2.changed", "source": "labware.plate_2", "data": {"key": "sealed", "value": true}, "cause": "task-2-1"} +{"env_id": 2, "seq": 16, "step": 7235, "t": 36.175, "topic": "a4s_sealer_1.sealed", "source": "a4s_sealer_1", "data": {"plate": "plate_2"}, "cause": "task-2-1"} +{"env_id": 2, "seq": 17, "step": 7235, "t": 36.175, "topic": "a4s_sealer_1.heater.command.started", "source": "a4s_sealer_1.heater", "data": {"command_id": "program-2-3", "name": "run", "source": "program:seal"}, "cause": "program-2-3"} +{"env_id": 2, "seq": 18, "step": 7235, "t": 36.175, "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": 7235, "t": 36.175, "topic": "a4s_sealer_1.heater.started", "source": "a4s_sealer_1.heater", "data": {"duration": 4.988618306856415}, "cause": "program-2-3"} +{"env_id": 2, "seq": 20, "step": 8233, "t": 41.165, "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": 8233, "t": 41.165, "topic": "a4s_sealer_1.heater.finished", "source": "a4s_sealer_1.heater", "data": {"elapsed": 4.990000000002553}, "cause": "program-2-3"} +{"env_id": 2, "seq": 22, "step": 8233, "t": 41.165, "topic": "a4s_sealer_1.heater.command.succeeded", "source": "a4s_sealer_1.heater", "data": {"command_id": "program-2-3", "name": "run", "source": "program:seal", "result": {"elapsed": 4.990000000002553}}, "cause": "program-2-3"} +{"env_id": 2, "seq": 23, "step": 8233, "t": 41.165, "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": 8233, "t": 41.165, "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": 8233, "t": 41.165, "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": 8653, "t": 43.265, "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": 8653, "t": 43.265, "topic": "a4s_sealer_1.drawer.reached", "source": "a4s_sealer_1.drawer", "data": {"position": "out", "q": 1.4018000094040417e-09}, "cause": "program-2-4"} +{"env_id": 2, "seq": 28, "step": 8653, "t": 43.265, "topic": "a4s_sealer_1.drawer.at_out", "source": "a4s_sealer_1.drawer", "data": {"q": 1.4018000094040417e-09}, "cause": "program-2-4"} +{"env_id": 2, "seq": 29, "step": 8653, "t": 43.265, "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": 8653, "t": 43.265, "topic": "a4s_sealer_1.seal.finished", "source": "a4s_sealer_1", "data": {}, "cause": "task-2-1"} +{"env_id": 2, "seq": 31, "step": 8653, "t": 43.265, "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": 9234, "t": 46.17, "topic": "a4s_sealer_1.plate_present.absent", "source": "a4s_sealer_1.plate_present", "data": {"object": "plate_2"}, "cause": null} +{"env_id": 2, "seq": 33, "step": 11484, "t": 57.42, "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": 11484, "t": 57.42, "topic": "conveyor_1.belt.station.pick.released", "source": "conveyor_1.belt", "data": {"rider": "carrier_2"}, "cause": "task-2-5"} +{"env_id": 2, "seq": 35, "step": 11484, "t": 57.42, "topic": "conveyor_1.belt.state.changed", "source": "conveyor_1.belt", "data": {"from": "at_station", "to": "running"}, "cause": null} +{"env_id": 2, "seq": 36, "step": 11484, "t": 57.42, "topic": "conveyor_1.belt.command.succeeded", "source": "conveyor_1.belt", "data": {"command_id": "task-2-5", "name": "release", "source": "task", "result": {"state": "running"}}, "cause": "task-2-5"} diff --git a/episodes/c5_p007_e029/env.mp4 b/episodes/c5_p007_e029/env.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..36a638c51f54f6c458f0ba52499c5f0cda946751 --- /dev/null +++ b/episodes/c5_p007_e029/env.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:187514219e275c9891bdab2be551c153fa56d85c9311615c577bbe64f1d32e3d +size 1438927 diff --git a/episodes/c5_p007_e029/meta.json b/episodes/c5_p007_e029/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..1a1ec7106de054853d61a46a8f9a992f83c0b3d2 --- /dev/null +++ b/episodes/c5_p007_e029/meta.json @@ -0,0 +1,32 @@ +{ + "source": "raw/c5_p007/magicsim/29", + "fps": 25, + "frames": 1321, + "kept_ticks": "even", + "video_frames": { + "wrist": 1321, + "env": 1321 + }, + "joint_target_source": "joint_pos_target", + "fk_vs_recorded_eef_max_m": 0.0, + "curobo_joints": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "joint_order": [ + "shoulder_pan", + "shoulder_lift", + "elbow", + "wrist_1", + "wrist_2", + "wrist_3", + "finger_left", + "finger_right" + ], + "frames_note": "eef / actions in the robot base frame; camera_pose = local pose (wrist: in plate_gripper_base, env: env frame), pos + quat wxyz", + "dr_version": "v2" +} \ No newline at end of file diff --git a/episodes/c5_p007_e029/scene_snapshot.json b/episodes/c5_p007_e029/scene_snapshot.json new file mode 100644 index 0000000000000000000000000000000000000000..2ad398a90c58a705e193996b7b97a46edd07fa55 --- /dev/null +++ b/episodes/c5_p007_e029/scene_snapshot.json @@ -0,0 +1,1558 @@ +{ + "trajectory_id": 29, + "env_id": 2, + "run_id": "c5_p007", + "task_type": "BioPlateCell", + "success": true, + "timing": { + "fps": 50.0, + "sim_dt": 0.005, + "decimation": 4 + }, + "restore_interface": { + "scene": "scene_manager.reset_to(snapshot['scene'], env_ids=[env_id])", + "robots": "robot_manager.set_state({'robots': snapshot['robots']}, env_ids=[env_id])" + }, + "snapshot": { + "env_id": 2, + "scene": { + "objects": [ + {}, + {}, + { + "rac_cell": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/rac_cell.usd", + "pose": { + "pos": [ + 0.0, + 0.0, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "physics_material": { + "static_friction": 0.6, + "dynamic_friction": 0.5, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "robot_mount": [ + { + "asset": "Cube", + "pose": { + "pos": [ + 0.0, + 0.0, + 0.9075 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": "color", + "value": [ + 0.55, + 0.56, + 0.58 + ], + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": { + "size": [ + 0.2, + 0.2, + 0.015 + ] + } + }, + "type_specific": {} + } + ], + "plate_rack": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/plate_hotel.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 0.9 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "physics_material": { + "static_friction": 0.6, + "dynamic_friction": 0.5, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "hotel_plate": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/pcr_384_red/pcr_384_red.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 0.9605 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/pcr_96_blue/pcr_96_blue.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.0285 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/pcr_96_blue/pcr_96_blue.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.0965 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_24_clear/plate_24_clear.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.1645 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/pcr_96_blue/pcr_96_blue.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.2325 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "a4s_sealer": [ + { + "asset": "$MAGICSIM_ASSETS/Articulated/A4SSealer/Object.usd", + "pose": { + "pos": [ + 0.46075916290283203, + 0.06093311309814453, + 0.8999999761581421 + ], + "ori": [ + 0.7153714895248413, + 0.0, + 0.0, + -0.6987442970275879 + ], + "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": [ + 3.3641654999944093e-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": 0.1535829854055264, + "direction": [ + 1.0, + 0.0, + 0.0 + ], + "enabled": true, + "drive": "surface_velocity", + "lines": null, + "station_line": null, + "riders": [ + "carrier" + ], + "stations": { + "pick": { + "position": -0.2031418343839305, + "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": 0.1535829854055264, + "holds": [], + "station": "pick", + "rider": "carrier_2", + "arrived": true, + "applied_speed": 0.0 + } + } + } + ], + "carrier": [ + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + -1.2855358123779297, + 1.0551156997680664, + 0.8999999761581421 + ], + "ori": [ + -0.35575196146965027, + 4.2490825080676586e-08, + 1.1826406520754063e-08, + 0.934580385684967 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 1.5188561519607902e-10, + -2.364231477258727e-09, + -3.725290298461914e-09 + ], + "angular_velocity": [ + 1.4384932001121342e-07, + 2.1100277081131935e-09, + 5.114202394906897e-09 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + -0.053597450256347656, + 0.4500007629394531, + 0.8999999761581421 + ], + "ori": [ + 1.0, + 5.443182349296194e-09, + 8.35318647585126e-10, + -1.3027321983827278e-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": [ + 1.1918901421381634e-09, + 2.1144247464022214e-10, + 1.1175870895385742e-08 + ], + "angular_velocity": [ + -1.8399052947870587e-08, + 1.1500016228183085e-07, + -1.86993776019051e-09 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + 1.6934356689453125, + 0.862217903137207, + 0.8999999761581421 + ], + "ori": [ + 0.6415718197822571, + 3.2647360370674505e-08, + -3.296253581197561e-08, + 0.7670630216598511 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -2.1816244366590354e-09, + -4.895621685818696e-10, + 7.450580596923828e-09 + ], + "angular_velocity": [ + 4.920234530914058e-08, + -2.689379812181869e-07, + 1.7686945241734975e-08 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + 0.6099739074707031, + 1.1499929428100586, + 0.8999999761581421 + ], + "ori": [ + 5.782074003946036e-05, + -3.0552815832862734e-10, + 2.093908380018661e-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": [ + -2.9597000406056395e-09, + -2.9168543136393055e-09, + 1.862645149230957e-08 + ], + "angular_velocity": [ + 1.1181292336459592e-07, + -2.5368356659782876e-07, + -4.469139014418033e-08 + ] + } + } + ], + "plate": [ + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_24_clear/Object.usd", + "pose": { + "pos": [ + -1.2790346145629883, + 1.0701637268066406, + 0.9179999828338623 + ], + "ori": [ + -0.3741786777973175, + 4.518847518397706e-08, + 1.3873755477789018e-08, + 0.9273567199707031 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 3.938498593925033e-08, + 9.64985247264849e-09, + 1.0058283805847168e-07 + ], + "angular_velocity": [ + -1.1257980077061802e-06, + 1.1412303138058633e-06, + 1.5845961343075032e-07 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_384_black/Object.usd", + "pose": { + "pos": [ + -0.06455135345458984, + 0.45566368103027344, + 0.9180000424385071 + ], + "ori": [ + 0.9999324679374695, + 4.4243253505271696e-09, + 1.2250706005190182e-09, + 0.01162563543766737 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -1.8045898109164682e-09, + 1.3333201209775325e-10, + -5.334615707397461e-06 + ], + "angular_velocity": [ + 1.3255686326374416e-06, + -1.8796336007653736e-06, + -7.665361323461184e-08 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_1536_black/Object.usd", + "pose": { + "pos": [ + 1.690481185913086, + 0.8551883697509766, + 0.9180000424385071 + ], + "ori": [ + 0.5900086760520935, + 3.124681313693145e-08, + -3.345231291973505e-08, + 0.8073970079421997 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -1.7319656819836382e-08, + -2.2852676195839194e-08, + -5.628913640975952e-06 + ], + "angular_velocity": [ + 1.939562253028271e-06, + 7.494647320527292e-07, + 2.384104504926654e-07 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/deep_well_24_10ml/Object.usd", + "pose": { + "pos": [ + 0.6224784851074219, + 1.1581611633300781, + 0.9179999828338623 + ], + "ori": [ + -0.0016715689562261105, + 5.818431847437466e-10, + -1.8058838868739713e-09, + 0.9999986290931702 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 3.4733194098635067e-09, + -4.2958440360507666e-08, + -1.475214958190918e-06 + ], + "angular_velocity": [ + 5.539823746403272e-07, + 1.5057570408316678e-06, + -1.0792496141220909e-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": 4.879999999999918, + "step": 976, + "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": 3.3641654999944093e-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": 0.1535829854055264, + "holds": [], + "station": "pick", + "rider": "carrier_2", + "arrived": true, + "settle_count": 898, + "released": { + "pick": [] + }, + "last_pos": { + "carrier_1": [ + -1.4355358183383942, + 0.6051157116889954, + 0.0 + ], + "carrier_2": [ + -0.20359745621681213, + 7.748603820800781e-07, + 0.0 + ], + "carrier_3": [ + 1.543435662984848, + 0.412217915058136, + 0.0 + ], + "carrier_4": [ + 0.45997390151023865, + 0.6999929547309875, + 0.0 + ] + }, + "command": 0.0 + }, + "belt": { + "target_speed": 0.0, + "command_speed": 0.0 + }, + "seen": { + "state": "at_station", + "station": "pick", + "rider": "carrier_2", + "arrived": true + } + } + }, + "queues": {}, + "program": null, + "sensors": {}, + "interlocks": {} + } + }, + "zones": {}, + "labware": { + "plate_1": { + "sealed": false + }, + "plate_2": { + "sealed": false + }, + "plate_3": { + "sealed": false + }, + "plate_4": { + "sealed": false + } + }, + "rules": {}, + "records": [], + "bus": { + "seq": 3, + "queue": [] + } + }, + null + ], + "drives": [ + null, + null, + {}, + null + ] + }, + "artifacts": [ + {}, + {}, + { + "ceiling": { + "type": "rect", + "pose": { + "pos": [ + 0.029060488520865735, + 0.44817496760066855, + 2.780973291945389 + ], + "ori": [ + 13.235030120517251, + -11.53838381173426, + 29.089786221846516 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "color_temperature": 7145.665834670292, + "color": [ + 0.8989948976494726, + 0.829018535656022, + 0.8407176104688949 + ], + "intensity": 14214.532060343685, + "width": 2.486769099014211, + "height": 0.9408842357359021 + } + }, + "key": { + "type": "sphere", + "pose": { + "pos": [ + 0.4065725336536228, + -0.5314582122331108, + 1.6669774011772356 + ], + "ori": [ + 7.93835200237951, + 11.486961734288379, + 27.484578055011653 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "color_temperature": 3336.5742954735997, + "color": [ + 0.9537998628177459, + 0.8382215966275499, + 0.8458014173085977 + ], + "intensity": 3804.1609669059067, + "radius": 0.22788368744860737 + } + } + }, + {} + ], + "background": { + "type": "dome", + "pose": { + "pos": null, + "ori": null, + "scale": null + }, + "dr": { + "intensity": 1461.9531450656978, + "texture": null, + "color": [ + 0.92, + 0.94, + 0.96 + ] + } + } + }, + "robots": { + "UR5e": { + "root_pose": [ + [ + 11.0, + -11.0, + 0.9150000214576721, + 1.0, + 0.0, + 0.0, + 0.0 + ], + [ + 11.0, + 11.0, + 0.9150000214576721, + 1.0, + 0.0, + 0.0, + 0.0 + ], + [ + -11.0, + -11.0, + 0.9150000214576721, + 1.0, + 0.0, + 0.0, + 0.0 + ], + [ + -11.0, + 11.0, + 0.9150000214576721, + 1.0, + 0.0, + 0.0, + 0.0 + ] + ], + "root_vel": [ + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + ], + "joint_pos": [ + [ + 0.565497100353241, + -1.9191839694976807, + 2.3121442794799805, + -1.9631825685501099, + -1.5709810256958008, + 5.266419887542725, + 0.007789353374391794, + 0.007282010745257139 + ], + [ + -0.27465999126434326, + -2.205744981765747, + 2.3365206718444824, + -1.7019104957580566, + -1.571025013923645, + 4.3696770668029785, + 0.01799999363720417, + 0.018000004813075066 + ], + [ + 0.9141026735305786, + -1.7193982601165771, + 2.0905001163482666, + -1.941901445388794, + -1.5707999467849731, + 2.484900712966919, + 0.01799999736249447, + 0.018000001087784767 + ], + [ + 0.9511849284172058, + -1.2689340114593506, + 2.230701208114624, + -2.532543182373047, + -1.5708096027374268, + 2.5685746669769287, + 0.007713656406849623, + 0.007053326815366745 + ] + ], + "joint_vel": [ + [ + 0.07099004089832306, + 0.034276410937309265, + -0.013000003062188625, + -0.021597381681203842, + -0.00083959597395733, + 0.07446808367967606, + -0.006623343098908663, + 0.0004993705661036074 + ], + [ + -8.514890055266733e-07, + -6.811836101405788e-06, + -1.3623856830236036e-05, + -6.811948878748808e-06, + 3.405977395232185e-06, + -4.708568062360141e-14, + 7.797191869940434e-08, + -7.797139289777988e-08 + ], + [ + -2.216667657736259e-38, + 1.5719811014346656e-38, + 0.0, + 3.569873530739479e-37, + -5.042970492636722e-38, + 4.144239987374478e-37, + 2.5990372520823257e-08, + -2.5990399166175848e-08 + ], + [ + -0.00012181428610347211, + -4.244548472343013e-05, + -0.00024573481641709805, + -0.0009059974690899253, + 0.0009598910110071301, + 0.003092230996116996, + -0.00863299984484911, + 0.00029297638684511185 + ] + ] + } + }, + "cameras": { + "cameras": { + "camera0": [ + [ + 0.054770905524492264, + -0.00020278872398193926, + -0.031180882826447487, + -0.2846522629261017, + 0.6449127197265625, + 0.6546600461006165, + -0.2729119062423706 + ], + [ + 0.04567508399486542, + -0.0002705567458178848, + -0.03141793608665466, + -0.2789912819862366, + 0.6517153382301331, + 0.6530682444572449, + -0.26633220911026 + ], + [ + 0.04653831571340561, + -0.0010845826473087072, + -0.031114870682358742, + -0.27836477756500244, + 0.6515734791755676, + 0.6491134166717529, + -0.2767975330352783 + ], + [ + 0.05082082003355026, + -0.0013622116530314088, + -0.03045477531850338, + -0.28346407413482666, + 0.6407837867736816, + 0.6565225720405579, + -0.27932485938072205 + ] + ], + "camera1": [ + [ + 0.05094919726252556, + 0.5900187492370605, + 1.9255307912826538, + 0.03277754783630371, + 0.010227200575172901, + 0.2754877507686615, + 0.9606911540031433 + ], + [ + 0.06907598674297333, + 0.5959287285804749, + 1.9377716779708862, + 0.047152649611234665, + -0.003496214048936963, + 0.2727587819099426, + 0.9609199166297913 + ], + [ + 0.07474350929260254, + 0.5651134848594666, + 1.9264891147613525, + 0.05872626230120659, + 0.01040409505367279, + 0.2655133306980133, + 0.9622607231140137 + ], + [ + 0.028717512264847755, + 0.593924880027771, + 1.9337873458862305, + 0.035464316606521606, + 0.010947983711957932, + 0.28311049938201904, + 0.9583688378334045 + ] + ] + } + } + } +} \ No newline at end of file diff --git a/episodes/c5_p007_e029/wrist.mp4 b/episodes/c5_p007_e029/wrist.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..fb81dc7cf422881a4f291876982a006be58edb40 --- /dev/null +++ b/episodes/c5_p007_e029/wrist.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:269b206ee1a65614169a0bda902670ae3570d3ad47ccc6b596511c0c4e09fb2e +size 7337135 diff --git a/episodes/c5_p007_e030/data.npz b/episodes/c5_p007_e030/data.npz new file mode 100644 index 0000000000000000000000000000000000000000..01e4870778b277a58750ce08c76232018ceede86 --- /dev/null +++ b/episodes/c5_p007_e030/data.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:3864cf2465d474f002eb35988be260a9a10a7ccf640d40d1cc4a584d5dd0b96b +size 190563 diff --git a/episodes/c5_p007_e030/device_events.jsonl b/episodes/c5_p007_e030/device_events.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..0072c040326fceefe782a030a6338bad3d937243 --- /dev/null +++ b/episodes/c5_p007_e030/device_events.jsonl @@ -0,0 +1,37 @@ +{"env_id": 0, "seq": 1, "step": 238, "t": 1.19, "topic": "conveyor_1.belt.station.pick.captured", "source": "conveyor_1.belt", "data": {"rider": "carrier_1"}, "cause": null} +{"env_id": 0, "seq": 2, "step": 238, "t": 1.19, "topic": "conveyor_1.belt.state.changed", "source": "conveyor_1.belt", "data": {"from": "running", "to": "at_station"}, "cause": null} +{"env_id": 0, "seq": 3, "step": 243, "t": 1.215, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_1"}, "cause": null} +{"env_id": 0, "seq": 4, "step": 904, "t": 4.52, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_1"}, "cause": null} +{"env_id": 0, "seq": 5, "step": 1104, "t": 5.52, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_1"}, "cause": null} +{"env_id": 0, "seq": 6, "step": 6059, "t": 30.295, "topic": "a4s_sealer_1.plate_present.present", "source": "a4s_sealer_1.plate_present", "data": {"object": "plate_1"}, "cause": null} +{"env_id": 0, "seq": 7, "step": 6672, "t": 33.36, "topic": "a4s_sealer_1.command.started", "source": "a4s_sealer_1", "data": {"command_id": "task-0-1", "name": "seal", "source": "task"}, "cause": "task-0-1"} +{"env_id": 0, "seq": 8, "step": 6672, "t": 33.36, "topic": "a4s_sealer_1.seal.started", "source": "a4s_sealer_1", "data": {"dwell": 2.9612978417229603}, "cause": "task-0-1"} +{"env_id": 0, "seq": 9, "step": 6672, "t": 33.36, "topic": "a4s_sealer_1.drawer.command.started", "source": "a4s_sealer_1.drawer", "data": {"command_id": "program-0-2", "name": "close", "source": "program:seal"}, "cause": "program-0-2"} +{"env_id": 0, "seq": 10, "step": 6672, "t": 33.36, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "at_out", "to": "moving"}, "cause": null} +{"env_id": 0, "seq": 11, "step": 6672, "t": 33.36, "topic": "a4s_sealer_1.drawer.moving", "source": "a4s_sealer_1.drawer", "data": {"target": 0.3, "goal": "in"}, "cause": "program-0-2"} +{"env_id": 0, "seq": 12, "step": 7091, "t": 35.455, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "moving", "to": "at_in"}, "cause": null} +{"env_id": 0, "seq": 13, "step": 7091, "t": 35.455, "topic": "a4s_sealer_1.drawer.reached", "source": "a4s_sealer_1.drawer", "data": {"position": "in", "q": 0.30000001192092896}, "cause": "program-0-2"} +{"env_id": 0, "seq": 14, "step": 7091, "t": 35.455, "topic": "a4s_sealer_1.drawer.at_in", "source": "a4s_sealer_1.drawer", "data": {"q": 0.30000001192092896}, "cause": "program-0-2"} +{"env_id": 0, "seq": 15, "step": 7091, "t": 35.455, "topic": "a4s_sealer_1.drawer.command.succeeded", "source": "a4s_sealer_1.drawer", "data": {"command_id": "program-0-2", "name": "close", "source": "program:seal", "result": {"position": "in"}}, "cause": "program-0-2"} +{"env_id": 0, "seq": 16, "step": 7091, "t": 35.455, "topic": "labware.plate_1.changed", "source": "labware.plate_1", "data": {"key": "sealed", "value": true}, "cause": "task-0-1"} +{"env_id": 0, "seq": 17, "step": 7091, "t": 35.455, "topic": "a4s_sealer_1.sealed", "source": "a4s_sealer_1", "data": {"plate": "plate_1"}, "cause": "task-0-1"} +{"env_id": 0, "seq": 18, "step": 7091, "t": 35.455, "topic": "a4s_sealer_1.heater.command.started", "source": "a4s_sealer_1.heater", "data": {"command_id": "program-0-3", "name": "run", "source": "program:seal"}, "cause": "program-0-3"} +{"env_id": 0, "seq": 19, "step": 7091, "t": 35.455, "topic": "a4s_sealer_1.heater.state.changed", "source": "a4s_sealer_1.heater", "data": {"from": "ready", "to": "running"}, "cause": null} +{"env_id": 0, "seq": 20, "step": 7091, "t": 35.455, "topic": "a4s_sealer_1.heater.started", "source": "a4s_sealer_1.heater", "data": {"duration": 2.9612978417229603}, "cause": "program-0-3"} +{"env_id": 0, "seq": 21, "step": 7684, "t": 38.42, "topic": "a4s_sealer_1.heater.state.changed", "source": "a4s_sealer_1.heater", "data": {"from": "running", "to": "ready"}, "cause": null} +{"env_id": 0, "seq": 22, "step": 7684, "t": 38.42, "topic": "a4s_sealer_1.heater.finished", "source": "a4s_sealer_1.heater", "data": {"elapsed": 2.965000000001517}, "cause": "program-0-3"} +{"env_id": 0, "seq": 23, "step": 7684, "t": 38.42, "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": 2.965000000001517}}, "cause": "program-0-3"} +{"env_id": 0, "seq": 24, "step": 7684, "t": 38.42, "topic": "a4s_sealer_1.drawer.command.started", "source": "a4s_sealer_1.drawer", "data": {"command_id": "program-0-4", "name": "open", "source": "program:seal"}, "cause": "program-0-4"} +{"env_id": 0, "seq": 25, "step": 7684, "t": 38.42, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "at_in", "to": "moving"}, "cause": null} +{"env_id": 0, "seq": 26, "step": 7684, "t": 38.42, "topic": "a4s_sealer_1.drawer.moving", "source": "a4s_sealer_1.drawer", "data": {"target": 0.0, "goal": "out"}, "cause": "program-0-4"} +{"env_id": 0, "seq": 27, "step": 8104, "t": 40.52, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "moving", "to": "at_out"}, "cause": null} +{"env_id": 0, "seq": 28, "step": 8104, "t": 40.52, "topic": "a4s_sealer_1.drawer.reached", "source": "a4s_sealer_1.drawer", "data": {"position": "out", "q": 6.745812797248618e-09}, "cause": "program-0-4"} +{"env_id": 0, "seq": 29, "step": 8104, "t": 40.52, "topic": "a4s_sealer_1.drawer.at_out", "source": "a4s_sealer_1.drawer", "data": {"q": 6.745812797248618e-09}, "cause": "program-0-4"} +{"env_id": 0, "seq": 30, "step": 8104, "t": 40.52, "topic": "a4s_sealer_1.drawer.command.succeeded", "source": "a4s_sealer_1.drawer", "data": {"command_id": "program-0-4", "name": "open", "source": "program:seal", "result": {"position": "out"}}, "cause": "program-0-4"} +{"env_id": 0, "seq": 31, "step": 8104, "t": 40.52, "topic": "a4s_sealer_1.seal.finished", "source": "a4s_sealer_1", "data": {}, "cause": "task-0-1"} +{"env_id": 0, "seq": 32, "step": 8104, "t": 40.52, "topic": "a4s_sealer_1.command.succeeded", "source": "a4s_sealer_1", "data": {"command_id": "task-0-1", "name": "seal", "source": "task"}, "cause": "task-0-1"} +{"env_id": 0, "seq": 33, "step": 8687, "t": 43.435, "topic": "a4s_sealer_1.plate_present.absent", "source": "a4s_sealer_1.plate_present", "data": {"object": "plate_1"}, "cause": null} +{"env_id": 0, "seq": 34, "step": 10404, "t": 52.02, "topic": "conveyor_1.belt.command.started", "source": "conveyor_1.belt", "data": {"command_id": "task-0-5", "name": "release", "source": "task"}, "cause": "task-0-5"} +{"env_id": 0, "seq": 35, "step": 10404, "t": 52.02, "topic": "conveyor_1.belt.station.pick.released", "source": "conveyor_1.belt", "data": {"rider": "carrier_1"}, "cause": "task-0-5"} +{"env_id": 0, "seq": 36, "step": 10404, "t": 52.02, "topic": "conveyor_1.belt.state.changed", "source": "conveyor_1.belt", "data": {"from": "at_station", "to": "running"}, "cause": null} +{"env_id": 0, "seq": 37, "step": 10404, "t": 52.02, "topic": "conveyor_1.belt.command.succeeded", "source": "conveyor_1.belt", "data": {"command_id": "task-0-5", "name": "release", "source": "task", "result": {"state": "running"}}, "cause": "task-0-5"} diff --git a/episodes/c5_p007_e030/env.mp4 b/episodes/c5_p007_e030/env.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..0c28ae0afcafeb607a177a29666ea8b2a788f118 --- /dev/null +++ b/episodes/c5_p007_e030/env.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:e6144ccebe59d2ce68384ea12941df2ded43df977268dd31b5811fb9dee511bd +size 1352625 diff --git a/episodes/c5_p007_e030/meta.json b/episodes/c5_p007_e030/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..4f3b1ef8b23ed7d97f060fef40c4bd65594dde5f --- /dev/null +++ b/episodes/c5_p007_e030/meta.json @@ -0,0 +1,32 @@ +{ + "source": "raw/c5_p007/magicsim/30", + "fps": 25, + "frames": 1245, + "kept_ticks": "even", + "video_frames": { + "wrist": 1245, + "env": 1245 + }, + "joint_target_source": "joint_pos_target", + "fk_vs_recorded_eef_max_m": 0.0, + "curobo_joints": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "joint_order": [ + "shoulder_pan", + "shoulder_lift", + "elbow", + "wrist_1", + "wrist_2", + "wrist_3", + "finger_left", + "finger_right" + ], + "frames_note": "eef / actions in the robot base frame; camera_pose = local pose (wrist: in plate_gripper_base, env: env frame), pos + quat wxyz", + "dr_version": "v2" +} \ No newline at end of file diff --git a/episodes/c5_p007_e030/scene_snapshot.json b/episodes/c5_p007_e030/scene_snapshot.json new file mode 100644 index 0000000000000000000000000000000000000000..5db95bf131766ff5cf2efe8c9f257c37dfa5ed8b --- /dev/null +++ b/episodes/c5_p007_e030/scene_snapshot.json @@ -0,0 +1,1558 @@ +{ + "trajectory_id": 30, + "env_id": 0, + "run_id": "c5_p007", + "task_type": "BioPlateCell", + "success": true, + "timing": { + "fps": 50.0, + "sim_dt": 0.005, + "decimation": 4 + }, + "restore_interface": { + "scene": "scene_manager.reset_to(snapshot['scene'], env_ids=[env_id])", + "robots": "robot_manager.set_state({'robots': snapshot['robots']}, env_ids=[env_id])" + }, + "snapshot": { + "env_id": 0, + "scene": { + "objects": [ + { + "rac_cell": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/rac_cell.usd", + "pose": { + "pos": [ + 0.0, + 0.0, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "physics_material": { + "static_friction": 0.6, + "dynamic_friction": 0.5, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "robot_mount": [ + { + "asset": "Cube", + "pose": { + "pos": [ + 0.0, + 0.0, + 0.9075 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": "color", + "value": [ + 0.55, + 0.56, + 0.58 + ], + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": { + "size": [ + 0.2, + 0.2, + 0.015 + ] + } + }, + "type_specific": {} + } + ], + "plate_rack": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/plate_hotel.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 0.9 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "physics_material": { + "static_friction": 0.6, + "dynamic_friction": 0.5, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "hotel_plate": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_24_clear/plate_24_clear.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 0.9605 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_12_clear/plate_12_clear.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.0285 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_96_clear/plate_96_clear.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.0965 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_96_black/plate_96_black.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.1645 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/deep_well_96_2ml/deep_well_96_2ml.