add 15 episodes (c1_p005_e034 .. c8_p006_e015); total 1937 {'v1': 1088, 'v2': 849}
Browse filesThis view is limited to 50 files because it contains too many changes. See raw diff
- episodes/c1_p005_e034/data.npz +3 -0
- episodes/c1_p005_e034/device_events.jsonl +35 -0
- episodes/c1_p005_e034/env.mp4 +3 -0
- episodes/c1_p005_e034/meta.json +32 -0
- episodes/c1_p005_e034/scene_snapshot.json +1558 -0
- episodes/c1_p005_e034/wrist.mp4 +3 -0
- episodes/c1_p005_e035/data.npz +3 -0
- episodes/c1_p005_e035/device_events.jsonl +36 -0
- episodes/c1_p005_e035/env.mp4 +3 -0
- episodes/c1_p005_e035/meta.json +32 -0
- episodes/c1_p005_e035/scene_snapshot.json +1558 -0
- episodes/c1_p005_e035/wrist.mp4 +3 -0
- episodes/c2_p008_e004/data.npz +3 -0
- episodes/c2_p008_e004/device_events.jsonl +37 -0
- episodes/c2_p008_e004/env.mp4 +3 -0
- episodes/c2_p008_e004/meta.json +32 -0
- episodes/c2_p008_e004/scene_snapshot.json +1558 -0
- episodes/c2_p008_e004/wrist.mp4 +3 -0
- episodes/c2_p008_e005/data.npz +3 -0
- episodes/c2_p008_e005/device_events.jsonl +37 -0
- episodes/c2_p008_e005/env.mp4 +3 -0
- episodes/c2_p008_e005/meta.json +32 -0
- episodes/c2_p008_e005/scene_snapshot.json +1558 -0
- episodes/c2_p008_e005/wrist.mp4 +3 -0
- episodes/c3_p006_e000/data.npz +3 -0
- episodes/c3_p006_e000/device_events.jsonl +35 -0
- episodes/c3_p006_e000/env.mp4 +3 -0
- episodes/c3_p006_e000/meta.json +32 -0
- episodes/c3_p006_e000/scene_snapshot.json +1558 -0
- episodes/c3_p006_e000/wrist.mp4 +3 -0
- episodes/c5_p005_e027/data.npz +3 -0
- episodes/c5_p005_e027/device_events.jsonl +39 -0
- episodes/c5_p005_e027/env.mp4 +3 -0
- episodes/c5_p005_e027/meta.json +32 -0
- episodes/c5_p005_e027/scene_snapshot.json +1558 -0
- episodes/c5_p005_e027/wrist.mp4 +3 -0
- episodes/c6_p006_e012/data.npz +3 -0
- episodes/c6_p006_e012/device_events.jsonl +36 -0
- episodes/c6_p006_e012/env.mp4 +3 -0
- episodes/c6_p006_e012/meta.json +32 -0
- episodes/c6_p006_e012/scene_snapshot.json +1558 -0
- episodes/c6_p006_e012/wrist.mp4 +3 -0
- episodes/c7_p006_e008/data.npz +3 -0
- episodes/c7_p006_e008/device_events.jsonl +35 -0
- episodes/c7_p006_e008/env.mp4 +3 -0
- episodes/c7_p006_e008/meta.json +32 -0
- episodes/c7_p006_e008/scene_snapshot.json +1558 -0
- episodes/c7_p006_e008/wrist.mp4 +3 -0
- episodes/c7_p006_e009/data.npz +3 -0
- episodes/c7_p006_e009/device_events.jsonl +35 -0
episodes/c1_p005_e034/data.npz
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version https://git-lfs.github.com/spec/v1
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oid sha256:e2d76cce500d7d00ef19b1df95ddd886316caafc6d9d2ef2d52a08ebdec3eb74
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size 188557
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episodes/c1_p005_e034/device_events.jsonl
ADDED
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| 1 |
+
{"env_id": 3, "seq": 1, "step": 154, "t": 0.77, "topic": "conveyor_1.belt.station.pick.captured", "source": "conveyor_1.belt", "data": {"rider": "carrier_2"}, "cause": null}
|
| 2 |
+
{"env_id": 3, "seq": 2, "step": 154, "t": 0.77, "topic": "conveyor_1.belt.state.changed", "source": "conveyor_1.belt", "data": {"from": "running", "to": "at_station"}, "cause": null}
|
| 3 |
+
{"env_id": 3, "seq": 3, "step": 159, "t": 0.795, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_2"}, "cause": null}
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| 4 |
+
{"env_id": 3, "seq": 4, "step": 6426, "t": 32.13, "topic": "a4s_sealer_1.plate_present.present", "source": "a4s_sealer_1.plate_present", "data": {"object": "plate_2"}, "cause": null}
|
| 5 |
+
{"env_id": 3, "seq": 5, "step": 7040, "t": 35.2, "topic": "a4s_sealer_1.command.started", "source": "a4s_sealer_1", "data": {"command_id": "task-3-1", "name": "seal", "source": "task"}, "cause": "task-3-1"}
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| 6 |
+
{"env_id": 3, "seq": 6, "step": 7040, "t": 35.2, "topic": "a4s_sealer_1.seal.started", "source": "a4s_sealer_1", "data": {"dwell": 4.670783453957732}, "cause": "task-3-1"}
|
| 7 |
+
{"env_id": 3, "seq": 7, "step": 7040, "t": 35.2, "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"}
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| 8 |
+
{"env_id": 3, "seq": 8, "step": 7040, "t": 35.2, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "at_out", "to": "moving"}, "cause": null}
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| 9 |
+
{"env_id": 3, "seq": 9, "step": 7040, "t": 35.2, "topic": "a4s_sealer_1.drawer.moving", "source": "a4s_sealer_1.drawer", "data": {"target": 0.3, "goal": "in"}, "cause": "program-3-2"}
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| 10 |
+
{"env_id": 3, "seq": 10, "step": 7459, "t": 37.295, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "moving", "to": "at_in"}, "cause": null}
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| 11 |
+
{"env_id": 3, "seq": 11, "step": 7459, "t": 37.295, "topic": "a4s_sealer_1.drawer.reached", "source": "a4s_sealer_1.drawer", "data": {"position": "in", "q": 0.30000001192092896}, "cause": "program-3-2"}
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| 12 |
+
{"env_id": 3, "seq": 12, "step": 7459, "t": 37.295, "topic": "a4s_sealer_1.drawer.at_in", "source": "a4s_sealer_1.drawer", "data": {"q": 0.30000001192092896}, "cause": "program-3-2"}
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| 13 |
+
{"env_id": 3, "seq": 13, "step": 7459, "t": 37.295, "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"}
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| 14 |
+
{"env_id": 3, "seq": 14, "step": 7459, "t": 37.295, "topic": "labware.plate_2.changed", "source": "labware.plate_2", "data": {"key": "sealed", "value": true}, "cause": "task-3-1"}
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| 15 |
+
{"env_id": 3, "seq": 15, "step": 7459, "t": 37.295, "topic": "a4s_sealer_1.sealed", "source": "a4s_sealer_1", "data": {"plate": "plate_2"}, "cause": "task-3-1"}
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| 16 |
+
{"env_id": 3, "seq": 16, "step": 7459, "t": 37.295, "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"}
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| 17 |
+
{"env_id": 3, "seq": 17, "step": 7459, "t": 37.295, "topic": "a4s_sealer_1.heater.state.changed", "source": "a4s_sealer_1.heater", "data": {"from": "ready", "to": "running"}, "cause": null}
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| 18 |
+
{"env_id": 3, "seq": 18, "step": 7459, "t": 37.295, "topic": "a4s_sealer_1.heater.started", "source": "a4s_sealer_1.heater", "data": {"duration": 4.670783453957732}, "cause": "program-3-3"}
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| 19 |
+
{"env_id": 3, "seq": 19, "step": 8394, "t": 41.97, "topic": "a4s_sealer_1.heater.state.changed", "source": "a4s_sealer_1.heater", "data": {"from": "running", "to": "ready"}, "cause": null}
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| 20 |
+
{"env_id": 3, "seq": 20, "step": 8394, "t": 41.97, "topic": "a4s_sealer_1.heater.finished", "source": "a4s_sealer_1.heater", "data": {"elapsed": 4.675000000002392}, "cause": "program-3-3"}
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| 21 |
+
{"env_id": 3, "seq": 21, "step": 8394, "t": 41.97, "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": 4.675000000002392}}, "cause": "program-3-3"}
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| 22 |
+
{"env_id": 3, "seq": 22, "step": 8394, "t": 41.97, "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"}
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| 23 |
+
{"env_id": 3, "seq": 23, "step": 8394, "t": 41.97, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "at_in", "to": "moving"}, "cause": null}
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| 24 |
+
{"env_id": 3, "seq": 24, "step": 8394, "t": 41.97, "topic": "a4s_sealer_1.drawer.moving", "source": "a4s_sealer_1.drawer", "data": {"target": 0.0, "goal": "out"}, "cause": "program-3-4"}
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| 25 |
+
{"env_id": 3, "seq": 25, "step": 8814, "t": 44.07, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "moving", "to": "at_out"}, "cause": null}
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| 26 |
+
{"env_id": 3, "seq": 26, "step": 8814, "t": 44.07, "topic": "a4s_sealer_1.drawer.reached", "source": "a4s_sealer_1.drawer", "data": {"position": "out", "q": 1.3392692510549864e-09}, "cause": "program-3-4"}
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| 27 |
+
{"env_id": 3, "seq": 27, "step": 8814, "t": 44.07, "topic": "a4s_sealer_1.drawer.at_out", "source": "a4s_sealer_1.drawer", "data": {"q": 1.3392692510549864e-09}, "cause": "program-3-4"}
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| 28 |
+
{"env_id": 3, "seq": 28, "step": 8814, "t": 44.07, "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"}
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| 29 |
+
{"env_id": 3, "seq": 29, "step": 8814, "t": 44.07, "topic": "a4s_sealer_1.seal.finished", "source": "a4s_sealer_1", "data": {}, "cause": "task-3-1"}
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| 30 |
+
{"env_id": 3, "seq": 30, "step": 8814, "t": 44.07, "topic": "a4s_sealer_1.command.succeeded", "source": "a4s_sealer_1", "data": {"command_id": "task-3-1", "name": "seal", "source": "task"}, "cause": "task-3-1"}
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| 31 |
+
{"env_id": 3, "seq": 31, "step": 9395, "t": 46.975, "topic": "a4s_sealer_1.plate_present.absent", "source": "a4s_sealer_1.plate_present", "data": {"object": "plate_2"}, "cause": null}
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| 32 |
+
{"env_id": 3, "seq": 32, "step": 11112, "t": 55.56, "topic": "conveyor_1.belt.command.started", "source": "conveyor_1.belt", "data": {"command_id": "task-3-5", "name": "release", "source": "task"}, "cause": "task-3-5"}
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| 33 |
+
{"env_id": 3, "seq": 33, "step": 11112, "t": 55.56, "topic": "conveyor_1.belt.station.pick.released", "source": "conveyor_1.belt", "data": {"rider": "carrier_2"}, "cause": "task-3-5"}
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| 34 |
+
{"env_id": 3, "seq": 34, "step": 11112, "t": 55.56, "topic": "conveyor_1.belt.state.changed", "source": "conveyor_1.belt", "data": {"from": "at_station", "to": "running"}, "cause": null}
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| 35 |
+
{"env_id": 3, "seq": 35, "step": 11112, "t": 55.56, "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"}
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episodes/c1_p005_e034/env.mp4
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version https://git-lfs.github.com/spec/v1
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oid sha256:e2de12ad8a1c0b783246df52ce8fcf4ebc55b8145c6bc68284050472be9df7a6
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size 1300803
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episodes/c1_p005_e034/meta.json
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{
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"source": "raw/c1_p005/magicsim/34",
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| 3 |
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"fps": 25,
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| 4 |
+
"frames": 1258,
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| 5 |
+
"kept_ticks": "even",
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| 6 |
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"video_frames": {
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| 7 |
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"wrist": 1258,
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| 8 |
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"env": 1258
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| 9 |
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},
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| 10 |
+
"joint_target_source": "joint_pos_target",
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| 11 |
+
"fk_vs_recorded_eef_max_m": 0.0,
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| 12 |
+
"curobo_joints": [
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| 13 |
+
"shoulder_pan_joint",
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| 14 |
+
"shoulder_lift_joint",
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| 15 |
+
"elbow_joint",
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| 16 |
+
"wrist_1_joint",
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| 17 |
+
"wrist_2_joint",
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| 18 |
+
"wrist_3_joint"
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| 19 |
+
],
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| 20 |
+
"joint_order": [
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| 21 |
+
"shoulder_pan",
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| 22 |
+
"shoulder_lift",
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| 23 |
+
"elbow",
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| 24 |
+
"wrist_1",
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| 25 |
+
"wrist_2",
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| 26 |
+
"wrist_3",
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| 27 |
+
"finger_left",
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| 28 |
+
"finger_right"
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| 29 |
+
],
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| 30 |
+
"frames_note": "eef / actions in the robot base frame; camera_pose = local pose (wrist: in plate_gripper_base, env: env frame), pos + quat wxyz",
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| 31 |
+
"dr_version": "v2"
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| 32 |
+
}
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episodes/c1_p005_e034/scene_snapshot.json
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|
