diff --git a/episodes/c2_p011_e013/data.npz b/episodes/c2_p011_e013/data.npz new file mode 100644 index 0000000000000000000000000000000000000000..844f6202e76b247f389860b9b7bae476e3d04b23 --- /dev/null +++ b/episodes/c2_p011_e013/data.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:a4f9a7847049ca1e3169e7970304285c1237cf74ea9becee484311b91b4fad6c +size 191753 diff --git a/episodes/c2_p011_e013/device_events.jsonl b/episodes/c2_p011_e013/device_events.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..45fb05018b98d1441381255a62d2a5e59658d3cf --- /dev/null +++ b/episodes/c2_p011_e013/device_events.jsonl @@ -0,0 +1,36 @@ +{"env_id": 3, "seq": 1, "step": 67, "t": 0.335, "topic": "conveyor_1.belt.station.pick.captured", "source": "conveyor_1.belt", "data": {"rider": "carrier_4"}, "cause": null} +{"env_id": 3, "seq": 2, "step": 67, "t": 0.335, "topic": "conveyor_1.belt.state.changed", "source": "conveyor_1.belt", "data": {"from": "running", "to": "at_station"}, "cause": null} +{"env_id": 3, "seq": 3, "step": 72, "t": 0.36, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_4"}, "cause": null} +{"env_id": 3, "seq": 4, "step": 1471, "t": 7.355, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_4"}, "cause": null} +{"env_id": 3, "seq": 5, "step": 6011, "t": 30.055, "topic": "a4s_sealer_1.plate_present.present", "source": "a4s_sealer_1.plate_present", "data": {"object": "plate_4"}, "cause": null} +{"env_id": 3, "seq": 6, "step": 6624, "t": 33.12, "topic": "a4s_sealer_1.command.started", "source": "a4s_sealer_1", "data": {"command_id": "task-3-1", "name": "seal", "source": "task"}, "cause": "task-3-1"} +{"env_id": 3, "seq": 7, "step": 6624, "t": 33.12, "topic": "a4s_sealer_1.seal.started", "source": "a4s_sealer_1", "data": {"dwell": 4.252702112300049}, "cause": "task-3-1"} +{"env_id": 3, "seq": 8, "step": 6624, "t": 33.12, "topic": "a4s_sealer_1.drawer.command.started", "source": "a4s_sealer_1.drawer", "data": {"command_id": "program-3-2", "name": "close", "source": "program:seal"}, "cause": "program-3-2"} +{"env_id": 3, "seq": 9, "step": 6624, "t": 33.12, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "at_out", "to": "moving"}, "cause": null} +{"env_id": 3, "seq": 10, "step": 6624, "t": 33.12, "topic": "a4s_sealer_1.drawer.moving", "source": "a4s_sealer_1.drawer", "data": {"target": 0.3, "goal": "in"}, "cause": "program-3-2"} +{"env_id": 3, "seq": 11, "step": 7043, "t": 35.215, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "moving", "to": "at_in"}, "cause": null} +{"env_id": 3, "seq": 12, "step": 7043, "t": 35.215, "topic": "a4s_sealer_1.drawer.reached", "source": "a4s_sealer_1.drawer", "data": {"position": "in", "q": 0.30000001192092896}, "cause": "program-3-2"} +{"env_id": 3, "seq": 13, "step": 7043, "t": 35.215, "topic": "a4s_sealer_1.drawer.at_in", "source": "a4s_sealer_1.drawer", "data": {"q": 0.30000001192092896}, "cause": "program-3-2"} +{"env_id": 3, "seq": 14, "step": 7043, "t": 35.215, "topic": "a4s_sealer_1.drawer.command.succeeded", "source": "a4s_sealer_1.drawer", "data": {"command_id": "program-3-2", "name": "close", "source": "program:seal", "result": {"position": "in"}}, "cause": "program-3-2"} +{"env_id": 3, "seq": 15, "step": 7043, "t": 35.215, "topic": "labware.plate_4.changed", "source": "labware.plate_4", "data": {"key": "sealed", "value": true}, "cause": "task-3-1"} +{"env_id": 3, "seq": 16, "step": 7043, "t": 35.215, "topic": "a4s_sealer_1.sealed", "source": "a4s_sealer_1", "data": {"plate": "plate_4"}, "cause": "task-3-1"} +{"env_id": 3, "seq": 17, "step": 7043, "t": 35.215, "topic": "a4s_sealer_1.heater.command.started", "source": "a4s_sealer_1.heater", "data": {"command_id": "program-3-3", "name": "run", "source": "program:seal"}, "cause": "program-3-3"} +{"env_id": 3, "seq": 18, "step": 7043, "t": 35.215, "topic": "a4s_sealer_1.heater.state.changed", "source": "a4s_sealer_1.heater", "data": {"from": "ready", "to": "running"}, "cause": null} +{"env_id": 3, "seq": 19, "step": 7043, "t": 35.215, "topic": "a4s_sealer_1.heater.started", "source": "a4s_sealer_1.heater", "data": {"duration": 4.252702112300049}, "cause": "program-3-3"} +{"env_id": 3, "seq": 20, "step": 7894, "t": 39.47, "topic": "a4s_sealer_1.heater.state.changed", "source": "a4s_sealer_1.heater", "data": {"from": "running", "to": "ready"}, "cause": null} +{"env_id": 3, "seq": 21, "step": 7894, "t": 39.47, "topic": "a4s_sealer_1.heater.finished", "source": "a4s_sealer_1.heater", "data": {"elapsed": 4.255000000002177}, "cause": "program-3-3"} +{"env_id": 3, "seq": 22, "step": 7894, "t": 39.47, "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": 