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.2325 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "a4s_sealer": [ + { + "asset": "$MAGICSIM_ASSETS/Articulated/A4SSealer/Object.usd", + "pose": { + "pos": [ + 0.5063915252685547, + 0.09279727935791016, + 0.8999999761581421 + ], + "ori": [ + -0.6866933703422546, + 0.0, + 0.0, + 0.7269471883773804 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "articulation", + "solver_position_iteration_count": 16.0, + "solver_velocity_iteration_count": 1.0, + "enabled_self_collisions": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "joint_position": [ + 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": 0.17333119524939414, + "direction": [ + 1.0, + 0.0, + 0.0 + ], + "enabled": true, + "drive": "surface_velocity", + "lines": null, + "station_line": null, + "riders": [ + "carrier" + ], + "stations": { + "pick": { + "position": -0.22511069730844002, + "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": 0.17333119524939414, + "holds": [], + "station": "pick", + "rider": "carrier_1", + "arrived": true, + "applied_speed": 0.0 + } + } + } + ], + "carrier": [ + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + -0.07516098022460938, + 0.44721508026123047, + 0.8999999761581421 + ], + "ori": [ + 0.9999518394470215, + -9.061853489811256e-09, + 2.6709356504284187e-08, + 0.009824169799685478 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -9.089573538290097e-09, + -1.0047399001678059e-07, + 5.960464477539063e-08 + ], + "angular_velocity": [ + 2.793629846564727e-06, + 5.033280103816651e-07, + 1.4765664673177525e-06 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + 1.6639461517333984, + 0.6518678665161133, + 0.8999999761581421 + ], + "ori": [ + 0.8430829048156738, + 1.1552847922757792e-07, + -9.871058637145325e-08, + 0.537783682346344 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -8.955479984251724e-07, + -9.450145057599002e-07, + -2.723187208175659e-06 + ], + "angular_velocity": [ + 8.640860323794186e-05, + -6.921790918568149e-05, + -2.6907116534857778e-06 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + 0.3546276092529297, + 1.1526784896850586, + 0.8999999761581421 + ], + "ori": [ + -0.010239610448479652, + 1.1961073909105835e-08, + -1.6136066705030316e-08, + 0.9999475479125977 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 2.713250069064088e-09, + 8.091671332977057e-08, + -2.9802322387695312e-08 + ], + "angular_velocity": [ + -2.603084794827737e-06, + -2.2632727336713288e-07, + 1.1800304946518736e-06 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + -1.3964147567749023, + 0.829167366027832, + 0.8999999761581421 + ], + "ori": [ + -0.6753138303756714, + 3.33754499592942e-08, + 1.8492777087431023e-08, + 0.7375305891036987 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -2.4400432785398607e-09, + 1.8520854849768398e-09, + 1.1175870895385742e-08 + ], + "angular_velocity": [ + -1.135195262236266e-07, + -2.4375621521244284e-08, + -3.284069549636115e-08 + ] + } + } + ], + "plate": [ + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_6_clear/Object.usd", + "pose": { + "pos": [ + -0.06890583038330078, + 0.44633007049560547, + 0.9180000424385071 + ], + "ori": [ + 0.9958862662315369, + -4.0243154586505625e-08, + 1.4130192482753046e-07, + 0.09061186015605927 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -1.682790298218606e-06, + -5.610051630355883e-06, + -1.6130506992340088e-06 + ], + "angular_velocity": [ + 2.7039470296585932e-05, + -2.6315356080885977e-06, + -4.7153353079920635e-06 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_96_black/Object.usd", + "pose": { + "pos": [ + 1.6613893508911133, + 0.6587533950805664, + 0.9179999828338623 + ], + "ori": [ + 0.85476154088974, + 1.2655964098939876e-07, + -8.842377496875997e-08, + 0.5190209746360779 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -1.7688798834569752e-06, + -1.954147137439577e-06, + -7.893890142440796e-06 + ], + "angular_velocity": [ + 8.481513941660523e-05, + -7.042264769552276e-05, + -2.300092774021323e-06 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/pcr_96_blue/Object.usd", + "pose": { + "pos": [ + 0.3503704071044922, + 1.1611909866333008, + 0.9179999828338623 + ], + "ori": [ + 0.058971107006073, + 4.325129410176487e-08, + -4.0993853644977207e-07, + 0.9982597827911377 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -1.6929388948483393e-06, + 1.9664566934807226e-06, + -4.425644874572754e-06 + ], + "angular_velocity": [ + -1.9663908460643142e-05, + 1.7601885701878928e-05, + -2.8351279979688115e-05 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/deep_well_96_2ml/Object.usd", + "pose": { + "pos": [ + -1.4071989059448242, + 0.838587760925293, + 0.9179999828338623 + ], + "ori": [ + -0.6911386251449585, + 3.5770167272630715e-08, + 1.5397063179989345e-08, + 0.7227221727371216 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 2.62835300191e-08, + 1.0343632084186538e-07, + -1.3224780559539795e-06 + ], + "angular_velocity": [ + -3.4302756830584258e-06, + 7.714468210906489e-07, + -9.809301815266736e-08 + ] + } + } + ], + "deco_hub_west": [ + { + "asset": "$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": 2.4799999999999693, + "step": 496, + "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": 0.17333119524939414, + "holds": [], + "station": "pick", + "rider": "carrier_1", + "arrived": true, + "settle_count": 257, + "released": { + "pick": [] + }, + "last_pos": { + "carrier_1": [ + -0.22516098618507385, + -0.002784907817840576, + 0.0 + ], + "carrier_2": [ + 1.513946145772934, + 0.20186787843704224, + 0.0 + ], + "carrier_3": [ + 0.2046276032924652, + 0.7026785016059875, + 0.0 + ], + "carrier_4": [ + -1.5464147627353668, + 0.379167377948761, + 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": [ + 0.7106583993601644, + -0.0038258910925922374, + 2.638528902915128 + ], + "ori": [ + 7.710069776784419, + -1.1198627491770488, + 28.651510707038682 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "color_temperature": 6922.688171745636, + "color": [ + 0.9134154090567427, + 0.94026272203204, + 0.8179351607610665 + ], + "intensity": 9369.249503143616, + "width": 2.2600972213444948, + "height": 1.086245335376219 + } + }, + "key": { + "type": "sphere", + "pose": { + "pos": [ + -0.18753823427641314, + 1.5793830295414664, + 1.662313702154049 + ], + "ori": [ + 23.407447081451018, + -11.305643575034267, + -20.954599009893286 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "color_temperature": 5480.046564518084, + "color": [ + 0.7896201019877662, + 0.9410594161359099, + 0.9805023577379735 + ], + "intensity": 8602.926446104293, + "radius": 0.08770680693635198 + } + } + }, + {}, + {}, + {} + ], + "background": { + "type": "dome", + "pose": { + "pos": null, + "ori": null, + "scale": null + }, + "dr": { + "intensity": 584.663197157256, + "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": [ + [ + 0.914101243019104, + -1.7193983793258667, + 2.0904996395111084, + -1.9419008493423462, + -1.5707999467849731, + 2.4849002361297607, + 0.017999999225139618, + 0.017999999225139618 + ], + [ + -0.2848113477230072, + -2.187682867050171, + 2.415473699569702, + -1.7985763549804688, + -1.5708467960357666, + 4.351216793060303, + 0.007261704653501511, + 0.00660380395129323 + ], + [ + 2.0740060806274414, + -2.2467377185821533, + 2.1112828254699707, + -1.434430718421936, + -1.5703710317611694, + 3.6411209106445312, + 0.00828309915959835, + 0.0066176047548651695 + ], + [ + 2.7886080741882324, + -1.5688822269439697, + 2.187866687774658, + -2.189661741256714, + -1.5718261003494263, + 4.357189655303955, + 0.007720216177403927, + 0.006933129392564297 + ] + ], + "joint_vel": [ + [ + 0.0, + -2.684260356194025e-38, + -1.5070208282642672e-38, + -2.3930482826877144e-37, + 2.382451551596613e-37, + 3.5875727150710415e-37, + -2.6608505443087073e-38, + -3.3225178952711424e-38 + ], + [ + 4.745527257909998e-05, + 4.088177956873551e-05, + -0.00014145547174848616, + -1.0314527571608778e-05, + 0.0008616919512860477, + -0.0022471488919109106, + -0.008771615102887154, + 0.00012774340575560927 + ], + [ + 0.05792943388223648, + -0.0452759750187397, + -0.005963181145489216, + 0.038514144718647, + -0.001107925665564835, + 0.06322973966598511, + -0.007834439165890217, + 0.0006366764428094029 + ], + [ + 0.00667038606479764, + 0.021232986822724342, + -0.021302316337823868, + -0.00013569586735684425, + -0.00019546413386706263, + 0.007368495222181082, + -0.009876016527414322, + 0.0003316605871077627 + ] + ] + } + }, + "cameras": { + "cameras": { + "camera0": [ + [ + 0.047634102404117584, + -0.002264185808598995, + -0.03137316554784775, + -0.2804928719997406, + 0.6523008346557617, + 0.6521687507629395, + -0.2655245065689087 + ], + [ + 0.047537028789520264, + 0.0029430417343974113, + -0.03249100223183632, + -0.27785757184028625, + 0.6505666375160217, + 0.6540903449058533, + -0.26781347393989563 + ], + [ + 0.04733771085739136, + -0.004300270229578018, + -0.030734241008758545, + -0.2811388373374939, + 0.6469066739082336, + 0.6483311057090759, + -0.28659990429878235 + ], + [ + 0.054727837443351746, + -0.0027471815701574087, + -0.03310225158929825, + -0.28646230697631836, + 0.6410841345787048, + 0.6552447080612183, + -0.27857649326324463 + ] + ], + "camera1": [ + [ + 0.03256094455718994, + 0.5655750036239624, + 1.9359592199325562, + 0.0395304374396801, + 0.024082740768790245, + 0.27845898270606995, + 0.9593320488929749 + ], + [ + 0.06907598674297333, + 0.5959287285804749, + 1.9377716779708862, + 0.047152649611234665, + -0.003496214048936963, + 0.2727587819099426, + 0.9609199166297913 + ], + [ + 0.07474350929260254, + 0.5651134848594666, + 1.9264891147613525, + 0.05872626230120659, + 0.01040409505367279, + 0.2655133306980133, + 0.9622607231140137 + ], + [ + 0.028717512264847755, + 0.593924880027771, + 1.9337873458862305, + 0.035464316606521606, + 0.010947983711957932, + 0.28311049938201904, + 0.9583688378334045 + ] + ] + } + } + } +} \ No newline at end of file diff --git a/episodes/c5_p007_e030/wrist.mp4 b/episodes/c5_p007_e030/wrist.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..aababb91ac245dac44c8d21323911ea52f7bf637 --- /dev/null +++ b/episodes/c5_p007_e030/wrist.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:d58caa4ff3faf4839370c686d59ab811a189618991fb86b6b1dca7e54e00bdc3 +size 7062204 diff --git a/episodes/c6_p008_e020/data.npz b/episodes/c6_p008_e020/data.npz new file mode 100644 index 0000000000000000000000000000000000000000..5b8465625210cc0ce533060c65a34a22b4f1ebd8 --- /dev/null +++ b/episodes/c6_p008_e020/data.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:bd7a50caaee2ac2d0d82ed04c28fc82c59c2ee99cebe710f10d2e5f34cd73973 +size 189353 diff --git a/episodes/c6_p008_e020/device_events.jsonl b/episodes/c6_p008_e020/device_events.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..5b174d1e7024b4f2aa946be30adc0af68a2c14d2 --- /dev/null +++ b/episodes/c6_p008_e020/device_events.jsonl @@ -0,0 +1,35 @@ +{"env_id": 0, "seq": 1, "step": 215, "t": 1.075, "topic": "conveyor_1.belt.station.pick.captured", "source": "conveyor_1.belt", "data": {"rider": "carrier_1"}, "cause": null} +{"env_id": 0, "seq": 2, "step": 215, "t": 1.075, "topic": "conveyor_1.belt.state.changed", "source": "conveyor_1.belt", "data": {"from": "running", "to": "at_station"}, "cause": null} +{"env_id": 0, "seq": 3, "step": 220, "t": 1.1, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_1"}, "cause": null} +{"env_id": 0, "seq": 4, "step": 5915, "t": 29.575, "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": 6528, "t": 32.64, "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": 6528, "t": 32.64, "topic": "a4s_sealer_1.seal.started", "source": "a4s_sealer_1", "data": {"dwell": 2.503733676991781}, "cause": "task-0-1"} +{"env_id": 0, "seq": 7, "step": 6528, "t": 32.64, "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": 6528, "t": 32.64, "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": 6528, "t": 32.64, "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": 6947, "t": 34.735, "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": 6947, "t": 34.735, "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": 6947, "t": 34.735, "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": 6947, "t": 34.735, "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": 6947, "t": 34.735, "topic": "labware.plate_1.changed", "source": "labware.plate_1", "data": {"key": "sealed", "value": true}, "cause": "task-0-1"} +{"env_id": 0, "seq": 15, "step": 6947, "t": 34.735, "topic": "a4s_sealer_1.sealed", "source": "a4s_sealer_1", "data": {"plate": "plate_1"}, "cause": "task-0-1"} +{"env_id": 0, "seq": 16, "step": 6947, "t": 34.735, "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": 6947, "t": 34.735, "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": 6947, "t": 34.735, "topic": "a4s_sealer_1.heater.started", "source": "a4s_sealer_1.heater", "data": {"duration": 2.503733676991781}, "cause": "program-0-3"} +{"env_id": 0, "seq": 19, "step": 7448, "t": 37.24, "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": 7448, "t": 37.24, "topic": "a4s_sealer_1.heater.finished", "source": "a4s_sealer_1.heater", "data": {"elapsed": 2.5050000000012815}, "cause": "program-0-3"} +{"env_id": 0, "seq": 21, "step": 7448, "t": 37.24, "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": 2.5050000000012815}}, "cause": "program-0-3"} +{"env_id": 0, "seq": 22, "step": 7448, "t": 37.24, "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": 7448, "t": 37.24, "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": 7448, "t": 37.24, "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": 7868, "t": 39.34, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "moving", "to": "at_out"}, "cause": null} +{"env_id": 0, "seq": 26, "step": 7868, "t": 39.34, "topic": "a4s_sealer_1.drawer.reached", "source": "a4s_sealer_1.drawer", "data": {"position": "out", "q": 3.910695378639417e-10}, "cause": "program-0-4"} +{"env_id": 0, "seq": 27, "step": 7868, "t": 39.34, "topic": "a4s_sealer_1.drawer.at_out", "source": "a4s_sealer_1.drawer", "data": {"q": 3.910695378639417e-10}, "cause": "program-0-4"} +{"env_id": 0, "seq": 28, "step": 7868, "t": 39.34, "topic": "a4s_sealer_1.drawer.command.succeeded", "source": "a4s_sealer_1.drawer", "data": {"command_id": "program-0-4", "name": "open", "source": "program:seal", "result": {"position": "out"}}, "cause": "program-0-4"} +{"env_id": 0, "seq": 29, "step": 7868, "t": 39.34, "topic": "a4s_sealer_1.seal.finished", "source": "a4s_sealer_1", "data": {}, "cause": "task-0-1"} +{"env_id": 0, "seq": 30, "step": 7868, "t": 39.34, "topic": "a4s_sealer_1.command.succeeded", "source": "a4s_sealer_1", "data": {"command_id": "task-0-1", "name": "seal", "source": "task"}, "cause": "task-0-1"} +{"env_id": 0, "seq": 31, "step": 8447, "t": 42.235, "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": 10120, "t": 50.6, "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": 10120, "t": 50.6, "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": 10120, "t": 50.6, "topic": "conveyor_1.belt.state.changed", "source": "conveyor_1.belt", "data": {"from": "at_station", "to": "running"}, "cause": null} +{"env_id": 0, "seq": 35, "step": 10120, "t": 50.6, "topic": "conveyor_1.belt.command.succeeded", "source": "conveyor_1.belt", "data": {"command_id": "task-0-5", "name": "release", "source": "task", "result": {"state": "running"}}, "cause": "task-0-5"} diff --git a/episodes/c6_p008_e020/env.mp4 b/episodes/c6_p008_e020/env.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..c7c6cc93f84b778036a602ecf020eae3f51bfebf --- /dev/null +++ b/episodes/c6_p008_e020/env.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:7c82b9270a81e39daa75c8352691b2dc33df36fe51fab713bb0e7b685861436f +size 1200470 diff --git a/episodes/c6_p008_e020/meta.json b/episodes/c6_p008_e020/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..ace46df9bb872364c9a0cc521e61699b35e14fc4 --- /dev/null +++ b/episodes/c6_p008_e020/meta.json @@ -0,0 +1,32 @@ +{ + "source": "raw/c6_p008/magicsim/20", + "fps": 25, + "frames": 1207, + "kept_ticks": "even", + "video_frames": { + "wrist": 1207, + "env": 1207 + }, + "joint_target_source": "joint_pos_target", + "fk_vs_recorded_eef_max_m": 0.0, + "curobo_joints": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "joint_order": [ + "shoulder_pan", + "shoulder_lift", + "elbow", + "wrist_1", + "wrist_2", + "wrist_3", + "finger_left", + "finger_right" + ], + "frames_note": "eef / actions in the robot base frame; camera_pose = local pose (wrist: in plate_gripper_base, env: env frame), pos + quat wxyz", + "dr_version": "v2" +} \ No newline at end of file diff --git a/episodes/c6_p008_e020/scene_snapshot.json b/episodes/c6_p008_e020/scene_snapshot.json new file mode 100644 index 0000000000000000000000000000000000000000..ccd175d6ed5fc1542fbedc0ff239aab9219cefa8 --- /dev/null +++ b/episodes/c6_p008_e020/scene_snapshot.json @@ -0,0 +1,1558 @@ +{ + "trajectory_id": 20, + "env_id": 0, + "run_id": "c6_p008", + "task_type": "BioPlateCell", + "success": true, + "timing": { + "fps": 50.0, + "sim_dt": 0.005, + "decimation": 4 + }, + "restore_interface": { + "scene": "scene_manager.reset_to(snapshot['scene'], env_ids=[env_id])", + "robots": "robot_manager.set_state({'robots': snapshot['robots']}, env_ids=[env_id])" + }, + "snapshot": { + "env_id": 0, + "scene": { + "objects": [ + { + "rac_cell": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/rac_cell.usd", + "pose": { + "pos": [ + 0.0, + 0.0, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "physics_material": { + "static_friction": 0.6, + "dynamic_friction": 0.5, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "robot_mount": [ + { + "asset": "Cube", + "pose": { + "pos": [ + 0.0, + 0.0, + 0.9075 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": "color", + "value": [ + 0.55, + 0.56, + 0.58 + ], + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": { + "size": [ + 0.2, + 0.2, + 0.015 + ] + } + }, + "type_specific": {} + } + ], + "plate_rack": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/plate_hotel.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 0.9 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "physics_material": { + "static_friction": 0.6, + "dynamic_friction": 0.5, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "hotel_plate": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_6_clear/plate_6_clear.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 0.9605 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_6_clear/plate_6_clear.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.0285 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/pcr_96_blue/pcr_96_blue.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.0965 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/deep_well_96_2ml/deep_well_96_2ml.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.1645 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/deep_well_24_10ml/deep_well_24_10ml.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.2325 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "a4s_sealer": [ + { + "asset": "$MAGICSIM_ASSETS/Articulated/A4SSealer/Object.usd", + "pose": { + "pos": [ + 0.5113554000854492, + 0.10975074768066406, + 0.8999999761581421 + ], + "ori": [ + -0.6963415741920471, + 0.0, + 0.0, + 0.717710554599762 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "articulation", + "solver_position_iteration_count": 16.0, + "solver_velocity_iteration_count": 1.0, + "enabled_self_collisions": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "joint_position": [ + 3.0277490584151856e-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": 0.19170184700451526, + "direction": [ + 1.0, + 0.0, + 0.0 + ], + "enabled": true, + "drive": "surface_velocity", + "lines": null, + "station_line": null, + "riders": [ + "carrier" + ], + "stations": { + "pick": { + "position": -0.011982176072795003, + "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": 0.19170184700451526, + "holds": [], + "station": "pick", + "rider": "carrier_1", + "arrived": true, + "applied_speed": 0.0 + } + } + } + ], + "carrier": [ + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + 0.13780975341796875, + 0.44731807708740234, + 0.8999999761581421 + ], + "ori": [ + 0.999950110912323, + 4.3071763933255625e-09, + 1.0322210863833448e-09, + 0.009995143860578537 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -8.301899168117188e-10, + 3.5465328451778078e-09, + 7.450580596923828e-09 + ], + "angular_velocity": [ + -1.3641344764891983e-07, + -6.829972676314355e-08, + 2.8151593056691127e-08 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + 0.584650993347168, + 1.1526708602905273, + 0.8999999761581421 + ], + "ori": [ + -0.010988251306116581, + -1.613233296948735e-10, + -1.4134508008467606e-09, + 0.9999396204948425 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -7.438201166110048e-10, + -9.957109581293366e-10, + 7.450580596923828e-09 + ], + "angular_velocity": [ + 6.918269690459056e-08, + -7.213950681261849e-08, + -7.524525003077542e-09 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + 1.6563100814819336, + 0.9642333984375, + 0.8999999761581421 + ], + "ori": [ + 0.5190726518630981, + 4.447969104148797e-08, + -2.2564014656722975e-08, + 0.8547301888465881 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -1.5097683103704185e-09, + 1.5844541234599774e-09, + 1.4901161193847656e-08 + ], + "angular_velocity": [ + -1.2668085958011943e-07, + -1.656363508573122e-07, + 7.877999586014539e-09 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + -1.3972911834716797, + 0.8121280670166016, + 0.8999999761581421 + ], + "ori": [ + -0.6925503611564636, + -7.359216169788851e-08, + -5.393500757122638e-08, + 0.7213695645332336 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -5.763534094427314e-09, + 5.267787983598282e-09, + 2.9802322387695312e-08 + ], + "angular_velocity": [ + -5.248307957117504e-07, + -2.696501155696751e-08, + -8.801044515394096e-08 + ] + } + } + ], + "plate": [ + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_6_clear/Object.usd", + "pose": { + "pos": [ + 0.12456130981445312, + 0.4497413635253906, + 0.9179999828338623 + ], + "ori": [ + 0.9997121095657349, + 2.5852269214254875e-09, + 1.6523773460619395e-09, + -0.023993734270334244 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -3.8657297807276336e-08, + -1.9321038102759758e-09, + 1.2665987014770508e-07 + ], + "angular_velocity": [ + 4.075540687153989e-07, + -2.117203621310182e-06, + 2.2119412790289061e-07 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_96_black/Object.usd", + "pose": { + "pos": [ + 0.5779247283935547, + 1.1484994888305664, + 0.9180000424385071 + ], + "ori": [ + -0.08157294988632202, + 5.918471268628878e-10, + -8.314222643690528e-10, + 0.9966673851013184 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 3.2529572369099924e-09, + -1.9951289509378967e-09, + -5.304813385009766e-06 + ], + "angular_velocity": [ + -7.953385647851974e-07, + 1.250731770596758e-06, + -5.2286615925822844e-08 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/pcr_96_blue/Object.usd", + "pose": { + "pos": [ + 1.6488752365112305, + 0.9706544876098633, + 0.9180000424385071 + ], + "ori": [ + 0.5896434783935547, + 4.730486224957531e-08, + -1.7653324135835646e-08, + 0.8076637387275696 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -1.5882369197584012e-08, + 2.4650145036275717e-08, + -5.714595317840576e-06 + ], + "angular_velocity": [ + 2.275384076710907e-06, + 1.7151568272311124e-06, + 1.261731483737094e-07 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/deep_well_96_2ml/Object.usd", + "pose": { + "pos": [ + -1.4025993347167969, + 0.8003349304199219, + 0.9179999828338623 + ], + "ori": [ + -0.6226334571838379, + -6.775328387220725e-08, + -6.106547090212189e-08, + 0.7825136184692383 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 4.569120193309573e-09, + 2.0675132361702708e-07, + -1.7657876014709473e-06 + ], + "angular_velocity": [ + -6.29902115178993e-06, + 5.114565624353418e-07, + -3.198309173058078e-07 + ] + } + } + ], + "deco_hub_west": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/hub_d.usd", + "pose": { + "pos": [ + -3.36, + 0.0, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_hub_east": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/hub_e.usd", + "pose": { + "pos": [ + 3.36, + 0.0, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_hub_back": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/hub_b.usd", + "pose": { + "pos": [ + -3.0, + -2.1, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_bench_east": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/bench_a.usd", + "pose": { + "pos": [ + 2.6, + -2.5, + 0.0 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_bench_gap": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/bench_b.usd", + "pose": { + "pos": [ + -0.1, + -2.9, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ] + }, + {}, + {}, + {} + ], + "devices": { + "hub": [ + { + "t": 2.5599999999999676, + "step": 512, + "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": 3.0277490584151856e-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": 0.19170184700451526, + "holds": [], + "station": "pick", + "rider": "carrier_1", + "arrived": true, + "settle_count": 296, + "released": { + "pick": [] + }, + "last_pos": { + "carrier_1": [ + -0.012190252542495728, + -0.002681910991668701, + 0.0 + ], + "carrier_2": [ + 0.4346509873867035, + 0.7026708722114563, + 0.0 + ], + "carrier_3": [ + 1.5063100755214691, + 0.514233410358429, + 0.0 + ], + "carrier_4": [ + -1.5472911894321442, + 0.3621280789375305, + 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": [ + 0.003614080190318947, + -0.3376483623607254, + 3.0208088525092145 + ], + "ori": [ + -11.54373516903777, + 8.800469771985647, + 10.998486156844415 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "color_temperature": 5805.557587917865, + "color": [ + 0.9934954968024591, + 0.8088133293379353, + 0.8335110234340959 + ], + "intensity": 12066.890148810919, + "width": 2.391219745416615, + "height": 1.2686152890966658 + } + }, + "key": { + "type": "disk", + "pose": { + "pos": [ + -0.9694950480426027, + 0.07398658825097448, + 2.5466551565130424 + ], + "ori": [ + -25.924572832322347, + 21.13384998764051, + -31.528890136926464 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "color_temperature": 4121.535299051485, + "color": [ + 0.7533406485799516, + 0.9222625038405177, + 0.9812057423451005 + ], + "intensity": 2142.5459429111097, + "radius": 0.3585033893624102 + } + } + }, + {}, + {}, + {} + ], + "background": { + "type": "dome", + "pose": { + "pos": null, + "ori": null, + "scale": null + }, + "dr": { + "intensity": 1398.1819332899202, + "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": [ + [ + 0.9141027927398682, + -1.7193987369537354, + 2.0904996395111084, + -1.9419004917144775, + -1.5707999467849731, + 2.484900951385498, + 0.017999999225139618, + 0.017999999225139618 + ], + [ + 1.2602547407150269, + -1.3138341903686523, + 2.2856285572052, + -2.5435876846313477, + -1.5703574419021606, + 2.833580493927002, + 0.017999986186623573, + 0.017999986186623573 + ], + [ + 0.9141008257865906, + -1.719398021697998, + 2.0904994010925293, + -1.941900610923767, + -1.5707999467849731, + 2.4849002361297607, + 0.017999999225139618, + 0.017999999225139618 + ], + [ + 0.9140999913215637, + -1.7194000482559204, + 2.0905001163482666, + -1.9419000148773193, + -1.5707999467849731, + 2.4848999977111816, + 0.017999999225139618, + 0.017999999225139618 + ] + ], + "joint_vel": [ + [ + 0.0, + -1.9991190138766062e-38, + -2.0934591909097316e-38, + -6.225333672219499e-37, + 4.916734800737714e-37, + 2.6003368714253044e-37, + 0.0, + -1.6215534359086204e-38 + ], + [ + 1.0217898307018913e-05, + 1.0217792805633508e-05, + 6.81191386320279e-06, + -8.865312997596853e-12, + 6.811956609453773e-06, + -1.3623913218907546e-05, + 1.8192588413512567e-07, + 1.819275894376915e-07 + ], + [ + 2.8790904487008115e-38, + 0.0, + -1.223222015997805e-38, + -6.656601323339682e-37, + 3.3489185825467762e-37, + 2.179928722884253e-37, + -2.494617310082783e-38, + -4.4586817218355324e-38 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + ] + } + }, + "cameras": { + "cameras": { + "camera0": [ + [ + 0.05338677018880844, + -0.0025514985900372267, + -0.03133212774991989, + -0.273306667804718, + 0.6574419736862183, + 0.6464105844497681, + -0.27427515387535095 + ], + [ + 0.0493488647043705, + -0.001533111440949142, + -0.031406570225954056, + -0.27608636021614075, + 0.6541253924369812, + 0.6519001722335815, + -0.2663125991821289 + ], + [ + 0.04744035750627518, + -0.0028391778469085693, + -0.032133713364601135, + -0.28654247522354126, + 0.6417112350463867, + 0.6593564748764038, + -0.2671125829219818 + ], + [ + 0.04650134965777397, + -0.0005769276176579297, + -0.028139745816588402, + -0.2647928297519684, + 0.6594161987304688, + 0.6462323069572449, + -0.27827826142311096 + ] + ], + "camera1": [ + [ + 0.039943285286426544, + 0.5677391886711121, + 1.9530102014541626, + 0.027590220794081688, + 0.015331855975091457, + 0.28410032391548157, + 0.9582748413085938 + ], + [ + 0.05005683749914169, + 0.6013895869255066, + 1.9624782800674438, + 0.049851566553115845, + 0.02450409345328808, + 0.2668415606021881, + 0.9621382355690002 + ], + [ + 0.05221911147236824, + 0.5934981107711792, + 1.9536659717559814, + 0.03659550100564957, + 0.0243309885263443, + 0.26202845573425293, + 0.964059054851532 + ], + [ + 0.04595796763896942, + 0.592399537563324, + 1.9378498792648315, + 0.04896729066967964, + 0.0008858486544340849, + 0.2762105166912079, + 0.9598485231399536 + ] + ] + } + } + } +} \ No newline at end of file diff --git a/episodes/c6_p008_e020/wrist.mp4 b/episodes/c6_p008_e020/wrist.