| 1 |
+
{
|
| 2 |
+
"trajectory_id": 34,
|
| 3 |
+
"env_id": 3,
|
| 4 |
+
"run_id": "c1_p005",
|
| 5 |
+
"task_type": "BioPlateCell",
|
| 6 |
+
"success": true,
|
| 7 |
+
"timing": {
|
| 8 |
+
"fps": 50.0,
|
| 9 |
+
"sim_dt": 0.005,
|
| 10 |
+
"decimation": 4
|
| 11 |
+
},
|
| 12 |
+
"restore_interface": {
|
| 13 |
+
"scene": "scene_manager.reset_to(snapshot['scene'], env_ids=[env_id])",
|
| 14 |
+
"robots": "robot_manager.set_state({'robots': snapshot['robots']}, env_ids=[env_id])"
|
| 15 |
+
},
|
| 16 |
+
"snapshot": {
|
| 17 |
+
"env_id": 3,
|
| 18 |
+
"scene": {
|
| 19 |
+
"objects": [
|
| 20 |
+
{},
|
| 21 |
+
{},
|
| 22 |
+
{},
|
| 23 |
+
{
|
| 24 |
+
"rac_cell": [
|
| 25 |
+
{
|
| 26 |
+
"asset": "$MAGICSIM_ASSETS/Bio/Lab/rac_cell.usd",
|
| 27 |
+
"pose": {
|
| 28 |
+
"pos": [
|
| 29 |
+
0.0,
|
| 30 |
+
0.0,
|
| 31 |
+
0.0
|
| 32 |
+
],
|
| 33 |
+
"ori": [
|
| 34 |
+
1.0,
|
| 35 |
+
0.0,
|
| 36 |
+
0.0,
|
| 37 |
+
0.0
|
| 38 |
+
],
|
| 39 |
+
"scale": [
|
| 40 |
+
1.0,
|
| 41 |
+
1.0,
|
| 42 |
+
1.0
|
| 43 |
+
]
|
| 44 |
+
},
|
| 45 |
+
"dr": {
|
| 46 |
+
"visual": {
|
| 47 |
+
"kind": null,
|
| 48 |
+
"value": null,
|
| 49 |
+
"visible": true
|
| 50 |
+
},
|
| 51 |
+
"physics": {
|
| 52 |
+
"type": "geometry",
|
| 53 |
+
"collision": false,
|
| 54 |
+
"physics_material": {
|
| 55 |
+
"static_friction": 0.6,
|
| 56 |
+
"dynamic_friction": 0.5,
|
| 57 |
+
"restitution": 0.0
|
| 58 |
+
},
|
| 59 |
+
"ratio": 1.0
|
| 60 |
+
},
|
| 61 |
+
"primitive_params": null
|
| 62 |
+
},
|
| 63 |
+
"type_specific": {}
|
| 64 |
+
}
|
| 65 |
+
],
|
| 66 |
+
"robot_mount": [
|
| 67 |
+
{
|
| 68 |
+
"asset": "Cube",
|
| 69 |
+
"pose": {
|
| 70 |
+
"pos": [
|
| 71 |
+
0.0,
|
| 72 |
+
0.0,
|
| 73 |
+
0.9075
|
| 74 |
+
],
|
| 75 |
+
"ori": [
|
| 76 |
+
1.0,
|
| 77 |
+
0.0,
|
| 78 |
+
0.0,
|
| 79 |
+
0.0
|
| 80 |
+
],
|
| 81 |
+
"scale": [
|
| 82 |
+
1.0,
|
| 83 |
+
1.0,
|
| 84 |
+
1.0
|
| 85 |
+
]
|
| 86 |
+
},
|
| 87 |
+
"dr": {
|
| 88 |
+
"visual": {
|
| 89 |
+
"kind": "color",
|
| 90 |
+
"value": [
|
| 91 |
+
0.55,
|
| 92 |
+
0.56,
|
| 93 |
+
0.58
|
| 94 |
+
],
|
| 95 |
+
"visible": true
|
| 96 |
+
},
|
| 97 |
+
"physics": {
|
| 98 |
+
"type": "geometry",
|
| 99 |
+
"collision": false,
|
| 100 |
+
"ratio": 1.0
|
| 101 |
+
},
|
| 102 |
+
"primitive_params": {
|
| 103 |
+
"size": [
|
| 104 |
+
0.2,
|
| 105 |
+
0.2,
|
| 106 |
+
0.015
|
| 107 |
+
]
|
| 108 |
+
}
|
| 109 |
+
},
|
| 110 |
+
"type_specific": {}
|
| 111 |
+
}
|
| 112 |
+
],
|
| 113 |
+
"plate_rack": [
|
| 114 |
+
{
|
| 115 |
+
"asset": "$MAGICSIM_ASSETS/Bio/Lab/plate_hotel.usd",
|
| 116 |
+
"pose": {
|
| 117 |
+
"pos": [
|
| 118 |
+
-0.6,
|
| 119 |
+
0.02,
|
| 120 |
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0.9
|
| 121 |
+
],
|
| 122 |
+
"ori": [
|
| 123 |
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6.123234262925839e-17,
|
| 124 |
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0.0,
|
| 125 |
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0.0,
|
| 126 |
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1.0
|
| 127 |
+
],
|
| 128 |
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|
| 129 |
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1.0,
|
| 130 |
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1.0,
|
| 131 |
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1.0
|
| 132 |
+
]
|
| 133 |
+
},
|
| 134 |
+
"dr": {
|
| 135 |
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|
| 136 |
+
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|
| 137 |
+
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|
| 138 |
+
"visible": true
|
| 139 |
+
},
|
| 140 |
+
"physics": {
|
| 141 |
+
"type": "geometry",
|
| 142 |
+
"collision": false,
|
| 143 |
+
"physics_material": {
|
| 144 |
+
"static_friction": 0.6,
|
| 145 |
+
"dynamic_friction": 0.5,
|
| 146 |
+
"restitution": 0.0
|
| 147 |
+
},
|
| 148 |
+
"ratio": 1.0
|
| 149 |
+
},
|
| 150 |
+
"primitive_params": null
|
| 151 |
+
},
|
| 152 |
+
"type_specific": {}
|
| 153 |
+
}
|
| 154 |
+
],
|
| 155 |
+
"hotel_plate": [
|
| 156 |
+
{
|
| 157 |
+
"asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/pcr_384_red/pcr_384_red.usd",
|
| 158 |
+
"pose": {
|
| 159 |
+
"pos": [
|
| 160 |
+
-0.6,
|
| 161 |
+
0.02,
|
| 162 |
+
0.9605
|
| 163 |
+
],
|
| 164 |
+
"ori": [
|
| 165 |
+
1.0,
|
| 166 |
+
0.0,
|
| 167 |
+
0.0,
|
| 168 |
+
0.0
|
| 169 |
+
],
|
| 170 |
+
"scale": [
|
| 171 |
+
1.0,
|
| 172 |
+
1.0,
|
| 173 |
+
1.0
|
| 174 |
+
]
|
| 175 |
+
},
|
| 176 |
+
"dr": {
|
| 177 |
+
"visual": {
|
| 178 |
+
"kind": null,
|
| 179 |
+
"value": null,
|
| 180 |
+
"visible": true
|
| 181 |
+
},
|
| 182 |
+
"physics": {
|
| 183 |
+
"type": "geometry",
|
| 184 |
+
"collision": false,
|
| 185 |
+
"ratio": 1.0
|
| 186 |
+
},
|
| 187 |
+
"primitive_params": null
|
| 188 |
+
},
|
| 189 |
+
"type_specific": {}
|
| 190 |
+
},
|
| 191 |
+
{
|
| 192 |
+
"asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_96_clear/plate_96_clear.usd",
|
| 193 |
+
"pose": {
|
| 194 |
+
"pos": [
|
| 195 |
+
-0.6,
|
| 196 |
+
0.02,
|
| 197 |
+
1.0285
|
| 198 |
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],
|
| 199 |
+
"ori": [
|
| 200 |
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6.123234262925839e-17,
|
| 201 |
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0.0,
|
| 202 |
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0.0,
|
| 203 |
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1.0
|
| 204 |
+
],
|
| 205 |
+
"scale": [
|
| 206 |
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1.0,
|
| 207 |
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1.0,
|
| 208 |
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1.0
|
| 209 |
+
]
|
| 210 |
+
},
|
| 211 |
+
"dr": {
|
| 212 |
+
"visual": {
|
| 213 |
+
"kind": null,
|
| 214 |
+
"value": null,
|
| 215 |
+
"visible": true
|
| 216 |
+
},
|
| 217 |
+
"physics": {
|
| 218 |
+
"type": "geometry",
|
| 219 |
+
"collision": false,
|
| 220 |
+
"ratio": 1.0
|
| 221 |
+
},
|
| 222 |
+
"primitive_params": null
|
| 223 |
+
},
|
| 224 |
+
"type_specific": {}
|
| 225 |
+
},
|
| 226 |
+
{
|
| 227 |
+
"asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_384_white/plate_384_white.usd",
|
| 228 |
+
"pose": {
|
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episodes/c1_p005_e034/wrist.mp4
ADDED
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size 6874328
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ADDED
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episodes/c1_p005_e035/device_events.jsonl
ADDED
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| 2 |
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| 4 |
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| 5 |
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| 6 |
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|
| 7 |
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|
| 8 |
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|
| 9 |
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|
| 10 |
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| 11 |
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| 12 |
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| 13 |
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|
| 14 |
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| 15 |
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| 16 |
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|
| 17 |
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|
| 18 |
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|
| 19 |
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|
| 20 |
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|
| 21 |
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|
| 22 |
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| 23 |
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| 24 |
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| 25 |
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| 28 |
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| 29 |
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|
| 30 |
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| 31 |
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| 32 |
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| 33 |
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| 34 |
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| 35 |
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| 36 |
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episodes/c1_p005_e035/env.mp4
ADDED
|
@@ -0,0 +1,3 @@
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| 1 |
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version https://git-lfs.github.com/spec/v1
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| 3 |
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size 1282421
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episodes/c1_p005_e035/meta.json
ADDED
|
@@ -0,0 +1,32 @@
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|
| 1 |
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{
|
| 2 |
+
"source": "raw/c1_p005/magicsim/35",
|
| 3 |
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|
| 4 |
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|
| 5 |
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|
| 6 |
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| 7 |
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"wrist": 1262,
|
| 8 |
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"env": 1262
|
| 9 |
+
},
|
| 10 |
+
"joint_target_source": "joint_pos_target",
|
| 11 |
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|
| 12 |
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"curobo_joints": [
|
| 13 |
+
"shoulder_pan_joint",
|
| 14 |
+
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|
| 15 |
+
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|
| 16 |
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|
| 17 |
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|
| 18 |
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|
| 19 |
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|
| 20 |
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|
| 21 |
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|
| 22 |
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|
| 23 |
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|
| 24 |
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| 25 |
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| 26 |
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|
| 27 |
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|
| 28 |
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|
| 29 |
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],
|
| 30 |
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"frames_note": "eef / actions in the robot base frame; camera_pose = local pose (wrist: in plate_gripper_base, env: env frame), pos + quat wxyz",
|
| 31 |
+
"dr_version": "v2"
|
| 32 |
+
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|
episodes/c1_p005_e035/scene_snapshot.json
ADDED
|
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|
| 1 |
+
{
|
| 2 |
+
"trajectory_id": 35,
|
| 3 |
+
"env_id": 0,
|
| 4 |
+
"run_id": "c1_p005",
|
| 5 |
+
"task_type": "BioPlateCell",
|
| 6 |
+
"success": true,
|
| 7 |
+
"timing": {
|
| 8 |
+
"fps": 50.0,
|
| 9 |
+
"sim_dt": 0.005,
|
| 10 |
+
"decimation": 4
|
| 11 |
+
},
|
| 12 |
+
"restore_interface": {
|
| 13 |
+
"scene": "scene_manager.reset_to(snapshot['scene'], env_ids=[env_id])",
|
| 14 |
+
"robots": "robot_manager.set_state({'robots': snapshot['robots']}, env_ids=[env_id])"
|
| 15 |
+
},
|
| 16 |
+
"snapshot": {
|
| 17 |
+
"env_id": 0,
|
| 18 |
+
"scene": {
|
| 19 |
+
"objects": [
|
| 20 |
+
{
|
| 21 |
+
"rac_cell": [
|
| 22 |
+
{
|
| 23 |
+
"asset": "$MAGICSIM_ASSETS/Bio/Lab/rac_cell.usd",
|
| 24 |
+
"pose": {
|
| 25 |
+
"pos": [
|
| 26 |
+
0.0,
|
| 27 |
+
0.0,
|
| 28 |
+
0.0
|
| 29 |
+
],
|
| 30 |
+
"ori": [
|
| 31 |
+
1.0,
|
| 32 |
+
0.0,
|
| 33 |
+
0.0,
|
| 34 |
+
0.0
|
| 35 |
+
],
|
| 36 |
+
"scale": [
|
| 37 |
+
1.0,
|
| 38 |
+
1.0,
|
| 39 |
+
1.0
|
| 40 |
+
]
|
| 41 |
+
},
|
| 42 |
+
"dr": {
|
| 43 |
+
"visual": {
|
| 44 |
+
"kind": null,
|
| 45 |
+
"value": null,
|
| 46 |
+
"visible": true
|
| 47 |
+
},
|
| 48 |
+
"physics": {
|
| 49 |
+
"type": "geometry",
|
| 50 |
+
"collision": false,
|
| 51 |
+
"physics_material": {
|
| 52 |
+
"static_friction": 0.6,
|
| 53 |
+
"dynamic_friction": 0.5,
|
| 54 |
+
"restitution": 0.0
|
| 55 |
+
},
|
| 56 |
+
"ratio": 1.0
|
| 57 |
+
},
|
| 58 |
+
"primitive_params": null
|
| 59 |
+
},
|
| 60 |
+
"type_specific": {}
|
| 61 |
+
}
|
| 62 |
+
],
|
| 63 |
+
"robot_mount": [
|
| 64 |
+
{
|
| 65 |
+
"asset": "Cube",
|
| 66 |
+
"pose": {
|
| 67 |
+
"pos": [
|
| 68 |
+
0.0,
|
| 69 |
+
0.0,
|
| 70 |
+
0.9075
|
| 71 |
+
],
|
| 72 |
+
"ori": [
|
| 73 |
+
1.0,
|
| 74 |
+
0.0,
|
| 75 |
+
0.0,
|
| 76 |
+
0.0
|
| 77 |
+
],
|
| 78 |
+
"scale": [
|
| 79 |
+
1.0,
|
| 80 |
+
1.0,
|
| 81 |
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1.0
|
| 82 |
+
]
|
| 83 |
+
},
|
| 84 |
+
"dr": {
|
| 85 |
+
"visual": {
|
| 86 |
+
"kind": "color",
|
| 87 |
+
"value": [
|
| 88 |
+
0.55,
|
| 89 |
+
0.56,
|
| 90 |
+
0.58
|
| 91 |
+
],
|
| 92 |
+
"visible": true
|
| 93 |
+
},
|
| 94 |
+
"physics": {
|
| 95 |
+
"type": "geometry",
|
| 96 |
+
"collision": false,
|
| 97 |
+
"ratio": 1.0
|
| 98 |
+
},
|
| 99 |
+
"primitive_params": {
|
| 100 |
+
"size": [
|
| 101 |
+
0.2,
|
| 102 |
+
0.2,
|
| 103 |
+
0.015
|
| 104 |
+
]
|
| 105 |
+
}
|
| 106 |
+
},
|
| 107 |
+
"type_specific": {}
|
| 108 |
+
}
|
| 109 |
+
],
|
| 110 |
+
"plate_rack": [
|
| 111 |
+
{
|
| 112 |
+
"asset": "$MAGICSIM_ASSETS/Bio/Lab/plate_hotel.usd",
|
| 113 |
+
"pose": {
|
| 114 |
+
"pos": [
|
| 115 |
+
-0.6,
|
| 116 |
+
0.02,
|
| 117 |
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0.9
|
| 118 |
+
],
|
| 119 |
+
"ori": [
|
| 120 |
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6.123234262925839e-17,
|