4.255000000002177}}, "cause": "program-3-3"} +{"env_id": 3, "seq": 23, "step": 7894, "t": 39.47, "topic": "a4s_sealer_1.drawer.command.started", "source": "a4s_sealer_1.drawer", "data": {"command_id": "program-3-4", "name": "open", "source": "program:seal"}, "cause": "program-3-4"} +{"env_id": 3, "seq": 24, "step": 7894, "t": 39.47, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "at_in", "to": "moving"}, "cause": null} +{"env_id": 3, "seq": 25, "step": 7894, "t": 39.47, "topic": "a4s_sealer_1.drawer.moving", "source": "a4s_sealer_1.drawer", "data": {"target": 0.0, "goal": "out"}, "cause": "program-3-4"} +{"env_id": 3, "seq": 26, "step": 8314, "t": 41.57, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "moving", "to": "at_out"}, "cause": null} +{"env_id": 3, "seq": 27, "step": 8314, "t": 41.57, "topic": "a4s_sealer_1.drawer.reached", "source": "a4s_sealer_1.drawer", "data": {"position": "out", "q": 3.6601340014374983e-11}, "cause": "program-3-4"} +{"env_id": 3, "seq": 28, "step": 8314, "t": 41.57, "topic": "a4s_sealer_1.drawer.at_out", "source": "a4s_sealer_1.drawer", "data": {"q": 3.6601340014374983e-11}, "cause": "program-3-4"} +{"env_id": 3, "seq": 29, "step": 8314, "t": 41.57, "topic": "a4s_sealer_1.drawer.command.succeeded", "source": "a4s_sealer_1.drawer", "data": {"command_id": "program-3-4", "name": "open", "source": "program:seal", "result": {"position": "out"}}, "cause": "program-3-4"} +{"env_id": 3, "seq": 30, "step": 8314, "t": 41.57, "topic": "a4s_sealer_1.seal.finished", "source": "a4s_sealer_1", "data": {}, "cause": "task-3-1"} +{"env_id": 3, "seq": 31, "step": 8314, "t": 41.57, "topic": "a4s_sealer_1.command.succeeded", "source": "a4s_sealer_1", "data": {"command_id": "task-3-1", "name": "seal", "source": "task"}, "cause": "task-3-1"} +{"env_id": 3, "seq": 32, "step": 8894, "t": 44.47, "topic": "a4s_sealer_1.plate_present.absent", "source": "a4s_sealer_1.plate_present", "data": {"object": "plate_4"}, "cause": null} +{"env_id": 3, "seq": 33, "step": 10660, "t": 53.3, "topic": "conveyor_1.belt.command.started", "source": "conveyor_1.belt", "data": {"command_id": "task-3-5", "name": "release", "source": "task"}, "cause": "task-3-5"} +{"env_id": 3, "seq": 34, "step": 10660, "t": 53.3, "topic": "conveyor_1.belt.station.pick.released", "source": "conveyor_1.belt", "data": {"rider": "carrier_4"}, "cause": "task-3-5"} +{"env_id": 3, "seq": 35, "step": 10660, "t": 53.3, "topic": "conveyor_1.belt.state.changed", "source": "conveyor_1.belt", "data": {"from": "at_station", "to": "running"}, "cause": null} +{"env_id": 3, "seq": 36, "step": 10660, "t": 53.3, "topic": "conveyor_1.belt.command.succeeded", "source": "conveyor_1.belt", "data": {"command_id": "task-3-5", "name": "release", "source": "task", "result": {"state": "running"}}, "cause": "task-3-5"} diff --git a/episodes/c2_p011_e013/env.mp4 b/episodes/c2_p011_e013/env.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..e83148862993cb50bc78b2e0c43b81b6c64a9d3e --- /dev/null +++ b/episodes/c2_p011_e013/env.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:ddda443088bedca96bb468ee0f485fe4b3dda2baa04e55c50f7acb7717c3b900 +size 1185352 diff --git a/episodes/c2_p011_e013/meta.json b/episodes/c2_p011_e013/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..da3767b396ebd3dd55f4e9b50e37c8ef8a4c7fa8 --- /dev/null +++ b/episodes/c2_p011_e013/meta.json @@ -0,0 +1,32 @@ +{ + "source": "raw/c2_p011/magicsim/13", + "fps": 25, + "frames": 1210, + "kept_ticks": "even", + "video_frames": { + "wrist": 1210, + "env": 1210 + }, + "joint_target_source": "joint_pos_target", + "fk_vs_recorded_eef_max_m": 0.0, + "curobo_joints": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "joint_order": [ + "shoulder_pan", + "shoulder_lift", + "elbow", + "wrist_1", + "wrist_2", + "wrist_3", + "finger_left", + "finger_right" + ], + "frames_note": "eef / actions in the robot base frame; camera_pose = local pose (wrist: in plate_gripper_base, env: env frame), pos + quat wxyz", + "dr_version": "v2" +} \ No newline at end of file diff --git a/episodes/c2_p011_e013/scene_snapshot.json b/episodes/c2_p011_e013/scene_snapshot.json new file mode 100644 index 0000000000000000000000000000000000000000..c3a73b1f086f1d0c36e843085a0629c4ff2a3554 --- /dev/null +++ b/episodes/c2_p011_e013/scene_snapshot.json @@ -0,0 +1,1558 @@ +{ + "trajectory_id": 13, + "env_id": 3, + "run_id": "c2_p011", + "task_type": "BioPlateCell", + "success": true, + "timing": { + "fps": 50.0, + "sim_dt": 0.005, + "decimation": 4 + }, + "restore_interface": { + "scene": "scene_manager.reset_to(snapshot['scene'], env_ids=[env_id])", + "robots": "robot_manager.set_state({'robots': snapshot['robots']}, env_ids=[env_id])" + }, + "snapshot": { + "env_id": 