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..03330ca73627c6cf9f1ffdf3105221cf34d2892a --- /dev/null +++ b/episodes/c6_p008_e020/wrist.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:2f5f3b9888f6d8d1b5994c4c8300b39b142ecabdb8be5587c4b0987547f31c57 +size 6683082 diff --git a/episodes/c6_p008_e021/data.npz b/episodes/c6_p008_e021/data.npz new file mode 100644 index 0000000000000000000000000000000000000000..5fca36c2ed9cf3668d95a80144ed3880b3f4c446 --- /dev/null +++ b/episodes/c6_p008_e021/data.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:8f46b83a6903e999e7dd3678b95aad07c49f9d3057a601b182d4775edb344ed7 +size 202645 diff --git a/episodes/c6_p008_e021/device_events.jsonl b/episodes/c6_p008_e021/device_events.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..dd32e8005678b0ee08ec820e63a6bd964c4ff938 --- /dev/null +++ b/episodes/c6_p008_e021/device_events.jsonl @@ -0,0 +1,35 @@ +{"env_id": 2, "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": 2, "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": 2, "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": 2, "seq": 4, "step": 5571, "t": 27.855, "topic": "a4s_sealer_1.plate_present.present", "source": "a4s_sealer_1.plate_present", "data": {"object": "plate_4"}, "cause": null} +{"env_id": 2, "seq": 5, "step": 6184, "t": 30.92, "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": 6184, "t": 30.92, "topic": "a4s_sealer_1.seal.started", "source": "a4s_sealer_1", "data": {"dwell": 4.9632745372099745}, "cause": "task-2-1"} +{"env_id": 2, "seq": 7, "step": 6184, "t": 30.92, "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": 6184, "t": 30.92, "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": 6184, "t": 30.92, "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": 6603, "t": 33.015, "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": 6603, "t": 33.015, "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": 6603, "t": 33.015, "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": 6603, "t": 33.015, "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": 6603, "t": 33.015, "topic": "labware.plate_4.changed", "source": "labware.plate_4", "data": {"key": "sealed", "value": true}, "cause": "task-2-1"} +{"env_id": 2, "seq": 15, "step": 6603, "t": 33.015, "topic": "a4s_sealer_1.sealed", "source": "a4s_sealer_1", "data": {"plate": "plate_4"}, "cause": "task-2-1"} +{"env_id": 2, "seq": 16, "step": 6603, "t": 33.015, "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": 6603, "t": 33.015, "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": 6603, "t": 33.015, "topic": "a4s_sealer_1.heater.started", "source": "a4s_sealer_1.heater", "data": {"duration": 4.9632745372099745}, "cause": "program-2-3"} +{"env_id": 2, "seq": 19, "step": 7596, "t": 37.98, "topic": "a4s_sealer_1.heater.state.changed", "source": "a4s_sealer_1.heater", "data": {"from": "running", "to": "ready"}, "cause": null} +{"env_id": 2, "seq": 20, "step": 7596, "t": 37.98, "topic": "a4s_sealer_1.heater.finished", "source": "a4s_sealer_1.heater", "data": {"elapsed": 4.96500000000254}, "cause": "program-2-3"} +{"env_id": 2, "seq": 21, "step": 7596, "t": 37.98, "topic": "a4s_sealer_1.heater.command.succeeded", "source": "a4s_sealer_1.heater", "data": {"command_id": "program-2-3", "name": "run", "source": "program:seal", "result": {"elapsed": 4.96500000000254}}, "cause": "program-2-3"} +{"env_id": 2, "seq": 22, "step": 7596, "t": 37.98, "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": 7596, "t": 37.98, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "at_in", "to": "moving"}, "cause": null} +{"env_id": 2, "seq": 24, "step": 7596, "t": 37.98, "topic": "a4s_sealer_1.drawer.moving", "source": "a4s_sealer_1.drawer", "data": {"target": 0.0, "goal": "out"}, "cause": "program-2-4"} +{"env_id": 2, "seq": 25, "step": 8016, "t": 40.08, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "moving", "to": "at_out"}, "cause": null} +{"env_id": 2, "seq": 26, "step": 8016, "t": 40.08, "topic": "a4s_sealer_1.drawer.reached", "source": "a4s_sealer_1.drawer", "data": {"position": "out", "q": 6.146883890778554e-09}, "cause": "program-2-4"} +{"env_id": 2, "seq": 27, "step": 8016, "t": 40.08, "topic": "a4s_sealer_1.drawer.at_out", "source": "a4s_sealer_1.drawer", "data": {"q": 6.146883890778554e-09}, "cause": "program-2-4"} +{"env_id": 2, "seq": 28, "step": 8016, "t": 40.08, "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": 8016, "t": 40.08, "topic": "a4s_sealer_1.seal.finished", "source": "a4s_sealer_1", "data": {}, "cause": "task-2-1"} +{"env_id": 2, "seq": 30, "step": 8016, "t": 40.08, "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": 8594, "t": 42.97, "topic": "a4s_sealer_1.plate_present.absent", "source": "a4s_sealer_1.plate_present", "data": {"object": "plate_4"}, "cause": null} +{"env_id": 2, "seq": 32, "step": 10796, "t": 53.98, "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": 10796, "t": 53.98, "topic": "conveyor_1.belt.station.pick.released", "source": "conveyor_1.belt", "data": {"rider": "carrier_4"}, "cause": "task-2-5"} +{"env_id": 2, "seq": 34, "step": 10796, "t": 53.98, "topic": "conveyor_1.belt.state.changed", "source": "conveyor_1.belt", "data": {"from": "at_station", "to": "running"}, "cause": null} +{"env_id": 2, "seq": 35, "step": 10796, "t": 53.98, "topic": "conveyor_1.belt.command.succeeded", "source": "conveyor_1.belt", "data": {"command_id": "task-2-5", "name": "release", "source": "task", "result": {"state": "running"}}, "cause": "task-2-5"} diff --git a/episodes/c6_p008_e021/env.mp4 b/episodes/c6_p008_e021/env.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..df56046e628689335d5e6fd86173747f029dfd2a --- /dev/null +++ b/episodes/c6_p008_e021/env.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:b42f8929a212329d217fa9bda910b67b6697eb562b54e54bf2009a6598bb11f3 +size 1264996 diff --git a/episodes/c6_p008_e021/meta.json b/episodes/c6_p008_e021/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..26349ac9df4842f1ce0dc411beb14fea110a6f4d --- /dev/null +++ b/episodes/c6_p008_e021/meta.json @@ -0,0 +1,32 @@ +{ + "source": "raw/c6_p008/magicsim/21", + "fps": 25, + "frames": 1302, + "kept_ticks": "even", + "video_frames": { + "wrist": 1302, + "env": 1302 + }, + "joint_target_source": "joint_pos_target", + "fk_vs_recorded_eef_max_m": 0.0, + "curobo_joints": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "joint_order": [ + "shoulder_pan", + "shoulder_lift", + "elbow", + "wrist_1", + "wrist_2", + "wrist_3", + "finger_left", + "finger_right" + ], + "frames_note": "eef / actions in the robot base frame; camera_pose = local pose (wrist: in plate_gripper_base, env: env frame), pos + quat wxyz", + "dr_version": "v2" +} \ No newline at end of file diff --git a/episodes/c6_p008_e021/scene_snapshot.json b/episodes/c6_p008_e021/scene_snapshot.json new file mode 100644 index 0000000000000000000000000000000000000000..b3b0acfcdf7a2097a54ff476ab947689b255b547 --- /dev/null +++ b/episodes/c6_p008_e021/scene_snapshot.json @@ -0,0 +1,1558 @@ +{ + "trajectory_id": 21, + "env_id": 2, + "run_id": "c6_p008", + "task_type": "BioPlateCell", + "success": true, + "timing": { + "fps": 50.0, + "sim_dt": 0.005, + "decimation": 4 + }, + "restore_interface": { + "scene": "scene_manager.reset_to(snapshot['scene'], env_ids=[env_id])", + "robots": "robot_manager.set_state({'robots': snapshot['robots']}, env_ids=[env_id])" + }, + "snapshot": { + "env_id": 2, + "scene": { + "objects": [ + {}, + {}, + { + "rac_cell": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/rac_cell.usd", + "pose": { + "pos": [ + 0.0, + 0.0, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "physics_material": { + "static_friction": 0.6, + "dynamic_friction": 0.5, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "robot_mount": [ + { + "asset": "Cube", + "pose": { + "pos": [ + 0.0, + 0.0, + 0.9075 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": "color", + "value": [ + 0.55, + 0.56, + 0.58 + ], + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": { + "size": [ + 0.2, + 0.2, + 0.015 + ] + } + }, + "type_specific": {} + } + ], + "plate_rack": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/plate_hotel.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 0.9 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "physics_material": { + "static_friction": 0.6, + "dynamic_friction": 0.5, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "hotel_plate": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/deep_well_96_2ml/deep_well_96_2ml.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 0.9605 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_384_white/plate_384_white.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.0285 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/deep_well_96_2ml/deep_well_96_2ml.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.0965 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_48_clear/plate_48_clear.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.1645 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_384_white/plate_384_white.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.2325 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "a4s_sealer": [ + { + "asset": "$MAGICSIM_ASSETS/Articulated/A4SSealer/Object.usd", + "pose": { + "pos": [ + 0.4826030731201172, + 0.10466194152832031, + 0.8999999761581421 + ], + "ori": [ + -0.7049852609634399, + 0.0, + 0.0, + 0.7092219591140747 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "articulation", + "solver_position_iteration_count": 16.0, + "solver_velocity_iteration_count": 1.0, + "enabled_self_collisions": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "joint_position": [ + 1.3456657663168947e-12 + ], + "joint_velocity": [ + 0.0 + ], + "linear_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "angular_velocity": [ + 0.0, + 0.0, + 0.0 + ] + } + } + ], + "conveyor": [ + { + "asset": "Cube", + "pose": { + "pos": [ + 0.15, + 0.45, + 0.9 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "conveyor", + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9 + }, + "ratio": 1.0 + }, + "primitive_params": { + "size": [ + 2.4, + 0.076, + 0.03 + ] + }, + "conveyor": { + "speed": 0.19838863744086285, + "direction": [ + 1.0, + 0.0, + 0.0 + ], + "enabled": true, + "drive": "surface_velocity", + "lines": null, + "station_line": null, + "riders": [ + "carrier" + ], + "stations": { + "pick": { + "position": -0.2891673439807259, + "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": 0.19838863744086285, + "holds": [], + "station": "pick", + "rider": "carrier_4", + "arrived": true, + "applied_speed": 0.0 + } + } + } + ], + "carrier": [ + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + -1.3283987045288086, + 1.0070991516113281, + 0.8999999761581421 + ], + "ori": [ + -0.44346264004707336, + -6.274299835240527e-08, + -5.372720579543966e-08, + 0.8962928056716919 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 2.38169750588213e-09, + 2.0107613352138287e-09, + 7.450580596923828e-09 + ], + "angular_velocity": [ + 2.3733787202218082e-07, + 3.588371555451886e-07, + -5.965009108876984e-08 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + 1.579056739807129, + 0.5395488739013672, + 0.8999999761581421 + ], + "ori": [ + 0.9375786185264587, + -7.167432869437107e-09, + -2.992379677380086e-08, + 0.34777364134788513 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 1.3186083336336196e-09, + -1.8781722843641546e-09, + 0.0 + ], + "angular_velocity": [ + 7.704500859517793e-08, + 3.927096869915658e-08, + 1.9823405139618444e-08 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + 0.4201059341430664, + 1.1499900817871094, + 0.8999999761581421 + ], + "ori": [ + 9.585657244315371e-05, + -3.555718913750283e-11, + 2.1606716416044947e-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": [ + 7.880289754069736e-10, + 1.6802781388491894e-09, + 7.450580596923828e-09 + ], + "angular_velocity": [ + -8.476263957390984e-08, + 5.5485894989715234e-08, + -1.652722758649361e-08 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + -0.13921070098876953, + 0.450042724609375, + 0.8999999761581421 + ], + "ori": [ + 1.0, + 1.300525465097735e-09, + 4.9095474352611745e-09, + -0.0003174893499817699 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 9.039724524484427e-10, + 1.0425651453260798e-09, + 3.725290298461914e-09 + ], + "angular_velocity": [ + -1.478895939044378e-07, + 4.9148756176009556e-08, + -1.3465628612152614e-08 + ] + } + } + ], + "plate": [ + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_24_clear/Object.usd", + "pose": { + "pos": [ + -1.3378400802612305, + 0.9969758987426758, + 0.9179999828338623 + ], + "ori": [ + -0.3614124059677124, + -1.1183678338966274e-07, + 4.070693648827728e-08, + 0.9324060678482056 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 2.101101472362643e-06, + -4.999849352316232e-07, + -3.725290298461914e-06 + ], + "angular_velocity": [ + 7.843573985155672e-05, + 0.00012034528481308371, + 8.120732672978193e-06 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_384_black/Object.usd", + "pose": { + "pos": [ + 1.5714778900146484, + 0.5298137664794922, + 0.9180000424385071 + ], + "ori": [ + 0.9050684571266174, + -1.0117987336855094e-08, + -2.8346271108148358e-08, + 0.4252657890319824 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -8.148299812660298e-09, + -3.415782501292597e-08, + -4.872679710388184e-06 + ], + "angular_velocity": [ + 1.9129788597638253e-06, + -1.3668397969013313e-07, + 2.100057656662102e-07 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_1536_black/Object.usd", + "pose": { + "pos": [ + 0.4135456085205078, + 1.1452569961547852, + 0.9180000424385071 + ], + "ori": [ + -0.09216693788766861, + 2.981672408974845e-10, + 3.13781611804842e-10, + 0.9957435727119446 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 3.6507874057178924e-08, + 3.357027367201226e-08, + -5.457550287246704e-06 + ], + "angular_velocity": [ + -1.6929142248045537e-06, + 2.135392151103588e-06, + 1.0065549105320315e-07 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/deep_well_24_10ml/Object.usd", + "pose": { + "pos": [ + -0.1291675567626953, + 0.45477962493896484, + 0.9179999828338623 + ], + "ori": [ + 0.9969766139984131, + 2.1741566325061967e-09, + 4.160234379213534e-09, + -0.07770263403654099 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -7.376615229759409e-08, + -3.1349220108722875e-08, + -1.385807991027832e-06 + ], + "angular_velocity": [ + 1.2617826996574877e-06, + -3.3460814847785514e-06, + 1.1924115028705273e-08 + ] + } + } + ], + "deco_hub_west": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/hub_c.usd", + "pose": { + "pos": [ + -3.36, + 0.0, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_hub_east": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/hub_a.usd", + "pose": { + "pos": [ + 3.36, + 0.0, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_hub_back": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/hub_e.usd", + "pose": { + "pos": [ + -3.0, + -2.1, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_bench_east": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/bench_a.usd", + "pose": { + "pos": [ + 2.6, + -2.5, + 0.0 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_bench_gap": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/bench_b.usd", + "pose": { + "pos": [ + -0.1, + -2.9, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ] + }, + {} + ], + "devices": { + "hub": [ + null, + null, + { + "t": 2.1399999999999766, + "step": 428, + "counter": 0, + "devices": { + "a4s_sealer_1": { + "mode": "auto", + "units": { + "drawer": { + "state": "at_out", + "active": null, + "target": 0.0, + "goal_name": "out", + "profile": null, + "q_start": null, + "reversing": false, + "blocked_for": 0.0, + "settled_for": 0.0, + "last_q": 1.3456657663168947e-12 + }, + "heater": { + "state": "ready", + "active": null, + "duration": 0.0, + "t_start": null, + "elapsed": 0.0 + } + }, + "queues": {}, + "program": null, + "sensors": { + "plate_present": { + "occupants": [], + "pending": {} + } + }, + "interlocks": {} + }, + "conveyor_1": { + "mode": "auto", + "units": { + "belt": { + "state": "at_station", + "active": null, + "controller": { + "speed": 0.19838863744086285, + "holds": [], + "station": "pick", + "rider": "carrier_4", + "arrived": true, + "settle_count": 302, + "released": { + "pick": [] + }, + "last_pos": { + "carrier_1": [ + -1.478398710489273, + 0.5570991635322571, + 0.0 + ], + "carrier_2": [ + 1.4290567338466644, + 0.08954888582229614, + 0.0 + ], + "carrier_3": [ + 0.27010592818260193, + 0.6999900937080383, + 0.0 + ], + "carrier_4": [ + -0.289210706949234, + 4.273653030395508e-05, + 0.0 + ] + }, + "command": 0.0 + }, + "belt": { + "target_speed": 0.0, + "command_speed": 0.0 + }, + "seen": { + "state": "at_station", + "station": "pick", + "rider": "carrier_4", + "arrived": true + } + } + }, + "queues": {}, + "program": null, + "sensors": {}, + "interlocks": {} + } + }, + "zones": {}, + "labware": { + "plate_1": { + "sealed": false + }, + "plate_2": { + "sealed": false + }, + "plate_3": { + "sealed": false + }, + "plate_4": { + "sealed": false + } + }, + "rules": {}, + "records": [], + "bus": { + "seq": 3, + "queue": [] + } + }, + null + ], + "drives": [ + null, + null, + {}, + null + ] + }, + "artifacts": [ + {}, + {}, + { + "ceiling": { + "type": "rect", + "pose": { + "pos": [ + 0.18590617854250524, + 0.24762472957058335, + 3.1855491750166123 + ], + "ori": [ + 6.210375697739355, + 8.290894569261503, + 13.43261199413434 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "color_temperature": 5892.67541143725, + "color": [ + 0.9938874600970934, + 0.8113248079205251, + 0.939543776604298 + ], + "intensity": 9899.82222615093, + "width": 2.165157742896072, + "height": 1.2651559299388886 + } + }, + "key": { + "type": "disk", + "pose": { + "pos": [ + -0.4393699463832439, + -1.0371014444105633, + 2.489848512900072 + ], + "ori": [ + 27.405676313657764, + -6.955078975133311, + 33.5772944743252 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "color_temperature": 6978.972240415109, + "color": [ + 0.9429671743455653, + 0.9871661538034286, + 0.9721798871631198 + ], + "intensity": 2680.7340929418215, + "radius": 0.43324238031246143 + } + } + }, + {} + ], + "background": { + "type": "dome", + "pose": { + "pos": null, + "ori": null, + "scale": null + }, + "dr": { + "intensity": 1398.1819332899202, + "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": [ + [ + 0.7714536190032959, + -1.3640989065170288, + 2.0167601108551025, + -2.223414659500122, + -1.570796012878418, + 2.3902249336242676, + 0.01800004206597805, + 0.017999956384301186 + ], + [ + 1.2602601051330566, + -1.3614553213119507, + 2.2701988220214844, + -2.4805779457092285, + -1.570357084274292, + 2.833580493927002, + 0.017999978736042976, + 0.01800002157688141 + ], + [ + 0.9141024947166443, + -1.719398021697998, + 2.0904994010925293, + -1.941900610923767, + -1.5707999467849731, + 2.484901189804077, + 0.01799999736249447, + 0.018000001087784767 + ], + [ + 0.9141009449958801, + -1.719397783279419, + 2.09049916267395, + -1.941900372505188, + -1.5707999467849731, + 2.48490047454834, + 0.017999999225139618, + 0.017999999225139618 + ] + ], + "joint_vel": [ + [ + -0.0001188467867905274, + 0.012710667215287685, + 0.009252317249774933, + -0.020679699257016182, + -1.0107027264893986e-05, + -1.4002082934894133e-05, + -5.8328350860392675e-06, + 5.834186595166102e-06 + ], + [ + 0.00016095017781481147, + -0.020757246762514114, + -0.007402436342090368, + 0.026885870844125748, + 6.019149623170961e-06, + -1.2960668755113147e-05, + 9.378636605106294e-06, + -9.402223440702073e-06 + ], + [ + -2.2862337186992002e-38, + 2.883835805820401e-38, + 2.742629762167318e-38, + 4.187533159481732e-37, + -6.179504261995694e-37, + -1.0562209823173078e-37, + 2.5990374297180097e-08, + -2.599039738981901e-08 + ], + [ + 2.8777208195817804e-38, + 0.0, + -1.2222584831737353e-38, + -6.656621502037568e-37, + 3.3492974936515296e-37, + 2.002628593906477e-37, + -3.104664188735806e-38, + -4.380697780737699e-38 + ] + ] + } + }, + "cameras": { + "cameras": { + "camera0": [ + [ + 0.05183972045779228, + -0.0034160909708589315, + -0.030326828360557556, + -0.26386648416519165, + 0.6531907916069031, + 0.6528019309043884, + -0.27850663661956787 + ], + [ + 0.04985608160495758, + -0.00013036424934398383, + -0.029661929234862328, + -0.27268555760383606, + 0.6570650935173035, + 0.6479136943817139, + -0.27224239706993103 + ], + [ + 0.04925789311528206, + -0.0029996943194419146, + -0.0320633128285408, + -0.28607362508773804, + 0.6410259008407593, + 0.6582621335983276, + -0.2719164788722992 + ], + [ + 0.047071319073438644, + -0.0025641643442213535, + -0.02849661558866501, + -0.2692597508430481, + 0.6577968001365662, + 0.644319474697113, + -0.2822321355342865 + ] + ], + "camera1": [ + [ + 0.039943285286426544, + 0.5677391886711121, + 1.9530102014541626, + 0.027590220794081688, + 0.015331855975091457, + 0.28410032391548157, + 0.9582748413085938 + ], + [ + 0.05005683749914169, + 0.6013895869255066, + 1.9624782800674438, + 0.049851566553115845, + 0.02450409345328808, + 0.2668415606021881, + 0.9621382355690002 + ], + [ + 0.05221911147236824, + 0.5934981107711792, + 1.9536659717559814, + 0.03659550100564957, + 0.0243309885263443, + 0.26202845573425293, + 0.964059054851532 + ], + [ + 0.04595796763896942, + 0.592399537563324, + 1.9378498792648315, + 0.04896729066967964, + 0.0008858486544340849, + 0.2762105166912079, + 0.9598485231399536 + ] + ] + } + } + } +} \ No newline at end of file diff --git a/episodes/c6_p008_e021/wrist.mp4 b/episodes/c6_p008_e021/wrist.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..bcce43c292580febffdffdd28d24fed44b64baae --- /dev/null +++ b/episodes/c6_p008_e021/wrist.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:7cb8bb2ec32e63271d40f9fc95c96a8585ddb6c41bd2f0b60ce24f71b6a1d690 +size 7105364 diff --git a/episodes/c6_p008_e022/data.npz b/episodes/c6_p008_e022/data.npz new file mode 100644 index 0000000000000000000000000000000000000000..9cf1d2a9863403339572131e133c0e9a1d4930a4 --- /dev/null +++ b/episodes/c6_p008_e022/data.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:d2f46c60b111e3003640ed01217e047161572d09a52558e8b229d3b033e21391 +size 201670 diff --git a/episodes/c6_p008_e022/device_events.jsonl b/episodes/c6_p008_e022/device_events.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..1848c3ad68f39bc234e749ba712c7e2aba6b5da8 --- /dev/null +++ b/episodes/c6_p008_e022/device_events.jsonl @@ -0,0 +1,35 @@ +{"env_id": 3, "seq": 1, "step": 102, "t": 0.51, "topic": "conveyor_1.belt.station.pick.captured", "source": "conveyor_1.belt", "data": {"rider": "carrier_1"}, "cause": null} +{"env_id": 3, "seq": 2, "step": 102, "t": 0.51, "topic": "conveyor_1.belt.state.changed", "source": "conveyor_1.belt", "data": {"from": "running", "to": "at_station"}, "cause": null} +{"env_id": 3, "seq": 3, "step": 107, "t": 0.535, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_1"}, "cause": null} +{"env_id": 3, "seq": 4, "step": 6207, "t": 31.035, "topic": "a4s_sealer_1.plate_present.present", "source": "a4s_sealer_1.plate_present", "data": {"object": "plate_1"}, "cause": null} +{"env_id": 3, "seq": 5, "step": 6820, "t": 34.1, "topic": "a4s_sealer_1.command.started", "source": "a4s_sealer_1", "data": {"command_id": "task-3-1", "name": "seal", "source": "task"}, "cause": "task-3-1"} +{"env_id": 3, "seq": 6, "step": 6820, "t": 34.1, "topic": "a4s_sealer_1.seal.started", "source": "a4s_sealer_1", "data": {"dwell": 2.308976062367371}, "cause": "task-3-1"} +{"env_id": 3, "seq": 7, "step": 6820, "t": 34.1, "topic": "a4s_sealer_1.drawer.command.started", "source": "a4s_sealer_1.drawer", "data": {"command_id": "program-3-2", "name": "close", "source": "program:seal"}, "cause": "program-3-2"} +{"env_id": 3, "seq": 8, "step": 6820, "t": 34.1, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "at_out", "to": "moving"}, "cause": null} +{"env_id": 3, "seq": 9, "step": 6820, "t": 34.1, "topic": "a4s_sealer_1.drawer.moving", "source": "a4s_sealer_1.drawer", "data": {"target": 0.3, "goal": "in"}, "cause": "program-3-2"} +{"env_id": 3, "seq": 10, "step": 7239, "t": 36.195, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "moving", "to": "at_in"}, "cause": null} +{"env_id": 3, "seq": 11, "step": 7239, "t": 36.195, "topic": "a4s_sealer_1.drawer.reached", "source": "a4s_sealer_1.drawer", "data": {"position": "in", "q": 0.30000001192092896}, "cause": "program-3-2"} +{"env_id": 3, "seq": 12, "step": 7239, "t": 36.195, "topic": "a4s_sealer_1.drawer.at_in", "source": "a4s_sealer_1.drawer", "data": {"q": 0.30000001192092896}, "cause": "program-3-2"} +{"env_id": 3, "seq": 13, "step": 7239, "t": 36.195, "topic": "a4s_sealer_1.drawer.command.succeeded", "source": "a4s_sealer_1.drawer", "data": {"command_id": "program-3-2", "name": "close", "source": "program:seal", "result": {"position": "in"}}, "cause": "program-3-2"} +{"env_id": 3, "seq": 14, "step": 7239, "t": 36.195, "topic": "labware.plate_1.changed", "source": "labware.plate_1", "data": {"key": "sealed", "value": true}, "cause": "task-3-1"} +{"env_id": 3, "seq": 15, "step": 7239, "t": 36.195, "topic": "a4s_sealer_1.sealed", "source": "a4s_sealer_1", "data": {"plate": "plate_1"}, "cause": "task-3-1"} +{"env_id": 3, "seq": 16, "step": 7239, "t": 36.195, "topic": "a4s_sealer_1.heater.command.started", "source": "a4s_sealer_1.heater", "data": {"command_id": "program-3-3", "name": "run", "source": "program:seal"}, "cause": "program-3-3"} +{"env_id": 3, "seq": 17, "step": 7239, "t": 36.195, "topic": "a4s_sealer_1.heater.state.changed", "source": "a4s_sealer_1.heater", "data": {"from": "ready", "to": "running"}, "cause": null} +{"env_id": 3, "seq": 18, "step": 7239, "t": 36.195, "topic": "a4s_sealer_1.heater.started", "source": "a4s_sealer_1.heater", "data": {"duration": 2.308976062367371}, "cause": "program-3-3"} +{"env_id": 3, "seq": 19, "step": 7701, "t": 38.505, "topic": "a4s_sealer_1.heater.state.changed", "source": "a4s_sealer_1.heater", "data": {"from": "running", "to": "ready"}, "cause": null} +{"env_id": 3, "seq": 20, "step": 7701, "t": 38.505, "topic": "a4s_sealer_1.heater.finished", "source": "a4s_sealer_1.heater", "data": {"elapsed": 2.3100000000011818}, "cause": "program-3-3"} +{"env_id": 3, "seq": 21, "step": 7701, "t": 38.505, "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": 2.3100000000011818}}, "cause": "program-3-3"} +{"env_id": 3, "seq": 22, "step": 7701, "t": 38.505, "topic": "a4s_sealer_1.drawer.command.started", "source": "a4s_sealer_1.drawer", "data": {"command_id": "program-3-4", "name": "open", "source": "program:seal"}, "cause": "program-3-4"} +{"env_id": 3, "seq": 23, "step": 7701, "t": 38.505, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "at_in", "to": "moving"}, "cause": null} +{"env_id": 3, "seq": 24, "step": 7701, "t": 38.505, "topic": "a4s_sealer_1.drawer.moving", "source": "a4s_sealer_1.drawer", "data": {"target": 0.0, "goal": "out"}, "cause": "program-3-4"} +{"env_id": 3, "seq": 25, "step": 8121, "t": 40.605, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "moving", "to": "at_out"}, "cause": null} +{"env_id": 3, "seq": 26, "step": 8121, "t": 40.605, "topic": "a4s_sealer_1.drawer.reached", "source": "a4s_sealer_1.drawer", "data": {"position": "out", "q": 2.0010289258909353e-10}, "cause": "program-3-4"} +{"env_id": 3, "seq": 27, "step": 8121, "t": 40.605, "topic": "a4s_sealer_1.drawer.at_out", "source": "a4s_sealer_1.drawer", "data": {"q": 2.0010289258909353e-10}, "cause": "program-3-4"} +{"env_id": 3, "seq": 28, "step": 8121, "t": 40.605, "topic": "a4s_sealer_1.drawer.command.succeeded", "source": "a4s_sealer_1.drawer", "data": {"command_id": "program-3-4", "name": "open", "source": "program:seal", "result": {"position": "out"}}, "cause": "program-3-4"} +{"env_id": 3, "seq": 29, "step": 8121, "t": 40.605, "topic": "a4s_sealer_1.seal.finished", "source": "a4s_sealer_1", "data": {}, "cause": "task-3-1"} +{"env_id": 3, "seq": 30, "step": 8121, "t": 40.605, "topic": "a4s_sealer_1.command.succeeded", "source": "a4s_sealer_1", "data": {"command_id": "task-3-1", "name": "seal", "source": "task"}, "cause": "task-3-1"} +{"env_id": 3, "seq": 31, "step": 8701, "t": 43.505, "topic": "a4s_sealer_1.plate_present.absent", "source": "a4s_sealer_1.plate_present", "data": {"object": "plate_1"}, "cause": null} +{"env_id": 3, "seq": 32, "step": 11000, "t": 55.0, "topic": "conveyor_1.belt.command.started", "source": "conveyor_1.belt", "data": {"command_id": "task-3-5", "name": "release", "source": "task"}, "cause": "task-3-5"} +{"env_id": 3, "seq": 33, "step": 11000, "t": 55.0, "topic": "conveyor_1.belt.station.pick.released", "source": "conveyor_1.belt", "data": {"rider": "carrier_1"}, "cause": "task-3-5"} +{"env_id": 3, "seq": 34, "step": 11000, "t": 55.0, "topic": "conveyor_1.belt.state.changed", "source": "conveyor_1.belt", "data": {"from": "at_station", "to": "running"}, "cause": null} +{"env_id": 3, "seq": 35, "step": 11000, "t": 55.0, "topic": "conveyor_1.belt.command.succeeded", "source": "conveyor_1.belt", "data": {"command_id": "task-3-5", "name": "release", "source": "task", "result": {"state": "running"}}, "cause": "task-3-5"} diff --git a/episodes/c6_p008_e022/env.mp4 b/episodes/c6_p008_e022/env.