| 121 |
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0.0,
|
| 122 |
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0.0,
|
| 123 |
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1.0
|
| 124 |
+
],
|
| 125 |
+
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|
| 126 |
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1.0,
|
| 127 |
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1.0,
|
| 128 |
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1.0
|
| 129 |
+
]
|
| 130 |
+
},
|
| 131 |
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"dr": {
|
| 132 |
+
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|
| 133 |
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|
| 134 |
+
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|
| 135 |
+
"visible": true
|
| 136 |
+
},
|
| 137 |
+
"physics": {
|
| 138 |
+
"type": "geometry",
|
| 139 |
+
"collision": false,
|
| 140 |
+
"physics_material": {
|
| 141 |
+
"static_friction": 0.6,
|
| 142 |
+
"dynamic_friction": 0.5,
|
| 143 |
+
"restitution": 0.0
|
| 144 |
+
},
|
| 145 |
+
"ratio": 1.0
|
| 146 |
+
},
|
| 147 |
+
"primitive_params": null
|
| 148 |
+
},
|
| 149 |
+
"type_specific": {}
|
| 150 |
+
}
|
| 151 |
+
],
|
| 152 |
+
"hotel_plate": [
|
| 153 |
+
{
|
| 154 |
+
"asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_96_clear/plate_96_clear.usd",
|
| 155 |
+
"pose": {
|
| 156 |
+
"pos": [
|
| 157 |
+
-0.6,
|
| 158 |
+
0.02,
|
| 159 |
+
0.9605
|
| 160 |
+
],
|
| 161 |
+
"ori": [
|
| 162 |
+
1.0,
|
| 163 |
+
0.0,
|
| 164 |
+
0.0,
|
| 165 |
+
0.0
|
| 166 |
+
],
|
| 167 |
+
"scale": [
|
| 168 |
+
1.0,
|
| 169 |
+
1.0,
|
| 170 |
+
1.0
|
| 171 |
+
]
|
| 172 |
+
},
|
| 173 |
+
"dr": {
|
| 174 |
+
"visual": {
|
| 175 |
+
"kind": null,
|
| 176 |
+
"value": null,
|
| 177 |
+
"visible": true
|
| 178 |
+
},
|
| 179 |
+
"physics": {
|
| 180 |
+
"type": "geometry",
|
| 181 |
+
"collision": false,
|
| 182 |
+
"ratio": 1.0
|
| 183 |
+
},
|
| 184 |
+
"primitive_params": null
|
| 185 |
+
},
|
| 186 |
+
"type_specific": {}
|
| 187 |
+
},
|
| 188 |
+
{
|
| 189 |
+
"asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_24_clear/plate_24_clear.usd",
|
| 190 |
+
"pose": {
|
| 191 |
+
"pos": [
|
| 192 |
+
-0.6,
|
| 193 |
+
0.02,
|
| 194 |
+
1.0285
|
| 195 |
+
],
|
| 196 |
+
"ori": [
|
| 197 |
+
6.123234262925839e-17,
|
| 198 |
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0.0,
|
| 199 |
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0.0,
|
| 200 |
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1.0
|
| 201 |
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],
|
| 202 |
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"scale": [
|
| 203 |
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1.0,
|
| 204 |
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1.0,
|
| 205 |
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1.0
|
| 206 |
+
]
|
| 207 |
+
},
|
| 208 |
+
"dr": {
|
| 209 |
+
"visual": {
|
| 210 |
+
"kind": null,
|
| 211 |
+
"value": null,
|
| 212 |
+
"visible": true
|
| 213 |
+
},
|
| 214 |
+
"physics": {
|
| 215 |
+
"type": "geometry",
|
| 216 |
+
"collision": false,
|
| 217 |
+
"ratio": 1.0
|
| 218 |
+
},
|
| 219 |
+
"primitive_params": null
|
| 220 |
+
},
|
| 221 |
+
"type_specific": {}
|
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episodes/c1_p005_e035/wrist.mp4
ADDED
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episodes/c2_p008_e004/data.npz
ADDED
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episodes/c2_p008_e004/device_events.jsonl
ADDED
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{"env_id": 1, "seq": 1, "step": 163, "t": 0.815, "topic": "conveyor_1.belt.station.pick.captured", "source": "conveyor_1.belt", "data": {"rider": "carrier_1"}, "cause": null}
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{"env_id": 1, "seq": 3, "step": 168, "t": 0.84, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_1"}, "cause": null}
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| 4 |
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{"env_id": 1, "seq": 4, "step": 979, "t": 4.895, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_1"}, "cause": null}
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{"env_id": 1, "seq": 5, "step": 1023, "t": 5.115, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_1"}, "cause": null}
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| 6 |
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{"env_id": 1, "seq": 6, "step": 5843, "t": 29.215, "topic": "a4s_sealer_1.plate_present.present", "source": "a4s_sealer_1.plate_present", "data": {"object": "plate_1"}, "cause": null}
|
| 7 |
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{"env_id": 1, "seq": 7, "step": 6456, "t": 32.28, "topic": "a4s_sealer_1.command.started", "source": "a4s_sealer_1", "data": {"command_id": "task-1-1", "name": "seal", "source": "task"}, "cause": "task-1-1"}
|
| 8 |
+
{"env_id": 1, "seq": 8, "step": 6456, "t": 32.28, "topic": "a4s_sealer_1.seal.started", "source": "a4s_sealer_1", "data": {"dwell": 2.4678753388060013}, "cause": "task-1-1"}
|
| 9 |
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|
| 10 |
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|
| 11 |
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|
| 12 |
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|
| 13 |
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|
| 14 |
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|
| 15 |
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|
| 16 |
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|
| 17 |
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{"env_id": 1, "seq": 17, "step": 6875, "t": 34.375, "topic": "a4s_sealer_1.sealed", "source": "a4s_sealer_1", "data": {"plate": "plate_1"}, "cause": "task-1-1"}
|
| 18 |
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|
| 19 |
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{"env_id": 1, "seq": 19, "step": 6875, "t": 34.375, "topic": "a4s_sealer_1.heater.state.changed", "source": "a4s_sealer_1.heater", "data": {"from": "ready", "to": "running"}, "cause": null}
|
| 20 |
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{"env_id": 1, "seq": 20, "step": 6875, "t": 34.375, "topic": "a4s_sealer_1.heater.started", "source": "a4s_sealer_1.heater", "data": {"duration": 2.4678753388060013}, "cause": "program-1-3"}
|
| 21 |
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|
| 22 |
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{"env_id": 1, "seq": 22, "step": 7369, "t": 36.845, "topic": "a4s_sealer_1.heater.finished", "source": "a4s_sealer_1.heater", "data": {"elapsed": 2.4700000000012636}, "cause": "program-1-3"}
|
| 23 |
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|
| 24 |
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{"env_id": 1, "seq": 24, "step": 7369, "t": 36.845, "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"}
|
| 25 |
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{"env_id": 1, "seq": 25, "step": 7369, "t": 36.845, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "at_in", "to": "moving"}, "cause": null}
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| 26 |
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{"env_id": 1, "seq": 26, "step": 7369, "t": 36.845, "topic": "a4s_sealer_1.drawer.moving", "source": "a4s_sealer_1.drawer", "data": {"target": 0.0, "goal": "out"}, "cause": "program-1-4"}
|
| 27 |
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|
| 28 |
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{"env_id": 1, "seq": 28, "step": 7789, "t": 38.945, "topic": "a4s_sealer_1.drawer.reached", "source": "a4s_sealer_1.drawer", "data": {"position": "out", "q": 4.560314348367456e-09}, "cause": "program-1-4"}
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| 29 |
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{"env_id": 1, "seq": 29, "step": 7789, "t": 38.945, "topic": "a4s_sealer_1.drawer.at_out", "source": "a4s_sealer_1.drawer", "data": {"q": 4.560314348367456e-09}, "cause": "program-1-4"}
|
| 30 |
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|
| 31 |
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{"env_id": 1, "seq": 31, "step": 7789, "t": 38.945, "topic": "a4s_sealer_1.seal.finished", "source": "a4s_sealer_1", "data": {}, "cause": "task-1-1"}
|
| 32 |
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|
| 33 |
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|
| 34 |
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{"env_id": 1, "seq": 34, "step": 10592, "t": 52.96, "topic": "conveyor_1.belt.command.started", "source": "conveyor_1.belt", "data": {"command_id": "task-1-5", "name": "release", "source": "task"}, "cause": "task-1-5"}
|
| 35 |
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{"env_id": 1, "seq": 35, "step": 10592, "t": 52.96, "topic": "conveyor_1.belt.station.pick.released", "source": "conveyor_1.belt", "data": {"rider": "carrier_1"}, "cause": "task-1-5"}
|
| 36 |
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{"env_id": 1, "seq": 36, "step": 10592, "t": 52.96, "topic": "conveyor_1.belt.state.changed", "source": "conveyor_1.belt", "data": {"from": "at_station", "to": "running"}, "cause": null}
|
| 37 |
+
{"env_id": 1, "seq": 37, "step": 10592, "t": 52.96, "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"}
|
episodes/c2_p008_e004/env.mp4
ADDED
|
@@ -0,0 +1,3 @@
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|
| 1 |
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version https://git-lfs.github.com/spec/v1
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| 3 |
+
size 1392108
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episodes/c2_p008_e004/meta.json
ADDED
|
@@ -0,0 +1,32 @@
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|
|
|
|
| 1 |
+
{
|
| 2 |
+
"source": "raw/c2_p008/magicsim/4",
|
| 3 |
+
"fps": 25,
|
| 4 |
+
"frames": 1259,
|
| 5 |
+
"kept_ticks": "even",
|
| 6 |
+
"video_frames": {
|
| 7 |
+
"wrist": 1259,
|
| 8 |
+
"env": 1259
|
| 9 |
+
},
|
| 10 |
+
"joint_target_source": "joint_pos_target",
|
| 11 |
+
"fk_vs_recorded_eef_max_m": 0.0,
|
| 12 |
+
"curobo_joints": [
|
| 13 |
+
"shoulder_pan_joint",
|
| 14 |
+
"shoulder_lift_joint",
|
| 15 |
+
"elbow_joint",
|
| 16 |
+
"wrist_1_joint",
|
| 17 |
+
"wrist_2_joint",
|
| 18 |
+
"wrist_3_joint"
|
| 19 |
+
],
|
| 20 |
+
"joint_order": [
|
| 21 |
+
"shoulder_pan",
|
| 22 |
+
"shoulder_lift",
|
| 23 |
+
"elbow",
|
| 24 |
+
"wrist_1",
|
| 25 |
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"wrist_2",
|
| 26 |
+
"wrist_3",
|
| 27 |
+
"finger_left",
|
| 28 |
+
"finger_right"
|
| 29 |
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],
|
| 30 |
+
"frames_note": "eef / actions in the robot base frame; camera_pose = local pose (wrist: in plate_gripper_base, env: env frame), pos + quat wxyz",
|
| 31 |
+
"dr_version": "v2"
|
| 32 |
+
}
|
episodes/c2_p008_e004/scene_snapshot.json
ADDED
|
@@ -0,0 +1,1558 @@
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|
| 1 |
+
{
|
| 2 |
+
"trajectory_id": 4,
|
| 3 |
+
"env_id": 1,
|
| 4 |
+
"run_id": "c2_p008",
|
| 5 |
+
"task_type": "BioPlateCell",
|
| 6 |
+
"success": true,
|
| 7 |
+
"timing": {
|
| 8 |
+
"fps": 50.0,
|
| 9 |
+
"sim_dt": 0.005,
|
| 10 |
+
"decimation": 4
|
| 11 |
+
},
|
| 12 |
+
"restore_interface": {
|
| 13 |
+
"scene": "scene_manager.reset_to(snapshot['scene'], env_ids=[env_id])",
|
| 14 |
+
"robots": "robot_manager.set_state({'robots': snapshot['robots']}, env_ids=[env_id])"
|
| 15 |
+
},
|
| 16 |
+
"snapshot": {
|
| 17 |
+
"env_id": 1,
|
| 18 |
+
"scene": {
|
| 19 |
+
"objects": [
|
| 20 |
+
{},
|
| 21 |
+
{
|
| 22 |
+
"rac_cell": [
|
| 23 |
+
{
|
| 24 |
+
"asset": "$MAGICSIM_ASSETS/Bio/Lab/rac_cell.usd",
|
| 25 |
+
"pose": {
|
| 26 |
+
"pos": [
|
| 27 |
+
0.0,
|
| 28 |
+
0.0,
|
| 29 |
+
0.0
|
| 30 |
+
],
|
| 31 |
+
"ori": [
|
| 32 |
+
1.0,
|
| 33 |
+
0.0,
|
| 34 |
+
0.0,
|
| 35 |
+
0.0
|
| 36 |
+
],
|
| 37 |
+
"scale": [
|
| 38 |
+
1.0,
|
| 39 |
+
1.0,
|
| 40 |
+
1.0
|
| 41 |
+
]
|
| 42 |
+
},
|
| 43 |
+
"dr": {
|
| 44 |
+
"visual": {
|
| 45 |
+
"kind": null,
|
| 46 |
+
"value": null,
|
| 47 |
+
"visible": true
|
| 48 |
+
},
|
| 49 |
+
"physics": {
|
| 50 |
+
"type": "geometry",
|
| 51 |
+
"collision": false,
|
| 52 |
+
"physics_material": {
|
| 53 |
+
"static_friction": 0.6,
|
| 54 |
+
"dynamic_friction": 0.5,
|
| 55 |
+
"restitution": 0.0
|
| 56 |
+
},
|
| 57 |
+
"ratio": 1.0
|
| 58 |
+
},
|
| 59 |
+
"primitive_params": null
|
| 60 |
+
},
|
| 61 |
+
"type_specific": {}
|
| 62 |
+
}
|
| 63 |
+
],
|
| 64 |
+
"robot_mount": [
|
| 65 |
+
{
|
| 66 |
+
"asset": "Cube",
|
| 67 |
+
"pose": {
|
| 68 |
+
"pos": [
|
| 69 |
+
0.0,
|
| 70 |
+
0.0,
|
| 71 |
+
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|
| 72 |
+
],
|
| 73 |
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"ori": [
|
| 74 |
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1.0,
|
| 75 |
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0.0,
|
| 76 |
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0.0,
|
| 77 |
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0.0
|
| 78 |
+
],
|
| 79 |
+
"scale": [
|
| 80 |
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1.0,
|
| 81 |
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1.0,
|
| 82 |
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1.0
|
| 83 |
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]
|
| 84 |
+
},
|
| 85 |
+
"dr": {
|
| 86 |
+
"visual": {
|
| 87 |
+
"kind": "color",
|
| 88 |
+
"value": [
|
| 89 |
+
0.55,
|
| 90 |
+
0.56,
|
| 91 |
+
0.58
|
| 92 |
+
],
|
| 93 |
+
"visible": true
|
| 94 |
+
},
|
| 95 |
+
"physics": {
|
| 96 |
+
"type": "geometry",
|
| 97 |
+
"collision": false,
|
| 98 |
+
"ratio": 1.0
|
| 99 |
+
},
|
| 100 |
+
"primitive_params": {
|
| 101 |
+
"size": [
|
| 102 |
+
0.2,
|
| 103 |
+
0.2,
|
| 104 |
+
0.015
|
| 105 |
+
]
|
| 106 |
+
}
|
| 107 |
+
},
|
| 108 |
+
"type_specific": {}
|
| 109 |
+
}
|
| 110 |
+
],
|
| 111 |
+
"plate_rack": [
|
| 112 |
+
{