3, + "scene": { + "objects": [ + {}, + {}, + {}, + { + "rac_cell": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/rac_cell.usd", + "pose": { + "pos": [ + 0.0, + 0.0, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "physics_material": { + "static_friction": 0.6, + "dynamic_friction": 0.5, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "robot_mount": [ + { + "asset": "Cube", + "pose": { + "pos": [ + 0.0, + 0.0, + 0.9075 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": "color", + "value": [ + 0.55, + 0.56, + 0.58 + ], + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": { + "size": [ + 0.2, + 0.2, + 0.015 + ] + } + }, + "type_specific": {} + } + ], + "plate_rack": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/plate_hotel.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 0.9 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "physics_material": { + "static_friction": 0.6, + "dynamic_friction": 0.5, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "hotel_plate": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/deep_well_24_10ml/deep_well_24_10ml.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 0.9605 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_48_clear/plate_48_clear.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.0285 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_48_clear/plate_48_clear.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.0965 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_48_clear/plate_48_clear.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.1645 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/deep_well_24_10ml/deep_well_24_10ml.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.2325 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "a4s_sealer": [ + { + "asset": "$MAGICSIM_ASSETS/Articulated/A4SSealer/Object.usd", + "pose": { + "pos": [ + 0.48239707946777344, + 0.11338615417480469, + 0.8999999761581421 + ], + "ori": [ + -0.7005093097686768, + 0.0, + 0.0, + 0.7136432528495789 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "articulation", + "solver_position_iteration_count": 16.0, + "solver_velocity_iteration_count": 1.0, + "enabled_self_collisions": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "joint_position": [ + 0.0 + ], + "joint_velocity": [ + 0.0 + ], + "linear_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "angular_velocity": [ + 0.0, + 0.0, + 0.0 + ] + } + } + ], + "conveyor": [ + { + "asset": "Cube", + "pose": { + "pos": [ + 0.15, + 0.45, + 0.9 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "conveyor", + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9 + }, + "ratio": 1.0 + }, + "primitive_params": { + "size": [ + 2.4, + 0.076, + 0.03 + ] + }, + "conveyor": { + "speed": 0.24875490701063202, + "direction": [ + 1.0, + 0.0, + 0.0 + ], + "enabled": true, + "drive": "surface_velocity", + "lines": null, + "station_line": null, + "riders": [ + "carrier" + ], + "stations": { + "pick": { + "position": -0.26979349666583485, + "slow_distance": 0.03, + "slow_speed": 0.03 + } + }, + "rails": { + "height": 0.01, + "thickness": 0.01, + "gap": 0.001, + "friction": 0.05 + }, + "legs": 0.87, + "loop": { + "radius": 0.35, + "side": "left", + "curve_extra_width": 0.0, + "segments": 18, + "curve_rails": "both" + }, + "snap_distance": 0.1, + "junction_snap": 0.02, + "collision_approximation": "auto", + "plate_mass": 1.0, + "lift_drop": 0.004, + "accel": 0.0, + "decel": 0.0, + "drive_damping": 1000000.0, + "drive_max_force": 1000000000.0 + } + }, + "type_specific": { + "controller": { + "state": "at_station", + "speed": 0.24875490701063202, + "holds": [], + "station": "pick", + "rider": "carrier_4", + "arrived": true, + "applied_speed": 0.0 + } + } + } + ], + "carrier": [ + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + -1.3990106582641602, + 0.7943706512451172, + 0.8999999761581421 + ], + "ori": [ + -0.7106305360794067, + 1.4430835193479652e-08, + -8.48383852058987e-09, + 0.7035654783248901 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 2.7406017455433584e-09, + 6.798897000948045e-10, + 1.1175870895385742e-08 + ], + "angular_velocity": [ + -8.00774273557181e-08, + 1.542708503166068e-07, + 1.7937928475930676e-08 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + 1.6794509887695312, + 0.6926259994506836, + 0.8999999761581421 + ], + "ori": [ + 0.8168739676475525, + -4.380529716740966e-08, + 2.4899565076452745e-08, + 0.576816201210022 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 8.796198436300529e-09, + 7.832845483335404e-10, + 4.470348358154297e-08 + ], + "angular_velocity": [ + -2.042768159071784e-07, + 3.439848796915612e-07, + 6.767105276139773e-08 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + 0.32184410095214844, + 1.1500015258789062, + 0.8999999761581421 + ], + "ori": [ + -7.1895406108524185e-06, + -5.814560985473172e-11, + -2.1178587772396895e-09, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 4.594181701733646e-10, + -5.295682226069687e-10, + 3.725290298461914e-09 + ], + "angular_velocity": [ + 5.634560551470713e-08, + 5.224214305599162e-08, + -5.482696963099443e-09 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + -0.12009811401367188, + 0.45000553131103516, + 0.8999999761581421 + ], + "ori": [ + 1.0, + 3.2634837054956733e-09, + 2.7921989165236027e-09, + -4.9903585022548214e-05 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 5.252545065559389e-10, + -5.153197313312319e-10, + 1.1175870895385742e-08 + ], + "angular_velocity": [ + 2.8747182412303118e-08, + 6.0186536643414e-08, + 1.6012178249980025e-09 + ] + } + } + ], + "plate": [ + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_48_clear/Object.usd", + "pose": { + "pos": [ + -1.4024238586425781, + 0.7973260879516602, + 0.9179999828338623 + ], + "ori": [ + -0.700154185295105, + 1.4627780764442377e-08, + -1.0258584204336785e-08, + 0.7139917016029358 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 5.5586266256568706e-08, + 7.018057601726468e-08, + 1.862645149230957e-07 + ], + "angular_velocity": [ + -3.507358769638813e-06, + 3.833074515569024e-07, + 4.035209713038057e-07 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_384_white/Object.usd", + "pose": { + "pos": [ + 1.6858768463134766, + 0.6844377517700195, + 0.9180000424385071 + ], + "ori": [ + 0.8547894358634949, + -4.375456086336271e-08, + 2.2177427894121138e-08, + 0.5189749598503113 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 4.920606500036229e-08, + -5.082505527553849e-09, + -4.8764050006866455e-06 + ], + "angular_velocity": [ + 2.553233571234159e-06, + -5.534575961974042e-07, + 6.908449279308115e-08 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_96_clear/Object.usd", + "pose": { + "pos": [ + 0.3139810562133789, + 1.1436033248901367, + 0.9180000424385071 + ], + "ori": [ + 0.06364820152521133, + -3.977408957744899e-10, + -1.260530013702521e-09, + 0.9979723691940308 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 1.6614972508932624e-08, + -8.83567707887778e-09, + -5.144625902175903e-06 + ], + "angular_velocity": [ + -1.1322998716423172e-07, + 1.3564965684054187e-06, + 9.558869606962617e-08 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/reservoir_12ch/Object.usd", + "pose": { + "pos": [ + -0.13189125061035156, + 0.4558372497558594, + 0.9179999828338623 + ], + "ori": [ + 0.9959439635276794, + 3.488471955748196e-09, + -8.936334450204697e-10, + 0.08997619897127151 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -1.2999103127242506e-08, + -4.2593189419903865e-08, + -1.3299286365509033e-06 + ], + "angular_velocity": [ + 2.4159853637684137e-06, + -1.3249359653855208e-06, + -1.0844818376654075e-07 + ] + } + } + ], + "deco_hub_west": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/hub_e.usd", + "pose": { + "pos": [ + -3.36, + 0.0, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_hub_east": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/hub_d.usd", + "pose": { + "pos": [ + 3.36, + 0.0, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_hub_back": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/hub_a.usd", + "pose": { + "pos": [ + -3.0, + -2.1, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_bench_east": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/bench_c.usd", + "pose": { + "pos": [ + 2.6, + -2.5, + 0.0 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_bench_gap": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/bench_b.usd", + "pose": { + "pos": [ + -0.1, + -2.9, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ] + } + ], + "devices": { + "hub": [ + null, + null, + null, + { + "t": 5.079999999999914, + "step": 1016, + "counter": 0, + "devices": { + "a4s_sealer_1": { + "mode": "auto", + "units": { + "drawer": { + "state": "at_out", + "active": null, + "target": 0.0, + "goal_name": "out", + "profile": null, + "q_start": null, + "reversing": false, + "blocked_for": 0.0, + "settled_for": 0.0, + "last_q": 0.0 + }, + "heater": { + "state": "ready", + "active": null, + "duration": 0.0, + "t_start": null, + "elapsed": 0.0 + } + }, + "queues": {}, + "program": null, + "sensors": { + "plate_present": { + "occupants": [], + "pending": {} + } + }, + "interlocks": {} + }, + "conveyor_1": { + "mode": "auto", + "units": { + "belt": { + "state": "at_station", + "active": null, + "controller": { + "speed": 