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..54deeb4c92f59b6f7ed028a5a4ae4460663227f8 --- /dev/null +++ b/episodes/c6_p008_e022/env.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:66793f466bddcdff6d2e06cd0edf6243565f6e39b3cb5066546ac1e4b725dbed +size 1297999 diff --git a/episodes/c6_p008_e022/meta.json b/episodes/c6_p008_e022/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..98135658019c30870242ec375fe7cae3b5c56870 --- /dev/null +++ b/episodes/c6_p008_e022/meta.json @@ -0,0 +1,32 @@ +{ + "source": "raw/c6_p008/magicsim/22", + "fps": 25, + "frames": 1253, + "kept_ticks": "even", + "video_frames": { + "wrist": 1253, + "env": 1253 + }, + "joint_target_source": "joint_pos_target", + "fk_vs_recorded_eef_max_m": 0.0, + "curobo_joints": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "joint_order": [ + "shoulder_pan", + "shoulder_lift", + "elbow", + "wrist_1", + "wrist_2", + "wrist_3", + "finger_left", + "finger_right" + ], + "frames_note": "eef / actions in the robot base frame; camera_pose = local pose (wrist: in plate_gripper_base, env: env frame), pos + quat wxyz", + "dr_version": "v2" +} \ No newline at end of file diff --git a/episodes/c6_p008_e022/scene_snapshot.json b/episodes/c6_p008_e022/scene_snapshot.json new file mode 100644 index 0000000000000000000000000000000000000000..be3f6c05d93784e9bdead098402bf6d38c8397e0 --- /dev/null +++ b/episodes/c6_p008_e022/scene_snapshot.json @@ -0,0 +1,1558 @@ +{ + "trajectory_id": 22, + "env_id": 3, + "run_id": "c6_p008", + "task_type": "BioPlateCell", + "success": true, + "timing": { + "fps": 50.0, + "sim_dt": 0.005, + "decimation": 4 + }, + "restore_interface": { + "scene": "scene_manager.reset_to(snapshot['scene'], env_ids=[env_id])", + "robots": "robot_manager.set_state({'robots': snapshot['robots']}, env_ids=[env_id])" + }, + "snapshot": { + "env_id": 3, + "scene": { + "objects": [ + {}, + {}, + {}, + { + "rac_cell": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/rac_cell.usd", + "pose": { + "pos": [ + 0.0, + 0.0, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "physics_material": { + "static_friction": 0.6, + "dynamic_friction": 0.5, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "robot_mount": [ + { + "asset": "Cube", + "pose": { + "pos": [ + 0.0, + 0.0, + 0.9075 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": "color", + "value": [ + 0.55, + 0.56, + 0.58 + ], + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": { + "size": [ + 0.2, + 0.2, + 0.015 + ] + } + }, + "type_specific": {} + } + ], + "plate_rack": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/plate_hotel.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 0.9 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "physics_material": { + "static_friction": 0.6, + "dynamic_friction": 0.5, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "hotel_plate": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/deep_well_96_2ml/deep_well_96_2ml.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 0.9605 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/pcr_384_red/pcr_384_red.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.0285 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_24_clear/plate_24_clear.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.0965 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_384_white/plate_384_white.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.1645 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_24_clear/plate_24_clear.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.2325 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "a4s_sealer": [ + { + "asset": "$MAGICSIM_ASSETS/Articulated/A4SSealer/Object.usd", + "pose": { + "pos": [ + 0.5131692886352539, + 0.06496334075927734, + 0.8999999761581421 + ], + "ori": [ + 0.7123034596443176, + 0.0, + 0.0, + -0.7018716335296631 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "articulation", + "solver_position_iteration_count": 16.0, + "solver_velocity_iteration_count": 1.0, + "enabled_self_collisions": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "joint_position": [ + 3.700581074211895e-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": 0.2659397730394608, + "direction": [ + 1.0, + 0.0, + 0.0 + ], + "enabled": true, + "drive": "surface_velocity", + "lines": null, + "station_line": null, + "riders": [ + "carrier" + ], + "stations": { + "pick": { + "position": -0.17410806016480448, + "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": 0.2659397730394608, + "holds": [], + "station": "pick", + "rider": "carrier_1", + "arrived": true, + "applied_speed": 0.0 + } + } + } + ], + "carrier": [ + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + -0.023450851440429688, + 0.45000267028808594, + 0.8999999761581421 + ], + "ori": [ + 1.0, + 3.1661135935223683e-09, + -3.835698425547207e-09, + -4.7710014769108966e-05 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 1.083357847875277e-10, + 1.646858205361923e-10, + 3.725290298461914e-09 + ], + "angular_velocity": [ + 2.1853679754713085e-08, + 1.1945573419325228e-09, + 1.6706973582358842e-09 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + 1.6950712203979492, + 0.8413124084472656, + 0.8999999761581421 + ], + "ori": [ + 0.6706660985946655, + -7.948865743401257e-08, + 8.878236457121602e-08, + 0.7417593598365784 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 5.005063030694146e-11, + -9.771383702172898e-10, + 7.450580596923828e-09 + ], + "angular_velocity": [ + 1.2462260201573372e-07, + -5.27688825968653e-09, + 2.0509105524979532e-10 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + 0.1415548324584961, + 1.1499958038330078, + 0.8999999761581421 + ], + "ori": [ + 4.215221997583285e-05, + 1.4003825654640423e-08, + 4.000844988638619e-09, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -1.1690031165301207e-09, + -1.0160439156692291e-09, + 7.450580596923828e-09 + ], + "angular_velocity": [ + 7.211970398657286e-08, + -1.0478723311280191e-07, + -5.236969968791527e-09 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + -1.379572868347168, + 0.6891698837280273, + 0.8999999761581421 + ], + "ori": [ + -0.8068065047264099, + 5.6676611848160974e-08, + 3.489188316052605e-08, + 0.5908158421516418 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -4.695960171829938e-07, + 8.246317975135753e-07, + -3.956258296966553e-06 + ], + "angular_velocity": [ + -7.109667058102787e-05, + -2.6858246201300062e-05, + -2.384123263254878e-06 + ] + } + } + ], + "plate": [ + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_48_clear/Object.usd", + "pose": { + "pos": [ + -0.024207115173339844, + 0.4611825942993164, + 0.9179999828338623 + ], + "ori": [ + 0.9949464201927185, + 5.005402314850471e-09, + -4.9697850279528666e-09, + -0.10040713846683502 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -2.1478850698031238e-08, + -9.819382640330332e-09, + 8.568167686462402e-08 + ], + "angular_velocity": [ + 4.655629766148195e-07, + -1.7116091157731717e-06, + 2.0433743586067976e-08 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_384_white/Object.usd", + "pose": { + "pos": [ + 1.7065725326538086, + 0.8351030349731445, + 0.9180000424385071 + ], + "ori": [ + 0.6284812092781067, + -7.572448623704986e-08, + 9.452739391235809e-08, + 0.777824878692627 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 1.9686467567225918e-08, + -4.934440767101478e-08, + 2.0116567611694336e-07 + ], + "angular_velocity": [ + 3.113818820565939e-06, + 1.0410758477519266e-06, + -1.0753092283266596e-07 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_96_clear/Object.usd", + "pose": { + "pos": [ + 0.1488962173461914, + 1.1523151397705078, + 0.9180000424385071 + ], + "ori": [ + -0.09050517529249191, + 1.3849811963950742e-08, + 1.210825884001565e-09, + 0.9958959817886353 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 2.6085844595513663e-10, + -7.2003967233058574e-09, + -5.558133125305176e-06 + ], + "angular_velocity": [ + -8.369542570108024e-07, + 1.422356490365928e-06, + -6.250103723459688e-08 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/reservoir_12ch/Object.usd", + "pose": { + "pos": [ + -1.371159553527832, + 0.6775617599487305, + 0.9179999828338623 + ], + "ori": [ + -0.7776029109954834, + 4.972112321866007e-08, + 2.3201664589578286e-08, + 0.6287558078765869 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -1.0914920949289808e-06, + 2.5258989353460493e-06, + -6.604939699172974e-06 + ], + "angular_velocity": [ + -7.207705493783578e-05, + -2.6022957172244787e-05, + -2.098815002682386e-06 + ] + } + } + ], + "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": 3.700581074211895e-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": 0.2659397730394608, + "holds": [], + "station": "pick", + "rider": "carrier_1", + "arrived": true, + "settle_count": 905, + "released": { + "pick": [] + }, + "last_pos": { + "carrier_1": [ + -0.17345085740089417, + 2.682209014892578e-06, + 0.0 + ], + "carrier_2": [ + 1.5450712144374847, + 0.3913124203681946, + 0.0 + ], + "carrier_3": [ + -0.008445173501968384, + 0.6999958157539368, + 0.0 + ], + "carrier_4": [ + -1.5295728743076324, + 0.2391698956489563, + 0.0 + ] + }, + "command": 0.0 + }, + "belt": { + "target_speed": 0.0, + "command_speed": 0.0 + }, + "seen": { + "state": "at_station", + "station": "pick", + "rider": "carrier_1", + "arrived": true + } + } + }, + "queues": {}, + "program": null, + "sensors": {}, + "interlocks": {} + } + }, + "zones": {}, + "labware": { + "plate_1": { + "sealed": false + }, + "plate_2": { + "sealed": false + }, + "plate_3": { + "sealed": false + }, + "plate_4": { + "sealed": false + } + }, + "rules": {}, + "records": [], + "bus": { + "seq": 3, + "queue": [] + } + } + ], + "drives": [ + null, + null, + null, + {} + ] + }, + "artifacts": [ + {}, + {}, + {}, + { + "ceiling": { + "type": "rect", + "pose": { + "pos": [ + -0.04456561339716314, + -0.38909891227148447, + 2.948385238502506 + ], + "ori": [ + -4.241031318200065, + -10.804873600719773, + -12.4321887875624 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "color_temperature": 6018.779511087618, + "color": [ + 0.9829744087019664, + 0.9501714098722385, + 0.8733731597105612 + ], + "intensity": 15134.794422269257, + "width": 2.5572706290649787, + "height": 0.8147905848452128 + } + }, + "key": { + "type": "disk", + "pose": { + "pos": [ + 0.010782573082541713, + 0.6359276234680273, + 2.2232029624524317 + ], + "ori": [ + -2.7911249520312538, + -9.05395405570033, + -6.821560679659548 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "color_temperature": 4192.327930556836, + "color": [ + 0.7905152460222316, + 0.877439238874576, + 0.9404038419607879 + ], + "intensity": 2549.968601747516, + "radius": 0.4012929401308517 + } + } + } + ], + "background": { + "type": "dome", + "pose": { + "pos": null, + "ori": null, + "scale": null + }, + "dr": { + "intensity": 1398.1819332899202, + "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": [ + [ + 0.7713903188705444, + -1.2907038927078247, + 2.061150074005127, + -2.341294050216675, + -1.570776343345642, + 2.3902556896209717, + 0.007690495811402798, + 0.007161319721490145 + ], + [ + 0.9141013026237488, + -1.719399094581604, + 2.0904998779296875, + -1.941900610923767, + -1.5707999467849731, + 2.4849002361297607, + 0.01799999736249447, + 0.018000001087784767 + ], + [ + 1.236914873123169, + -1.335197925567627, + 2.331089973449707, + -2.5665836334228516, + -1.5708297491073608, + 2.962779998779297, + 0.0077743977308273315, + 0.00728222681209445 + ], + [ + 0.9141009449958801, + -1.719397783279419, + 2.09049916267395, + -1.941900372505188, + -1.5707999467849731, + 2.48490047454834, + 0.017999999225139618, + 0.017999999225139618 + ] + ], + "joint_vel": [ + [ + 0.00026850024005398154, + -0.01608443073928356, + -0.008213484659790993, + 0.022428618744015694, + 0.000609132694080472, + 0.0017155794193968177, + -0.006672168616205454, + 0.0002400936937192455 + ], + [ + -2.561200847394255e-38, + 2.955124903375076e-38, + 2.948814015611143e-38, + 7.019193242489217e-37, + -7.28138089352723e-37, + 2.525459777178695e-37, + 2.5990399166175848e-08, + -2.5990386731677972e-08 + ], + [ + -0.0006123746279627085, + 0.00011608534259721637, + 0.00019748019985854626, + -0.003951051272451878, + 0.0011415110202506185, + 0.014413419179618359, + -0.007002314552664757, + 0.00046686091809533536 + ], + [ + 2.8777208195817804e-38, + 0.0, + -1.2222584831737353e-38, + -6.656621502037568e-37, + 3.3492974936515296e-37, + 2.002628593906477e-37, + -3.104664188735806e-38, + -4.380697780737699e-38 + ] + ] + } + }, + "cameras": { + "cameras": { + "camera0": [ + [ + 0.0529320202767849, + -0.0035958571825176477, + -0.028907079249620438, + -0.27131593227386475, + 0.654481053352356, + 0.650792121887207, + -0.27296847105026245 + ], + [ + 0.047643084079027176, + -0.0020614061504602432, + -0.03282210975885391, + -0.2863559126853943, + 0.6394142508506775, + 0.6540453433990479, + -0.2852620780467987 + ], + [ + 0.04776574671268463, + -0.0013573215110227466, + -0.029955405741930008, + -0.2821055054664612, + 0.6443703770637512, + 0.6571651697158813, + -0.2708083987236023 + ], + [ + 0.04921801760792732, + 0.00077615532791242, + -0.029751181602478027, + -0.2641274333000183, + 0.6607767343521118, + 0.6452683210372925, + -0.27792009711265564 + ] + ], + "camera1": [ + [ + 0.039943285286426544, + 0.5677391886711121, + 1.9530102014541626, + 0.027590220794081688, + 0.015331855975091457, + 0.28410032391548157, + 0.9582748413085938 + ], + [ + 0.06822404265403748, + 0.5638032555580139, + 1.9719429016113281, + 0.03563578054308891, + 0.005342883989214897, + 0.27387797832489014, + 0.9610891938209534 + ], + [ + 0.05221911147236824, + 0.5934981107711792, + 1.9536659717559814, + 0.03659550100564957, + 0.0243309885263443, + 0.26202845573425293, + 0.964059054851532 + ], + [ + 0.04595796763896942, + 0.592399537563324, + 1.9378498792648315, + 0.04896729066967964, + 0.0008858486544340849, + 0.2762105166912079, + 0.9598485231399536 + ] + ] + } + } + } +} \ No newline at end of file diff --git a/episodes/c6_p008_e022/wrist.mp4 b/episodes/c6_p008_e022/wrist.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..292e383650e717d7baa810040110b28bcff702a4 --- /dev/null +++ b/episodes/c6_p008_e022/wrist.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:9f1a3096072c183dedd3739fd3916943e9fb7a53f79b715ee602c9f2c640ac58 +size 7785480 diff --git a/episodes/c6_p008_e023/data.npz b/episodes/c6_p008_e023/data.npz new file mode 100644 index 0000000000000000000000000000000000000000..2e7779ef43381eb2a749228ca8bbe75427f89b6e --- /dev/null +++ b/episodes/c6_p008_e023/data.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:4d6f6a25f6a20e2a3f3e2acec28c94f2f7f02dbce7b4cab8f3b45da2f8a1609f +size 184789 diff --git a/episodes/c6_p008_e023/device_events.jsonl b/episodes/c6_p008_e023/device_events.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..661eb6532813eed0fb109471030427357eddd6b0 --- /dev/null +++ b/episodes/c6_p008_e023/device_events.jsonl @@ -0,0 +1,35 @@ +{"env_id": 1, "seq": 1, "step": 0, "t": 0.0, "topic": "conveyor_1.belt.station.pick.captured", "source": "conveyor_1.belt", "data": {"rider": "carrier_3"}, "cause": null} +{"env_id": 1, "seq": 2, "step": 0, "t": 0.0, "topic": "conveyor_1.belt.state.changed", "source": "conveyor_1.belt", "data": {"from": "running", "to": "at_station"}, "cause": null} +{"env_id": 1, "seq": 3, "step": 6, "t": 0.03, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_3"}, "cause": null} +{"env_id": 1, "seq": 4, "step": 6775, "t": 33.875, "topic": "a4s_sealer_1.plate_present.present", "source": "a4s_sealer_1.plate_present", "data": {"object": "plate_3"}, "cause": null} +{"env_id": 1, "seq": 5, "step": 7388, "t": 36.94, "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": 7388, "t": 36.94, "topic": "a4s_sealer_1.seal.started", "source": "a4s_sealer_1", "data": {"dwell": 3.965123034422578}, "cause": "task-1-1"} +{"env_id": 1, "seq": 7, "step": 7388, "t": 36.94, "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": 7388, "t": 36.94, "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": 7388, "t": 36.94, "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": 7807, "t": 39.035, "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": 7807, "t": 39.035, "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": 7807, "t": 39.035, "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": 7807, "t": 39.035, "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": 7807, "t": 39.035, "topic": "labware.plate_3.changed", "source": "labware.plate_3", "data": {"key": "sealed", "value": true}, "cause": "task-1-1"} +{"env_id": 1, "seq": 15, "step": 7807, "t": 39.035, "topic": "a4s_sealer_1.sealed", "source": "a4s_sealer_1", "data": {"plate": "plate_3"}, "cause": "task-1-1"} +{"env_id": 1, "seq": 16, "step": 7807, "t": 39.035, "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": 7807, "t": 39.035, "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": 7807, "t": 39.035, "topic": "a4s_sealer_1.heater.started", "source": "a4s_sealer_1.heater", "data": {"duration": 3.965123034422578}, "cause": "program-1-3"} +{"env_id": 1, "seq": 19, "step": 8601, "t": 43.005, "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": 8601, "t": 43.005, "topic": "a4s_sealer_1.heater.finished", "source": "a4s_sealer_1.heater", "data": {"elapsed": 3.970000000002031}, "cause": "program-1-3"} +{"env_id": 1, "seq": 21, "step": 8601, "t": 43.005, "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": 3.970000000002031}}, "cause": "program-1-3"} +{"env_id": 1, "seq": 22, "step": 8601, "t": 43.005, "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": 8601, "t": 43.005, "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": 8601, "t": 43.005, "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": 9021, "t": 45.105, "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": 9021, "t": 45.105, "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": 9021, "t": 45.105, "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": 9021, "t": 45.105, "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": 9021, "t": 45.105, "topic": "a4s_sealer_1.seal.finished", "source": "a4s_sealer_1", "data": {}, "cause": "task-1-1"} +{"env_id": 1, "seq": 30, "step": 9021, "t": 45.105, "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": 9603, "t": 48.015, "topic": "a4s_sealer_1.plate_present.absent", "source": "a4s_sealer_1.plate_present", "data": {"object": "plate_3"}, "cause": null} +{"env_id": 1, "seq": 32, "step": 11288, "t": 56.44, "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": 11288, "t": 56.44, "topic": "conveyor_1.belt.station.pick.released", "source": "conveyor_1.belt", "data": {"rider": "carrier_3"}, "cause": "task-1-5"} +{"env_id": 1, "seq": 34, "step": 11288, "t": 56.44, "topic": "conveyor_1.belt.state.changed", "source": "conveyor_1.belt", "data": {"from": "at_station", "to": "running"}, "cause": null} +{"env_id": 1, "seq": 35, "step": 11288, "t": 56.44, "topic": "conveyor_1.belt.command.succeeded", "source": "conveyor_1.belt", "data": {"command_id": "task-1-5", "name": "release", "source": "task", "result": {"state": "running"}}, "cause": "task-1-5"} diff --git a/episodes/c6_p008_e023/env.mp4 b/episodes/c6_p008_e023/env.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..35ba8b5e538e42c524c576982ec4a12e2df9e3fd --- /dev/null +++ b/episodes/c6_p008_e023/env.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:a0590ed27e5fc8c008dc5bee23f2a41067a33f141ec4c4089fca10a53fc1dc0c +size 1157901 diff --git a/episodes/c6_p008_e023/meta.json b/episodes/c6_p008_e023/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..34e148c154238ab5987b70b7492162271706e9dc --- /dev/null +++ b/episodes/c6_p008_e023/meta.json @@ -0,0 +1,32 @@ +{ + "source": "raw/c6_p008/magicsim/23", + "fps": 25, + "frames": 1227, + "kept_ticks": "even", + "video_frames": { + "wrist": 1227, + "env": 1227 + }, + "joint_target_source": "joint_pos_target", + "fk_vs_recorded_eef_max_m": 0.0, + "curobo_joints": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "joint_order": [ + "shoulder_pan", + "shoulder_lift", + "elbow", + "wrist_1", + "wrist_2", + "wrist_3", + "finger_left", + "finger_right" + ], + "frames_note": "eef / actions in the robot base frame; camera_pose = local pose (wrist: in plate_gripper_base, env: env frame), pos + quat wxyz", + "dr_version": "v2" +} \ No newline at end of file diff --git a/episodes/c6_p008_e023/scene_snapshot.json b/episodes/c6_p008_e023/scene_snapshot.json new file mode 100644 index 0000000000000000000000000000000000000000..16340c2ec88d518f33fe092ea2be4a17f6f6dd4f --- /dev/null +++ b/episodes/c6_p008_e023/scene_snapshot.json @@ -0,0 +1,1558 @@ +{ + "trajectory_id": 23, + "env_id": 1, + "run_id": "c6_p008", + "task_type": "BioPlateCell", + "success": true, + "timing": { + "fps": 50.0, + "sim_dt": 0.005, + "decimation": 4 + }, + "restore_interface": { + "scene": "scene_manager.reset_to(snapshot['scene'], env_ids=[env_id])", + "robots": "robot_manager.set_state({'robots': snapshot['robots']}, env_ids=[env_id])" + }, + "snapshot": { + "env_id": 1, + "scene": { + "objects": [ + {}, + { + "rac_cell": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/rac_cell.usd", + "pose": { + "pos": [ + 0.0, + 0.0, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "physics_material": { + "static_friction": 0.6, + "dynamic_friction": 0.5, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "robot_mount": [ + { + "asset": "Cube", + "pose": { + "pos": [ + 0.0, + 0.0, + 0.9075 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": "color", + "value": [ + 0.55, + 0.56, + 0.58 + ], + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": { + "size": [ + 0.2, + 0.2, + 0.015 + ] + } + }, + "type_specific": {} + } + ], + "plate_rack": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/plate_hotel.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 0.9 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "physics_material": { + "static_friction": 0.6, + "dynamic_friction": 0.5, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "hotel_plate": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/pcr_384_red/pcr_384_red.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 0.9605 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_12_clear/plate_12_clear.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.0285 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/deep_well_96_2ml/deep_well_96_2ml.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.0965 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_96_white/plate_96_white.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.1645 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/deep_well_96_2ml/deep_well_96_2ml.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.2325 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "a4s_sealer": [ + { + "asset": "$MAGICSIM_ASSETS/Articulated/A4SSealer/Object.usd", + "pose": { + "pos": [ + 0.4729146957397461, + 0.0952615737915039, + 0.8999999761581421 + ], + "ori": [ + -0.6847528219223022, + 0.0, + 0.0, + 0.7287753820419312 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "articulation", + "solver_position_iteration_count": 16.0, + "solver_velocity_iteration_count": 1.0, + "enabled_self_collisions": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "joint_position": [ + 2.01849951683708e-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": 0.2990226124410975, + "direction": [ + 1.0, + 0.0, + 0.0 + ], + "enabled": true, + "drive": "surface_velocity", + "lines": null, + "station_line": null, + "riders": [ + "carrier" + ], + "stations": { + "pick": { + "position": -0.06522078715562044, + "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": 0.2990226124410975, + "holds": [], + "station": "pick", + "rider": "carrier_3", + "arrived": true, + "applied_speed": 0.0 + } + } + } + ], + "carrier": [ + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + 0.2633228302001953, + 1.1499996185302734, + 0.8999999761581421 + ], + "ori": [ + 1.0978609310541287e-07, + -8.93805141011228e-10, + -8.737036649719698e-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": [ + -1.8732211337635363e-09, + -8.10816125351721e-09, + 2.2351741790771484e-08 + ], + "angular_velocity": [ + 1.3516034869098803e-07, + -2.7621294407254027e-07, + -2.183352698637009e-08 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + 1.3250694274902344, + 1.1499996185302734, + 0.8999999761581421 + ], + "ori": [ + -2.5911422341096113e-08, + 1.1168685531970368e-08, + -8.433473475122355e-09, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -3.384872382383719e-10, + 6.217975023758981e-10, + 1.1175870895385742e-08 + ], + "angular_velocity": [ + 4.466933489766234e-08, + -7.493341058761871e-08, + 3.973624629338701e-08 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + 0.1264963150024414, + 0.4499998092651367, + 0.8999999761581421 + ], + "ori": [ + 1.0, + -6.140864705628246e-09, + 1.0254608273640997e-10, + 6.557187930411601e-07 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 1.0661604932238333e-09, + 5.305774486430437e-09, + 7.450580596923828e-09 + ], + "angular_velocity": [ + -1.4386216662387596e-07, + 1.1639127706075669e-07, + -1.765876156412105e-08 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + -1.3488874435424805, + 0.6190757751464844, + 0.8999999761581421 + ], + "ori": [ + 0.8728629350662231, + -1.6997753959913098e-07, + 2.7530833790478937e-07, + -0.48796552419662476 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -2.7760819421018823e-07, + -3.257212100038487e-08, + 2.0489096641540527e-07 + ], + "angular_velocity": [ + 1.1317544704070315e-05, + -1.875735688372515e-05, + 9.240590514991709e-08 + ] + } + } + ], + "plate": [ + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_12_clear/Object.usd", + "pose": { + "pos": [ + 0.25371360778808594, + 1.1415643692016602, + 0.9179999828338623 + ], + "ori": [ + -0.042399801313877106, + -9.532108435905684e-10, + 1.327131071704457e-09, + 0.9991007447242737 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 4.795549291003454e-09, + -5.13328379803113e-10, + 2.1979212760925293e-07 + ], + "angular_velocity": [ + -1.6966854445854551e-06, + 2.00825888896361e-06, + -1.235096078744391e-07 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_96_white/Object.usd", + "pose": { + "pos": [ + 1.3359174728393555, + 1.143819808959961, + 0.9180000424385071 + ], + "ori": [ + 0.0004834389837924391, + 1.1882315575917346e-08, + -7.948714575434224e-09, + 0.9999998807907104 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -1.3568599577240548e-09, + 2.1408109063258962e-08, + -5.494803190231323e-06 + ], + "angular_velocity": [ + -1.4554921108356211e-06, + 2.0162310647720005e-06, + -3.887373623001622e-08 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/pcr_384_red/Object.usd", + "pose": { + "pos": [ + 0.12078380584716797, + 0.45415496826171875, + 0.9179999828338623 + ], + "ori": [ + 0.9999833106994629, + -6.790038309389956e-09, + 5.4981713626389705e-11, + -0.005780298728495836 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -4.653294638501393e-09, + 2.6642032580070918e-08, + -5.62518835067749e-06 + ], + "angular_velocity": [ + 3.098705008142133e-07, + -1.974903170776088e-06, + -1.6881566367032974e-08 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/deep_well_96_1ml/Object.usd", + "pose": { + "pos": [ + -1.3437843322753906, + 0.6048345565795898, + 0.9179999828338623 + ], + "ori": [ + 0.9057844281196594, + -1.444487907065195e-07, + 2.810046737522498e-07, + -0.4237387776374817 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -6.756008019692672e-07, + -7.403691881791019e-08, + 3.762543201446533e-07 + ], + "angular_velocity": [ + 7.5491338975552935e-06, + -2.142079028999433e-05, + 7.246304107866308e-07 + ] + } + } + ], + "deco_hub_west": [ + { + "asset": "$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": 7.519999999999862, + "step": 1504, + "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": 2.01849951683708e-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": 0.2990226124410975, + "holds": [], + "station": "pick", + "rider": "carrier_3", + "arrived": true, + "settle_count": 