|
| 113 |
+
"asset": "$MAGICSIM_ASSETS/Bio/Lab/plate_hotel.usd",
|
| 114 |
+
"pose": {
|
| 115 |
+
"pos": [
|
| 116 |
+
-0.6,
|
| 117 |
+
0.02,
|
| 118 |
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0.9
|
| 119 |
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],
|
| 120 |
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"ori": [
|
| 121 |
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6.123234262925839e-17,
|
| 122 |
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0.0,
|
| 123 |
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0.0,
|
| 124 |
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1.0
|
| 125 |
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],
|
| 126 |
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|
| 127 |
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1.0,
|
| 128 |
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1.0,
|
| 129 |
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1.0
|
| 130 |
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]
|
| 131 |
+
},
|
| 132 |
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"dr": {
|
| 133 |
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|
| 134 |
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|
| 135 |
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|
| 136 |
+
"visible": true
|
| 137 |
+
},
|
| 138 |
+
"physics": {
|
| 139 |
+
"type": "geometry",
|
| 140 |
+
"collision": false,
|
| 141 |
+
"physics_material": {
|
| 142 |
+
"static_friction": 0.6,
|
| 143 |
+
"dynamic_friction": 0.5,
|
| 144 |
+
"restitution": 0.0
|
| 145 |
+
},
|
| 146 |
+
"ratio": 1.0
|
| 147 |
+
},
|
| 148 |
+
"primitive_params": null
|
| 149 |
+
},
|
| 150 |
+
"type_specific": {}
|
| 151 |
+
}
|
| 152 |
+
],
|
| 153 |
+
"hotel_plate": [
|
| 154 |
+
{
|
| 155 |
+
"asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/deep_well_96_2ml/deep_well_96_2ml.usd",
|
| 156 |
+
"pose": {
|
| 157 |
+
"pos": [
|
| 158 |
+
-0.6,
|
| 159 |
+
0.02,
|
| 160 |
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0.9605
|
| 161 |
+
],
|
| 162 |
+
"ori": [
|
| 163 |
+
1.0,
|
| 164 |
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0.0,
|
| 165 |
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0.0,
|
| 166 |
+
0.0
|
| 167 |
+
],
|
| 168 |
+
"scale": [
|
| 169 |
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1.0,
|
| 170 |
+
1.0,
|
| 171 |
+
1.0
|
| 172 |
+
]
|
| 173 |
+
},
|
| 174 |
+
"dr": {
|
| 175 |
+
"visual": {
|
| 176 |
+
"kind": null,
|
| 177 |
+
"value": null,
|
| 178 |
+
"visible": true
|
| 179 |
+
},
|
| 180 |
+
"physics": {
|
| 181 |
+
"type": "geometry",
|
| 182 |
+
"collision": false,
|
| 183 |
+
"ratio": 1.0
|
| 184 |
+
},
|
| 185 |
+
"primitive_params": null
|
| 186 |
+
},
|
| 187 |
+
"type_specific": {}
|
| 188 |
+
},
|
| 189 |
+
{
|
| 190 |
+
"asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/pcr_96_blue/pcr_96_blue.usd",
|
| 191 |
+
"pose": {
|
| 192 |
+
"pos": [
|
| 193 |
+
-0.6,
|
| 194 |
+
0.02,
|
| 195 |
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1.0285
|
| 196 |
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],
|
| 197 |
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"ori": [
|
| 198 |
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6.123234262925839e-17,
|
| 199 |
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0.0,
|
| 200 |
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0.0,
|
| 201 |
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1.0
|
| 202 |
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],
|
| 203 |
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"scale": [
|
| 204 |
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1.0,
|
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episodes/c2_p008_e004/wrist.mp4
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episodes/c2_p008_e005/device_events.jsonl
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{"env_id": 3, "seq": 2, "step": 103, "t": 0.515, "topic": "conveyor_1.belt.state.changed", "source": "conveyor_1.belt", "data": {"from": "running", "to": "at_station"}, "cause": null}
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{"env_id": 3, "seq": 3, "step": 108, "t": 0.54, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_4"}, "cause": null}
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{"env_id": 3, "seq": 4, "step": 2068, "t": 10.34, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_4"}, "cause": null}
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{"env_id": 3, "seq": 5, "step": 2102, "t": 10.51, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_4"}, "cause": null}
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{"env_id": 3, "seq": 6, "step": 6610, "t": 33.05, "topic": "a4s_sealer_1.plate_present.present", "source": "a4s_sealer_1.plate_present", "data": {"object": "plate_4"}, "cause": null}
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| 7 |
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{"env_id": 3, "seq": 7, "step": 7224, "t": 36.12, "topic": "a4s_sealer_1.command.started", "source": "a4s_sealer_1", "data": {"command_id": "task-3-1", "name": "seal", "source": "task"}, "cause": "task-3-1"}
|
| 8 |
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{"env_id": 3, "seq": 8, "step": 7224, "t": 36.12, "topic": "a4s_sealer_1.seal.started", "source": "a4s_sealer_1", "data": {"dwell": 4.1354754615306355}, "cause": "task-3-1"}
|
| 9 |
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|
| 10 |
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|
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|
| 12 |
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|
| 13 |
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|
| 14 |
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| 15 |
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|
| 16 |
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|
| 17 |
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{"env_id": 3, "seq": 17, "step": 7643, "t": 38.215, "topic": "a4s_sealer_1.sealed", "source": "a4s_sealer_1", "data": {"plate": "plate_4"}, "cause": "task-3-1"}
|
| 18 |
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|
| 19 |
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{"env_id": 3, "seq": 19, "step": 7643, "t": 38.215, "topic": "a4s_sealer_1.heater.state.changed", "source": "a4s_sealer_1.heater", "data": {"from": "ready", "to": "running"}, "cause": null}
|
| 20 |
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{"env_id": 3, "seq": 20, "step": 7643, "t": 38.215, "topic": "a4s_sealer_1.heater.started", "source": "a4s_sealer_1.heater", "data": {"duration": 4.1354754615306355}, "cause": "program-3-3"}
|
| 21 |
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|
| 22 |
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{"env_id": 3, "seq": 22, "step": 8471, "t": 42.355, "topic": "a4s_sealer_1.heater.finished", "source": "a4s_sealer_1.heater", "data": {"elapsed": 4.140000000002118}, "cause": "program-3-3"}
|
| 23 |
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{"env_id": 3, "seq": 23, "step": 8471, "t": 42.355, "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": 4.140000000002118}}, "cause": "program-3-3"}
|
| 24 |
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{"env_id": 3, "seq": 24, "step": 8471, "t": 42.355, "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"}
|
| 25 |
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{"env_id": 3, "seq": 25, "step": 8471, "t": 42.355, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "at_in", "to": "moving"}, "cause": null}
|
| 26 |
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{"env_id": 3, "seq": 26, "step": 8471, "t": 42.355, "topic": "a4s_sealer_1.drawer.moving", "source": "a4s_sealer_1.drawer", "data": {"target": 0.0, "goal": "out"}, "cause": "program-3-4"}
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| 28 |
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{"env_id": 3, "seq": 28, "step": 8891, "t": 44.455, "topic": "a4s_sealer_1.drawer.reached", "source": "a4s_sealer_1.drawer", "data": {"position": "out", "q": 0.0}, "cause": "program-3-4"}
|
| 29 |
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{"env_id": 3, "seq": 29, "step": 8891, "t": 44.455, "topic": "a4s_sealer_1.drawer.at_out", "source": "a4s_sealer_1.drawer", "data": {"q": 0.0}, "cause": "program-3-4"}
|
| 30 |
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{"env_id": 3, "seq": 30, "step": 8891, "t": 44.455, "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"}
|
| 31 |
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|
| 32 |
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|
| 33 |
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| 34 |
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{"env_id": 3, "seq": 34, "step": 11152, "t": 55.76, "topic": "conveyor_1.belt.command.started", "source": "conveyor_1.belt", "data": {"command_id": "task-3-5", "name": "release", "source": "task"}, "cause": "task-3-5"}
|
| 35 |
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{"env_id": 3, "seq": 35, "step": 11152, "t": 55.76, "topic": "conveyor_1.belt.station.pick.released", "source": "conveyor_1.belt", "data": {"rider": "carrier_4"}, "cause": "task-3-5"}
|
| 36 |
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{"env_id": 3, "seq": 36, "step": 11152, "t": 55.76, "topic": "conveyor_1.belt.state.changed", "source": "conveyor_1.belt", "data": {"from": "at_station", "to": "running"}, "cause": null}
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| 37 |
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{"env_id": 3, "seq": 37, "step": 11152, "t": 55.76, "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"}
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episodes/c2_p008_e005/env.mp4
ADDED
|
@@ -0,0 +1,3 @@
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| 1 |
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version https://git-lfs.github.com/spec/v1
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| 3 |
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size 1191982
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episodes/c2_p008_e005/meta.json
ADDED
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@@ -0,0 +1,32 @@
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|
|
| 1 |
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{
|
| 2 |
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"source": "raw/c2_p008/magicsim/5",
|
| 3 |
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|
| 4 |
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|
| 5 |
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"kept_ticks": "even",
|
| 6 |
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| 7 |
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"wrist": 1197,
|
| 8 |
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"env": 1197
|
| 9 |
+
},
|
| 10 |
+
"joint_target_source": "joint_pos_target",
|
| 11 |
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|
| 12 |
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"curobo_joints": [
|
| 13 |
+
"shoulder_pan_joint",
|
| 14 |
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|
| 15 |
+
"elbow_joint",
|
| 16 |
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"wrist_1_joint",
|
| 17 |
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"wrist_2_joint",
|
| 18 |
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|
| 19 |
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],
|
| 20 |
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"joint_order": [
|
| 21 |
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"shoulder_pan",
|
| 22 |
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|
| 23 |
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|
| 24 |
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|
| 25 |
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|
| 26 |
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"wrist_3",
|
| 27 |
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"finger_left",
|
| 28 |
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|
| 29 |
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],
|
| 30 |
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"frames_note": "eef / actions in the robot base frame; camera_pose = local pose (wrist: in plate_gripper_base, env: env frame), pos + quat wxyz",
|
| 31 |
+
"dr_version": "v2"
|
| 32 |
+
}
|
episodes/c2_p008_e005/scene_snapshot.json
ADDED
|
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|
| 1 |
+
{
|
| 2 |
+
"trajectory_id": 5,
|
| 3 |
+
"env_id": 3,
|
| 4 |
+
"run_id": "c2_p008",
|
| 5 |
+
"task_type": "BioPlateCell",
|
| 6 |
+
"success": true,
|
| 7 |
+
"timing": {
|
| 8 |
+
"fps": 50.0,
|
| 9 |
+
"sim_dt": 0.005,
|
| 10 |
+
"decimation": 4
|
| 11 |
+
},
|
| 12 |
+
"restore_interface": {
|
| 13 |
+
"scene": "scene_manager.reset_to(snapshot['scene'], env_ids=[env_id])",
|
| 14 |
+
"robots": "robot_manager.set_state({'robots': snapshot['robots']}, env_ids=[env_id])"
|
| 15 |
+
},
|
| 16 |
+
"snapshot": {
|
| 17 |
+
"env_id": 3,
|
| 18 |
+
"scene": {
|
| 19 |
+
"objects": [
|
| 20 |
+
{},
|
| 21 |
+
{},
|
| 22 |
+
{},
|
| 23 |
+
{
|
| 24 |
+
"rac_cell": [
|
| 25 |
+
{
|
| 26 |
+
"asset": "$MAGICSIM_ASSETS/Bio/Lab/rac_cell.usd",
|
| 27 |
+
"pose": {
|
| 28 |
+
"pos": [
|
| 29 |
+
0.0,
|
| 30 |
+
0.0,
|
| 31 |
+
0.0
|
| 32 |
+
],
|
| 33 |
+
"ori": [
|
| 34 |
+
1.0,
|
| 35 |
+
0.0,
|
| 36 |
+
0.0,
|
| 37 |
+
0.0
|
| 38 |
+
],
|
| 39 |
+
"scale": [
|
| 40 |
+
1.0,
|
| 41 |
+
1.0,
|
| 42 |
+
1.0
|
| 43 |
+
]
|
| 44 |
+
},
|
| 45 |
+
"dr": {
|
| 46 |
+
"visual": {
|
| 47 |
+
"kind": null,
|
| 48 |
+
"value": null,
|
| 49 |
+
"visible": true
|
| 50 |
+
},
|
| 51 |
+
"physics": {
|
| 52 |
+
"type": "geometry",
|
| 53 |
+
"collision": false,
|
| 54 |
+
"physics_material": {
|
| 55 |
+
"static_friction": 0.6,
|
| 56 |
+
"dynamic_friction": 0.5,
|
| 57 |
+
"restitution": 0.0
|
| 58 |
+
},
|
| 59 |
+