0.24875490701063202, + "holds": [], + "station": "pick", + "rider": "carrier_4", + "arrived": true, + "settle_count": 948, + "released": { + "pick": [] + }, + "last_pos": { + "carrier_1": [ + -1.5490106642246246, + 0.34437066316604614, + 0.0 + ], + "carrier_2": [ + 1.5294509828090668, + 0.24262601137161255, + 0.0 + ], + "carrier_3": [ + 0.17184409499168396, + 0.7000015377998352, + 0.0 + ], + "carrier_4": [ + -0.27009811997413635, + 5.543231964111328e-06, + 0.0 + ] + }, + "command": 0.0 + }, + "belt": { + "target_speed": 0.0, + "command_speed": 0.0 + }, + "seen": { + "state": "at_station", + "station": "pick", + "rider": "carrier_4", + "arrived": true + } + } + }, + "queues": {}, + "program": null, + "sensors": {}, + "interlocks": {} + } + }, + "zones": {}, + "labware": { + "plate_1": { + "sealed": false + }, + "plate_2": { + "sealed": false + }, + "plate_3": { + "sealed": false + }, + "plate_4": { + "sealed": false + } + }, + "rules": {}, + "records": [], + "bus": { + "seq": 3, + "queue": [] + } + } + ], + "drives": [ + null, + null, + null, + {} + ] + }, + "artifacts": [ + {}, + {}, + {}, + { + "ceiling": { + "type": "rect", + "pose": { + "pos": [ + 0.6314999095462906, + 0.3461192873289777, + 2.61913922384997 + ], + "ori": [ + -10.622052753334795, + 4.883162650036521, + -20.47508648142079 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "color_temperature": 7196.624213272662, + "color": [ + 0.9483198015947268, + 0.9356921060656187, + 0.8753348409425787 + ], + "intensity": 8712.754209869781, + "width": 1.9657023196162613, + "height": 0.9543186092786092 + } + }, + "key": { + "type": "disk", + "pose": { + "pos": [ + 0.743478651998783, + 0.26486268551354053, + 2.234668232183774 + ], + "ori": [ + -31.725202903369247, + -4.729665878452437, + -26.83223744161614 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "color_temperature": 3986.4224962771896, + "color": [ + 0.8663399014204157, + 0.8387437297263189, + 0.9909726071438627 + ], + "intensity": 5138.212042487125, + "radius": 0.45999124253516543 + } + } + } + ], + "background": { + "type": "dome", + "pose": { + "pos": null, + "ori": null, + "scale": null + }, + "dr": { + "intensity": 660.6432669523685, + "texture": null, + "color": [ + 0.92, + 0.94, + 0.96 + ] + } + } + }, + "robots": { + "UR5e": { + "root_pose": [ + [ + 11.0, + -11.0, + 0.9150000214576721, + 1.0, + 0.0, + 0.0, + 0.0 + ], + [ + 11.0, + 11.0, + 0.9150000214576721, + 1.0, + 0.0, + 0.0, + 0.0 + ], + [ + -11.0, + -11.0, + 0.9150000214576721, + 1.0, + 0.0, + 0.0, + 0.0 + ], + [ + -11.0, + 11.0, + 0.9150000214576721, + 1.0, + 0.0, + 0.0, + 0.0 + ] + ], + "root_vel": [ + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + ], + "joint_pos": [ + [ + -0.1886759102344513, + -2.2335331439971924, + 2.4236881732940674, + -1.7603108882904053, + -1.5708909034729004, + 4.006058216094971, + 0.008193849585950375, + 0.006772343534976244 + ], + [ + 1.6252444982528687, + -1.2703783512115479, + 2.2173984050750732, + -2.5128777027130127, + -1.5719447135925293, + 0.0410371832549572, + 0.01799999177455902, + 0.017999989911913872 + ], + [ + 1.1264313459396362, + -1.375486969947815, + 2.232285499572754, + -2.427536964416504, + -1.5708600282669067, + 2.575495958328247, + 0.007790026254951954, + 0.007252146489918232 + ], + [ + 0.9141018986701965, + -1.719398021697998, + 2.09049916267395, + -1.9419001340866089, + -1.5707999467849731, + 2.484900712966919, + 0.01799999736249447, + 0.018000001087784767 + ] + ], + "joint_vel": [ + [ + 0.03053608536720276, + 0.011962602846324444, + -0.010781612247228622, + -0.009737936779856682, + -0.0008085755398496985, + -0.06275811791419983, + -0.006264944560825825, + 0.00046906236093491316 + ], + [ + 3.4059664812957635e-06, + 3.4059187328239204e-06, + 6.811928415118018e-06, + -4.48304284320078e-12, + -3.4059778499795357e-06, + -3.193104873844277e-07, + 1.039648296341511e-07, + 1.299506777741044e-07 + ], + [ + 0.0004624132707249373, + -0.019051358103752136, + -0.007914728485047817, + 0.025927560403943062, + -9.0395325969439e-05, + -0.0004671195929404348, + -0.0064431168138980865, + 0.0003308994055259973 + ], + [ + -2.887758320481739e-38, + 1.6217030945846102e-38, + 2.6142711030948575e-38, + 5.260335426267702e-37, + -2.0629669363260236e-37, + 2.9093763200466938e-37, + 2.5990388508034812e-08, + -2.5990386731677972e-08 + ] + ] + } + }, + "cameras": { + "cameras": { + "camera0": [ + [ + 0.05008383095264435, + 0.0004542807873804122, + -0.02913384512066841, + -0.27615705132484436, + 0.6551882028579712, + 0.643709659576416, + -0.28302574157714844 + ], + [ + 0.051550913602113724, + 