1502, + "released": { + "pick": [] + }, + "last_pos": { + "carrier_1": [ + 0.11332282423973083, + 0.6999996304512024, + 0.0 + ], + "carrier_2": [ + 1.17506942152977, + 0.6999996304512024, + 0.0 + ], + "carrier_3": [ + -0.02350369095802307, + -1.7881393432617188e-07, + 0.0 + ], + "carrier_4": [ + -1.498887449502945, + 0.16907578706741333, + 0.0 + ] + }, + "command": 0.0 + }, + "belt": { + "target_speed": 0.0, + "command_speed": 0.0 + }, + "seen": { + "state": "at_station", + "station": "pick", + "rider": "carrier_3", + "arrived": true + } + } + }, + "queues": {}, + "program": null, + "sensors": {}, + "interlocks": {} + } + }, + "zones": {}, + "labware": { + "plate_1": { + "sealed": false + }, + "plate_2": { + "sealed": false + }, + "plate_3": { + "sealed": false + }, + "plate_4": { + "sealed": false + } + }, + "rules": {}, + "records": [], + "bus": { + "seq": 3, + "queue": [] + } + }, + null, + null + ], + "drives": [ + null, + {}, + null, + null + ] + }, + "artifacts": [ + {}, + { + "ceiling": { + "type": "rect", + "pose": { + "pos": [ + 0.042086760231875076, + 0.014380798376485981, + 3.122724740533402 + ], + "ori": [ + 7.649405085613214, + -12.219649136279255, + -3.8504841440615643 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "color_temperature": 5520.89079502994, + "color": [ + 0.9813273869816077, + 0.9241160543371698, + 0.9334260165317155 + ], + "intensity": 13357.179842583628, + "width": 2.5143563072527826, + "height": 1.2817214006580604 + } + }, + "key": { + "type": "disk", + "pose": { + "pos": [ + -0.6353449194355552, + 0.038218557912956364, + 2.275350550535708 + ], + "ori": [ + -4.357657746518129, + 9.778085989385929, + -1.961456374608801 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "color_temperature": 4068.616008625816, + "color": [ + 0.8935806309489178, + 0.7929108541530827, + 0.8803469267322004 + ], + "intensity": 9541.918315820247, + "radius": 0.35184163526482515 + } + } + }, + {}, + {} + ], + "background": { + "type": "dome", + "pose": { + "pos": null, + "ori": null, + "scale": null + }, + "dr": { + "intensity": 1398.1819332899202, + "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": [ + [ + 2.733203887939453, + -1.5727219581604004, + 2.4253087043762207, + -2.4233903884887695, + -1.5714545249938965, + 4.305037975311279, + 0.0077212899923324585, + 0.007125496864318848 + ], + [ + 0.9141027331352234, + -1.7193981409072876, + 2.0904998779296875, + -1.9419008493423462, + -1.5707999467849731, + 2.484900951385498, + 0.01799999736249447, + 0.018000001087784767 + ], + [ + 2.4916725158691406, + -2.2791571617126465, + 2.42338490486145, + -1.7150160074234009, + -1.5703758001327515, + 4.062425136566162, + 0.007834556512534618, + 0.007202699314802885 + ], + [ + 1.031413197517395, + -1.5749287605285645, + 2.1671457290649414, + -2.163010835647583, + -1.570831537246704, + 2.800666332244873, + 0.007680318783968687, + 0.007084408309310675 + ] + ], + "joint_vel": [ + [ + 0.009904001839458942, + 0.023217611014842987, + -0.023123927414417267, + -0.0007038475596345961, + -0.0006442805752158165, + 0.012016582302749157, + -0.007517021149396896, + 0.00022644690761808306 + ], + [ + 0.0, + -1.594206255598243e-38, + 0.0, + -4.2522556603287035e-37, + -3.0194730893762574e-38, + -4.2850846081276425e-37, + 2.5990386731677972e-08, + -2.5990386731677972e-08 + ], + [ + 0.02435288392007351, + 0.035839881747961044, + -0.011184182949364185, + -0.02562396042048931, + -0.0002483330899849534, + 0.02499251253902912, + -0.007468149531632662, + 0.00043111827108077705 + ], + [ + 0.01579030603170395, + -0.011218240484595299, + 0.005327360238879919, + 0.005118317436426878, + 2.1429410480777733e-05, + 0.012808427214622498, + -0.007554671727120876, + 0.00031173668685369194 + ] + ] + } + }, + "cameras": { + "cameras": { + "camera0": [ + [ + 0.0519213043153286, + -0.0012370136100798845, + -0.03030376508831978, + -0.2705954313278198, + 0.6568488478660583, + 0.6478638648986816, + -0.2749547064304352 + ], + [ + 0.04888393357396126, + -0.0036322581581771374, + -0.03220701590180397, + -0.293342262506485, + 0.6372019052505493, + 0.6537841558456421, + -0.2837081551551819 + ], + [ + 0.047262176871299744, + -0.0004838638415094465, + -0.03102344647049904, + -0.28517255187034607, + 0.6391968131065369, + 0.6632843017578125, + -0.2648735046386719 + ], + [ + 0.04708876833319664, + -0.0006325723952613771, + -0.026907464489340782, + -0.27353206276893616, + 0.6571476459503174, + 0.6446933746337891, + -0.27876079082489014 + ] + ], + "camera1": [ + [ + 0.039943285286426544, + 0.5677391886711121, + 1.9530102014541626, + 0.027590220794081688, + 0.015331855975091457, + 0.28410032391548157, + 0.9582748413085938 + ], + [ + 0.06822404265403748, + 0.5638032555580139, + 1.9719429016113281, + 0.03563578054308891, + 0.005342883989214897, + 0.27387797832489014, + 0.9610891938209534 + ], + [ + 0.05221911147236824, + 0.5934981107711792, + 1.9536659717559814, + 0.03659550100564957, + 0.0243309885263443, + 0.26202845573425293, + 0.964059054851532 + ], + [ + 0.04595796763896942, + 0.592399537563324, + 1.9378498792648315, + 0.04896729066967964, + 0.0008858486544340849, + 0.2762105166912079, + 0.9598485231399536 + ] + ] + } + } + } +} \ No newline at end of file diff --git a/episodes/c6_p008_e023/wrist.mp4 b/episodes/c6_p008_e023/wrist.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..4857704de15abb13ac32bafcc30dd83747c993cd --- /dev/null +++ b/episodes/c6_p008_e023/wrist.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:308aeea6bc1179bbff66ce5fd5fa06fef57a05b5eb0cbf5289710e89a3e88d38 +size 7650134 diff --git a/episodes/c7_p008_e032/data.npz b/episodes/c7_p008_e032/data.npz new file mode 100644 index 0000000000000000000000000000000000000000..c61634dcbc3a49263ab01a9f6c281578bfef9568 --- /dev/null +++ b/episodes/c7_p008_e032/data.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:970d2ccb6bed101f90a3281ccdb848ecc182a2294430d0a0e9bb865f607ecdd6 +size 188057 diff --git a/episodes/c7_p008_e032/device_events.jsonl b/episodes/c7_p008_e032/device_events.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..c5eeaf7b8d1e2cacf0d5e9fe007288b7dc770601 --- /dev/null +++ b/episodes/c7_p008_e032/device_events.jsonl @@ -0,0 +1,37 @@ +{"env_id": 3, "seq": 1, "step": 63, "t": 0.315, "topic": "conveyor_1.belt.station.pick.captured", "source": "conveyor_1.belt", "data": {"rider": "carrier_2"}, "cause": null} +{"env_id": 3, "seq": 2, "step": 63, "t": 0.315, "topic": "conveyor_1.belt.state.changed", "source": "conveyor_1.belt", "data": {"from": "running", "to": "at_station"}, "cause": null} +{"env_id": 3, "seq": 3, "step": 68, "t": 0.34, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_2"}, "cause": null} +{"env_id": 3, "seq": 4, "step": 1016, "t": 5.08, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_2"}, "cause": null} +{"env_id": 3, "seq": 5, "step": 1068, "t": 5.34, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_2"}, "cause": null} +{"env_id": 3, "seq": 6, "step": 6051, "t": 30.255, "topic": "a4s_sealer_1.plate_present.present", "source": "a4s_sealer_1.plate_present", "data": {"object": "plate_2"}, "cause": null} +{"env_id": 3, "seq": 7, "step": 6660, "t": 33.3, "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": 8, "step": 6660, "t": 33.3, "topic": "a4s_sealer_1.seal.started", "source": "a4s_sealer_1", "data": {"dwell": 3.1289604772616313}, "cause": "task-3-1"} +{"env_id": 3, "seq": 9, "step": 6660, "t": 33.3, "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": 10, "step": 6660, "t": 33.3, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "at_out", "to": "moving"}, "cause": null} +{"env_id": 3, "seq": 11, "step": 6660, "t": 33.3, "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": 12, "step": 7079, "t": 35.395, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "moving", "to": "at_in"}, "cause": null} +{"env_id": 3, "seq": 13, "step": 7079, "t": 35.395, "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": 14, "step": 7079, "t": 35.395, "topic": "a4s_sealer_1.drawer.at_in", "source": "a4s_sealer_1.drawer", "data": {"q": 0.30000001192092896}, "cause": "program-3-2"} +{"env_id": 3, "seq": 15, "step": 7079, "t": 35.395, "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": 16, "step": 7079, "t": 35.395, "topic": "labware.plate_2.changed", "source": "labware.plate_2", "data": {"key": "sealed", "value": true}, "cause": "task-3-1"} +{"env_id": 3, "seq": 17, "step": 7079, "t": 35.395, "topic": "a4s_sealer_1.sealed", "source": "a4s_sealer_1", "data": {"plate": "plate_2"}, "cause": "task-3-1"} +{"env_id": 3, "seq": 18, "step": 7079, "t": 35.395, "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": 19, "step": 7079, "t": 35.395, "topic": "a4s_sealer_1.heater.state.changed", "source": "a4s_sealer_1.heater", "data": {"from": "ready", "to": "running"}, "cause": null} +{"env_id": 3, "seq": 20, "step": 7079, "t": 35.395, "topic": "a4s_sealer_1.heater.started", "source": "a4s_sealer_1.heater", "data": {"duration": 3.1289604772616313}, "cause": "program-3-3"} +{"env_id": 3, "seq": 21, "step": 7705, "t": 38.525, "topic": "a4s_sealer_1.heater.state.changed", "source": "a4s_sealer_1.heater", "data": {"from": "running", "to": "ready"}, "cause": null} +{"env_id": 3, "seq": 22, "step": 7705, "t": 38.525, "topic": "a4s_sealer_1.heater.finished", "source": "a4s_sealer_1.heater", "data": {"elapsed": 3.1300000000016013}, "cause": "program-3-3"} +{"env_id": 3, "seq": 23, "step": 7705, "t": 38.525, "topic": "a4s_sealer_1.heater.command.succeeded", "source": "a4s_sealer_1.heater", "data": {"command_id": "program-3-3", "name": "run", "source": "program:seal", "result": {"elapsed": 3.1300000000016013}}, "cause": "program-3-3"} +{"env_id": 3, "seq": 24, "step": 7705, "t": 38.525, "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": 25, "step": 7705, "t": 38.525, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "at_in", "to": "moving"}, "cause": null} +{"env_id": 3, "seq": 26, "step": 7705, "t": 38.525, "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": 27, "step": 8125, "t": 40.625, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "moving", "to": "at_out"}, "cause": null} +{"env_id": 3, "seq": 28, "step": 8125, "t": 40.625, "topic": "a4s_sealer_1.drawer.reached", "source": "a4s_sealer_1.drawer", "data": {"position": "out", "q": 4.6638404943566414e-11}, "cause": "program-3-4"} +{"env_id": 3, "seq": 29, "step": 8125, "t": 40.625, "topic": "a4s_sealer_1.drawer.at_out", "source": "a4s_sealer_1.drawer", "data": {"q": 4.6638404943566414e-11}, "cause": "program-3-4"} +{"env_id": 3, "seq": 30, "step": 8125, "t": 40.625, "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": 31, "step": 8125, "t": 40.625, "topic": "a4s_sealer_1.seal.finished", "source": "a4s_sealer_1", "data": {}, "cause": "task-3-1"} +{"env_id": 3, "seq": 32, "step": 8125, "t": 40.625, "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": 33, "step": 8707, "t": 43.535, "topic": "a4s_sealer_1.plate_present.absent", "source": "a4s_sealer_1.plate_present", "data": {"object": "plate_2"}, "cause": null} +{"env_id": 3, "seq": 34, "step": 10456, "t": 52.28, "topic": "conveyor_1.belt.command.started", "source": "conveyor_1.belt", "data": {"command_id": "task-3-5", "name": "release", "source": "task"}, "cause": "task-3-5"} +{"env_id": 3, "seq": 35, "step": 10456, "t": 52.28, "topic": "conveyor_1.belt.station.pick.released", "source": "conveyor_1.belt", "data": {"rider": "carrier_2"}, "cause": "task-3-5"} +{"env_id": 3, "seq": 36, "step": 10456, "t": 52.28, "topic": "conveyor_1.belt.state.changed", "source": "conveyor_1.belt", "data": {"from": "at_station", "to": "running"}, "cause": null} +{"env_id": 3, "seq": 37, "step": 10456, "t": 52.28, "topic": "conveyor_1.belt.command.succeeded", "source": "conveyor_1.belt", "data": {"command_id": "task-3-5", "name": "release", "source": "task", "result": {"state": "running"}}, "cause": "task-3-5"} diff --git a/episodes/c7_p008_e032/env.mp4 b/episodes/c7_p008_e032/env.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..3014b97a5997d9f47440f1fa86e60a76e271cd9a --- /dev/null +++ b/episodes/c7_p008_e032/env.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:2461507f3b1daab0f55513c21f3683ecf44e8391ed40d5e73d6816080568ae3b +size 1319221 diff --git a/episodes/c7_p008_e032/meta.json b/episodes/c7_p008_e032/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..5e576f6f7cc76b1bb6a1a65bce086ae3ef9a0033 --- /dev/null +++ b/episodes/c7_p008_e032/meta.json @@ -0,0 +1,32 @@ +{ + "source": "raw/c7_p008/magicsim/32", + "fps": 25, + "frames": 1237, + "kept_ticks": "even", + "video_frames": { + "wrist": 1237, + "env": 1237 + }, + "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_p008_e032/scene_snapshot.json b/episodes/c7_p008_e032/scene_snapshot.json new file mode 100644 index 0000000000000000000000000000000000000000..33bf73674673a26ae1dde99dcfac5f16bc33e1bd --- /dev/null +++ b/episodes/c7_p008_e032/scene_snapshot.json @@ -0,0 +1,1558 @@ +{ + "trajectory_id": 32, + "env_id": 3, + "run_id": "c7_p008", + "task_type": "BioPlateCell", + "success": true, + "timing": { + "fps": 50.0, + "sim_dt": 0.005, + "decimation": 4 + }, + "restore_interface": { + "scene": "scene_manager.reset_to(snapshot['scene'], env_ids=[env_id])", + "robots": "robot_manager.set_state({'robots': snapshot['robots']}, env_ids=[env_id])" + }, + "snapshot": { + "env_id": 3, + "scene": { + "objects": [ + {}, + {}, + {}, + { + "rac_cell": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/rac_cell.usd", + "pose": { + "pos": [ + 0.0, + 0.0, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "physics_material": { + "static_friction": 0.6, + "dynamic_friction": 0.5, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "robot_mount": [ + { + "asset": "Cube", + "pose": { + "pos": [ + 0.0, + 0.0, + 0.9075 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": "color", + "value": [ + 0.55, + 0.56, + 0.58 + ], + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": { + "size": [ + 0.2, + 0.2, + 0.015 + ] + } + }, + "type_specific": {} + } + ], + "plate_rack": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/plate_hotel.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 0.9 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "physics_material": { + "static_friction": 0.6, + "dynamic_friction": 0.5, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "hotel_plate": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/deep_well_24_10ml/deep_well_24_10ml.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 0.9605 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_24_clear/plate_24_clear.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.0285 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_96_black/plate_96_black.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.0965 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_96_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": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_6_clear/plate_6_clear.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.2325 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "a4s_sealer": [ + { + "asset": "$MAGICSIM_ASSETS/Articulated/A4SSealer/Object.usd", + "pose": { + "pos": [ + 0.4943122863769531, + 0.12484455108642578, + 0.8999999761581421 + ], + "ori": [ + -0.6890893578529358, + 0.0, + 0.0, + 0.7246763706207275 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "articulation", + "solver_position_iteration_count": 16.0, + "solver_velocity_iteration_count": 1.0, + "enabled_self_collisions": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "joint_position": [ + 4.037000334716767e-12 + ], + "joint_velocity": [ + 0.0 + ], + "linear_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "angular_velocity": [ + 0.0, + 0.0, + 0.0 + ] + } + } + ], + "conveyor": [ + { + "asset": "Cube", + "pose": { + "pos": [ + 0.15, + 0.45, + 0.9 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "conveyor", + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9 + }, + "ratio": 1.0 + }, + "primitive_params": { + "size": [ + 2.4, + 0.076, + 0.03 + ] + }, + "conveyor": { + "speed": 0.26557766905933156, + "direction": [ + 1.0, + 0.0, + 0.0 + ], + "enabled": true, + "drive": "surface_velocity", + "lines": null, + "station_line": null, + "riders": [ + "carrier" + ], + "stations": { + "pick": { + "position": -0.13873039402402937, + "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": 0.26557766905933156, + "holds": [], + "station": "pick", + "rider": "carrier_2", + "arrived": true, + "applied_speed": 0.0 + } + } + } + ], + "carrier": [ + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + 0.5183982849121094, + 1.1499967575073242, + 0.8999999761581421 + ], + "ori": [ + 5.121963476995006e-05, + 2.644305052701412e-10, + -2.4035726742255292e-09, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -8.856554378766646e-10, + -5.786251477957194e-10, + 3.725290298461914e-09 + ], + "angular_velocity": [ + 2.983887981145017e-08, + -7.275628632896769e-08, + -1.9055366173859056e-09 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + 0.011526107788085938, + 0.4500007629394531, + 0.8999999761581421 + ], + "ori": [ + 1.0, + 2.6726689750233845e-09, + -1.6255699564204917e-10, + 3.437138502704329e-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": [ + 2.033255341871154e-09, + 1.95815585968262e-09, + 1.4901161193847656e-08 + ], + "angular_velocity": [ + -1.689476789579203e-07, + 1.947695125181781e-07, + -2.513960595251774e-09 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + -1.0428647994995117, + 1.1493730545043945, + 0.8999999761581421 + ], + "ori": [ + -0.02030533365905285, + -4.692236821313145e-09, + 8.014348296114804e-09, + 0.9997938275337219 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 5.958571414055314e-10, + -5.344817033403615e-09, + 1.1175870895385742e-08 + ], + "angular_velocity": [ + 1.8679932622944762e-07, + 6.286411746714293e-08, + 2.2240314478949585e-08 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + 1.614990234375, + 1.027109146118164, + 0.8999999761581421 + ], + "ori": [ + 0.42008092999458313, + -1.347950018271149e-07, + 3.0838926079468365e-08, + 0.9074866771697998 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 4.9149413428040134e-08, + 7.049290928762275e-09, + 5.587935447692871e-08 + ], + "angular_velocity": [ + -2.409157104921178e-07, + 2.824298917403212e-06, + -2.3767807988406275e-07 + ] + } + } + ], + "plate": [ + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_48_clear/Object.usd", + "pose": { + "pos": [ + 0.5250425338745117, + 1.1517610549926758, + 0.9179999828338623 + ], + "ori": [ + 0.10035349428653717, + -1.8771604270995113e-09, + -3.813642290850794e-09, + 0.9949518442153931 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 2.210696159465897e-08, + -1.7285607611938758e-08, + 7.82310962677002e-08 + ], + "angular_velocity": [ + 4.459437263903965e-07, + 1.4823059473201283e-06, + 9.52613135041247e-08 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_384_white/Object.usd", + "pose": { + "pos": [ + 0.013751029968261719, + 0.4492149353027344, + 0.9180000424385071 + ], + "ori": [ + 0.9990286827087402, + 1.4343541909767055e-09, + -5.376901146547652e-10, + -0.04406535625457764 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -6.402418151196798e-09, + 1.421688011760125e-08, + -5.5283308029174805e-06 + ], + "angular_velocity": [ + 1.1159890789258498e-07, + -1.8048250467472826e-06, + -1.6116727508119766e-08 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_96_clear/Object.usd", + "pose": { + "pos": [ + -1.0556221008300781, + 1.1381816864013672, + 0.9180000424385071 + ], + "ori": [ + -0.024353785440325737, + -4.104084627698512e-09, + 9.365583863996108e-09, + 0.9997034072875977 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 4.165590539173536e-08, + -1.0466028044220366e-08, + -5.334615707397461e-06 + ], + "angular_velocity": [ + -5.439355845737737e-07, + 2.635043074405985e-06, + 2.022386809130694e-07 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/reservoir_12ch/Object.usd", + "pose": { + "pos": [ + 1.6173639297485352, + 1.0266122817993164, + 0.9179999828338623 + ], + "ori": [ + 0.47577887773513794, + -7.050714998513286e-07, + -5.11580196871364e-07, + 0.8795650005340576 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 2.343056394238374e-06, + -3.726636350620538e-06, + -8.922070264816284e-06 + ], + "angular_velocity": [ + -3.8633079384453595e-06, + 1.0641866538207978e-05, + 1.5612335118930787e-05 + ] + } + } + ], + "deco_hub_west": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/hub_e.usd", + "pose": { + "pos": [ + -3.36, + 0.0, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_hub_east": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/hub_d.usd", + "pose": { + "pos": [ + 3.36, + 0.0, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_hub_back": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/hub_a.usd", + "pose": { + "pos": [ + -3.0, + -2.1, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_bench_east": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/bench_c.usd", + "pose": { + "pos": [ + 2.6, + -2.5, + 0.0 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_bench_gap": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/bench_b.usd", + "pose": { + "pos": [ + -0.1, + -2.9, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ] + } + ], + "devices": { + "hub": [ + null, + null, + null, + { + "t": 2.9799999999999587, + "step": 596, + "counter": 0, + "devices": { + "a4s_sealer_1": { + "mode": "auto", + "units": { + "drawer": { + "state": "at_out", + "active": null, + "target": 0.0, + "goal_name": "out", + "profile": null, + "q_start": null, + "reversing": false, + "blocked_for": 0.0, + "settled_for": 0.0, + "last_q": 4.037000334716767e-12 + }, + "heater": { + "state": "ready", + "active": null, + "duration": 0.0, + "t_start": null, + "elapsed": 0.0 + } + }, + "queues": {}, + "program": null, + "sensors": { + "plate_present": { + "occupants": [], + "pending": {} + } + }, + "interlocks": {} + }, + "conveyor_1": { + "mode": "auto", + "units": { + "belt": { + "state": "at_station", + "active": null, + "controller": { + "speed": 0.26557766905933156, + "holds": [], + "station": "pick", + "rider": "carrier_2", + "arrived": true, + "settle_count": 532, + "released": { + "pick": [] + }, + "last_pos": { + "carrier_1": [ + 0.3683982789516449, + 0.6999967694282532, + 0.0 + ], + "carrier_2": [ + -0.13847389817237854, + 7.748603820800781e-07, + 0.0 + ], + "carrier_3": [ + -1.1928648054599762, + 0.6993730664253235, + 0.0 + ], + "carrier_4": [ + 1.4649902284145355, + 0.577109158039093, + 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": [ + 0.1907435620406156, + -0.33425406869400937, + 3.1314726992955477 + ], + "ori": [ + -2.476704297352006, + 11.580975170323388, + -27.886226156605076 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "color_temperature": 3226.4919968505997, + "color": [ + 0.8812385841133328, + 0.9715801200523236, + 0.8358474898685776 + ], + "intensity": 10784.903545225136, + "width": 2.0142934964003087, + "height": 1.6895352441095317 + } + }, + "key": { + "type": "disk", + "pose": { + "pos": [ + -1.4163995732378227, + -1.139048271866931, + 2.7786362957191697 + ], + "ori": [ + -9.802514184438913, + -39.52754747287909, + 29.686428022636093 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "color_temperature": 7216.611855281702, + "color": [ + 0.8534014684978461, + 0.963006070807412, + 0.8021013460490072 + ], + "intensity": 3257.6395080895372, + "radius": 0.3593403848166318 + } + } + } + ], + "background": { + "type": "dome", + "pose": { + "pos": null, + "ori": null, + "scale": null + }, + "dr": { + "intensity": 409.9212221470027, + "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": [ + [ + 1.284263014793396, + -1.5025862455368042, + 2.1918931007385254, + -2.2599353790283203, + -1.5709315538406372, + 5.999491214752197, + 0.018000038340687752, + 0.017999961972236633 + ], + [ + -0.26325157284736633, + -2.1496896743774414, + 2.4039101600646973, + -1.8250107765197754, + -1.5708088874816895, + 4.452434062957764, + 0.018000001087784767, + 0.01799999736249447 + ], + [ + 0.2203475385904312, + -1.9778351783752441, + 2.33439302444458, + -1.9285746812820435, + -1.5709834098815918, + 4.995523452758789, + 0.0077628991566598415, + 0.0073868646286427975 + ], + [ + 0.9141026139259338, + -1.7193981409072876, + 2.0904994010925293, + -1.9419001340866089, + -1.5707999467849731, + 2.484900712966919, + 0.01799999736249447, + 0.018000001087784767 + ] + ], + "joint_vel": [ + [ + 0.00013781097368337214, + -0.015825098380446434, + -0.010896461084485054, + 0.02546079084277153, + -5.9154008340556175e-06, + 2.658697667357046e-05, + -7.595368970214622e-06, + 7.571588412247365e-06 + ], + [ + -0.0002837200299836695, + 0.0020953770726919174, + 0.008018064312636852, + -0.009761687368154526, + -1.4842137261439348e-06, + -0.00027249078266322613, + -3.2145536010830256e-07, + 3.2146573403224465e-07 + ], + [ + 0.07441537827253342, + 0.029739661142230034, + -0.001008564606308937, + -0.018120525404810905, + 0.005609977524727583, + 0.05435304343700409, + -0.003411649726331234, + 0.0001329174847342074 + ], + [ + 3.4059648896800354e-06, + 3.4059355584759032e-06, + -9.21600209341511e-12, + -1.2478288801548443e-12, + -3.405977395232185e-06, + 6.690124257531516e-13, + 2.599050930029989e-08, + -2.5990388508034812e-08 + ] + ] + } + }, + "cameras": { + "cameras": { + "camera0": [ + [ + 0.049729686230421066, + -0.001671454170718789, + -0.033360257744789124, + -0.2878720760345459, + 0.6425802111625671, + 0.6541280746459961, + -0.27629104256629944 + ], + [ + 0.051239609718322754, + -0.004502390511333942, + -0.028386296704411507, + -0.28912729024887085, + 0.6425752639770508, + 0.650981605052948, + -0.28235679864883423 + ], + [ + 0.04974592849612236, + 0.003740007756277919, + -0.0328216515481472, + -0.2795044481754303, + 0.6418209671974182, + 0.6627827882766724, + -0.26582345366477966 + ], + [ + 0.04983917996287346, + 0.0026512083131819963, + -0.033485691994428635, + -0.2753308415412903, + 0.6495567560195923, + 0.653361976146698, + -0.2745670974254608 + ] + ], + "camera1": [ + [ + 0.06322747468948364, + 0.5808082222938538, + 1.9384417533874512, + 0.046239614486694336, + 0.019125768914818764, + 0.26072099804878235, + 0.9641165137290955 + ], + [ + 0.03379236161708832, + 0.5608122944831848, + 1.95916748046875, + 0.035007357597351074, + 0.005887151230126619, + 0.26043492555618286, + 0.9648385643959045 + ], + [ + 0.03888533636927605, + 0.5562218427658081, + 1.9518473148345947, + 0.04403591528534889, + -0.0054771192371845245, + 0.2636098861694336, + 0.9636081457138062 + ], + [ + 0.037180252373218536, + 0.5804914832115173, + 1.9357943534851074, + 0.0317792110145092, + 0.005205465015023947, + 0.26306864619255066, + 0.9642395377159119 + ] + ] + } + } + } +} \ No newline at end of file diff --git a/episodes/c7_p008_e032/wrist.mp4 b/episodes/c7_p008_e032/wrist.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..262b97f3abbc7b2a378528e07d84757c703788d6 --- /dev/null +++ b/episodes/c7_p008_e032/wrist.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:f3ae12491bc2768f820f481a72294f76e345a519b9373261ee463bfbf6b829e2 +size 6731998 diff --git a/episodes/c7_p008_e033/data.npz b/episodes/c7_p008_e033/data.npz new file mode 100644 index 0000000000000000000000000000000000000000..f3919251d6df5a4234fab95281999e4fb3eef6fd --- /dev/null +++ b/episodes/c7_p008_e033/data.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:37498f772134b68085fe075c3e0d08bab1e0daf8a33dfb8fbb3a0cef6506b95c +size 192273 diff --git a/episodes/c7_p008_e033/device_events.jsonl b/episodes/c7_p008_e033/device_events.