"ratio": 1.0
|
| 60 |
+
},
|
| 61 |
+
"primitive_params": null
|
| 62 |
+
},
|
| 63 |
+
"type_specific": {}
|
| 64 |
+
}
|
| 65 |
+
],
|
| 66 |
+
"robot_mount": [
|
| 67 |
+
{
|
| 68 |
+
"asset": "Cube",
|
| 69 |
+
"pose": {
|
| 70 |
+
"pos": [
|
| 71 |
+
0.0,
|
| 72 |
+
0.0,
|
| 73 |
+
0.9075
|
| 74 |
+
],
|
| 75 |
+
"ori": [
|
| 76 |
+
1.0,
|
| 77 |
+
0.0,
|
| 78 |
+
0.0,
|
| 79 |
+
0.0
|
| 80 |
+
],
|
| 81 |
+
"scale": [
|
| 82 |
+
1.0,
|
| 83 |
+
1.0,
|
| 84 |
+
1.0
|
| 85 |
+
]
|
| 86 |
+
},
|
| 87 |
+
"dr": {
|
| 88 |
+
"visual": {
|
| 89 |
+
"kind": "color",
|
| 90 |
+
"value": [
|
| 91 |
+
0.55,
|
| 92 |
+
0.56,
|
| 93 |
+
0.58
|
| 94 |
+
],
|
| 95 |
+
"visible": true
|
| 96 |
+
},
|
| 97 |
+
"physics": {
|
| 98 |
+
"type": "geometry",
|
| 99 |
+
"collision": false,
|
| 100 |
+
"ratio": 1.0
|
| 101 |
+
},
|
| 102 |
+
"primitive_params": {
|
| 103 |
+
"size": [
|
| 104 |
+
0.2,
|
| 105 |
+
0.2,
|
| 106 |
+
0.015
|
| 107 |
+
]
|
| 108 |
+
}
|
| 109 |
+
},
|
| 110 |
+
"type_specific": {}
|
| 111 |
+
}
|
| 112 |
+
],
|
| 113 |
+
"plate_rack": [
|
| 114 |
+
{
|
| 115 |
+
"asset": "$MAGICSIM_ASSETS/Bio/Lab/plate_hotel.usd",
|
| 116 |
+
"pose": {
|
| 117 |
+
"pos": [
|
| 118 |
+
-0.6,
|
| 119 |
+
0.02,
|
| 120 |
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0.9
|
| 121 |
+
],
|
| 122 |
+
"ori": [
|
| 123 |
+
6.123234262925839e-17,
|
| 124 |
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0.0,
|
| 125 |
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0.0,
|
| 126 |
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1.0
|
| 127 |
+
],
|
| 128 |
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"scale": [
|
| 129 |
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1.0,
|
| 130 |
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1.0,
|
| 131 |
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1.0
|
| 132 |
+
]
|
| 133 |
+
},
|
| 134 |
+
"dr": {
|
| 135 |
+
"visual": {
|
| 136 |
+
"kind": null,
|
| 137 |
+
"value": null,
|
| 138 |
+
"visible": true
|
| 139 |
+
},
|
| 140 |
+
"physics": {
|
| 141 |
+
"type": "geometry",
|
| 142 |
+
"collision": false,
|
| 143 |
+
"physics_material": {
|
| 144 |
+
"static_friction": 0.6,
|
| 145 |
+
"dynamic_friction": 0.5,
|
| 146 |
+
"restitution": 0.0
|
| 147 |
+
},
|
| 148 |
+
"ratio": 1.0
|
| 149 |
+
},
|
| 150 |
+
"primitive_params": null
|
| 151 |
+
},
|
| 152 |
+
"type_specific": {}
|
| 153 |
+
}
|
| 154 |
+
],
|
| 155 |
+
"hotel_plate": [
|
| 156 |
+
{
|
| 157 |
+
"asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/deep_well_24_10ml/deep_well_24_10ml.usd",
|
| 158 |
+
"pose": {
|
| 159 |
+
"pos": [
|
| 160 |
+
-0.6,
|
| 161 |
+
0.02,
|
| 162 |
+
0.9605
|
| 163 |
+
],
|
| 164 |
+
"ori": [
|
| 165 |
+
1.0,
|
| 166 |
+
0.0,
|
| 167 |
+
0.0,
|
| 168 |
+
0.0
|
| 169 |
+
],
|
| 170 |
+
"scale": [
|
| 171 |
+
1.0,
|
| 172 |
+
1.0,
|
| 173 |
+
1.0
|
| 174 |
+
]
|
| 175 |
+
},
|
| 176 |
+
"dr": {
|
| 177 |
+
"visual": {
|
| 178 |
+
"kind": null,
|
| 179 |
+
"value": null,
|
| 180 |
+
"visible": true
|
| 181 |
+
},
|
| 182 |
+
"physics": {
|
| 183 |
+
"type": "geometry",
|
| 184 |
+
"collision": false,
|
| 185 |
+
"ratio": 1.0
|
| 186 |
+
},
|
| 187 |
+
"primitive_params": null
|
| 188 |
+
},
|
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episodes/c2_p008_e005/wrist.mp4
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episodes/c3_p006_e000/data.npz
ADDED
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episodes/c3_p006_e000/device_events.jsonl
ADDED
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{"env_id": 0, "seq": 1, "step": 71, "t": 0.355, "topic": "conveyor_1.belt.station.pick.captured", "source": "conveyor_1.belt", "data": {"rider": "carrier_4"}, "cause": null}
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| 2 |
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{"env_id": 0, "seq": 2, "step": 71, "t": 0.355, "topic": "conveyor_1.belt.state.changed", "source": "conveyor_1.belt", "data": {"from": "running", "to": "at_station"}, "cause": null}
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| 3 |
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{"env_id": 0, "seq": 3, "step": 76, "t": 0.38, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_4"}, "cause": null}
|
| 4 |
+
{"env_id": 0, "seq": 4, "step": 5355, "t": 26.775, "topic": "a4s_sealer_1.plate_present.present", "source": "a4s_sealer_1.plate_present", "data": {"object": "plate_4"}, "cause": null}
|
| 5 |
+
{"env_id": 0, "seq": 5, "step": 5964, "t": 29.82, "topic": "a4s_sealer_1.command.started", "source": "a4s_sealer_1", "data": {"command_id": "task-0-1", "name": "seal", "source": "task"}, "cause": "task-0-1"}
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| 6 |
+
{"env_id": 0, "seq": 6, "step": 5964, "t": 29.82, "topic": "a4s_sealer_1.seal.started", "source": "a4s_sealer_1", "data": {"dwell": 3.8234535964506473}, "cause": "task-0-1"}
|
| 7 |
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{"env_id": 0, "seq": 7, "step": 5964, "t": 29.82, "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"}
|
| 8 |
+
{"env_id": 0, "seq": 8, "step": 5964, "t": 29.82, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "at_out", "to": "moving"}, "cause": null}
|
| 9 |
+
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|
| 10 |
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|
| 11 |
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{"env_id": 0, "seq": 11, "step": 6383, "t": 31.915, "topic": "a4s_sealer_1.drawer.reached", "source": "a4s_sealer_1.drawer", "data": {"position": "in", "q": 0.30000001192092896}, "cause": "program-0-2"}
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| 12 |
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| 13 |
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| 14 |
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|
| 15 |
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{"env_id": 0, "seq": 15, "step": 6383, "t": 31.915, "topic": "a4s_sealer_1.sealed", "source": "a4s_sealer_1", "data": {"plate": "plate_4"}, "cause": "task-0-1"}
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| 16 |
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|
| 17 |
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{"env_id": 0, "seq": 17, "step": 6383, "t": 31.915, "topic": "a4s_sealer_1.heater.state.changed", "source": "a4s_sealer_1.heater", "data": {"from": "ready", "to": "running"}, "cause": null}
|
| 18 |
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{"env_id": 0, "seq": 18, "step": 6383, "t": 31.915, "topic": "a4s_sealer_1.heater.started", "source": "a4s_sealer_1.heater", "data": {"duration": 3.8234535964506473}, "cause": "program-0-3"}
|
| 19 |
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|
| 20 |
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|
| 21 |
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{"env_id": 0, "seq": 21, "step": 7148, "t": 35.74, "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": 3.8250000000018964}}, "cause": "program-0-3"}
|
| 22 |
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{"env_id": 0, "seq": 22, "step": 7148, "t": 35.74, "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"}
|
| 23 |
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{"env_id": 0, "seq": 23, "step": 7148, "t": 35.74, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "at_in", "to": "moving"}, "cause": null}
|
| 24 |
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{"env_id": 0, "seq": 24, "step": 7148, "t": 35.74, "topic": "a4s_sealer_1.drawer.moving", "source": "a4s_sealer_1.drawer", "data": {"target": 0.0, "goal": "out"}, "cause": "program-0-4"}
|
| 25 |
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{"env_id": 0, "seq": 25, "step": 7568, "t": 37.84, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "moving", "to": "at_out"}, "cause": null}
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| 26 |
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{"env_id": 0, "seq": 26, "step": 7568, "t": 37.84, "topic": "a4s_sealer_1.drawer.reached", "source": "a4s_sealer_1.drawer", "data": {"position": "out", "q": 0.0}, "cause": "program-0-4"}
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| 27 |
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{"env_id": 0, "seq": 27, "step": 7568, "t": 37.84, "topic": "a4s_sealer_1.drawer.at_out", "source": "a4s_sealer_1.drawer", "data": {"q": 0.0}, "cause": "program-0-4"}
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| 28 |
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{"env_id": 0, "seq": 28, "step": 7568, "t": 37.84, "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"}
|
| 29 |
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{"env_id": 0, "seq": 29, "step": 7568, "t": 37.84, "topic": "a4s_sealer_1.seal.finished", "source": "a4s_sealer_1", "data": {}, "cause": "task-0-1"}
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| 30 |
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| 31 |
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| 32 |
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{"env_id": 0, "seq": 32, "step": 9816, "t": 49.08, "topic": "conveyor_1.belt.command.started", "source": "conveyor_1.belt", "data": {"command_id": "task-0-5", "name": "release", "source": "task"}, "cause": "task-0-5"}
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| 33 |
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{"env_id": 0, "seq": 33, "step": 9816, "t": 49.08, "topic": "conveyor_1.belt.station.pick.released", "source": "conveyor_1.belt", "data": {"rider": "carrier_4"}, "cause": "task-0-5"}
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| 34 |
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{"env_id": 0, "seq": 34, "step": 9816, "t": 49.08, "topic": "conveyor_1.belt.state.changed", "source": "conveyor_1.belt", "data": {"from": "at_station", "to": "running"}, "cause": null}
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| 35 |
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{"env_id": 0, "seq": 35, "step": 9816, "t": 49.08, "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"}
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episodes/c3_p006_e000/env.mp4
ADDED
|
@@ -0,0 +1,3 @@
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| 1 |
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version https://git-lfs.github.com/spec/v1
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| 2 |
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| 3 |
+
size 1235719
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episodes/c3_p006_e000/meta.json
ADDED
|
@@ -0,0 +1,32 @@
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|
|
| 1 |
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{
|
| 2 |
+
"source": "raw/c3_p006/magicsim/0",
|
| 3 |
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|
| 4 |
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"frames": 1202,
|
| 5 |
+
"kept_ticks": "even",
|
| 6 |
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"video_frames": {
|
| 7 |
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"wrist": 1202,
|
| 8 |
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"env": 1202
|
| 9 |
+
},
|
| 10 |
+
"joint_target_source": "joint_pos_target",
|
| 11 |
+
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|
| 12 |
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"curobo_joints": [
|
| 13 |
+
"shoulder_pan_joint",
|
| 14 |
+
"shoulder_lift_joint",
|
| 15 |
+
"elbow_joint",
|
| 16 |
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"wrist_1_joint",
|
| 17 |
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"wrist_2_joint",
|
| 18 |
+
"wrist_3_joint"
|
| 19 |
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],
|
| 20 |
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"joint_order": [
|
| 21 |
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"shoulder_pan",
|
| 22 |
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|
| 23 |
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"elbow",
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| 24 |
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"wrist_1",
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| 25 |
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|
| 26 |
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"wrist_3",
|
| 27 |
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"finger_left",
|
| 28 |
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"finger_right"
|
| 29 |
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],
|
| 30 |
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"frames_note": "eef / actions in the robot base frame; camera_pose = local pose (wrist: in plate_gripper_base, env: env frame), pos + quat wxyz",
|
| 31 |
+
"dr_version": "v2"
|
| 32 |
+
}
|
episodes/c3_p006_e000/scene_snapshot.json
ADDED
|
@@ -0,0 +1,1558 @@
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|
| 1 |
+
{
|
| 2 |
+
"trajectory_id": 0,
|
| 3 |
+
"env_id": 0,
|
| 4 |
+
"run_id": "c3_p006",
|
| 5 |
+
"task_type": "BioPlateCell",
|
| 6 |
+
"success": true,
|
| 7 |
+
"timing": {
|
| 8 |
+
"fps": 50.0,
|
| 9 |
+
"sim_dt": 0.005,
|
| 10 |
+
"decimation": 4
|
| 11 |
+
},
|
| 12 |
+
"restore_interface": {
|
| 13 |
+
"scene": "scene_manager.reset_to(snapshot['scene'], env_ids=[env_id])",
|
| 14 |
+
"robots": "robot_manager.set_state({'robots': snapshot['robots']}, env_ids=[env_id])"
|
| 15 |
+
},
|
| 16 |
+
"snapshot": {
|
| 17 |
+
"env_id": 0,
|
| 18 |
+
"scene": {
|
| 19 |
+
"objects": [
|
| 20 |
+
{
|
| 21 |
+
"rac_cell": [
|
| 22 |
+
{
|
| 23 |
+
"asset": "$MAGICSIM_ASSETS/Bio/Lab/rac_cell.usd",
|
| 24 |
+
"pose": {
|
| 25 |
+
"pos": [
|
| 26 |
+
0.0,
|
| 27 |
+
0.0,
|
| 28 |
+
0.0
|
| 29 |
+
],
|
| 30 |
+
"ori": [
|
| 31 |
+
1.0,
|
| 32 |
+
0.0,
|
| 33 |
+
0.0,
|
| 34 |
+
0.0
|
| 35 |
+
],
|
| 36 |
+
"scale": [
|
| 37 |
+
1.0,
|
| 38 |
+
1.0,
|
| 39 |
+
1.0
|
| 40 |
+
]
|
| 41 |
+
},
|
| 42 |
+
"dr": {
|
| 43 |
+
"visual": {
|
| 44 |