0.003182693151757121, + -0.030022474005818367, + -0.28937527537345886, + 0.6528648734092712, + 0.6393339037895203, + -0.28509920835494995 + ], + [ + 0.05075808987021446, + 0.0003809117479249835, + -0.028519736602902412, + -0.2776246666908264, + 0.6485579013824463, + 0.653511106967926, + -0.2742634415626526 + ], + [ + 0.049677859991788864, + 0.00047620123950764537, + -0.03076423704624176, + -0.2782461941242218, + 0.6552284955978394, + 0.6447294354438782, + -0.2785293161869049 + ] + ], + "camera1": [ + [ + 0.05410520359873772, + 0.5888223052024841, + 1.935428261756897, + 0.029247775673866272, + 0.010074445977807045, + 0.25635942816734314, + 0.9660863876342773 + ], + [ + 0.04064907133579254, + 0.5649270415306091, + 1.9714791774749756, + 0.04065686836838722, + 0.0012279351940378547, + 0.2706757187843323, + 0.9618108868598938 + ], + [ + 0.02972318045794964, + 0.5914806127548218, + 1.9617388248443604, + 0.05414454638957977, + 0.012959024868905544, + 0.27719539403915405, + 0.9591992497444153 + ], + [ + 0.07215762883424759, + 0.5758117437362671, + 1.9632792472839355, + 0.04554348438978195, + 0.010803897865116596, + 0.26670512557029724, + 0.9626408815383911 + ] + ] + } + } + } +} \ No newline at end of file diff --git a/episodes/c2_p011_e013/wrist.mp4 b/episodes/c2_p011_e013/wrist.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..1a3fb6d437978cda98051bf510d42b8100582e3a --- /dev/null +++ b/episodes/c2_p011_e013/wrist.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:9fa7c3c3c85d43498be831c3e889b1b3b06a89199678de7eee0af4b4d53ce2c4 +size 6376720 diff --git a/episodes/c2_p011_e014/data.npz b/episodes/c2_p011_e014/data.npz new file mode 100644 index 0000000000000000000000000000000000000000..3cc777cafa70bd8eade2e6d774e8019f37cfee0d --- /dev/null +++ b/episodes/c2_p011_e014/data.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:017b31ec354e08cef5fd5bf594f7b218b89a033526d06c998227d251792a6d01 +size 203868 diff --git a/episodes/c2_p011_e014/device_events.jsonl b/episodes/c2_p011_e014/device_events.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..71217765d6734d60cf9c3ba9b69dd67bcaa33dfc --- /dev/null +++ b/episodes/c2_p011_e014/device_events.jsonl @@ -0,0 +1,35 @@ +{"env_id": 1, "seq": 1, "step": 74, "t": 0.37, "topic": "conveyor_1.belt.station.pick.captured", "source": "conveyor_1.belt", "data": {"rider": "carrier_1"}, "cause": null} +{"env_id": 1, "seq": 2, "step": 74, "t": 0.37, "topic": "conveyor_1.belt.state.changed", "source": "conveyor_1.belt", "data": {"from": "running", "to": "at_station"}, "cause": null} +{"env_id": 1, "seq": 3, "step": 79, "t": 0.395, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_1"}, "cause": null} +{"env_id": 1, "seq": 4, "step": 6347, "t": 31.735, "topic": "a4s_sealer_1.plate_present.present", "source": "a4s_sealer_1.plate_present", "data": {"object": "plate_1"}, "cause": null} +{"env_id": 1, "seq": 5, "step": 6960, "t": 34.8, "topic": "a4s_sealer_1.command.started", "source": "a4s_sealer_1", "data": {"command_id": "task-1-1", "name": "seal", "source": "task"}, "cause": "task-1-1"} +{"env_id": 1, "seq": 6, "step": 6960, "t": 34.8, "topic": "a4s_sealer_1.seal.started", "source": "a4s_sealer_1", "data": {"dwell": 4.370530003353168}, "cause": "task-1-1"} +{"env_id": 1, "seq": 7, "step": 6960, "t": 34.8, "topic": "a4s_sealer_1.drawer.command.started", "source": "a4s_sealer_1.drawer", "data": {"command_id": "program-1-2", "name": "close", "source": "program:seal"}, "cause": "program-1-2"} +{"env_id": 1, "seq": 8, "step": 6960, "t": 34.8, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "at_out", "to": "moving"}, "cause": null} +{"env_id": 1, "seq": 9, "step": 6960, "t": 34.8, "topic": "a4s_sealer_1.drawer.moving", "source": "a4s_sealer_1.drawer", "data": {"target": 0.3, "goal": "in"}, "cause": "program-1-2"} +{"env_id": 1, "seq": 10, "step": 7379, "t": 36.895, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "moving", "to": "at_in"}, "cause": null} +{"env_id": 1, "seq": 11, "step": 7379, "t": 36.895, "topic": "a4s_sealer_1.drawer.reached", "source": "a4s_sealer_1.drawer", "data": {"position": "in", "q": 0.30000001192092896}, "cause": "program-1-2"} +{"env_id": 1, "seq": 12, "step": 7379, "t": 36.895, "topic": "a4s_sealer_1.drawer.at_in", "source": "a4s_sealer_1.drawer", "data": {"q": 0.30000001192092896}, "cause": "program-1-2"} +{"env_id": 1, "seq": 13, "step": 7379, "t": 36.895, "topic": "a4s_sealer_1.drawer.command.succeeded", "source": "a4s_sealer_1.drawer", "data": {"command_id": "program-1-2", "name": "close", "source": "program:seal", "result": {"position": "in"}}, "cause": "program-1-2"} +{"env_id": 1, "seq": 14, "step": 