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..e4a817f25cbd2f3fcace51de3dd9afb651dec91f --- /dev/null +++ b/episodes/c7_p008_e033/device_events.jsonl @@ -0,0 +1,35 @@ +{"env_id": 0, "seq": 1, "step": 73, "t": 0.365, "topic": "conveyor_1.belt.station.pick.captured", "source": "conveyor_1.belt", "data": {"rider": "carrier_3"}, "cause": null} +{"env_id": 0, "seq": 2, "step": 73, "t": 0.365, "topic": "conveyor_1.belt.state.changed", "source": "conveyor_1.belt", "data": {"from": "running", "to": "at_station"}, "cause": null} +{"env_id": 0, "seq": 3, "step": 78, "t": 0.39, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_3"}, "cause": null} +{"env_id": 0, "seq": 4, "step": 5867, "t": 29.335, "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": 6480, "t": 32.4, "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": 6480, "t": 32.4, "topic": "a4s_sealer_1.seal.started", "source": "a4s_sealer_1", "data": {"dwell": 3.1733451763808613}, "cause": "task-0-1"} +{"env_id": 0, "seq": 7, "step": 6480, "t": 32.4, "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": 6480, "t": 32.4, "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": 6480, "t": 32.4, "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": 6899, "t": 34.495, "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": 6899, "t": 34.495, "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": 6899, "t": 34.495, "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": 6899, "t": 34.495, "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": 6899, "t": 34.495, "topic": "labware.plate_3.changed", "source": "labware.plate_3", "data": {"key": "sealed", "value": true}, "cause": "task-0-1"} +{"env_id": 0, "seq": 15, "step": 6899, "t": 34.495, "topic": "a4s_sealer_1.sealed", "source": "a4s_sealer_1", "data": {"plate": "plate_3"}, "cause": "task-0-1"} +{"env_id": 0, "seq": 16, "step": 6899, "t": 34.495, "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": 6899, "t": 34.495, "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": 6899, "t": 34.495, "topic": "a4s_sealer_1.heater.started", "source": "a4s_sealer_1.heater", "data": {"duration": 3.1733451763808613}, "cause": "program-0-3"} +{"env_id": 0, "seq": 19, "step": 7534, "t": 37.67, "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": 7534, "t": 37.67, "topic": "a4s_sealer_1.heater.finished", "source": "a4s_sealer_1.heater", "data": {"elapsed": 3.1750000000016243}, "cause": "program-0-3"} +{"env_id": 0, "seq": 21, "step": 7534, "t": 37.67, "topic": "a4s_sealer_1.heater.command.succeeded", "source": "a4s_sealer_1.heater", "data": {"command_id": "program-0-3", "name": "run", "source": "program:seal", "result": {"elapsed": 3.1750000000016243}}, "cause": "program-0-3"} +{"env_id": 0, "seq": 22, "step": 7534, "t": 37.67, "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": 7534, "t": 37.67, "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": 7534, "t": 37.67, "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": 7954, "t": 39.77, "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": 7954, "t": 39.77, "topic": "a4s_sealer_1.drawer.reached", "source": "a4s_sealer_1.drawer", "data": {"position": "out", "q": 0.0}, "cause": "program-0-4"} +{"env_id": 0, "seq": 27, "step": 7954, "t": 39.77, "topic": "a4s_sealer_1.drawer.at_out", "source": "a4s_sealer_1.drawer", "data": {"q": 0.0}, "cause": "program-0-4"} +{"env_id": 0, "seq": 28, "step": 7954, "t": 39.77, "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": 7954, "t": 39.77, "topic": "a4s_sealer_1.seal.finished", "source": "a4s_sealer_1", "data": {}, "cause": "task-0-1"} +{"env_id": 0, "seq": 30, "step": 7954, "t": 39.77, "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": 8535, "t": 42.675, "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": 10296, "t": 51.48, "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": 10296, "t": 51.48, "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": 10296, "t": 51.48, "topic": "conveyor_1.belt.state.changed", "source": "conveyor_1.belt", "data": {"from": "at_station", "to": "running"}, "cause": null} +{"env_id": 0, "seq": 35, "step": 10296, "t": 51.48, "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_p008_e033/env.mp4 b/episodes/c7_p008_e033/env.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..d56057bdb63fc7a9287d4179b4a1d033dcd2dde3 --- /dev/null +++ b/episodes/c7_p008_e033/env.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:0564f60b50f3528ebb86d3c5398dcd968b2926bf5794d1a7ad1a8938c90f471c +size 1301755 diff --git a/episodes/c7_p008_e033/meta.json b/episodes/c7_p008_e033/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..a26f5a819a0b177c096eb18d30761f52dbcd294d --- /dev/null +++ b/episodes/c7_p008_e033/meta.json @@ -0,0 +1,32 @@ +{ + "source": "raw/c7_p008/magicsim/33", + "fps": 25, + "frames": 1243, + "kept_ticks": "even", + "video_frames": { + "wrist": 1243, + "env": 1243 + }, + "joint_target_source": "joint_pos_target", + "fk_vs_recorded_eef_max_m": 0.0, + "curobo_joints": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "joint_order": [ + "shoulder_pan", + "shoulder_lift", + "elbow", + "wrist_1", + "wrist_2", + "wrist_3", + "finger_left", + "finger_right" + ], + "frames_note": "eef / actions in the robot base frame; camera_pose = local pose (wrist: in plate_gripper_base, env: env frame), pos + quat wxyz", + "dr_version": "v2" +} \ No newline at end of file diff --git a/episodes/c7_p008_e033/scene_snapshot.json b/episodes/c7_p008_e033/scene_snapshot.json new file mode 100644 index 0000000000000000000000000000000000000000..5bcb7f75ebb32fce4f1bb3b6cad3ede7439a1fb9 --- /dev/null +++ b/episodes/c7_p008_e033/scene_snapshot.json @@ -0,0 +1,1558 @@ +{ + "trajectory_id": 33, + "env_id": 0, + "run_id": "c7_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_24_clear/plate_24_clear.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 0.9605 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_96_white/plate_96_white.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.0285 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/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_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": [ + 0.4677009582519531, + 0.06300163269042969, + 0.8999999761581421 + ], + "ori": [ + -0.7026026248931885, + 0.0, + 0.0, + 0.7115824222564697 + ], + "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": 0.1572128691984876, + "direction": [ + 1.0, + 0.0, + 0.0 + ], + "enabled": true, + "drive": "surface_velocity", + "lines": null, + "station_line": null, + "riders": [ + "carrier" + ], + "stations": { + "pick": { + "position": -0.2662762096150298, + "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": 0.1572128691984876, + "holds": [], + "station": "pick", + "rider": "carrier_3", + "arrived": true, + "applied_speed": 0.0 + } + } + } + ], + "carrier": [ + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + -1.3963699340820312, + 0.7673616409301758, + 0.8999999761581421 + ], + "ori": [ + -0.733452320098877, + -4.8160252674733783e-08, + -2.056217169865704e-07, + 0.6797409057617188 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -1.706433181425382e-07, + -1.0847948033188004e-06, + -2.391636371612549e-06 + ], + "angular_velocity": [ + 9.375477384310216e-05, + -9.301653335569426e-06, + -1.3314433999767061e-06 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + 1.693838119506836, + 0.7400150299072266, + 0.8999999761581421 + ], + "ori": [ + 0.7660200595855713, + 3.0981635035232102e-09, + -6.75215900969306e-08, + 0.6428166627883911 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 1.8522493538952745e-09, + -2.1423587348579076e-09, + 1.4901161193847656e-08 + ], + "angular_velocity": [ + 1.5800156916156993e-07, + -8.235209847384795e-09, + -2.8826239173440626e-08 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + -0.1167593002319336, + 0.4499969482421875, + 0.8999999761581421 + ], + "ori": [ + 1.0, + 1.3958352695908616e-08, + 9.581779814027414e-10, + -1.9702563804457895e-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": [ + -1.8940921719945436e-08, + 3.149306593286383e-08, + 8.940696716308594e-08 + ], + "angular_velocity": [ + -1.1520519365149084e-06, + -1.4017407465871656e-06, + 1.6612801800874877e-07 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + 0.5755586624145508, + 1.1499977111816406, + 0.8999999761581421 + ], + "ori": [ + -4.982643804396503e-05, + -2.611826310783272e-10, + 1.2226358814260152e-09, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -1.915925196271928e-09, + -1.1020901968805674e-09, + 1.4901161193847656e-08 + ], + "angular_velocity": [ + 8.381286420444667e-08, + -2.0042564585764922e-07, + -6.5048872954776016e-09 + ] + } + } + ], + "plate": [ + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_6_clear/Object.usd", + "pose": { + "pos": [ + -1.4019927978515625, + 0.77081298828125, + 0.9179999828338623 + ], + "ori": [ + -0.6824554800987244, + 4.880247672645055e-08, + -3.1167220981842547e-07, + 0.7309271693229675 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 1.0856258825242548e-07, + -2.518950395824504e-06, + -2.216547727584839e-06 + ], + "angular_velocity": [ + 8.796637848718092e-05, + -3.8661837606923655e-06, + -1.2978391623619245e-06 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_96_black/Object.usd", + "pose": { + "pos": [ + 1.6920270919799805, + 0.7379274368286133, + 0.9180000424385071 + ], + "ori": [ + 0.7894424796104431, + 6.850908285116475e-09, + -6.629054638551679e-08, + 0.6138246059417725 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 7.646863586785457e-09, + -5.7896883731700655e-08, + -5.248934030532837e-06 + ], + "angular_velocity": [ + 4.144412741879933e-06, + 1.2673548326347372e-06, + -4.1201090539289e-08 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/pcr_96_blue/Object.usd", + "pose": { + "pos": [ + -0.10299491882324219, + 0.4553565979003906, + 0.9180000424385071 + ], + "ori": [ + 0.9986450672149658, + 4.7326344088105543e-07, + 1.3433135848117672e-07, + 0.05203838646411896 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -4.16302282246761e-06, + -1.357506334898062e-06, + -7.536262273788452e-06 + ], + "angular_velocity": [ + -0.00018921124865300953, + -2.5486402591923252e-05, + 3.852565714623779e-05 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/deep_well_96_2ml/Object.usd", + "pose": { + "pos": [ + 0.5789670944213867, + 1.139638900756836, + 0.9179999828338623 + ], + "ori": [ + -0.06751423329114914, + -1.854286946212369e-09, + 2.282836808475963e-09, + 0.9977183938026428 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 3.3563541279590936e-08, + 7.770482568503212e-08, + -1.0468065738677979e-06 + ], + "angular_velocity": [ + -3.6757824091182556e-06, + 2.0847373889409937e-06, + -4.478583903733124e-08 + ] + } + } + ], + "deco_hub_west": [ + { + "asset": "$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": 2.019999999999979, + "step": 404, + "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": 0.1572128691984876, + "holds": [], + "station": "pick", + "rider": "carrier_3", + "arrived": true, + "settle_count": 330, + "released": { + "pick": [] + }, + "last_pos": { + "carrier_1": [ + -1.5463699400424957, + 0.31736165285110474, + 0.0 + ], + "carrier_2": [ + 1.5438381135463715, + 0.2900150418281555, + 0.0 + ], + "carrier_3": [ + -0.26675930619239807, + -3.039836883544922e-06, + 0.0 + ], + "carrier_4": [ + 0.4255586564540863, + 0.6999977231025696, + 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": [ + 0.637541504758819, + 0.320851081843608, + 2.6364073168485476 + ], + "ori": [ + 12.726767148365706, + 14.750723794674307, + -14.499486022534354 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "color_temperature": 4621.895812142977, + "color": [ + 0.9024398613172193, + 0.8022388977799885, + 0.9269246011255912 + ], + "intensity": 9734.469410386864, + "width": 2.057467972190612, + "height": 0.9721602245274711 + } + }, + "key": { + "type": "disk", + "pose": { + "pos": [ + 0.5918468550285039, + -0.45272592864270433, + 2.305373006738261 + ], + "ori": [ + 39.50656697580088, + -0.7532722509494931, + 32.631948420699246 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "color_temperature": 5595.09668384599, + "color": [ + 0.8194325223881155, + 0.7638145249563948, + 0.9964895161624145 + ], + "intensity": 6015.337593792889, + "radius": 0.3545187398951436 + } + } + }, + {}, + {}, + {} + ], + "background": { + "type": "dome", + "pose": { + "pos": null, + "ori": null, + "scale": null + }, + "dr": { + "intensity": 1168.501236813573, + "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, + 2.09049916267395, + -1.941900610923767, + -1.5707999467849731, + 2.4849002361297607, + 0.018000001087784767, + 0.01799999736249447 + ], + [ + -0.2728063464164734, + -2.076298475265503, + 2.575122833251953, + -2.0696566104888916, + -1.5707913637161255, + 4.442923069000244, + 0.007262470666319132, + 0.006474954541772604 + ], + [ + 1.4654167890548706, + -1.2965569496154785, + 2.2589051723480225, + -2.5319390296936035, + -1.5713063478469849, + 6.179524898529053, + 0.017999986186623573, + 0.017999986186623573 + ], + [ + 0.9414719343185425, + -1.2809858322143555, + 2.2494239807128906, + -2.539227247238159, + -1.570806860923767, + 2.6003849506378174, + 0.0076750400476157665, + 0.0072200605645775795 + ] + ], + "joint_vel": [ + [ + 0.0, + -2.4615399400920885e-38, + -1.6967874689000626e-38, + -3.6136139973165453e-37, + 5.985565899779665e-37, + -2.7013861404043733e-36, + -2.5990388508034812e-08, + 2.5990388508034812e-08 + ], + [ + 5.768757546320558e-06, + -0.0187033973634243, + -0.018405579030513763, + 0.035915784537792206, + 4.6587243559770286e-05, + -0.0002180894953198731, + -0.010363632813096046, + 0.0002292524732183665 + ], + [ + -1.0217894669040106e-05, + 3.4059253266605083e-06, + 6.811935691075632e-06, + -1.3623914128402248e-05, + -6.811957064201124e-06, + 2.7247833713772707e-05, + 1.819528421265204e-07, + 1.8195333950643544e-07 + ], + [ + -0.00019753181550186127, + -3.420152279431932e-05, + -4.859708860749379e-05, + -0.0006797501700930297, + 0.0006250663427636027, + 0.0019635821226984262, + -0.006311560049653053, + 0.0002897131780628115 + ] + ] + } + }, + "cameras": { + "cameras": { + "camera0": [ + [ + 0.05025799572467804, + -0.0026292160619050264, + -0.03040250390768051, + -0.2695991098880768, + 0.6493848562240601, + 0.6526261568069458, + -0.28230249881744385 + ], + [ + 0.0524505078792572, + -0.0012909765355288982, + -0.028288308531045914, + -0.2917625904083252, + 0.6471458673477173, + 0.6442042589187622, + -0.2847414016723633 + ], + [ + 0.04935843497514725, + 0.0018350714817643166, + -0.03182333707809448, + -0.2788168787956238, + 0.6449264883995056, + 0.6599330306053162, + -0.2661190927028656 + ], + [ + 0.049424201250076294, + 0.0003140962799079716, + -0.03237226605415344, + -0.2723904252052307, + 0.6499282717704773, + 0.6534072160720825, + -0.276506245136261 + ] + ], + "camera1": [ + [ + 0.07244119793176651, + 0.5787467956542969, + 1.9300169944763184, + 0.03624622896313667, + 0.01801174134016037, + 0.2831435203552246, + 0.9582231044769287 + ], + [ + 0.03379236161708832, + 0.5608122944831848, + 1.95916748046875, + 0.035007357597351074, + 0.005887151230126619, + 0.26043492555618286, + 0.9648385643959045 + ], + [ + 0.03888533636927605, + 0.5562218427658081, + 1.9518473148345947, + 0.04403591528534889, + -0.0054771192371845245, + 0.2636098861694336, + 0.9636081457138062 + ], + [ + 0.037180252373218536, + 0.5804914832115173, + 1.9357943534851074, + 0.0317792110145092, + 0.005205465015023947, + 0.26306864619255066, + 0.9642395377159119 + ] + ] + } + } + } +} \ No newline at end of file diff --git a/episodes/c7_p008_e033/wrist.mp4 b/episodes/c7_p008_e033/wrist.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..c1b43cfd8bb9e4c0a280e2e93453beccdfcf3ec7 --- /dev/null +++ b/episodes/c7_p008_e033/wrist.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:2651507984e2e4516048435ec9354bf83d9323519e6841c86d1035999a7ded43 +size 7875815 diff --git a/episodes/c7_p008_e034/data.npz b/episodes/c7_p008_e034/data.npz new file mode 100644 index 0000000000000000000000000000000000000000..d3b79d9a1ad8917a210075a2f3bafe8c003aad3c --- /dev/null +++ b/episodes/c7_p008_e034/data.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:7ca056dbeb095d7124586effea012e056aae4c918bab01a8896a4cf2be2a1694 +size 201948 diff --git a/episodes/c7_p008_e034/device_events.jsonl b/episodes/c7_p008_e034/device_events.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..41102761a8ed88d2472330f8389e0bacb7b9c52c --- /dev/null +++ b/episodes/c7_p008_e034/device_events.jsonl @@ -0,0 +1,36 @@ +{"env_id": 2, "seq": 1, "step": 47, "t": 0.235, "topic": "conveyor_1.belt.station.pick.captured", "source": "conveyor_1.belt", "data": {"rider": "carrier_2"}, "cause": null} +{"env_id": 2, "seq": 2, "step": 47, "t": 0.235, "topic": "conveyor_1.belt.state.changed", "source": "conveyor_1.belt", "data": {"from": "running", "to": "at_station"}, "cause": null} +{"env_id": 2, "seq": 3, "step": 52, "t": 0.26, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_2"}, "cause": null} +{"env_id": 2, "seq": 4, "step": 828, "t": 4.14, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_2"}, "cause": null} +{"env_id": 2, "seq": 5, "step": 5642, "t": 28.21, "topic": "a4s_sealer_1.plate_present.present", "source": "a4s_sealer_1.plate_present", "data": {"object": "plate_2"}, "cause": null} +{"env_id": 2, "seq": 6, "step": 6256, "t": 31.28, "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": 6256, "t": 31.28, "topic": "a4s_sealer_1.seal.started", "source": "a4s_sealer_1", "data": {"dwell": 2.2354267185309635}, "cause": "task-2-1"} +{"env_id": 2, "seq": 8, "step": 6256, "t": 31.28, "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": 6256, "t": 31.28, "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": 6256, "t": 31.28, "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": 6675, "t": 33.375, "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": 6675, "t": 33.375, "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": 6675, "t": 33.375, "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": 6675, "t": 33.375, "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": 6675, "t": 33.375, "topic": "labware.plate_2.changed", "source": "labware.plate_2", "data": {"key": "sealed", "value": true}, "cause": "task-2-1"} +{"env_id": 2, "seq": 16, "step": 6675, "t": 33.375, "topic": "a4s_sealer_1.sealed", "source": "a4s_sealer_1", "data": {"plate": "plate_2"}, "cause": "task-2-1"} +{"env_id": 2, "seq": 17, "step": 6675, "t": 33.375, "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": 6675, "t": 33.375, "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": 6675, "t": 33.375, "topic": "a4s_sealer_1.heater.started", "source": "a4s_sealer_1.heater", "data": {"duration": 2.2354267185309635}, "cause": "program-2-3"} +{"env_id": 2, "seq": 20, "step": 7123, "t": 35.615, "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": 7123, "t": 35.615, "topic": "a4s_sealer_1.heater.finished", "source": "a4s_sealer_1.heater", "data": {"elapsed": 2.240000000001146}, "cause": "program-2-3"} +{"env_id": 2, "seq": 22, "step": 7123, "t": 35.615, "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": 2.240000000001146}}, "cause": "program-2-3"} +{"env_id": 2, "seq": 23, "step": 7123, "t": 35.615, "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": 7123, "t": 35.615, "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": 7123, "t": 35.615, "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": 7543, "t": 37.715, "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": 7543, "t": 37.715, "topic": "a4s_sealer_1.drawer.reached", "source": "a4s_sealer_1.drawer", "data": {"position": "out", "q": 2.5840171669067047e-10}, "cause": "program-2-4"} +{"env_id": 2, "seq": 28, "step": 7543, "t": 37.715, "topic": "a4s_sealer_1.drawer.at_out", "source": "a4s_sealer_1.drawer", "data": {"q": 2.5840171669067047e-10}, "cause": "program-2-4"} +{"env_id": 2, "seq": 29, "step": 7543, "t": 37.715, "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": 7543, "t": 37.715, "topic": "a4s_sealer_1.seal.finished", "source": "a4s_sealer_1", "data": {}, "cause": "task-2-1"} +{"env_id": 2, "seq": 31, "step": 7543, "t": 37.715, "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": 8124, "t": 40.62, "topic": "a4s_sealer_1.plate_present.absent", "source": "a4s_sealer_1.plate_present", "data": {"object": "plate_2"}, "cause": null} +{"env_id": 2, "seq": 33, "step": 10348, "t": 51.74, "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": 10348, "t": 51.74, "topic": "conveyor_1.belt.station.pick.released", "source": "conveyor_1.belt", "data": {"rider": "carrier_2"}, "cause": "task-2-5"} +{"env_id": 2, "seq": 35, "step": 10348, "t": 51.74, "topic": "conveyor_1.belt.state.changed", "source": "conveyor_1.belt", "data": {"from": "at_station", "to": "running"}, "cause": null} +{"env_id": 2, "seq": 36, "step": 10348, "t": 51.74, "topic": "conveyor_1.belt.command.succeeded", "source": "conveyor_1.belt", "data": {"command_id": "task-2-5", "name": "release", "source": "task", "result": {"state": "running"}}, "cause": "task-2-5"} diff --git a/episodes/c7_p008_e034/env.mp4 b/episodes/c7_p008_e034/env.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..47dc3dbd5d35e3d1de1ea587be0f75b1c2957f80 --- /dev/null +++ b/episodes/c7_p008_e034/env.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:ee4a4f2282624ed495c96ef1f201bc307f165f39704d9978215e8d4283939498 +size 1264183 diff --git a/episodes/c7_p008_e034/meta.json b/episodes/c7_p008_e034/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..031aab63e05ab3c823489feea59ca8edabf9db31 --- /dev/null +++ b/episodes/c7_p008_e034/meta.json @@ -0,0 +1,32 @@ +{ + "source": "raw/c7_p008/magicsim/34", + "fps": 25, + "frames": 1247, + "kept_ticks": "even", + "video_frames": { + "wrist": 1247, + "env": 1247 + }, + "joint_target_source": "joint_pos_target", + "fk_vs_recorded_eef_max_m": 0.0, + "curobo_joints": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "joint_order": [ + "shoulder_pan", + "shoulder_lift", + "elbow", + "wrist_1", + "wrist_2", + "wrist_3", + "finger_left", + "finger_right" + ], + "frames_note": "eef / actions in the robot base frame; camera_pose = local pose (wrist: in plate_gripper_base, env: env frame), pos + quat wxyz", + "dr_version": "v2" +} \ No newline at end of file diff --git a/episodes/c7_p008_e034/scene_snapshot.json b/episodes/c7_p008_e034/scene_snapshot.json new file mode 100644 index 0000000000000000000000000000000000000000..b83e601312c5fd8c72265b7c466d6b6c7bbd785d --- /dev/null +++ b/episodes/c7_p008_e034/scene_snapshot.json @@ -0,0 +1,1558 @@ +{ + "trajectory_id": 34, + "env_id": 2, + "run_id": "c7_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": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_24_clear/plate_24_clear.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 0.9605 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/pcr_384_red/pcr_384_red.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.0285 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_48_clear/plate_48_clear.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.0965 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_96_clear/plate_96_clear.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.1645 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_384_white/plate_384_white.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.2325 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "a4s_sealer": [ + { + "asset": "$MAGICSIM_ASSETS/Articulated/A4SSealer/Object.usd", + "pose": { + "pos": [ + 0.4947824478149414, + 0.1017904281616211, + 0.8999999761581421 + ], + "ori": [ + 0.7262182235717773, + 0.0, + 0.0, + -0.6874642372131348 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "articulation", + "solver_position_iteration_count": 16.0, + "solver_velocity_iteration_count": 1.0, + "enabled_self_collisions": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "joint_position": [ + 1.3456657663168947e-12 + ], + "joint_velocity": [ + 0.0 + ], + "linear_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "angular_velocity": [ + 0.0, + 0.0, + 0.0 + ] + } + } + ], + "conveyor": [ + { + "asset": "Cube", + "pose": { + "pos": [ + 0.15, + 0.45, + 0.9 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "conveyor", + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9 + }, + "ratio": 1.0 + }, + "primitive_params": { + "size": [ + 2.4, + 0.076, + 0.03 + ] + }, + "conveyor": { + "speed": 0.25531850561872516, + "direction": [ + 1.0, + 0.0, + 0.0 + ], + "enabled": true, + "drive": "surface_velocity", + "lines": null, + "station_line": null, + "riders": [ + "carrier" + ], + "stations": { + "pick": { + "position": -0.17071592704163277, + "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": 0.25531850561872516, + "holds": [], + "station": "pick", + "rider": "carrier_2", + "arrived": true, + "applied_speed": 0.0 + } + } + } + ], + "carrier": [ + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + -1.3446111679077148, + 0.6128873825073242, + 0.8999999761581421 + ], + "ori": [ + -0.8750489354133606, + 5.4642573132923644e-08, + 7.526967493731718e-08, + 0.48403462767601013 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 3.903434908636427e-09, + -1.8862764683547084e-09, + 2.60770320892334e-08 + ], + "angular_velocity": [ + 3.5640039186546346e-07, + 9.432846326262734e-08, + -8.951170116233698e-08 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + -0.020395278930664062, + 0.45000171661376953, + 0.8999999761581421 + ], + "ori": [ + 1.0, + 5.573976835648864e-09, + -2.389024533755446e-10, + -1.0081940672534984e-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": [ + 2.0978718762165727e-09, + 1.7006296371135932e-09, + 1.4901161193847656e-08 + ], + "angular_velocity": [ + -9.211896667693509e-08, + 1.8522311506785627e-07, + -1.7919735029181538e-08 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + 1.430171012878418, + 0.46248435974121094, + 0.8999999761581421 + ], + "ori": [ + 0.9940127730369568, + -6.931028195822364e-08, + -1.2201493859720358e-07, + 0.10926473885774612 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 6.917054706789827e-10, + -1.6136190161830655e-09, + 3.725290298461914e-09 + ], + "angular_velocity": [ + -4.273084641681635e-08, + 1.878556332712833e-08, + 2.570176249605538e-08 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + 0.6307649612426758, + 1.149998664855957, + 0.8999999761581421 + ], + "ori": [ + 2.91973974526627e-05, + 4.2718474591030287e-11, + 1.990524856054776e-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": [ + -2.839099177975868e-09, + -3.3390956666323746e-09, + 2.60770320892334e-08 + ], + "angular_velocity": [ + 1.5378537909782608e-07, + -2.538899366300029e-07, + -4.374085804670358e-08 + ] + } + } + ], + "plate": [ + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_24_clear/Object.usd", + "pose": { + "pos": [ + -1.344085693359375, + 0.6012115478515625, + 0.9179999828338623 + ], + "ori": [ + -0.884575366973877, + 6.44294644303045e-08, + 7.136421231734857e-08, + 0.4663971960544586 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -2.137121057899094e-08, + 1.5945811782103192e-08, + 2.0489096641540527e-07 + ], + "angular_velocity": [ + -1.3065375696896808e-06, + -2.392467422396294e-06, + 6.650459738466452e-09 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_384_black/Object.usd", + "pose": { + "pos": [ + -0.026277542114257812, + 0.43825244903564453, + 0.9180000424385071 + ], + "ori": [ + 0.9998503923416138, + 5.220138543649e-09, + 1.1047616155224205e-09, + 0.017301898449659348 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -2.1328938615283732e-09, + 2.687894351538489e-08, + -5.1371753215789795e-06 + ], + "angular_velocity": [ + -3.126937713204825e-07, + -1.6981367707558093e-06, + -4.508905604438951e-08 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_1536_black/Object.usd", + "pose": { + "pos": [ + 1.4262628555297852, + 0.4575681686401367, + 0.9180000424385071 + ], + "ori": [ + 0.9965634346008301, + -7.559425796443975e-08, + -1.253909829301847e-07, + 0.0828339233994484 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -4.1427505870217374e-10, + -3.08141849814092e-08, + -5.368143320083618e-06 + ], + "angular_velocity": [ + 4.233796971675474e-06, + -2.157117933165864e-06, + -7.321479245092632e-08 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/deep_well_24_10ml/Object.usd", + "pose": { + "pos": [ + 0.6385669708251953, + 1.1579608917236328, + 0.9179999828338623 + ], + "ori": [ + -0.04590606689453125, + 1.1095029339713847e-09, + 1.7151610132160044e-09, + 0.9989457726478577 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 8.579197796620974e-09, + -3.524069924765172e-08, + -1.0170042514801025e-06 + ], + "angular_velocity": [ + 1.9457485223028925e-07, + 1.6856247384566814e-06, + -1.1620068818274376e-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": 2.019999999999979, + "step": 404, + "counter": 0, + "devices": { + "a4s_sealer_1": { + "mode": "auto", + "units": { + "drawer": { + "state": "at_out", + "active": null, + "target": 0.0, + "goal_name": "out", + "profile": null, + "q_start": null, + "reversing": false, + "blocked_for": 0.0, + "settled_for": 0.0, + "last_q": 1.3456657663168947e-12 + }, + "heater": { + "state": "ready", + "active": null, + "duration": 0.0, + "t_start": null, + "elapsed": 0.0 + } + }, + "queues": {}, + "program": null, + "sensors": { + "plate_present": { + "occupants": [], + "pending": {} + } + }, + "interlocks": {} + }, + "conveyor_1": { + "mode": "auto", + "units": { + "belt": { + "state": "at_station", + "active": null, + "controller": { + "speed": 0.25531850561872516, + "holds": [], + "station": "pick", + "rider": "carrier_2", + "arrived": true, + "settle_count": 356, + "released": { + "pick": [] + }, + "last_pos": { + "carrier_1": [ + -1.4946111738681793, + 0.16288739442825317, + 0.0 + ], + "carrier_2": [ + -0.17039528489112854, + 1.7285346984863281e-06, + 0.0 + ], + "carrier_3": [ + 1.2801710069179535, + 0.012484371662139893, + 0.0 + ], + "carrier_4": [ + 0.4807649552822113, + 0.699998676776886, + 0.0 + ] + }, + "command": 0.0 + }, + "belt": { + "target_speed": 0.0, + "command_speed": 0.0 + }, + "seen": { + "state": "at_station", + "station": "pick", + "rider": "carrier_2", + "arrived": true + } + } + }, + "queues": {}, + "program": null, + "sensors": {}, + "interlocks": {} + } + }, + "zones": {}, + "labware": { + "plate_1": { + "sealed": false + }, + "plate_2": { + "sealed": false + }, + "plate_3": { + "sealed": false + }, + "plate_4": { + "sealed": false + } + }, + "rules": {}, + "records": [], + "bus": { + "seq": 3, + "queue": [] + } + }, + null + ], + "drives": [ + null, + null, + {}, + null + ] + }, + "artifacts": [ + {}, + {}, + { + "ceiling": { + "type": "rect", + "pose": { + "pos": [ + 0.3099354710594254, + 0.21090138564746663, + 2.6765297539514465 + ], + "ori": [ + -9.789986077090255, + 6.399238324644461, + -6.298935431696176 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "color_temperature": 5951.581066734457, + "color": [ + 0.9647997134749983, + 0.9858689172742108, + 0.7981799543701203 + ], + "intensity": 5469.1187688074015, + "width": 1.861906120898864, + "height": 1.3440933086956948 + } + }, + "key": { + "type": "disk", + "pose": { + "pos": [ + 1.5106428906006655, + 0.8377391637203473, + 2.463226951469631 + ], + "ori": [ + 0.03791647960034794, + 1.4376676845635217, + 26.706109197795072 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "color_temperature": 4445.127979773411, + "color": [ + 0.8535780167167959, + 0.772119234636332, + 0.9277118908025066 + ], + "intensity": 7495.8328837840145, + "radius": 0.2819054955293026 + } + } + }, + {} + ], + "background": { + "type": "dome", + "pose": { + "pos": null, + "ori": null, + "scale": null + }, + "dr": { + "intensity": 1168.501236813573, + "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": [ + [ + 1.2070682048797607, + -1.5056333541870117, + 2.101151466369629, + -2.1663198471069336, + -1.5707899332046509, + 2.673776388168335, + 0.007135298103094101, + 0.00658091064542532 + ], + [ + 1.246177315711975, + -1.5772826671600342, + 2.198213815689087, + -2.1921982765197754, + -1.570307970046997, + 5.95317268371582, + 0.007156404200941324, + 0.006643722765147686 + ], + [ + 0.9141024947166443, + -1.7193981409072876, + 2.09049916267395, + -1.9419001340866089, + -1.5707999467849731, + 2.4849002361297607, + 0.017999999225139618, + 0.017999999225139618 + ], + [ + 1.8502423763275146, + -2.1550779342651367, + 2.237244129180908, + -1.654213547706604, + -1.571194052696228, + 3.4512619972229004, + 0.007696150802075863, + 0.007226645015180111 + ] + ], + "joint_vel": [ + [ + 3.815924719674513e-05, + -8.310069461003877e-06, + -0.0001485726679675281, + 0.00011511613411130384, + -6.202830991242081e-05, + -0.0003871843800880015, + -0.007902293466031551, + -0.00013117642083670944 + ], + [ + 0.04132259264588356, + 0.016538193449378014, + -0.004524937830865383, + -0.009523402899503708, + 4.391842594486661e-05, + 0.03815661370754242, + -0.007407971657812595, + 0.00020381229114718735 + ], + [ + -2.843748580391768e-38, + 2.3836818355963516e-38, + 2.581156458565012e-38, + 6.417617381208853e-37, + -7.3260197605757445e-37, + -8.418609258508999e-37, + 9.968533473699683e-38, + -2.0212654150664885e-38 + ], + [ + 0.07361746579408646, + -0.052521005272865295, + 0.008480998687446117, + 0.040123049169778824, + -0.00010774142720038071, + 0.06892936676740646, + -0.006501136813312769, + 0.0004469650739338249 + ] + ] + } + }, + "cameras": { + "cameras": { + "camera0": [ + [ + 0.04764655604958534, + -0.00023726385552436113, + -0.031750716269016266, + -0.2719886004924774, + 0.6511058807373047, + 0.6506771445274353, + -0.28053978085517883 + ], + [ + 0.052598126232624054, + -0.005231354385614395, + -0.02805262804031372, + -0.2885979115962982, + 0.6421902179718018, + 0.6498708128929138, + -0.28630566596984863 + ], + [ + 0.052872996777296066, + 0.001969076693058014, + -0.03009951114654541, + -0.2838806211948395, + 0.6520690321922302, + 0.645709753036499, + -0.27798691391944885 + ], + [ + 0.05068620666861534, + 0.0015222474467009306, + -0.030949808657169342, + -0.2701641917228699, + 0.6463325023651123, + 0.6569041013717651, + -0.278823584318161 + ] + ], + "camera1": [ + [ + 0.07244119793176651, + 0.5787467956542969, + 1.9300169944763184, + 0.03624622896313667, + 0.01801174134016037, + 0.2831435203552246, + 0.9582231044769287 + ], + [ + 0.03379236161708832, + 0.5608122944831848, + 1.95916748046875, + 0.035007357597351074, + 0.005887151230126619, + 0.26043492555618286, + 0.9648385643959045 + ], + [ + 0.06730521470308304, + 0.5862136483192444, + 1.9692200422286987, + 0.021693425253033638, + 0.0033024356234818697, + 0.27196571230888367, + 0.9620566964149475 + ], + [ + 0.037180252373218536, + 0.5804914832115173, + 1.9357943534851074, + 0.0317792110145092, + 0.005205465015023947, + 0.26306864619255066, + 0.9642395377159119 + ] + ] + } + } + } +} \ No newline at end of file diff --git a/episodes/c7_p008_e034/wrist.mp4 b/episodes/c7_p008_e034/wrist.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..3ab699116d7bcb2e2fca32c133984668861fa7b5 --- /dev/null +++ b/episodes/c7_p008_e034/wrist.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:8cd29ec0476327d7492e35bef2575f57720b9153893009dabc94cf5399e07d3b +size 6967716 diff --git a/episodes/c7_p008_e035/data.npz b/episodes/c7_p008_e035/data.npz new file mode 100644 index 0000000000000000000000000000000000000000..9462a1a3cbf03b4c32565d0705b261855bd01787 --- /dev/null +++ b/episodes/c7_p008_e035/data.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:23ae25f3635a6610339f1506d9e4671bcac8e76f8e41bcf47eff24f0aec2170d +size 189862 diff --git a/episodes/c7_p008_e035/device_events.jsonl b/episodes/c7_p008_e035/device_events.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..f4b60851eee27fba8bb68bdfa3c3fad67939c59b --- /dev/null +++ b/episodes/c7_p008_e035/device_events.jsonl @@ -0,0 +1,35 @@ +{"env_id": 1, "seq": 1, "step": 109, "t": 0.545, "topic": "conveyor_1.belt.station.pick.captured", "source": "conveyor_1.belt", "data": {"rider": "carrier_2"}, "cause": null} +{"env_id": 1, "seq": 2, "step": 109, "t": 0.545, "topic": "conveyor_1.belt.state.changed", "source": "conveyor_1.belt", "data": {"from": "running", "to": "at_station"}, "cause": null} +{"env_id": 1, "seq": 3, "step": 114, "t": 0.57, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_2"}, "cause": null} +{"env_id": 1, "seq": 4, "step": 5616, "t": 28.08, "topic": "a4s_sealer_1.plate_present.present", "source": "a4s_sealer_1.plate_present", "data": {"object": "plate_2"}, "cause": null} +{"env_id": 1, "seq": 5, "step": 6228, "t": 31.14, "topic": "a4s_sealer_1.command.started", "source": "a4s_sealer_1", "data": {"command_id": "task-1-1", "name": "seal", "source": "task"}, "cause": "task-1-1"} +{"env_id": 1, "seq": 6, "step": 6228, "t": 31.14, "topic": "a4s_sealer_1.seal.started", "source": "a4s_sealer_1", "data": {"dwell": 3.9281666210629487}, "cause": "task-1-1"} +{"env_id": 1, "seq": 7, "step": 6228, "t": 31.14, "topic": "a4s_sealer_1.drawer.command.started", "source": "a4s_sealer_1.drawer", "data": {"command_id": "program-1-2", "name": "close", "source": "program:seal"}, "cause": "program-1-2"} +{"env_id": 1, "seq": 8, "step": 6228, "t": 31.14, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "at_out", "to": "moving"}, "cause": null} +{"env_id": 1, "seq": 9, "step": 6228, "t": 31.14, "topic": "a4s_sealer_1.drawer.moving", "source": "a4s_sealer_1.drawer", "data": {"target": 0.3, "goal": "in"}, "cause": "program-1-2"} +{"env_id": 1, "seq": 10, "step": 6647, "t": 33.235, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "moving", "to": "at_in"}, "cause": null} +{"env_id": 1, "seq": 11, "step": 6647, "t": 33.235, "topic": "a4s_sealer_1.drawer.reached", "source": "a4s_sealer_1.drawer", "data": {"position": "in", "q": 0.30000001192092896}, "cause": "program-1-2"} +{"env_id": 1, "seq": 12, "step": 6647, "t": 33.235, "topic": "a4s_sealer_1.drawer.at_in", "source": "a4s_sealer_1.drawer", "data": {"q": 0.30000001192092896}, "cause": "program-1-2"} +{"env_id": 1, "seq": 13, "step": 6647, "t": 33.235, "topic": "a4s_sealer_1.drawer.command.succeeded", "source": "a4s_sealer_1.drawer", "data": {"command_id": "program-1-2", "name": "close", "source": "program:seal", "result": {"position": "in"}}, "cause": "program-1-2"} +{"env_id": 1, "seq": 14, "step": 6647, "t": 33.235, "topic": "labware.plate_2.changed", "source": "labware.plate_2", "data": {"key": "sealed", "value": true}, "cause": "task-1-1"} +{"env_id": 1, "seq": 15, "step": 6647, "t": 33.235, "topic": "a4s_sealer_1.sealed", "source": "a4s_sealer_1", "data": {"plate": "plate_2"}, "cause": "task-1-1"} +{"env_id": 1, "seq": 16, "step": 6647, "t": 33.235, "topic": "a4s_sealer_1.heater.command.started", "source": "a4s_sealer_1.heater", "data": {"command_id": "program-1-3", "name": "run", "source": "program:seal"}, "cause": "program-1-3"} +{"env_id": 1, "seq": 17, "step": 6647, "t": 33.235, "topic": "a4s_sealer_1.heater.state.changed", "source": "a4s_sealer_1.heater", "data": {"from": "ready", "to": "running"}, "cause": null} +{"env_id": 1, "seq": 18, "step": 6647, "t": 33.235, "topic": "a4s_sealer_1.heater.started", "source": "a4s_sealer_1.heater", "data": {"duration": 3.9281666210629487}, "cause": "program-1-3"} +{"env_id": 1, "seq": 19, "step": 7433, "t": 37.165, "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": 7433, "t": 37.165, "topic": "a4s_sealer_1.heater.finished", "source": "a4s_sealer_1.heater", "data": {"elapsed": 3.9300000000020106}, "cause": "program-1-3"} +{"env_id": 1, "seq": 21, "step": 7433, "t": 37.165, "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": 3.9300000000020106}}, "cause": "program-1-3"} +{"env_id": 1, "seq": 22, "step": 7433, "t": 37.165, "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": 7433, "t": 37.165, "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": 7433, "t": 37.165, "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": 7853, "t": 39.265, "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": 7853, "t": 39.265, "topic": "a4s_sealer_1.drawer.reached", "source": "a4s_sealer_1.drawer", "data": {"position": "out", "q": 9.268885103885793e-10}, "cause": "program-1-4"} +{"env_id": 1, "seq": 27, "step": 7853, "t": 39.265, "topic": "a4s_sealer_1.drawer.at_out", "source": "a4s_sealer_1.drawer", "data": {"q": 9.268885103885793e-10}, "cause": "program-1-4"} +{"env_id": 1, "seq": 28, "step": 7853, "t": 39.265, "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": 7853, "t": 39.265, "topic": "a4s_sealer_1.seal.finished", "source": "a4s_sealer_1", "data": {}, "cause": "task-1-1"} +{"env_id": 1, "seq": 30, "step": 7853, "t": 39.265, "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": 8435, "t": 42.175, "topic": "a4s_sealer_1.plate_present.absent", "source": "a4s_sealer_1.plate_present", "data": {"object": "plate_2"}, "cause": null} +{"env_id": 1, "seq": 32, "step": 10200, "t": 51.0, "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": 10200, "t": 51.0, "topic": "conveyor_1.belt.station.pick.released", "source": "conveyor_1.belt", "data": {"rider": "carrier_2"}, "cause": "task-1-5"} +{"env_id": 1, "seq": 34, "step": 10200, "t": 51.0, "topic": "conveyor_1.belt.state.changed", "source": "conveyor_1.belt", "data": {"from": "at_station", "to": "running"}, "cause": null} +{"env_id": 1, "seq": 35, "step": 10200, "t": 51.0, "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_p008_e035/env.mp4 b/episodes/c7_p008_e035/env.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..edba946f42eecd94bd9b1c6ed5ed6ad60be0fa83 --- /dev/null +++ b/episodes/c7_p008_e035/env.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:3494f888366e75b232ed59beaa4aec054a1da88e442f61762c58164569dc6f24 +size 1218556 diff --git a/episodes/c7_p008_e035/meta.json b/episodes/c7_p008_e035/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..dc09c8c24a9fa5330f4596855911c3d2c15bdccc --- /dev/null +++ b/episodes/c7_p008_e035/meta.json @@ -0,0 +1,32 @@ +{ + "source": "raw/c7_p008/magicsim/35", + "fps": 25, + "frames": 1218, + "kept_ticks": "even", + "video_frames": { + "wrist": 1218, + "env": 1218 + }, + "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_p008_e035/scene_snapshot.json b/episodes/c7_p008_e035/scene_snapshot.json new file mode 100644 index 0000000000000000000000000000000000000000..6a57b729cb327f98b781eef997948c86b5e77d27 --- /dev/null +++ b/episodes/c7_p008_e035/scene_snapshot.json @@ -0,0 +1,1558 @@ +{ + "trajectory_id": 35, + "env_id": 1, + "run_id": "c7_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_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": [ + 2.691330882112486e-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": 0.2536968342088868, + "direction": [ + 1.0, + 0.0, + 0.0 + ], + "enabled": true, + "drive": "surface_velocity", + "lines": null, + "station_line": null, + "riders": [ + "carrier" + ], + "stations": { + "pick": { + "position": -0.21783818755975815, + "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": 0.2536968342088868, + "holds": [], + "station": "pick", + "rider": "carrier_2", + "arrived": true, + "applied_speed": 0.0 + } + } + } + ], + "carrier": [ + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + -1.2010345458984375, + 1.1121644973754883, + 0.8999999761581421 + ], + "ori": [ + -0.2177281230688095, + 1.7833615473250575e-08, + 2.581363567344397e-08, + 0.9760095477104187 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 8.165510045898827e-09, + -4.514393836529962e-08, + 4.470348358154297e-08 + ], + "angular_velocity": [ + 2.556106210249709e-06, + 9.261519835490617e-07, + 1.9211643831340552e-08 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + -0.0680074691772461, + 0.4486055374145508, + 0.8999999761581421 + ], + "ori": [ + 0.9999045729637146, + -8.710666077327289e-10, + 1.8135920543116413e-09, + 0.01381539274007082 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -4.6521764218709905e-10, + -2.9489899411316856e-10, + 0.0 + ], + "angular_velocity": [ + 3.7321363777209626e-08, + -5.231461486232547e-08, + -2.8537670004880056e-09 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + -0.008066177368164062, + 1.149993896484375, + 0.8999999761581421 + ], + "ori": [ + 3.0951046937843785e-05, + 1.6651008349910512e-10, + 2.72343347873516e-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": [ + -1.0153907714638422e-09, + -9.937436429297009e-10, + 7.450580596923828e-09 + ], + "angular_velocity": [ + 3.552617755531173e-08, + -8.603778667293227e-08, + -1.5719399115710075e-08 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + 1.6464977264404297, + 0.9819622039794922, + 0.8999999761581421 + ], + "ori": [ + 0.49675270915031433, + 4.5766377354539145e-08, + -5.164165273185972e-08, + 0.8678921461105347 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -2.3721327124803793e-09, + 1.5488694771192968e-09, + 3.725290298461914e-09 + ], + "angular_velocity": [ + -6.511254468932748e-08, + -4.561661626212299e-08, + 2.4231326278822962e-08 + ] + } + } + ], + "plate": [ + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_12_clear/Object.usd", + "pose": { + "pos": [ + -1.1997299194335938, + 1.1197242736816406, + 0.9179999828338623 + ], + "ori": [ + -0.261514812707901, + 1.88311428672705e-08, + 2.5677875825635965e-08, + 0.9651994705200195 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 3.016144489720318e-08, + -5.078657494550498e-08, + 1.2293457984924316e-07 + ], + "angular_velocity": [ + 1.1239046671107644e-06, + 1.6616852462902898e-06, + -3.3210966421393096e-08 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_96_white/Object.usd", + "pose": { + "pos": [ + -0.0666799545288086, + 0.45881175994873047, + 0.9180000424385071 + ], + "ori": [ + 0.9995194673538208, + -3.33186700451904e-10, + 1.1826304380235797e-09, + -0.030997812747955322 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -1.4736459164055304e-08, + 2.2077593087033165e-09, + -5.610287189483643e-06 + ], + "angular_velocity": [ + 3.3324488413200015e-07, + -1.1930641221624683e-06, + 7.853819994352307e-08 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/pcr_384_red/Object.usd", + "pose": { + "pos": [ + -0.008892059326171875, + 1.1541938781738281, + 0.9179999828338623 + ], + "ori": [ + 0.09764357656240463, + -3.500182643723093e-10, + 2.247691588408429e-09, + 0.9952214956283569 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 6.812185482374389e-09, + -1.6062534413663343e-08, + -5.4836273193359375e-06 + ], + "angular_velocity": [ + 1.3841635393418983e-07, + 1.6740954151828191e-06, + 3.122198677374399e-08 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/deep_well_96_1ml/Object.usd", + "pose": { + "pos": [ + 1.6540775299072266, + 0.9916725158691406, + 0.9179999828338623 + ], + "ori": [ + 0.5372355580329895, + 5.694004201473035e-08, + -5.6407671422675776e-08, + 0.8434323072433472 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -2.7494365895108785e-08, + -7.75926309870556e-08, + 1.7136335372924805e-07 + ], + "angular_velocity": [ + 3.2353054848499596e-06, + 2.153683453798294e-08, + 4.5839260565117e-07 + ] + } + } + ], + "deco_hub_west": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/hub_a.usd", + "pose": { + "pos": [ + -3.36, + 0.0, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_hub_east": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/hub_c.usd", + "pose": { + "pos": [ + 3.36, + 0.0, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_hub_back": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/hub_d.usd", + "pose": { + "pos": [ + -3.0, + -2.1, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_bench_east": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/bench_c.usd", + "pose": { + "pos": [ + 2.6, + -2.5, + 0.0 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_bench_gap": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/bench_b.usd", + "pose": { + "pos": [ + -0.1, + -2.9, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ] + }, + {}, + {} + ], + "devices": { + "hub": [ + null, + { + "t": 2.43999999999997, + "step": 488, + "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": 2.691330882112486e-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": 0.2536968342088868, + "holds": [], + "station": "pick", + "rider": "carrier_2", + "arrived": true, + "settle_count": 378, + "released": { + "pick": [] + }, + "last_pos": { + "carrier_1": [ + -1.351034551858902, + 0.6621645092964172, + 0.0 + ], + "carrier_2": [ + -0.21800747513771057, + -0.0013944506645202637, + 0.0 + ], + "carrier_3": [ + -0.15806618332862854, + 0.699993908405304, + 0.0 + ], + "carrier_4": [ + 1.4964977204799652, + 0.5319622159004211, + 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": [ + -0.19690619314930996, + 0.2523501213525, + 2.9033869021457415 + ], + "ori": [ + 3.4964678407588963, + 10.206875279885562, + 27.691078882678802 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "color_temperature": 5448.790391503502, + "color": [ + 0.9838012521036562, + 0.9749324100730312, + 0.8015721614277239 + ], + "intensity": 12820.224707637586, + "width": 1.961131311411254, + "height": 1.2565011664888108 + } + }, + "key": { + "type": "sphere", + "pose": { + "pos": [ + 1.5702585231450112, + 1.0306769341114113, + 2.2905521182515494 + ], + "ori": [ + -39.777321180827954, + -4.180895650326164, + -18.90584580414209 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "color_temperature": 4006.305781417673, + "color": [ + 0.9883958879742805, + 0.8274418246128243, + 0.7803183523765533 + ], + "intensity": 7181.160025215888, + "radius": 0.1350022052158735 + } + } + }, + {}, + {} + ], + "background": { + "type": "dome", + "pose": { + "pos": null, + "ori": null, + "scale": null + }, + "dr": { + "intensity": 1168.501236813573, + "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": [ + [ + 2.808563232421875, + -1.3907649517059326, + 2.2193000316619873, + -2.3993101119995117, + -1.5720852613449097, + 4.386507987976074, + 0.017999986186623573, + 0.017999986186623573 + ], + [ + 0.9141123294830322, + -1.7193933725357056, + 2.090496301651001, + -1.9419004917144775, + -1.5707999467849731, + 2.484905958175659, + 0.017999999225139618, + 0.017999999225139618 + ], + [ + 1.2087146043777466, + -1.6726574897766113, + 2.158485174179077, + -2.0571305751800537, + -1.5706374645233154, + 2.7499115467071533, + 0.008506838232278824, + 0.006464761216193438 + ], + [ + 2.531076431274414, + -2.252504825592041, + 2.2443058490753174, + -1.5627139806747437, + -1.5708136558532715, + 4.102583885192871, + 0.01799999363720417, + 0.018000004813075066 + ] + ], + "joint_vel": [ + [ + 3.0843192583285273e-12, + -6.811833827669034e-06, + -1.3623860468214843e-05, + -1.3623900485981721e-05, + -6.8119552452117205e-06, + 1.362391503789695e-05, + 1.8193578910086217e-07, + 1.8192028505836788e-07 + ], + [ + 2.782499225814595e-38, + -2.87053075716133e-38, + -1.1943810515244574e-38, + -3.3931442347041303e-37, + 6.277705913129052e-37, + 5.341210750564885e-37, + -6.192823323639409e-38, + 3.248307370678043e-38 + ], + [ + 0.04699799045920372, + -0.0378294475376606, + 0.005973653867840767, + 0.027352042496204376, + 0.00040706543950363994, + 0.05045914649963379, + -0.0058236937038600445, + 0.0003681572852656245 + ], + [ + 6.811899766034912e-06, + -2.0264684028048485e-11, + 6.811936600570334e-06, + 3.4059730751323514e-06, + 1.0415686325579432e-14, + -1.3623912309412844e-05, + 7.797891043992422e-08, + -7.798230683420115e-08 + ] + ] + } + }, + "cameras": { + "cameras": { + "camera0": [ + [ + 0.04721325263381004, + -0.0024617118760943413, + -0.03418188542127609, + -0.2662571966648102, + 0.6515697836875916, + 0.6524584889411926, + -0.2808234691619873 + ], + [ + 0.05206645280122757, + 0.003079652786254883, + -0.03159816935658455, + -0.28012311458587646, + 0.6441371440887451, + 0.6612929105758667, + -0.26326805353164673 + ], + [ + 0.05355818197131157, + 0.002406125655397773, + -0.0353415384888649, + -0.28471800684928894, + 0.6471148133277893, + 0.6493240594863892, + -0.2802789807319641 + ], + [ + 0.0492955781519413, + 0.0018590651452541351, + -0.03312535956501961, + -0.2818911671638489, + 0.6510047316551208, + 0.6521499156951904, + -0.2672652006149292 + ] + ], + "camera1": [ + [ + 0.07244119793176651, + 0.5787467956542969, + 1.9300169944763184, + 0.03624622896313667, + 0.01801174134016037, + 0.2831435203552246, + 0.9582231044769287 + ], + [ + 0.06954870373010635, + 0.5888975858688354, + 1.9329584836959839, + 0.052190445363521576, + -0.004841327667236328, + 0.2782212197780609, + 0.9590858817100525 + ], + [ + 0.06730521470308304, + 0.5862136483192444, + 1.9692200422286987, + 0.021693425253033638, + 0.0033024356234818697, + 0.27196571230888367, + 0.9620566964149475 + ], + [ + 0.037180252373218536, + 0.5804914832115173, + 1.9357943534851074, + 0.0317792110145092, + 0.005205465015023947, + 0.26306864619255066, + 0.9642395377159119 + ] + ] + } + } + } +} \ No newline at end of file diff --git a/episodes/c7_p008_e035/wrist.mp4 b/episodes/c7_p008_e035/wrist.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..4474c086848dc715c92a4d5cb75b1a5a479b71a4 --- /dev/null +++ b/episodes/c7_p008_e035/wrist.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:46b4881f3158bed53b45d8aed2296e3cc51e094495b97c3bf39a224890807eb3 +size 6484312 diff --git a/episodes/c9_p010_e008/data.npz b/episodes/c9_p010_e008/data.npz new file mode 100644 index 0000000000000000000000000000000000000000..774d5a780f0b8744e62162fcbcb5e95e7361d88e --- /dev/null +++ b/episodes/c9_p010_e008/data.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:5e6a49753cde679e9fe122b0823a959a64aba0fa76998e21da75d558647735dd +size 203636 diff --git a/episodes/c9_p010_e008/device_events.jsonl b/episodes/c9_p010_e008/device_events.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..0a9254a286afe507885d4ac27bccf01e94cbc7e0 --- /dev/null +++ b/episodes/c9_p010_e008/device_events.jsonl @@ -0,0 +1,35 @@ +{"env_id": 1, "seq": 1, "step": 220, "t": 1.1, "topic": "conveyor_1.belt.station.pick.captured", "source": "conveyor_1.belt", "data": {"rider": "carrier_2"}, "cause": null} +{"env_id": 1, "seq": 2, "step": 220, "t": 1.1, "topic": "conveyor_1.belt.state.changed", "source": "conveyor_1.belt", "data": {"from": "running", "to": "at_station"}, "cause": null} +{"env_id": 1, "seq": 3, "step": 225, "t": 1.125, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_2"}, "cause": null} +{"env_id": 1, "seq": 4, "step": 6747, "t": 33.735, "topic": "a4s_sealer_1.plate_present.present", "source": "a4s_sealer_1.plate_present", "data": {"object": "plate_2"}, "cause": null} +{"env_id": 1, "seq": 5, "step": 7360, "t": 36.8, "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": 7360, "t": 36.8, "topic": "a4s_sealer_1.seal.started", "source": "a4s_sealer_1", "data": {"dwell": 2.053933577638432}, "cause": "task-1-1"} +{"env_id": 1, "seq": 7, "step": 7360, "t": 36.8, "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": 7360, "t": 36.8, "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": 7360, "t": 36.8, "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": 7779, "t": 38.895, "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": 7779, "t": 38.895, "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": 7779, "t": 38.895, "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": 7779, "t": 38.895, "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": 7779, "t": 38.895, "topic": "labware.plate_2.changed", "source": "labware.plate_2", "data": {"key": "sealed", "value": true}, "cause": "task-1-1"} +{"env_id": 1, "seq": 15, "step": 7779, "t": 38.895, "topic": "a4s_sealer_1.sealed", "source": "a4s_sealer_1", "data": {"plate": "plate_2"}, "cause": "task-1-1"} +{"env_id": 1, "seq": 16, "step": 7779, "t": 38.895, "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": 7779, "t": 38.895, "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": 7779, "t": 38.895, "topic": "a4s_sealer_1.heater.started", "source": "a4s_sealer_1.heater", "data": {"duration": 2.053933577638432}, "cause": "program-1-3"} +{"env_id": 1, "seq": 19, "step": 8190, "t": 40.95, "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": 8190, "t": 40.95, "topic": "a4s_sealer_1.heater.finished", "source": "a4s_sealer_1.heater", "data": {"elapsed": 2.0550000000010513}, "cause": "program-1-3"} +{"env_id": 1, "seq": 21, "step": 8190, "t": 40.95, "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": 2.0550000000010513}}, "cause": "program-1-3"} +{"env_id": 1, "seq": 22, "step": 8190, "t": 40.95, "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": 8190, "t": 40.95, "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": 8190, "t": 40.95, "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": 8610, "t": 43.05, "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": 8610, "t": 43.05, "topic": "a4s_sealer_1.drawer.reached", "source": "a4s_sealer_1.drawer", "data": {"position": "out", "q": 4.765752237290144e-09}, "cause": "program-1-4"} +{"env_id": 1, "seq": 27, "step": 8610, "t": 43.05, "topic": "a4s_sealer_1.drawer.at_out", "source": "a4s_sealer_1.drawer", "data": {"q": 4.765752237290144e-09}, "cause": "program-1-4"} +{"env_id": 1, "seq": 28, "step": 8610, "t": 43.05, "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": 8610, "t": 43.05, "topic": "a4s_sealer_1.seal.finished", "source": "a4s_sealer_1", "data": {}, "cause": "task-1-1"} +{"env_id": 1, "seq": 30, "step": 8610, "t": 43.05, "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": 9191, "t": 45.955, "topic": "a4s_sealer_1.plate_present.absent", "source": "a4s_sealer_1.plate_present", "data": {"object": "plate_2"}, "cause": null} +{"env_id": 1, "seq": 32, "step": 11400, "t": 57.0, "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": 11400, "t": 57.0, "topic": "conveyor_1.belt.station.pick.released", "source": "conveyor_1.belt", "data": {"rider": "carrier_2"}, "cause": "task-1-5"} +{"env_id": 1, "seq": 34, "step": 11400, "t": 57.0, "topic": "conveyor_1.belt.state.changed", "source": "conveyor_1.belt", "data": {"from": "at_station", "to": "running"}, "cause": null} +{"env_id": 1, "seq": 35, "step": 11400, "t": 57.0, "topic": "conveyor_1.belt.command.succeeded", "source": "conveyor_1.belt", "data": {"command_id": "task-1-5", "name": "release", "source": "task", "result": {"state": "running"}}, "cause": "task-1-5"} diff --git a/episodes/c9_p010_e008/env.mp4 b/episodes/c9_p010_e008/env.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..5c34dd20649724e1d3b146253357332258064dd0 --- /dev/null +++ b/episodes/c9_p010_e008/env.