+
"kind": null,
|
| 45 |
+
"value": null,
|
| 46 |
+
"visible": true
|
| 47 |
+
},
|
| 48 |
+
"physics": {
|
| 49 |
+
"type": "geometry",
|
| 50 |
+
"collision": false,
|
| 51 |
+
"physics_material": {
|
| 52 |
+
"static_friction": 0.6,
|
| 53 |
+
"dynamic_friction": 0.5,
|
| 54 |
+
"restitution": 0.0
|
| 55 |
+
},
|
| 56 |
+
"ratio": 1.0
|
| 57 |
+
},
|
| 58 |
+
"primitive_params": null
|
| 59 |
+
},
|
| 60 |
+
"type_specific": {}
|
| 61 |
+
}
|
| 62 |
+
],
|
| 63 |
+
"robot_mount": [
|
| 64 |
+
{
|
| 65 |
+
"asset": "Cube",
|
| 66 |
+
"pose": {
|
| 67 |
+
"pos": [
|
| 68 |
+
0.0,
|
| 69 |
+
0.0,
|
| 70 |
+
0.9075
|
| 71 |
+
],
|
| 72 |
+
"ori": [
|
| 73 |
+
1.0,
|
| 74 |
+
0.0,
|
| 75 |
+
0.0,
|
| 76 |
+
0.0
|
| 77 |
+
],
|
| 78 |
+
"scale": [
|
| 79 |
+
1.0,
|
| 80 |
+
1.0,
|
| 81 |
+
1.0
|
| 82 |
+
]
|
| 83 |
+
},
|
| 84 |
+
"dr": {
|
| 85 |
+
"visual": {
|
| 86 |
+
"kind": "color",
|
| 87 |
+
"value": [
|
| 88 |
+
0.55,
|
| 89 |
+
0.56,
|
| 90 |
+
0.58
|
| 91 |
+
],
|
| 92 |
+
"visible": true
|
| 93 |
+
},
|
| 94 |
+
"physics": {
|
| 95 |
+
"type": "geometry",
|
| 96 |
+
"collision": false,
|
| 97 |
+
"ratio": 1.0
|
| 98 |
+
},
|
| 99 |
+
"primitive_params": {
|
| 100 |
+
"size": [
|
| 101 |
+
0.2,
|
| 102 |
+
0.2,
|
| 103 |
+
0.015
|
| 104 |
+
]
|
| 105 |
+
}
|
| 106 |
+
},
|
| 107 |
+
"type_specific": {}
|
| 108 |
+
}
|
| 109 |
+
],
|
| 110 |
+
"plate_rack": [
|
| 111 |
+
{
|
| 112 |
+
"asset": "$MAGICSIM_ASSETS/Bio/Lab/plate_hotel.usd",
|
| 113 |
+
"pose": {
|
| 114 |
+
"pos": [
|
| 115 |
+
-0.6,
|
| 116 |
+
0.02,
|
| 117 |
+
0.9
|
| 118 |
+
],
|
| 119 |
+
"ori": [
|
| 120 |
+
6.123234262925839e-17,
|
| 121 |
+
0.0,
|
| 122 |
+
0.0,
|
| 123 |
+
1.0
|
| 124 |
+
],
|
| 125 |
+
"scale": [
|
| 126 |
+
1.0,
|
| 127 |
+
1.0,
|
| 128 |
+
1.0
|
| 129 |
+
]
|
| 130 |
+
},
|
| 131 |
+
"dr": {
|
| 132 |
+
"visual": {
|
| 133 |
+
"kind": null,
|
| 134 |
+
"value": null,
|
| 135 |
+
"visible": true
|
| 136 |
+
},
|
| 137 |
+
"physics": {
|
| 138 |
+
"type": "geometry",
|
| 139 |
+
"collision": false,
|
| 140 |
+
"physics_material": {
|
| 141 |
+
"static_friction": 0.6,
|
| 142 |
+
"dynamic_friction": 0.5,
|
| 143 |
+
"restitution": 0.0
|
| 144 |
+
},
|
| 145 |
+
"ratio": 1.0
|
| 146 |
+
},
|
| 147 |
+
"primitive_params": null
|
| 148 |
+
},
|
| 149 |
+
"type_specific": {}
|
| 150 |
+
}
|
| 151 |
+
],
|
| 152 |
+
"hotel_plate": [
|
| 153 |
+
{
|
| 154 |
+
"asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_12_clear/plate_12_clear.usd",
|
| 155 |
+
"pose": {
|
| 156 |
+
"pos": [
|
| 157 |
+
-0.6,
|
| 158 |
+
0.02,
|
| 159 |
+
0.9605
|
| 160 |
+
],
|
| 161 |
+
"ori": [
|
| 162 |
+
1.0,
|
| 163 |
+
0.0,
|
| 164 |
+
0.0,
|
| 165 |
+
0.0
|
| 166 |
+
],
|
| 167 |
+
"scale": [
|
| 168 |
+
1.0,
|
| 169 |
+
1.0,
|
| 170 |
+
1.0
|
| 171 |
+
]
|
| 172 |
+
},
|
| 173 |
+
"dr": {
|
| 174 |
+
"visual": {
|
| 175 |
+
"kind": null,
|
| 176 |
+
"value": null,
|
| 177 |
+
"visible": true
|
| 178 |
+
},
|
| 179 |
+
"physics": {
|
| 180 |
+
"type": "geometry",
|
| 181 |
+
"collision": false,
|
| 182 |
+
"ratio": 1.0
|
| 183 |
+
},
|
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episodes/c3_p006_e000/wrist.mp4
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episodes/c5_p005_e027/data.npz
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episodes/c5_p005_e027/device_events.jsonl
ADDED
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{"env_id": 1, "seq": 1, "step": 0, "t": 0.0, "topic": "conveyor_1.belt.station.pick.captured", "source": "conveyor_1.belt", "data": {"rider": "carrier_1"}, "cause": null}
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| 2 |
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{"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}
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{"env_id": 1, "seq": 3, "step": 6, "t": 0.03, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_1"}, "cause": null}
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| 6 |
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{"env_id": 1, "seq": 6, "step": 2272, "t": 11.36, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_1"}, "cause": null}
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| 7 |
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|
| 8 |
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{"env_id": 1, "seq": 8, "step": 6882, "t": 34.41, "topic": "a4s_sealer_1.plate_present.present", "source": "a4s_sealer_1.plate_present", "data": {"object": "plate_1"}, "cause": null}
|
| 9 |
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{"env_id": 1, "seq": 9, "step": 7492, "t": 37.46, "topic": "a4s_sealer_1.command.started", "source": "a4s_sealer_1", "data": {"command_id": "task-1-1", "name": "seal", "source": "task"}, "cause": "task-1-1"}
|
| 10 |
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{"env_id": 1, "seq": 10, "step": 7492, "t": 37.46, "topic": "a4s_sealer_1.seal.started", "source": "a4s_sealer_1", "data": {"dwell": 3.0302897451279045}, "cause": "task-1-1"}
|
| 11 |
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|
| 12 |
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|
| 13 |
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{"env_id": 1, "seq": 13, "step": 7492, "t": 37.46, "topic": "a4s_sealer_1.drawer.moving", "source": "a4s_sealer_1.drawer", "data": {"target": 0.3, "goal": "in"}, "cause": "program-1-2"}
|
| 14 |
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{"env_id": 1, "seq": 14, "step": 7911, "t": 39.555, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "moving", "to": "at_in"}, "cause": null}
|
| 15 |
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{"env_id": 1, "seq": 15, "step": 7911, "t": 39.555, "topic": "a4s_sealer_1.drawer.reached", "source": "a4s_sealer_1.drawer", "data": {"position": "in", "q": 0.30000001192092896}, "cause": "program-1-2"}
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| 16 |
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|
| 17 |
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|
| 18 |
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{"env_id": 1, "seq": 18, "step": 7911, "t": 39.555, "topic": "labware.plate_1.changed", "source": "labware.plate_1", "data": {"key": "sealed", "value": true}, "cause": "task-1-1"}
|
| 19 |
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{"env_id": 1, "seq": 19, "step": 7911, "t": 39.555, "topic": "a4s_sealer_1.sealed", "source": "a4s_sealer_1", "data": {"plate": "plate_1"}, "cause": "task-1-1"}
|
| 20 |
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{"env_id": 1, "seq": 20, "step": 7911, "t": 39.555, "topic": "a4s_sealer_1.heater.command.started", "source": "a4s_sealer_1.heater", "data": {"command_id": "program-1-3", "name": "run", "source": "program:seal"}, "cause": "program-1-3"}
|
| 21 |
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{"env_id": 1, "seq": 21, "step": 7911, "t": 39.555, "topic": "a4s_sealer_1.heater.state.changed", "source": "a4s_sealer_1.heater", "data": {"from": "ready", "to": "running"}, "cause": null}
|
| 22 |
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{"env_id": 1, "seq": 22, "step": 7911, "t": 39.555, "topic": "a4s_sealer_1.heater.started", "source": "a4s_sealer_1.heater", "data": {"duration": 3.0302897451279045}, "cause": "program-1-3"}
|
| 23 |
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{"env_id": 1, "seq": 23, "step": 8518, "t": 42.59, "topic": "a4s_sealer_1.heater.state.changed", "source": "a4s_sealer_1.heater", "data": {"from": "running", "to": "ready"}, "cause": null}
|
| 24 |
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{"env_id": 1, "seq": 24, "step": 8518, "t": 42.59, "topic": "a4s_sealer_1.heater.finished", "source": "a4s_sealer_1.heater", "data": {"elapsed": 3.0350000000015527}, "cause": "program-1-3"}
|
| 25 |
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{"env_id": 1, "seq": 25, "step": 8518, "t": 42.59, "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": 3.0350000000015527}}, "cause": "program-1-3"}
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| 26 |
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{"env_id": 1, "seq": 26, "step": 8518, "t": 42.59, "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"}
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| 27 |
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{"env_id": 1, "seq": 27, "step": 8518, "t": 42.59, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "at_in", "to": "moving"}, "cause": null}
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| 28 |
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{"env_id": 1, "seq": 28, "step": 8518, "t": 42.59, "topic": "a4s_sealer_1.drawer.moving", "source": "a4s_sealer_1.drawer", "data": {"target": 0.0, "goal": "out"}, "cause": "program-1-4"}
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| 29 |
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{"env_id": 1, "seq": 29, "step": 8938, "t": 44.69, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "moving", "to": "at_out"}, "cause": null}
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| 30 |
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{"env_id": 1, "seq": 30, "step": 8938, "t": 44.69, "topic": "a4s_sealer_1.drawer.reached", "source": "a4s_sealer_1.drawer", "data": {"position": "out", "q": 1.2416127503911412e-07}, "cause": "program-1-4"}
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| 31 |
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{"env_id": 1, "seq": 31, "step": 8938, "t": 44.69, "topic": "a4s_sealer_1.drawer.at_out", "source": "a4s_sealer_1.drawer", "data": {"q": 1.2416127503911412e-07}, "cause": "program-1-4"}
|
| 32 |
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{"env_id": 1, "seq": 32, "step": 8938, "t": 44.69, "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"}
|
| 33 |
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{"env_id": 1, "seq": 33, "step": 8938, "t": 44.69, "topic": "a4s_sealer_1.seal.finished", "source": "a4s_sealer_1", "data": {}, "cause": "task-1-1"}
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| 34 |
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{"env_id": 1, "seq": 34, "step": 8938, "t": 44.69, "topic": "a4s_sealer_1.command.succeeded", "source": "a4s_sealer_1", "data": {"command_id": "task-1-1", "name": "seal", "source": "task"}, "cause": "task-1-1"}
|
| 35 |
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{"env_id": 1, "seq": 35, "step": 9519, "t": 47.595, "topic": "a4s_sealer_1.plate_present.absent", "source": "a4s_sealer_1.plate_present", "data": {"object": "plate_1"}, "cause": null}
|
| 36 |
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{"env_id": 1, "seq": 36, "step": 11216, "t": 56.08, "topic": "conveyor_1.belt.command.started", "source": "conveyor_1.belt", "data": {"command_id": "task-1-5", "name": "release", "source": "task"}, "cause": "task-1-5"}
|
| 37 |
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{"env_id": 1, "seq": 37, "step": 11216, "t": 56.08, "topic": "conveyor_1.belt.station.pick.released", "source": "conveyor_1.belt", "data": {"rider": "carrier_1"}, "cause": "task-1-5"}
|
| 38 |
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{"env_id": 1, "seq": 38, "step": 11216, "t": 56.08, "topic": "conveyor_1.belt.state.changed", "source": "conveyor_1.belt", "data": {"from": "at_station", "to": "running"}, "cause": null}
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| 39 |
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{"env_id": 1, "seq": 39, "step": 11216, "t": 56.08, "topic": "conveyor_1.belt.command.succeeded", "source": "conveyor_1.belt", "data": {"command_id": "task-1-5", "name": "release", "source": "task", "result": {"state": "running"}}, "cause": "task-1-5"}
|
episodes/c5_p005_e027/env.mp4
ADDED
|
@@ -0,0 +1,3 @@
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|
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|
| 1 |
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version https://git-lfs.github.com/spec/v1
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| 3 |
+
size 1184380
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episodes/c5_p005_e027/meta.json
ADDED
|
@@ -0,0 +1,32 @@
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|
|
|
|
|
| 1 |
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{
|
| 2 |
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"source": "raw/c5_p005/magicsim/27",
|
| 3 |
+
"fps": 25,
|
| 4 |
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"frames": 1185,
|
| 5 |
+
"kept_ticks": "even",
|
| 6 |
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"video_frames": {
|
| 7 |
+
"wrist": 1185,
|
| 8 |
+
"env": 1185
|
| 9 |
+
},
|
| 10 |
+
"joint_target_source": "joint_pos_target",
|
| 11 |
+
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|
| 12 |
+
"curobo_joints": [
|
| 13 |
+
"shoulder_pan_joint",
|
| 14 |
+
"shoulder_lift_joint",
|
| 15 |
+
"elbow_joint",
|
| 16 |
+
"wrist_1_joint",
|
| 17 |
+
"wrist_2_joint",
|
| 18 |
+
"wrist_3_joint"
|
| 19 |
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],
|
| 20 |
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"joint_order": [
|
| 21 |
+
"shoulder_pan",
|
| 22 |
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"shoulder_lift",
|
| 23 |
+
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|
| 24 |
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"wrist_1",
|
| 25 |
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"wrist_2",
|
| 26 |
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"wrist_3",
|
| 27 |
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"finger_left",
|
| 28 |
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"finger_right"
|
| 29 |
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],
|
| 30 |
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"frames_note": "eef / actions in the robot base frame; camera_pose = local pose (wrist: in plate_gripper_base, env: env frame), pos + quat wxyz",
|
| 31 |
+