7379, "t": 36.895, "topic": "labware.plate_1.changed", "source": "labware.plate_1", "data": {"key": "sealed", "value": true}, "cause": "task-1-1"} +{"env_id": 1, "seq": 15, "step": 7379, "t": 36.895, "topic": "a4s_sealer_1.sealed", "source": "a4s_sealer_1", "data": {"plate": "plate_1"}, "cause": "task-1-1"} +{"env_id": 1, "seq": 16, "step": 7379, "t": 36.895, "topic": "a4s_sealer_1.heater.command.started", "source": "a4s_sealer_1.heater", "data": {"command_id": "program-1-3", "name": "run", "source": "program:seal"}, "cause": "program-1-3"} +{"env_id": 1, "seq": 17, "step": 7379, "t": 36.895, "topic": "a4s_sealer_1.heater.state.changed", "source": "a4s_sealer_1.heater", "data": {"from": "ready", "to": "running"}, "cause": null} +{"env_id": 1, "seq": 18, "step": 7379, "t": 36.895, "topic": "a4s_sealer_1.heater.started", "source": "a4s_sealer_1.heater", "data": {"duration": 4.370530003353168}, "cause": "program-1-3"} +{"env_id": 1, "seq": 19, "step": 8254, "t": 41.27, "topic": "a4s_sealer_1.heater.state.changed", "source": "a4s_sealer_1.heater", "data": {"from": "running", "to": "ready"}, "cause": null} +{"env_id": 1, "seq": 20, "step": 8254, "t": 41.27, "topic": "a4s_sealer_1.heater.finished", "source": "a4s_sealer_1.heater", "data": {"elapsed": 4.375000000002238}, "cause": "program-1-3"} +{"env_id": 1, "seq": 21, "step": 8254, "t": 41.27, "topic": "a4s_sealer_1.heater.command.succeeded", "source": "a4s_sealer_1.heater", "data": {"command_id": "program-1-3", "name": "run", "source": "program:seal", "result": {"elapsed": 4.375000000002238}}, "cause": "program-1-3"} +{"env_id": 1, "seq": 22, "step": 8254, "t": 41.27, "topic": "a4s_sealer_1.drawer.command.started", "source": "a4s_sealer_1.drawer", "data": {"command_id": "program-1-4", "name": "open", "source": "program:seal"}, "cause": "program-1-4"} +{"env_id": 1, "seq": 23, "step": 8254, "t": 41.27, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "at_in", "to": "moving"}, "cause": null} +{"env_id": 1, "seq": 24, "step": 8254, "t": 41.27, "topic": "a4s_sealer_1.drawer.moving", "source": "a4s_sealer_1.drawer", "data": {"target": 0.0, "goal": "out"}, "cause": "program-1-4"} +{"env_id": 1, "seq": 25, "step": 8674, "t": 43.37, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "moving", "to": "at_out"}, "cause": null} +{"env_id": 1, "seq": 26, "step": 8674, "t": 43.37, "topic": "a4s_sealer_1.drawer.reached", "source": "a4s_sealer_1.drawer", "data": {"position": "out", "q": 0.0}, "cause": "program-1-4"} +{"env_id": 1, "seq": 27, "step": 8674, "t": 43.37, "topic": "a4s_sealer_1.drawer.at_out", "source": "a4s_sealer_1.drawer", "data": {"q": 0.0}, "cause": "program-1-4"} +{"env_id": 1, "seq": 28, "step": 8674, "t": 43.37, "topic": "a4s_sealer_1.drawer.command.succeeded", "source": "a4s_sealer_1.drawer", "data": {"command_id": "program-1-4", "name": "open", "source": "program:seal", "result": {"position": "out"}}, "cause": "program-1-4"} +{"env_id": 1, "seq": 29, "step": 8674, "t": 43.37, "topic": "a4s_sealer_1.seal.finished", "source": "a4s_sealer_1", "data": {}, "cause": "task-1-1"} +{"env_id": 1, "seq": 30, "step": 8674, "t": 43.37, "topic": "a4s_sealer_1.command.succeeded", "source": "a4s_sealer_1", "data": {"command_id": "task-1-1", "name": "seal", "source": "task"}, "cause": "task-1-1"} +{"env_id": 1, "seq": 31, "step": 9256, "t": 46.28, "topic": "a4s_sealer_1.plate_present.absent", "source": "a4s_sealer_1.plate_present", "data": {"object": "plate_1"}, "cause": null} +{"env_id": 1, "seq": 32, "step": 11496, "t": 57.48, "topic": "conveyor_1.belt.command.started", "source": "conveyor_1.belt", "data": {"command_id": "task-1-5", "name": "release", "source": "task"}, "cause": "task-1-5"} +{"env_id": 1, "seq": 33, "step": 11496, "t": 57.48, "topic": "conveyor_1.belt.station.pick.released", "source": "conveyor_1.belt", "data": {"rider": "carrier_1"}, "cause": "task-1-5"} +{"env_id": 1, "seq": 34, "step": 11496, "t": 57.48, "topic": "conveyor_1.belt.state.changed", "source": "conveyor_1.belt", "data": {"from": "at_station", "to": "running"}, "cause": null} +{"env_id": 1, "seq": 35, "step": 11496, "t": 57.48, "topic": "conveyor_1.belt.command.succeeded", "source": "conveyor_1.belt", "data": {"command_id": "task-1-5", "name": "release", "source": "task", "result": {"state": "running"}}, "cause": "task-1-5"} diff --git a/episodes/c2_p011_e014/env.mp4 b/episodes/c2_p011_e014/env.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..35a77decb6435a264e8845a4c2a32036dfadfce4 --- /dev/null +++ b/episodes/c2_p011_e014/env.