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:131a8eb2650b3f9c264b9df5bf53dbe6be588930bc1cff3d296ac55bc9361c84 +size 1366736 diff --git a/episodes/c9_p010_e008/meta.json b/episodes/c9_p010_e008/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..a858f7f017fdc3fe3fbce230112f87ad84cdaef2 --- /dev/null +++ b/episodes/c9_p010_e008/meta.json @@ -0,0 +1,32 @@ +{ + "source": "raw/c9_p010/magicsim/8", + "fps": 25, + "frames": 1274, + "kept_ticks": "even", + "video_frames": { + "wrist": 1274, + "env": 1274 + }, + "joint_target_source": "joint_pos_target", + "fk_vs_recorded_eef_max_m": 0.0, + "curobo_joints": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "joint_order": [ + "shoulder_pan", + "shoulder_lift", + "elbow", + "wrist_1", + "wrist_2", + "wrist_3", + "finger_left", + "finger_right" + ], + "frames_note": "eef / actions in the robot base frame; camera_pose = local pose (wrist: in plate_gripper_base, env: env frame), pos + quat wxyz", + "dr_version": "v2" +} \ No newline at end of file diff --git a/episodes/c9_p010_e008/scene_snapshot.json b/episodes/c9_p010_e008/scene_snapshot.json new file mode 100644 index 0000000000000000000000000000000000000000..7d9b4fcb1127c2b62bfdb884e8057bc4283d81e5 --- /dev/null +++ b/episodes/c9_p010_e008/scene_snapshot.json @@ -0,0 +1,1558 @@ +{ + "trajectory_id": 8, + "env_id": 1, + "run_id": "c9_p010", + "task_type": "BioPlateCell", + "success": true, + "timing": { + "fps": 50.0, + "sim_dt": 0.005, + "decimation": 4 + }, + "restore_interface": { + "scene": "scene_manager.reset_to(snapshot['scene'], env_ids=[env_id])", + "robots": "robot_manager.set_state({'robots': snapshot['robots']}, env_ids=[env_id])" + }, + "snapshot": { + "env_id": 1, + "scene": { + "objects": [ + {}, + { + "rac_cell": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/rac_cell.usd", + "pose": { + "pos": [ + 0.0, + 0.0, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "physics_material": { + "static_friction": 0.6, + "dynamic_friction": 0.5, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "robot_mount": [ + { + "asset": "Cube", + "pose": { + "pos": [ + 0.0, + 0.0, + 0.9075 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": "color", + "value": [ + 0.55, + 0.56, + 0.58 + ], + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": { + "size": [ + 0.2, + 0.2, + 0.015 + ] + } + }, + "type_specific": {} + } + ], + "plate_rack": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/plate_hotel.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 0.9 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "physics_material": { + "static_friction": 0.6, + "dynamic_friction": 0.5, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "hotel_plate": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_96_clear/plate_96_clear.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 0.9605 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_96_white/plate_96_white.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.0285 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_384_white/plate_384_white.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.0965 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_96_black/plate_96_black.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.1645 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_6_clear/plate_6_clear.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.2325 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "a4s_sealer": [ + { + "asset": "$MAGICSIM_ASSETS/Articulated/A4SSealer/Object.usd", + "pose": { + "pos": [ + 0.4791736602783203, + 0.06023120880126953, + 0.8999999761581421 + ], + "ori": [ + 0.719016969203949, + 0.0, + 0.0, + -0.6949925422668457 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "articulation", + "solver_position_iteration_count": 16.0, + "solver_velocity_iteration_count": 1.0, + "enabled_self_collisions": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "joint_position": [ + 4.7098319168326075e-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": 0.15621877384210545, + "direction": [ + 1.0, + 0.0, + 0.0 + ], + "enabled": true, + "drive": "surface_velocity", + "lines": null, + "station_line": null, + "riders": [ + "carrier" + ], + "stations": { + "pick": { + "position": -0.18567956435136013, + "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": 0.15621877384210545, + "holds": [], + "station": "pick", + "rider": "carrier_2", + "arrived": true, + "applied_speed": 0.0 + } + } + } + ], + "carrier": [ + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + -1.3880481719970703, + 0.8789901733398438, + 0.8999999761581421 + ], + "ori": [ + -0.6179503798484802, + 1.1698941371207638e-08, + 3.51909967832853e-08, + 0.786217212677002 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 1.299999325965473e-07, + 5.0414765695450114e-09, + 2.60770320892334e-08 + ], + "angular_velocity": [ + 2.582511626769701e-07, + 2.6180464374192525e-06, + -1.278701802220894e-06 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + -0.03505229949951172, + 0.4477043151855469, + 0.8999999761581421 + ], + "ori": [ + 0.9999128580093384, + 3.482198351889565e-08, + 7.378582633776887e-09, + 0.01320863887667656 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -3.1045008341834546e-08, + 8.805633910924371e-08, + 2.2351741790771484e-08 + ], + "angular_velocity": [ + -2.3766979211359285e-06, + -8.796688462098246e-07, + 1.1861848179250956e-06 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + 1.4855260848999023, + 0.48073291778564453, + 0.8999999761581421 + ], + "ori": [ + 0.9800810813903809, + 6.636052063413445e-08, + -4.508646611611766e-08, + 0.19859793782234192 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 4.034254041940244e-10, + -2.6849578116383555e-10, + 3.725290298461914e-09 + ], + "angular_velocity": [ + 6.691227127930688e-09, + 3.244327828610949e-08, + 2.342381399955684e-09 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + 0.4631013870239258, + 1.1523809432983398, + 0.8999999761581421 + ], + "ori": [ + -0.012757599353790283, + -3.4379499247449985e-10, + -2.6983419942894216e-09, + 0.9999186396598816 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 4.107459261604163e-09, + 7.401908419524261e-09, + 2.9802322387695312e-08 + ], + "angular_velocity": [ + -3.3782635000534356e-07, + 3.4210268040624214e-07, + -5.1886736684991774e-08 + ] + } + } + ], + "plate": [ + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_12_clear/Object.usd", + "pose": { + "pos": [ + -1.396458625793457, + 0.8917570114135742, + 0.9179999828338623 + ], + "ori": [ + -0.6676270961761475, + 1.0671961980790456e-08, + 3.9723087041920735e-08, + 0.7444958686828613 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 1.8398486645310186e-07, + 3.9245463767656474e-08, + 9.685754776000977e-08 + ], + "angular_velocity": [ + -8.54005179462547e-07, + 2.3783554752299096e-06, + -1.1845334029203514e-06 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_96_white/Object.usd", + "pose": { + "pos": [ + -0.045472145080566406, + 0.44654273986816406, + 0.9180000424385071 + ], + "ori": [ + 0.997013509273529, + 3.07027278267924e-07, + 6.823650977594298e-08, + 0.07722849398851395 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -2.3464735932066105e-06, + -8.515353329130448e-07, + -7.4766576290130615e-06 + ], + "angular_velocity": [ + -0.00018055063264910132, + -2.677001612028107e-05, + 1.920530485222116e-05 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/pcr_384_red/Object.usd", + "pose": { + "pos": [ + 1.493983268737793, + 0.4871835708618164, + 0.9179999828338623 + ], + "ori": [ + 0.9736441969871521, + 6.49449560796711e-08, + -4.6435467027095e-08, + 0.22807225584983826 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -1.8015180458519353e-08, + -8.215847557835332e-09, + -5.587935447692871e-06 + ], + "angular_velocity": [ + 6.386002269209712e-07, + -7.949504379212158e-07, + 1.1041779401921303e-07 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/deep_well_96_1ml/Object.usd", + "pose": { + "pos": [ + 0.46793079376220703, + 1.1556415557861328, + 0.9179999828338623 + ], + "ori": [ + -0.031169049441814423, + -3.3295473045313884e-09, + -1.2659857606678315e-09, + 0.9995141625404358 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 1.1169070290861782e-07, + 5.8135899649869316e-08, + 2.421438694000244e-07 + ], + "angular_velocity": [ + -1.3789597232971573e-06, + 4.0911741052696016e-06, + 8.192855460720239e-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": 6.3199999999998875, + "step": 1264, + "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": 4.7098319168326075e-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": 0.15621877384210545, + "holds": [], + "station": "pick", + "rider": "carrier_2", + "arrived": true, + "settle_count": 1043, + "released": { + "pick": [] + }, + "last_pos": { + "carrier_1": [ + -1.5380481779575348, + 0.4289901852607727, + 0.0 + ], + "carrier_2": [ + -0.1850523054599762, + -0.00229567289352417, + 0.0 + ], + "carrier_3": [ + 1.3355260789394379, + 0.030732929706573486, + 0.0 + ], + "carrier_4": [ + 0.3131013810634613, + 0.7023809552192688, + 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": [ + -0.2079233857686248, + 0.49466023116898605, + 2.9920053421980217 + ], + "ori": [ + 8.21551694628345, + -0.8340998643561122, + 17.523052187152516 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "color_temperature": 3312.943275771585, + "color": [ + 0.9663086722571581, + 0.8016958780424621, + 0.8675502297756973 + ], + "intensity": 7428.6941026943, + "width": 1.9468311326866377, + "height": 1.7993220931920633 + } + }, + "key": { + "type": "disk", + "pose": { + "pos": [ + 1.1453720656501818, + 1.3692237106016314, + 2.464829819181532 + ], + "ori": [ + -20.570153219609743, + -4.935555368355381, + 27.97088045554331 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "color_temperature": 7490.477472690147, + "color": [ + 0.9443859108040209, + 0.998833004139171, + 0.9773990769595351 + ], + "intensity": 10249.386236765822, + "radius": 0.4272569577945885 + } + } + }, + {}, + {} + ], + "background": { + "type": "dome", + "pose": { + "pos": null, + "ori": null, + "scale": null + }, + "dr": { + "intensity": 1285.179062337321, + "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": [ + [ + 0.9141042828559875, + -1.7193962335586548, + 2.0904972553253174, + -1.9418998956680298, + -1.5707999467849731, + 2.4849019050598145, + 0.01799999736249447, + 0.018000001087784767 + ], + [ + 0.9141027927398682, + -1.719398021697998, + 2.0904998779296875, + -1.941901445388794, + -1.5707999467849731, + 2.484900712966919, + 0.01799999549984932, + 0.018000002950429916 + ], + [ + 0.9141008853912354, + -1.7193975448608398, + 2.0904994010925293, + -1.9419009685516357, + -1.5707999467849731, + 2.4849002361297607, + 0.017999999225139618, + 0.017999999225139618 + ], + [ + 0.9140999913215637, + -1.7194000482559204, + 2.0905001163482666, + -1.9419000148773193, + -1.5707999467849731, + 2.4848999977111816, + 0.017999999225139618, + 0.017999999225139618 + ] + ], + "joint_vel": [ + [ + -2.353924982446721e-38, + 1.9754922809890112e-38, + -1.2539704279407916e-38, + 7.127873018811655e-37, + -6.191638385657976e-37, + 1.5281118050819832e-36, + 2.5990388508034812e-08, + -2.599039206074849e-08 + ], + [ + -2.3060005749668125e-38, + 1.8987504508499555e-38, + 0.0, + 6.02151537110284e-37, + -6.178528061433507e-37, + 1.5248516449683745e-36, + 5.198073438350548e-08, + -5.1980798332351696e-08 + ], + [ + 2.878389799468649e-38, + 0.0, + -1.2213358682648238e-38, + -6.655888791096542e-37, + 3.3481603119217608e-37, + 2.278090913452855e-37, + -1.3025661134370505e-37, + -2.3454070496014764e-38 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + ] + } + }, + "cameras": { + "cameras": { + "camera0": [ + [ + 0.05267427861690521, + -0.0022057658061385155, + -0.02757120132446289, + -0.2613343596458435, + 0.658912718296051, + 0.6471787691116333, + -0.28053173422813416 + ], + [ + 0.04773259535431862, + 1.608719139767345e-05, + -0.031053462997078896, + -0.278818815946579, + 0.6470168828964233, + 0.6544428467750549, + -0.27446994185447693 + ], + [ + 0.0493052639067173, + 0.0017584572779014707, + -0.028731049969792366, + -0.27553993463516235, + 0.6537392735481262, + 0.6485376954078674, + -0.2758651375770569 + ], + [ + 0.048976436257362366, + 0.0013380441814661026, + -0.02977757900953293, + -0.28143617510795593, + 0.648742139339447, + 0.6496394276618958, + -0.27909836173057556 + ] + ], + "camera1": [ + [ + 0.05996190384030342, + 0.5754457712173462, + 1.9417860507965088, + 0.04772746190428734, + -0.002344990149140358, + 0.2612595856189728, + 0.964085042476654 + ], + [ + 0.05883437767624855, + 0.555173397064209, + 1.958670735359192, + 0.037679385393857956, + 0.02885054424405098, + 0.2586177587509155, + 0.9648133516311646 + ], + [ + 0.043597280979156494, + 0.5554973483085632, + 1.9454965591430664, + 0.02830454893410206, + 0.012889839708805084, + 0.26447683572769165, + 0.9638903737068176 + ], + [ + 0.03119218349456787, + 0.5738147497177124, + 1.9417529106140137, + 0.055197253823280334, + -4.611508484231308e-05, + 0.25687873363494873, + 0.9648661017417908 + ] + ] + } + } + } +} \ No newline at end of file diff --git a/episodes/c9_p010_e008/wrist.mp4 b/episodes/c9_p010_e008/wrist.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..d1c4e461e174e3e635123ed511948d645f83b51a --- /dev/null +++ b/episodes/c9_p010_e008/wrist.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:2f4afeed3a763d925e62cfafa8e1e14eedb252bdd5b69294bae01564b659f4d1 +size 7362283 diff --git a/index/episodes.csv b/index/episodes.csv index 1cc5959728c3a0427556da0e9ba6427177ded196..a35ff4df2cc0a9d99e4455eac099e35da2a34693 100644 --- a/index/episodes.csv +++ b/index/episodes.csv @@ -2592,3 +2592,18 @@ c3_p008_e003,0,True,0.05070686340332031,0.4473915100097656,0.004738865374583391, c5_p007_e028,3,True,0.021630287170410156,0.44731616973876953,-0.008369181136154097,0.0034548769570751613,-3.678645320007746,plate_48_clear,0.5075807571411133,0.07066726684570312,-87.07827879819806,0.2776460964602758,1461.9531450656978,rect,0.05135395084116168,-0.47193171685441154,2.6294392479447524,6498.022082090791,6722.59527747537,disk,1.284558891313508,-0.599266850167486,1.668663853051405,10095.047036823753,5372.752599190126,0.05234941095113754,-0.0036015899386256933,-0.030303752049803734,-0.2824205458164215,0.6414365768432617,0.6581035256385803,-0.2751316428184509,0.028717512264847755,0.593924880027771,1.9337873458862305,0.035464316606521606,0.010947983711957932,0.28311049938201904,0.9583688378334045,1240,1,,2.037409782409668,0.28474304596383726,0.0,0.007324662525206804,0.5258064516129032,12,release,0.042180538177490234,"Pre-grasping the small plate, moving the arm toward it; the ",v2,True,False c8_p008_e018,1,True,-0.07414627075195312,0.4499988555908203,-0.0032978255816167538,-0.0025033690031014727,-10.60550626622333,deep_well_96_1ml,0.5170612335205078,0.08798694610595703,-88.62008018851587,0.162679702261342,859.6059622228909,rect,-0.5972018301797168,-0.012918126880971548,2.8627497040169896,4840.6359008901945,6453.945944465917,disk,0.9968303776699448,-0.9109269393851069,2.1618285829935933,2912.135844714207,5107.824409425957,0.05446693301200867,0.003933410160243511,-0.03244415298104286,-0.27377408742904663,0.6515244245529175,0.655831515789032,-0.26542162895202637,0.03696388751268387,0.6022618412971497,1.9435497522354126,0.02424386702477932,0.006138434633612633,0.2713077962398529,0.9621676802635193,1186,1,,2.063316583633423,0.32679071840773133,0.0,0.007470599375665188,0.5387858347386172,12,release,0.0427861213684082,"Pre-grasping the small plate, moving the arm toward it; the ",v2,True,False c8_p008_e019,2,True,-0.04902076721191406,0.45000267028808594,-0.0005402562662005409,-0.004801696582715907,1.4771739230241394,plate_24_clear,0.5054759979248047,0.0936441421508789,-88.54507967983156,0.22730684786330155,859.6059622228909,rect,0.0876036951656124,0.440103218777144,2.6647953311661685,7089.878355062863,6138.903302143606,sphere,-0.006756269817192351,-0.5393904509373544,2.455737770035936,1846.9889156531026,6817.877899176432,0.04603291675448418,0.0014628547942265868,-0.029525652527809143,-0.2822082042694092,0.645576000213623,0.6478437781333923,-0.28963518142700195,0.05810018628835678,0.5969314575195312,1.951119065284729,0.04648552089929581,0.0020710364915430546,0.2855897545814514,0.9572216272354126,1285,1,,2.054027795791626,0.2893082497437609,0.0,0.007337414659559727,0.5439688715953307,12,release,0.04218006134033203,"Pre-grasping the small plate, moving the arm toward it; the ",v2,True,False +c4_p008_e004,2,True,-0.09906768798828125,0.4474201202392578,0.005212132260647242,0.0054529934331256375,2.6416260983621953,plate_24_clear,0.4988422393798828,0.11703014373779297,-85.3321059681004,0.2521506124647856,1239.1908942456269,rect,-0.4073058677715517,0.33826262687518904,3.157908077899852,6674.709142422114,3518.9189476539127,disk,0.1713373583924931,-0.7326663671096609,2.046873801281426,2568.649871613215,3892.755201707317,0.04568713903427124,0.0028165061958134174,-0.027396511286497116,-0.2719375789165497,0.6573951244354248,0.64564448595047,-0.27753350138664246,0.040998611599206924,0.5914180278778076,1.9396604299545288,0.030185524374246597,0.014137162826955318,0.2636910378932953,0.9640311002731323,1201,1,,2.087894916534424,0.29781893355018885,0.0,0.00733789149671793,0.5295587010824313,12,release,0.04221475124359131,"Pre-grasping the small plate, moving the arm toward it; the ",v2,True,False +c4_p008_e005,1,True,0.12752532958984375,0.44733238220214844,0.006761180932235417,-0.004510917510020728,0.5178201321712095,plate_12_clear,0.5011758804321289,0.07409000396728516,-93.19759233197499,0.2966905296732779,1239.1908942456269,rect,0.3522834098882627,-0.10891490028007483,2.6034271778873657,10732.552982477995,6901.295265947807,sphere,-1.1548822399765413,-1.1919134241251013,2.308977895205053,7501.944559979612,6371.855133623176,0.05178913101553917,0.0020792903378605843,-0.03244585171341896,-0.27538052201271057,0.6552912592887878,0.6409596800804138,-0.28970617055892944,0.07411216199398041,0.5934097170829773,1.9464149475097656,0.023316457867622375,0.0005378026398830116,0.2824692130088806,0.9589927792549133,1203,1,,2.1828694343566895,0.26715393443189295,0.0,0.007362112868577242,0.5303408146300914,12,release,0.042911529541015625,"Pre-grasping the small plate, moving the arm toward it; the ",v2,True,False +c4_p008_e006,3,True,-0.0062103271484375,0.4499969482421875,0.006971159896978906,0.007080274414192216,2.324368264573991,plate_96_clear,0.4977226257324219,0.10507011413574219,-87.15988363439565,0.21314164669812513,1239.1908942456269,rect,-0.3994210044723612,0.5697129651984143,3.078830577521624,11842.58505258929,6514.443555304514,sphere,1.3581806465730795,-0.08081334685601593,2.581020869262733,9286.223161891532,5957.005024727826,0.052570685744285583,-0.002875603036954999,-0.03076528012752533,-0.27976784110069275,0.6485427618026733,0.6489408612251282,-0.28283917903900146,0.07050036638975143,0.559451162815094,1.9429826736450195,0.03812794014811516,0.013016299344599247,0.2732433080673218,0.9611008763313293,1324,1,,2.0516746044158936,0.31867814955157653,0.0,0.007303616963326931,0.5302114803625377,12,release,0.04248237609863281,"Pre-grasping the small plate, moving the arm toward it; the ",v2,True,False +c4_p008_e007,0,True,0.05077552795410156,0.4499979019165039,0.011622089515682162,0.00634080838863174,-4.555253928662097,deep_well_96_2ml,0.4612903594970703,0.12853145599365234,-91.39230784532411,0.16468082082888524,1239.1908942456269,rect,-0.3605653243325035,-0.09965641515023405,2.797715494353235,12715.223920473863,5253.176768629841,disk,1.4639160267997426,0.25533169004305534,2.2890668357996704,8721.49757621121,7324.010049300755,0.05652007460594177,-0.0026385432574898005,-0.03009374439716339,-0.27613434195518494,0.6467108726501465,0.6508780121803284,-0.28613391518592834,0.05692974478006363,0.5798348188400269,1.9612079858779907,0.047226838767528534,0.010735795833170414,0.2624160349369049,0.9637386798858643,1242,1,,2.101292610168457,0.24968101012666258,0.0,0.007506625726819038,0.5128824476650563,12,release,0.042197465896606445,"Pre-grasping the small plate, moving the arm toward it; the ",v2,True,False +c5_p007_e029,2,True,-0.053597450256347656,0.4500007629394531,-0.010954050739838864,0.005662632688850306,1.3337225852531276,plate_384_black,0.46075916290283203,0.06093311309814453,-88.65269073566743,0.1535829854055264,1461.9531450656978,rect,0.029060488520865735,0.44817496760066855,2.780973291945389,14214.532060343685,7145.665834670292,sphere,0.4065725336536228,-0.5314582122331108,1.6669774011772356,3804.1609669059067,3336.5742954735997,0.04653831571340561,-0.0010845826473087072,-0.031114870682358742,-0.27836477756500244,0.6515734791755676,0.6491134166717529,-0.2767975330352783,0.07474350929260254,0.5651134848594666,1.9264891147613525,0.05872626230120659,0.01040409505367279,0.2655133306980133,0.9622607231140137,1321,1,,2.0502712726593018,0.3257342086566809,0.0,0.00742417573928833,0.5283875851627555,12,release,0.042520761489868164,"Pre-grasping the small plate, moving the arm toward it; the ",v2,True,False +c5_p007_e030,0,True,-0.07516098022460938,0.44721508026123047,0.006236554283142034,-0.0010077363226049206,9.271830512879092,plate_6_clear,0.5063915252685547,0.09279727935791016,-93.26214579185496,0.17333119524939414,584.663197157256,rect,0.7106583993601644,-0.0038258910925922374,2.638528902915128,9369.249503143616,6922.688171745636,sphere,-0.18753823427641314,1.5793830295414664,1.662313702154049,8602.926446104293,5480.046564518084,0.047634102404117584,-0.002264185808598995,-0.03137316554784775,-0.2804928719997406,0.6523008346557617,0.6521687507629395,-0.2655245065689087,0.03256094455718994,0.5655750036239624,1.9359592199325562,0.0395304374396801,0.024082740768790245,0.27845898270606995,0.9593320488929749,1245,1,,2.1078484058380127,0.2567102998355718,0.0,0.0073968288488686085,0.5148594377510041,12,release,0.042324602603912354,"Pre-grasping the small plate, moving the arm toward it; the ",v2,True,False +c6_p008_e020,0,True,0.13780975341796875,0.44731807708740234,-0.013197356710896843,0.0026876292380866164,-3.8951215614250714,plate_6_clear,0.5113554000854492,0.10975074768066406,-91.73156323661549,0.19170184700451526,1398.1819332899202,rect,0.003614080190318947,-0.3376483623607254,3.0208088525092145,12066.890148810919,5805.557587917865,disk,-0.9694950480426027,0.07398658825097448,2.5466551565130424,2142.5459429111097,4121.535299051485,0.05338677018880844,-0.0025514985900372267,-0.03133212774991989,-0.273306667804718,0.6574419736862183,0.6464105844497681,-0.27427515387535095,0.039943285286426544,0.5677391886711121,1.9530102014541626,0.027590220794081688,0.015331855975091457,0.28410032391548157,0.9582748413085938,1207,1,,2.076988935470581,0.3095837084448483,0.0,0.007392968516796827,0.5260977630488816,12,release,0.04235649108886719,"Pre-grasping the small plate, moving the arm toward it; the ",v2,True,False +c6_p008_e021,2,True,-0.13921070098876953,0.450042724609375,0.010040134370573295,0.004743276557299716,-8.876669117598766,deep_well_24_10ml,0.4826030731201172,0.10466194152832031,-90.34329398814339,0.19838863744086285,1398.1819332899202,rect,0.18590617854250524,0.24762472957058335,3.1855491750166123,9899.82222615093,5892.67541143725,disk,-0.4393699463832439,-1.0371014444105633,2.489848512900072,2680.7340929418215,6978.972240415109,0.04925789311528206,-0.0029996943194419146,-0.0320633128285408,-0.28607362508773804,0.6410259008407593,0.6582621335983276,-0.2719164788722992,0.05221911147236824,0.5934981107711792,1.9536659717559814,0.03659550100564957,0.0243309885263443,0.26202845573425293,0.964059054851532,1302,1,,2.046457529067993,0.28191268105611206,0.0,0.007517404854297638,0.5314900153609831,12,release,0.04359328746795654,"Pre-grasping the small plate, moving the arm toward it; the ",v2,True,False +c6_p008_e022,3,True,-0.023450851440429688,0.45000267028808594,-0.0007573305181466593,0.011179851797626232,-11.51976426839147,plate_48_clear,0.5131692886352539,0.06496334075927734,-89.15471793599049,0.2659397730394608,1398.1819332899202,rect,-0.04456561339716314,-0.38909891227148447,2.948385238502506,15134.794422269257,6018.779511087618,disk,0.010782573082541713,0.6359276234680273,2.2232029624524317,2549.968601747516,4192.327930556836,0.04921801760792732,0.00077615532791242,-0.029751181602478027,-0.2641274333000183,0.6607767343521118,0.6452683210372925,-0.27792009711265564,0.04595796763896942,0.592399537563324,1.9378498792648315,0.04896729066967964,0.0008858486544340849,0.2762105166912079,0.9598485231399536,1253,1,,2.0869922637939453,0.31235496935918355,0.0,0.007289808243513107,0.5618515562649641,12,release,0.04245591163635254,"Pre-grasping the small plate, moving the arm toward it; the ",v2,True,False +c6_p008_e023,1,True,0.1264963150024414,0.4499998092651367,-0.005712503706036841,0.004155166488177675,-0.6624522824546659,pcr_384_red,0.4729146957397461,0.0952615737915039,-93.56765610145162,0.2990226124410975,1398.1819332899202,rect,0.042086760231875076,0.014380798376485981,3.122724740533402,13357.179842583628,5520.89079502994,disk,-0.6353449194355552,0.038218557912956364,2.275350550535708,9541.918315820247,4068.616008625816,0.04888393357396126,-0.0036322581581771374,-0.03220701590180397,-0.293342262506485,0.6372019052505493,0.6537841558456421,-0.2837081551551819,0.06822404265403748,0.5638032555580139,1.9719429016113281,0.03563578054308891,0.005342883989214897,0.27387797832489014,0.9610891938209534,1227,1,,2.111563205718994,0.2724048748584491,0.0,0.0068314531818032265,0.5167074164629177,12,release,0.04207310080528259,"Pre-grasping the small plate, moving the arm toward it; the ",v2,True,False +c7_p008_e032,3,True,0.011526107788085938,0.4500007629394531,0.0022249167781263576,-0.0007858429314315646,-5.051547486192277,plate_384_white,0.4943122863769531,0.12484455108642578,-92.88386472532007,0.26557766905933156,409.9212221470027,rect,0.1907435620406156,-0.33425406869400937,3.1314726992955477,10784.903545225136,3226.4919968505997,disk,-1.4163995732378227,-1.139048271866931,2.7786362957191697,3257.6395080895372,7216.611855281702,0.04983917996287346,0.0026512083131819963,-0.033485691994428635,-0.2753308415412903,0.6495567560195923,0.653361976146698,-0.2745670974254608,0.037180252373218536,0.5804914832115173,1.9357943534851074,0.0317792110145092,0.005205465015023947,0.26306864619255066,0.9642395377159119,1237,1,,2.125152349472046,0.28326593484051077,0.0,0.00741732819005847,0.5181891673403395,12,release,0.042069435119628906,"Pre-grasping the small plate, moving the arm toward it; the ",v2,True,False +c7_p008_e033,0,True,-0.1167593002319336,0.4499969482421875,0.013764170200326267,0.005360192041247856,5.9681121260555585,pcr_96_blue,0.4677009582519531,0.06300163269042969,-90.72762367119496,0.1572128691984876,1168.501236813573,rect,0.637541504758819,0.320851081843608,2.6364073168485476,9734.469410386864,4621.895812142977,disk,0.5918468550285039,-0.45272592864270433,2.305373006738261,6015.337593792889,5595.09668384599,0.05025799572467804,-0.0026292160619050264,-0.03040250390768051,-0.2695991098880768,0.6493848562240601,0.6526261568069458,-0.28230249881744385,0.07244119793176651,0.5787467956542969,1.9300169944763184,0.03624622896313667,0.01801174134016037,0.2831435203552246,0.9582231044769287,1243,1,,2.0825588703155518,0.257802339393153,0.0,0.006857035681605339,0.5124698310539019,12,release,0.04224848747253418,"Pre-grasping the small plate, moving the arm toward it; the ",v2,True,False +c7_p008_e034,2,True,-0.020395278930664062,0.45000171661376953,-0.0058820262715606015,-0.011749386184993353,1.983905917026675,plate_384_black,0.4947824478149414,0.1017904281616211,-86.85942985338791,0.25531850561872516,1168.501236813573,rect,0.3099354710594254,0.21090138564746663,2.6765297539514465,5469.1187688074015,5951.581066734457,disk,1.5106428906006655,0.8377391637203473,2.463226951469631,7495.8328837840145,4445.127979773411,0.052872996777296066,0.001969076693058014,-0.03009951114654541,-0.2838806211948395,0.6520690321922302,0.645709753036499,-0.27798691391944885,0.06730521470308304,0.5862136483192444,1.9692200422286987,0.021693425253033638,0.0033024356234818697,0.27196571230888367,0.9620566964149475,1247,1,,2.1230978965759277,0.329606867620197,0.0,0.007417389191687107,0.5629510825982358,12,release,0.042252182960510254,"Pre-grasping the small plate, moving the arm toward it; the ",v2,True,False +c7_p008_e035,1,True,-0.0680074691772461,0.4486055374145508,0.0016089869304680465,0.010165649739027822,-5.135834607792901,plate_96_white,0.46644115447998047,0.05382251739501953,-94.3000692184742,0.2536968342088868,1168.501236813573,rect,-0.19690619314930996,0.2523501213525,2.9033869021457415,12820.224707637586,5448.790391503502,sphere,1.5702585231450112,1.0306769341114113,2.2905521182515494,7181.160025215888,4006.305781417673,0.05206645280122757,0.003079652786254883,-0.03159816935658455,-0.28012311458587646,0.6441371440887451,0.6612929105758667,-0.26326805353164673,0.06954870373010635,0.5888975858688354,1.9329584836959839,0.052190445363521576,-0.004841327667236328,0.2782212197780609,0.9590858817100525,1218,1,,2.116481065750122,0.26575347012634826,0.0,0.007304152473807335,0.5229885057471264,12,release,0.04237300157546997,"Pre-grasping the small plate, moving the arm toward it; the ",v2,True,False +c9_p010_e008,1,True,-0.03505229949951172,0.4477043151855469,-0.01044689270196159,-0.0008859300337382919,7.3449123092910895,plate_96_white,0.4791736602783203,0.06023120880126953,-88.05324592295906,0.15621877384210545,1285.179062337321,rect,-0.2079233857686248,0.49466023116898605,2.9920053421980217,7428.6941026943,3312.943275771585,disk,1.1453720656501818,1.3692237106016314,2.464829819181532,10249.386236765822,7490.477472690147,0.04773259535431862,1.608719139767345e-05,-0.031053462997078896,-0.278818815946579,0.6470168828964233,0.6544428467750549,-0.27446994185447693,0.05883437767624855,0.555173397064209,1.958670735359192,0.037679385393857956,0.02885054424405098,0.2586177587509155,0.9648133516311646,1274,1,,2.0898475646972656,0.33137998917385336,0.0,0.007288902997970581,0.5510204081632653,12,release,0.042289018630981445,"Pre-grasping the small plate, moving the arm toward it; the ",v2,True,False