"dr_version": "v2"
|
| 32 |
+
}
|
episodes/c5_p005_e027/scene_snapshot.json
ADDED
|
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|
| 1 |
+
{
|
| 2 |
+
"trajectory_id": 27,
|
| 3 |
+
"env_id": 1,
|
| 4 |
+
"run_id": "c5_p005",
|
| 5 |
+
"task_type": "BioPlateCell",
|
| 6 |
+
"success": true,
|
| 7 |
+
"timing": {
|
| 8 |
+
"fps": 50.0,
|
| 9 |
+
"sim_dt": 0.005,
|
| 10 |
+
"decimation": 4
|
| 11 |
+
},
|
| 12 |
+
"restore_interface": {
|
| 13 |
+
"scene": "scene_manager.reset_to(snapshot['scene'], env_ids=[env_id])",
|
| 14 |
+
"robots": "robot_manager.set_state({'robots': snapshot['robots']}, env_ids=[env_id])"
|
| 15 |
+
},
|
| 16 |
+
"snapshot": {
|
| 17 |
+
"env_id": 1,
|
| 18 |
+
"scene": {
|
| 19 |
+
"objects": [
|
| 20 |
+
{},
|
| 21 |
+
{
|
| 22 |
+
"rac_cell": [
|
| 23 |
+
{
|
| 24 |
+
"asset": "$MAGICSIM_ASSETS/Bio/Lab/rac_cell.usd",
|
| 25 |
+
"pose": {
|
| 26 |
+
"pos": [
|
| 27 |
+
0.0,
|
| 28 |
+
0.0,
|
| 29 |
+
0.0
|
| 30 |
+
],
|
| 31 |
+
"ori": [
|
| 32 |
+
1.0,
|
| 33 |
+
0.0,
|
| 34 |
+
0.0,
|
| 35 |
+
0.0
|
| 36 |
+
],
|
| 37 |
+
"scale": [
|
| 38 |
+
1.0,
|
| 39 |
+
1.0,
|
| 40 |
+
1.0
|
| 41 |
+
]
|
| 42 |
+
},
|
| 43 |
+
"dr": {
|
| 44 |
+
"visual": {
|
| 45 |
+
"kind": null,
|
| 46 |
+
"value": null,
|
| 47 |
+
"visible": true
|
| 48 |
+
},
|
| 49 |
+
"physics": {
|
| 50 |
+
"type": "geometry",
|
| 51 |
+
"collision": false,
|
| 52 |
+
"physics_material": {
|
| 53 |
+
"static_friction": 0.6,
|
| 54 |
+
"dynamic_friction": 0.5,
|
| 55 |
+
"restitution": 0.0
|
| 56 |
+
},
|
| 57 |
+
"ratio": 1.0
|
| 58 |
+
},
|
| 59 |
+
"primitive_params": null
|
| 60 |
+
},
|
| 61 |
+
"type_specific": {}
|
| 62 |
+
}
|
| 63 |
+
],
|
| 64 |
+
"robot_mount": [
|
| 65 |
+
{
|
| 66 |
+
"asset": "Cube",
|
| 67 |
+
"pose": {
|
| 68 |
+
"pos": [
|
| 69 |
+
0.0,
|
| 70 |
+
0.0,
|
| 71 |
+
0.9075
|
| 72 |
+
],
|
| 73 |
+
"ori": [
|
| 74 |
+
1.0,
|
| 75 |
+
0.0,
|
| 76 |
+
0.0,
|
| 77 |
+
0.0
|
| 78 |
+
],
|
| 79 |
+
"scale": [
|
| 80 |
+
1.0,
|
| 81 |
+
1.0,
|
| 82 |
+
1.0
|
| 83 |
+
]
|
| 84 |
+
},
|
| 85 |
+
"dr": {
|
| 86 |
+
"visual": {
|
| 87 |
+
"kind": "color",
|
| 88 |
+
"value": [
|
| 89 |
+
0.55,
|
| 90 |
+
0.56,
|
| 91 |
+
0.58
|
| 92 |
+
],
|
| 93 |
+
"visible": true
|
| 94 |
+
},
|
| 95 |
+
"physics": {
|
| 96 |
+
"type": "geometry",
|
| 97 |
+
"collision": false,
|
| 98 |
+
"ratio": 1.0
|
| 99 |
+
},
|
| 100 |
+
"primitive_params": {
|
| 101 |
+
"size": [
|
| 102 |
+
0.2,
|
| 103 |
+
0.2,
|
| 104 |
+
0.015
|
| 105 |
+
]
|
| 106 |
+
}
|
| 107 |
+
},
|
| 108 |
+
"type_specific": {}
|
| 109 |
+
}
|
| 110 |
+
],
|
| 111 |
+
"plate_rack": [
|
| 112 |
+
{
|
| 113 |
+
"asset": "$MAGICSIM_ASSETS/Bio/Lab/plate_hotel.usd",
|
| 114 |
+
"pose": {
|
| 115 |
+
"pos": [
|
| 116 |
+
-0.6,
|
| 117 |
+
0.02,
|
| 118 |
+
0.9
|
| 119 |
+
],
|
| 120 |
+
"ori": [
|
| 121 |
+
6.123234262925839e-17,
|
| 122 |
+
0.0,
|
| 123 |
+
0.0,
|
| 124 |
+
1.0
|
| 125 |
+
],
|
| 126 |
+
"scale": [
|
| 127 |
+
1.0,
|
| 128 |
+
1.0,
|
| 129 |
+
1.0
|
| 130 |
+
]
|
| 131 |
+
},
|
| 132 |
+
"dr": {
|
| 133 |
+
"visual": {
|
| 134 |
+
"kind": null,
|
| 135 |
+
"value": null,
|
| 136 |
+
"visible": true
|
| 137 |
+
},
|
| 138 |
+
"physics": {
|
| 139 |
+
"type": "geometry",
|
| 140 |
+
"collision": false,
|
| 141 |
+
"physics_material": {
|
| 142 |
+
"static_friction": 0.6,
|
| 143 |
+
"dynamic_friction": 0.5,
|
| 144 |
+
"restitution": 0.0
|
| 145 |
+
},
|
| 146 |
+
"ratio": 1.0
|
| 147 |
+
},
|
| 148 |
+
"primitive_params": null
|
| 149 |
+
},
|
| 150 |
+
"type_specific": {}
|
| 151 |
+
}
|
| 152 |
+
],
|
| 153 |
+
"hotel_plate": [
|
| 154 |
+
{
|
| 155 |
+
"asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_24_clear/plate_24_clear.usd",
|
| 156 |
+
"pose": {
|
| 157 |
+
"pos": [
|
| 158 |
+
-0.6,
|
| 159 |
+
0.02,
|
| 160 |
+
0.9605
|
| 161 |
+
],
|
| 162 |
+
"ori": [
|
| 163 |
+
1.0,
|
| 164 |
+
0.0,
|
| 165 |
+
0.0,
|
| 166 |
+
0.0
|
| 167 |
+
],
|
| 168 |
+
"scale": [
|
| 169 |
+
1.0,
|
| 170 |
+
1.0,
|
| 171 |
+
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episodes/c5_p005_e027/wrist.mp4
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episodes/c6_p006_e012/device_events.jsonl
ADDED
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{"env_id": 1, "seq": 2, "step": 93, "t": 0.465, "topic": "conveyor_1.belt.state.changed", "source": "conveyor_1.belt", "data": {"from": "running", "to": "at_station"}, "cause": null}
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{"env_id": 1, "seq": 3, "step": 98, "t": 0.49, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_3"}, "cause": null}
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{"env_id": 1, "seq": 4, "step": 803, "t": 4.015, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_3"}, "cause": null}
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| 7 |
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{"env_id": 1, "seq": 7, "step": 5916, "t": 29.58, "topic": "a4s_sealer_1.seal.started", "source": "a4s_sealer_1", "data": {"dwell": 3.9961220080317594}, "cause": "task-1-1"}
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| 8 |
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| 9 |
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|
| 10 |
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| 11 |
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|
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|
| 17 |
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|
| 18 |
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|
| 19 |
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{"env_id": 1, "seq": 19, "step": 6335, "t": 31.675, "topic": "a4s_sealer_1.heater.started", "source": "a4s_sealer_1.heater", "data": {"duration": 3.9961220080317594}, "cause": "program-1-3"}
|
| 20 |
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|
| 21 |
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|
| 22 |
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| 23 |
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{"env_id": 1, "seq": 23, "step": 7135, "t": 35.675, "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"}
|
| 24 |
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{"env_id": 1, "seq": 24, "step": 7135, "t": 35.675, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "at_in", "to": "moving"}, "cause": null}
|
| 25 |
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{"env_id": 1, "seq": 25, "step": 7135, "t": 35.675, "topic": "a4s_sealer_1.drawer.moving", "source": "a4s_sealer_1.drawer", "data": {"target": 0.0, "goal": "out"}, "cause": "program-1-4"}
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| 26 |
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| 27 |
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| 28 |
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| 29 |
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{"env_id": 1, "seq": 29, "step": 7555, "t": 37.775, "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"}
|
| 30 |
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| 31 |
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|
| 32 |
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| 33 |
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{"env_id": 1, "seq": 33, "step": 9852, "t": 49.26, "topic": "conveyor_1.belt.command.started", "source": "conveyor_1.belt", "data": {"command_id": "task-1-5", "name": "release", "source": "task"}, "cause": "task-1-5"}
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| 34 |
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{"env_id": 1, "seq": 34, "step": 9852, "t": 49.26, "topic": "conveyor_1.belt.station.pick.released", "source": "conveyor_1.belt", "data": {"rider": "carrier_3"}, "cause": "task-1-5"}
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| 35 |
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{"env_id": 1, "seq": 35, "step": 9852, "t": 49.26, "topic": "conveyor_1.belt.state.changed", "source": "conveyor_1.belt", "data": {"from": "at_station", "to": "running"}, "cause": null}
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| 36 |
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episodes/c6_p006_e012/env.mp4
ADDED
|
@@ -0,0 +1,3 @@
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| 1 |
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version https://git-lfs.github.com/spec/v1
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| 3 |
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size 1352724
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episodes/c6_p006_e012/meta.json
ADDED
|
@@ -0,0 +1,32 @@
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|
|
| 1 |
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{
|
| 2 |
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"source": "raw/c6_p006/magicsim/12",
|
| 3 |
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|
| 4 |
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|
| 5 |
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|
| 6 |
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| 7 |
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|
| 8 |
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|
| 9 |
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},
|
| 10 |
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|
| 11 |
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|
| 12 |
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|
| 13 |
+
"shoulder_pan_joint",
|
| 14 |
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|
| 15 |
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|
| 16 |
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|
| 17 |
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|
| 18 |
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|
| 19 |
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|
| 20 |
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|
| 21 |
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|
| 22 |
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|
| 23 |
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| 25 |
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| 26 |
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| 27 |
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|
| 28 |
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|
| 29 |
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],
|
| 30 |
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"frames_note": "eef / actions in the robot base frame; camera_pose = local pose (wrist: in plate_gripper_base, env: env frame), pos + quat wxyz",
|
| 31 |
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"dr_version": "v2"
|
| 32 |
+
}
|
episodes/c6_p006_e012/scene_snapshot.json
ADDED
|
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|
| 1 |
+
{
|
| 2 |
+
"trajectory_id": 12,
|
| 3 |
+
"env_id": 1,
|
| 4 |
+
"run_id": "c6_p006",
|
| 5 |
+
"task_type": "BioPlateCell",
|
| 6 |
+
"success": true,
|
| 7 |
+
"timing": {
|
| 8 |
+
"fps": 50.0,
|
| 9 |
+
"sim_dt": 0.005,
|
| 10 |
+
"decimation": 4
|
| 11 |
+
},
|
| 12 |
+
"restore_interface": {
|
| 13 |
+
"scene": "scene_manager.reset_to(snapshot['scene'], env_ids=[env_id])",
|
| 14 |
+
"robots": "robot_manager.set_state({'robots': snapshot['robots']}, env_ids=[env_id])"
|
| 15 |
+
},
|
| 16 |
+
"snapshot": {
|
| 17 |
+
"env_id": 1,
|
| 18 |
+
"scene": {
|
| 19 |
+
"objects": [
|
| 20 |
+
{},
|
| 21 |
+
{
|
| 22 |
+
"rac_cell": [
|
| 23 |
+
{
|
| 24 |
+
"asset": "$MAGICSIM_ASSETS/Bio/Lab/rac_cell.usd",
|
| 25 |
+
"pose": {
|
| 26 |
+
"pos": [
|
| 27 |
+
0.0,
|
| 28 |
+
0.0,
|
| 29 |
+
0.0
|
| 30 |
+
],
|
| 31 |
+
"ori": [
|
| 32 |
+
1.0,
|
| 33 |
+
0.0,
|
| 34 |
+
0.0,
|
| 35 |
+
0.0
|
| 36 |
+
],
|
| 37 |
+
"scale": [
|
| 38 |
+
1.0,
|
| 39 |
+
1.0,
|
| 40 |
+
1.0
|
| 41 |
+
]
|
| 42 |
+
},
|
| 43 |
+
"dr": {
|
| 44 |
+
"visual": {
|
| 45 |
+
"kind": null,
|
| 46 |
+
"value": null,
|
| 47 |
+
"visible": true
|
| 48 |
+
},
|
| 49 |
+
"physics": {
|
| 50 |
+
"type": "geometry",
|
| 51 |
+
"collision": false,
|
| 52 |
+
"physics_material": {
|
| 53 |
+
"static_friction": 0.6,
|
| 54 |
+
"dynamic_friction": 0.5,
|
| 55 |
+
"restitution": 0.0
|
| 56 |
+
},
|
| 57 |
+
"ratio": 1.0
|
| 58 |
+
},
|
| 59 |
+
"primitive_params": null
|
| 60 |
+
},
|
| 61 |
+
"type_specific": {}
|
| 62 |
+
}
|
| 63 |
+
],
|
| 64 |
+
"robot_mount": [
|
| 65 |
+
{
|
| 66 |
+
"asset": "Cube",
|
| 67 |
+
"pose": {
|
| 68 |
+
"pos": [
|
| 69 |
+
0.0,
|
| 70 |
+
0.0,
|
| 71 |
+
0.9075
|
| 72 |
+
],
|
| 73 |
+
"ori": [
|
| 74 |
+
1.0,
|
| 75 |
+
0.0,
|
| 76 |
+
0.0,
|
| 77 |
+
0.0
|
| 78 |
+
],
|
| 79 |
+
"scale": [
|
| 80 |
+
1.0,
|
| 81 |
+
1.0,
|
| 82 |
+
1.0
|
| 83 |
+
]
|
| 84 |
+
},
|
| 85 |
+
"dr": {
|
| 86 |
+
"visual": {
|
| 87 |
+
"kind": "color",
|
| 88 |
+
"value": [
|
| 89 |
+
0.55,
|
| 90 |
+
0.56,
|
| 91 |
+
0.58
|
| 92 |
+
],
|
| 93 |
+
"visible": true
|
| 94 |
+
},
|
| 95 |
+
"physics": {
|
| 96 |
+
"type": "geometry",
|
| 97 |
+
"collision": false,
|
| 98 |
+
"ratio": 1.0
|
| 99 |
+
},
|
| 100 |
+
"primitive_params": {
|
| 101 |
+
"size": [
|
| 102 |
+
0.2,
|
| 103 |
+
0.2,
|
| 104 |
+
0.015
|
| 105 |
+
]
|
| 106 |
+
}
|
| 107 |
+
},
|
| 108 |
+
"type_specific": {}
|
| 109 |
+
}
|
| 110 |
+
],
|
| 111 |
+
"plate_rack": [
|
| 112 |
+
{
|
| 113 |
+
"asset": "$MAGICSIM_ASSETS/Bio/Lab/plate_hotel.usd",
|
| 114 |
+
"pose": {
|
| 115 |
+
"pos": [
|
| 116 |
+
-0.6,
|
| 117 |
+
0.02,
|
| 118 |
+
0.9
|
| 119 |
+
],
|
| 120 |
+
"ori": [
|
| 121 |
+
6.123234262925839e-17,
|
| 122 |
+
0.0,
|
| 123 |
+
0.0,
|
| 124 |
+
1.0
|
| 125 |
+
],
|
| 126 |
+
"scale": [
|
| 127 |
+
1.0,
|
| 128 |
+
1.0,
|
| 129 |
+
1.0
|
| 130 |
+
]
|
| 131 |
+
},
|
| 132 |
+
"dr": {
|
| 133 |
+
"visual": {
|
| 134 |
+
"kind": null,
|
| 135 |
+
"value": null,
|
| 136 |
+
"visible": true
|
| 137 |
+
},
|
| 138 |
+
"physics": {
|
| 139 |
+
"type": "geometry",
|
| 140 |
+
"collision": false,
|
| 141 |
+
"physics_material": {
|
| 142 |
+
"static_friction": 0.6,
|
| 143 |
+
"dynamic_friction": 0.5,
|
| 144 |
+
"restitution": 0.0
|
| 145 |
+
},
|
| 146 |
+
"ratio": 1.0
|
| 147 |
+
},
|
| 148 |
+
"primitive_params": null
|
| 149 |
+
},
|
| 150 |
+
"type_specific": {}
|
| 151 |
+
}
|
| 152 |
+
],
|
| 153 |
+
"hotel_plate": [
|
| 154 |
+
{
|
| 155 |
+
"asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_96_white/plate_96_white.usd",
|
| 156 |
+
"pose": {
|
| 157 |
+
"pos": [
|
| 158 |
+
-0.6,
|
| 159 |
+
0.02,
|
| 160 |
+
0.9605
|
| 161 |
+
],
|
| 162 |
+
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episodes/c6_p006_e012/wrist.mp4
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episodes/c7_p006_e008/device_events.jsonl
ADDED
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{"env_id": 2, "seq": 1, "step": 79, "t": 0.395, "topic": "conveyor_1.belt.station.pick.captured", "source": "conveyor_1.belt", "data": {"rider": "carrier_3"}, "cause": null}
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{"env_id": 2, "seq": 2, "step": 79, "t": 0.395, "topic": "conveyor_1.belt.state.changed", "source": "conveyor_1.belt", "data": {"from": "running", "to": "at_station"}, "cause": null}
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{"env_id": 2, "seq": 3, "step": 84, "t": 0.42, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_3"}, "cause": null}
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{"env_id": 2, "seq": 4, "step": 7059, "t": 35.295, "topic": "a4s_sealer_1.plate_present.present", "source": "a4s_sealer_1.plate_present", "data": {"object": "plate_3"}, "cause": null}
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{"env_id": 2, "seq": 5, "step": 7672, "t": 38.36, "topic": "a4s_sealer_1.command.started", "source": "a4s_sealer_1", "data": {"command_id": "task-2-1", "name": "seal", "source": "task"}, "cause": "task-2-1"}
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| 6 |
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{"env_id": 2, "seq": 6, "step": 7672, "t": 38.36, "topic": "a4s_sealer_1.seal.started", "source": "a4s_sealer_1", "data": {"dwell": 3.741873324815015}, "cause": "task-2-1"}
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| 7 |
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{"env_id": 2, "seq": 7, "step": 7672, "t": 38.36, "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"}
|
| 8 |
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{"env_id": 2, "seq": 8, "step": 7672, "t": 38.36, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "at_out", "to": "moving"}, "cause": null}
|
| 9 |
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|
| 10 |
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|
| 11 |
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{"env_id": 2, "seq": 11, "step": 8091, "t": 40.455, "topic": "a4s_sealer_1.drawer.reached", "source": "a4s_sealer_1.drawer", "data": {"position": "in", "q": 0.30000001192092896}, "cause": "program-2-2"}
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{"env_id": 2, "seq": 13, "step": 8091, "t": 40.455, "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"}
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| 14 |
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|
| 15 |
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{"env_id": 2, "seq": 15, "step": 8091, "t": 40.455, "topic": "a4s_sealer_1.sealed", "source": "a4s_sealer_1", "data": {"plate": "plate_3"}, "cause": "task-2-1"}
|
| 16 |
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|
| 17 |
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{"env_id": 2, "seq": 17, "step": 8091, "t": 40.455, "topic": "a4s_sealer_1.heater.state.changed", "source": "a4s_sealer_1.heater", "data": {"from": "ready", "to": "running"}, "cause": null}
|
| 18 |
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{"env_id": 2, "seq": 18, "step": 8091, "t": 40.455, "topic": "a4s_sealer_1.heater.started", "source": "a4s_sealer_1.heater", "data": {"duration": 3.741873324815015}, "cause": "program-2-3"}
|
| 19 |
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{"env_id": 2, "seq": 19, "step": 8840, "t": 44.2, "topic": "a4s_sealer_1.heater.state.changed", "source": "a4s_sealer_1.heater", "data": {"from": "running", "to": "ready"}, "cause": null}
|
| 20 |
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{"env_id": 2, "seq": 20, "step": 8840, "t": 44.2, "topic": "a4s_sealer_1.heater.finished", "source": "a4s_sealer_1.heater", "data": {"elapsed": 3.745000000001916}, "cause": "program-2-3"}
|
| 21 |
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{"env_id": 2, "seq": 21, "step": 8840, "t": 44.2, "topic": "a4s_sealer_1.heater.command.succeeded", "source": "a4s_sealer_1.heater", "data": {"command_id": "program-2-3", "name": "run", "source": "program:seal", "result": {"elapsed": 3.745000000001916}}, "cause": "program-2-3"}
|
| 22 |
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{"env_id": 2, "seq": 22, "step": 8840, "t": 44.2, "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"}
|
| 23 |
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{"env_id": 2, "seq": 23, "step": 8840, "t": 44.2, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "at_in", "to": "moving"}, "cause": null}
|
| 24 |
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{"env_id": 2, "seq": 24, "step": 8840, "t": 44.2, "topic": "a4s_sealer_1.drawer.moving", "source": "a4s_sealer_1.drawer", "data": {"target": 0.0, "goal": "out"}, "cause": "program-2-4"}
|
| 25 |
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{"env_id": 2, "seq": 25, "step": 9260, "t": 46.3, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "moving", "to": "at_out"}, "cause": null}
|
| 26 |
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{"env_id": 2, "seq": 26, "step": 9260, "t": 46.3, "topic": "a4s_sealer_1.drawer.reached", "source": "a4s_sealer_1.drawer", "data": {"position": "out", "q": 2.298547983892174e-11}, "cause": "program-2-4"}
|
| 27 |
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|
| 28 |
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{"env_id": 2, "seq": 28, "step": 9260, "t": 46.3, "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"}
|
| 29 |
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|
| 30 |
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|
| 31 |
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{"env_id": 2, "seq": 31, "step": 9838, "t": 49.19, "topic": "a4s_sealer_1.plate_present.absent", "source": "a4s_sealer_1.plate_present", "data": {"object": "plate_3"}, "cause": null}
|
| 32 |
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{"env_id": 2, "seq": 32, "step": 11536, "t": 57.68, "topic": "conveyor_1.belt.command.started", "source": "conveyor_1.belt", "data": {"command_id": "task-2-5", "name": "release", "source": "task"}, "cause": "task-2-5"}
|
| 33 |
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{"env_id": 2, "seq": 33, "step": 11536, "t": 57.68, "topic": "conveyor_1.belt.station.pick.released", "source": "conveyor_1.belt", "data": {"rider": "carrier_3"}, "cause": "task-2-5"}
|
| 34 |
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{"env_id": 2, "seq": 34, "step": 11536, "t": 57.68, "topic": "conveyor_1.belt.state.changed", "source": "conveyor_1.belt", "data": {"from": "at_station", "to": "running"}, "cause": null}
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| 35 |
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{"env_id": 2, "seq": 35, "step": 11536, "t": 57.68, "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"}
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episodes/c7_p006_e008/env.mp4
ADDED
|
@@ -0,0 +1,3 @@
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| 1 |
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version https://git-lfs.github.com/spec/v1
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| 3 |
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size 1336247
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episodes/c7_p006_e008/meta.json
ADDED
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@@ -0,0 +1,32 @@
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|
|
| 1 |
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{
|
| 2 |
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"source": "raw/c7_p006/magicsim/8",
|
| 3 |
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|
| 4 |
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|
| 5 |
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"kept_ticks": "even",
|
| 6 |
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| 7 |
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"wrist": 1218,
|
| 8 |
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"env": 1218
|
| 9 |
+
},
|
| 10 |
+
"joint_target_source": "joint_pos_target",
|
| 11 |
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|
| 12 |
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"curobo_joints": [
|
| 13 |
+
"shoulder_pan_joint",
|
| 14 |
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"shoulder_lift_joint",
|
| 15 |
+
"elbow_joint",
|
| 16 |
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"wrist_1_joint",
|
| 17 |
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"wrist_2_joint",
|
| 18 |
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|
| 19 |
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],
|
| 20 |
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"joint_order": [
|
| 21 |
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"shoulder_pan",
|
| 22 |
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|
| 23 |
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|
| 24 |
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|
| 25 |
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|
| 26 |
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"wrist_3",
|
| 27 |
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"finger_left",
|
| 28 |
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"finger_right"
|
| 29 |
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],
|
| 30 |
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"frames_note": "eef / actions in the robot base frame; camera_pose = local pose (wrist: in plate_gripper_base, env: env frame), pos + quat wxyz",
|
| 31 |
+
"dr_version": "v2"
|
| 32 |
+
}
|
episodes/c7_p006_e008/scene_snapshot.json
ADDED
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|
| 1 |
+
{
|
| 2 |
+
"trajectory_id": 8,
|
| 3 |
+
"env_id": 2,
|
| 4 |
+
"run_id": "c7_p006",
|
| 5 |
+
"task_type": "BioPlateCell",
|
| 6 |
+
"success": true,
|
| 7 |
+
"timing": {
|
| 8 |
+
"fps": 50.0,
|
| 9 |
+
"sim_dt": 0.005,
|
| 10 |
+
"decimation": 4
|
| 11 |
+
},
|
| 12 |
+
"restore_interface": {
|
| 13 |
+
"scene": "scene_manager.reset_to(snapshot['scene'], env_ids=[env_id])",
|
| 14 |
+
"robots": "robot_manager.set_state({'robots': snapshot['robots']}, env_ids=[env_id])"
|
| 15 |
+
},
|
| 16 |
+
"snapshot": {
|
| 17 |
+
"env_id": 2,
|
| 18 |
+
"scene": {
|
| 19 |
+
"objects": [
|
| 20 |
+
{},
|
| 21 |
+
{},
|
| 22 |
+
{
|
| 23 |
+
"rac_cell": [
|
| 24 |
+
{
|
| 25 |
+
"asset": "$MAGICSIM_ASSETS/Bio/Lab/rac_cell.usd",
|
| 26 |
+
"pose": {
|
| 27 |
+
"pos": [
|
| 28 |
+
0.0,
|
| 29 |
+
0.0,
|
| 30 |
+
0.0
|
| 31 |
+
],
|
| 32 |
+
"ori": [
|
| 33 |
+
1.0,
|
| 34 |
+
0.0,
|
| 35 |
+
0.0,
|
| 36 |
+
0.0
|
| 37 |
+
],
|
| 38 |
+
"scale": [
|
| 39 |
+
1.0,
|
| 40 |
+
1.0,
|
| 41 |
+
1.0
|
| 42 |
+
]
|
| 43 |
+
},
|
| 44 |
+
"dr": {
|
| 45 |
+
"visual": {
|
| 46 |
+
"kind": null,
|
| 47 |
+
"value": null,
|
| 48 |
+
"visible": true
|
| 49 |
+
},
|
| 50 |
+
"physics": {
|
| 51 |
+
"type": "geometry",
|
| 52 |
+
"collision": false,
|
| 53 |
+
"physics_material": {
|
| 54 |
+
"static_friction": 0.6,
|
| 55 |
+
"dynamic_friction": 0.5,
|
| 56 |
+
"restitution": 0.0
|
| 57 |
+
},
|
| 58 |
+
"ratio": 1.0
|
| 59 |
+
},
|
| 60 |
+
"primitive_params": null
|
| 61 |
+
},
|
| 62 |
+
"type_specific": {}
|
| 63 |
+
}
|
| 64 |
+
],
|
| 65 |
+
"robot_mount": [
|
| 66 |
+
{
|
| 67 |
+
"asset": "Cube",
|
| 68 |
+
"pose": {
|
| 69 |
+
"pos": [
|
| 70 |
+
0.0,
|
| 71 |
+
0.0,
|
| 72 |
+
0.9075
|
| 73 |
+
],
|
| 74 |
+
"ori": [
|
| 75 |
+
1.0,
|
| 76 |
+
0.0,
|
| 77 |
+
0.0,
|
| 78 |
+
0.0
|
| 79 |
+
],
|
| 80 |
+
"scale": [
|
| 81 |
+
1.0,
|
| 82 |
+
1.0,
|
| 83 |
+
1.0
|
| 84 |
+
]
|
| 85 |
+
},
|
| 86 |
+
"dr": {
|
| 87 |
+
"visual": {
|
| 88 |
+
"kind": "color",
|
| 89 |
+
"value": [
|
| 90 |
+
0.55,
|
| 91 |
+
0.56,
|
| 92 |
+
0.58
|
| 93 |
+
],
|
| 94 |
+
"visible": true
|
| 95 |
+
},
|
| 96 |
+
"physics": {
|
| 97 |
+
"type": "geometry",
|
| 98 |
+
"collision": false,
|
| 99 |
+
"ratio": 1.0
|
| 100 |
+
},
|
| 101 |
+
"primitive_params": {
|
| 102 |
+
"size": [
|
| 103 |
+
0.2,
|
| 104 |
+
0.2,
|
| 105 |
+
0.015
|
| 106 |
+
]
|
| 107 |
+
}
|
| 108 |
+
},
|
| 109 |
+
"type_specific": {}
|
| 110 |
+
}
|
| 111 |
+
],
|
| 112 |
+
"plate_rack": [
|
| 113 |
+
{
|
| 114 |
+
"asset": "$MAGICSIM_ASSETS/Bio/Lab/plate_hotel.usd",
|
| 115 |
+
"pose": {
|
| 116 |
+
"pos": [
|
| 117 |
+
-0.6,
|
| 118 |
+
0.02,
|
| 119 |
+
0.9
|
| 120 |
+
],
|
| 121 |
+
"ori": [
|
| 122 |
+
6.123234262925839e-17,
|
| 123 |
+
0.0,
|
| 124 |
+
0.0,
|
| 125 |
+
1.0
|
| 126 |
+
],
|
| 127 |
+
"scale": [
|
| 128 |
+
1.0,
|
| 129 |
+
1.0,
|
| 130 |
+
1.0
|
| 131 |
+
]
|
| 132 |
+
},
|
| 133 |
+
"dr": {
|
| 134 |
+
"visual": {
|
| 135 |
+
"kind": null,
|
| 136 |
+
"value": null,
|
| 137 |
+
"visible": true
|
| 138 |
+
},
|
| 139 |
+
"physics": {
|
| 140 |
+
"type": "geometry",
|
| 141 |
+
"collision": false,
|
| 142 |
+
"physics_material": {
|
| 143 |
+
"static_friction": 0.6,
|
| 144 |
+
"dynamic_friction": 0.5,
|
| 145 |
+
"restitution": 0.0
|
| 146 |
+
},
|
| 147 |
+
"ratio": 1.0
|
| 148 |
+
},
|
| 149 |
+
"primitive_params": null
|
| 150 |
+
},
|
| 151 |
+
"type_specific": {}
|
| 152 |
+
}
|
| 153 |
+
],
|
| 154 |
+
"hotel_plate": [
|
| 155 |
+
{
|
| 156 |
+
"asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_24_clear/plate_24_clear.usd",
|
| 157 |
+
"pose": {
|
| 158 |
+
"pos": [
|
| 159 |
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