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:1bfd88560779d73e74c78bc1346181a1db36df965d62bce10b95e7a376fb2f3e +size 1443833 diff --git a/episodes/c2_p011_e014/meta.json b/episodes/c2_p011_e014/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..227e2cd93721acc26aa75fc483b881d8736f8b71 --- /dev/null +++ b/episodes/c2_p011_e014/meta.json @@ -0,0 +1,32 @@ +{ + "source": "raw/c2_p011/magicsim/14", + "fps": 25, + "frames": 1317, + "kept_ticks": "even", + "video_frames": { + "wrist": 1317, + "env": 1317 + }, + "joint_target_source": "joint_pos_target", + "fk_vs_recorded_eef_max_m": 0.0, + "curobo_joints": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "joint_order": [ + "shoulder_pan", + "shoulder_lift", + "elbow", + "wrist_1", + "wrist_2", + "wrist_3", + "finger_left", + "finger_right" + ], + "frames_note": "eef / actions in the robot base frame; camera_pose = local pose (wrist: in plate_gripper_base, env: env frame), pos + quat wxyz", + "dr_version": "v2" +} \ No newline at end of file diff --git a/episodes/c2_p011_e014/scene_snapshot.json b/episodes/c2_p011_e014/scene_snapshot.json new file mode 100644 index 0000000000000000000000000000000000000000..39f85535e8357fedbf54ec16e8aac9cd765a9682 --- /dev/null +++ b/episodes/c2_p011_e014/scene_snapshot.json @@ -0,0 +1,1558 @@ +{ + "trajectory_id": 14, + "env_id": 1, + "run_id": "c2_p011", + "task_type": "BioPlateCell", + "success": true, + "timing": { + "fps": 50.0, + "sim_dt": 0.005, + "decimation": 4 + }, + "restore_interface": { + "scene": "scene_manager.reset_to(snapshot['scene'], env_ids=[env_id])", + "robots": "robot_manager.set_state({'robots': snapshot['robots']}, env_ids=[env_id])" + }, + "snapshot": { + "env_id": 1, + "scene": { + "objects": [ + {}, + { + "rac_cell": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/rac_cell.usd", + "pose": { + "pos": [ + 0.0, + 0.0, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "physics_material": { + "static_friction": 0.6, + "dynamic_friction": 0.5, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "robot_mount": [ + { + "asset": "Cube", + "pose": { + "pos": [ + 0.0, + 0.0, + 0.9075 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": "color", + "value": [ + 0.55, + 0.56, + 0.58 + ], + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": { + "size": [ + 0.2, + 0.2, + 0.015 + ] + } + }, + "type_specific": {} + } + ], + "plate_rack": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/plate_hotel.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 0.9 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "physics_material": { + "static_friction": 0.6, + "dynamic_friction": 0.5, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "hotel_plate": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/deep_well_96_2ml/deep_well_96_2ml.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 0.9605 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_12_clear/plate_12_clear.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.0285 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/pcr_384_red/pcr_384_red.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.0965 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_24_clear/plate_24_clear.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.1645 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/deep_well_96_2ml/deep_well_96_2ml.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.2325 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "a4s_sealer": [ + { + "asset": "$MAGICSIM_ASSETS/Articulated/A4SSealer/Object.usd", + "pose": { + "pos": [ + 0.4982614517211914, + 0.053275108337402344, + 0.8999999761581421 + ], + "ori": [ + 0.724157452583313, + 0.0, + 0.0, + -0.6896346807479858 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "articulation", + "solver_position_iteration_count": 16.0, + "solver_velocity_iteration_count": 1.0, + "enabled_self_collisions": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "joint_position": [ + 4.373415692093818e-12 + ], + "joint_velocity": [ + 0.0 + ], + "linear_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "angular_velocity": [ + 0.0, + 0.0, + 0.0 + ] + } + } + ], + "conveyor": [ + { + "asset": "Cube", + "pose": { + "pos": [ + 0.15, + 0.45, + 0.9 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "conveyor", + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9 + }, + "ratio": 1.0 + }, + "primitive_params": { + "size": [ + 2.4, + 0.076, + 0.03 + ] + }, + "conveyor": { + "speed": 0.1506049064538223, + "direction": [ + 1.0, + 0.0, + 0.0 + ], + "enabled": true, + "drive": "surface_velocity", + "lines": null, + "station_line": null, + "riders": [ + "carrier" + ], + "stations": { + "pick": { + "position": -0.15926550668224557, + "slow_distance": 0.03, + "slow_speed": 0.03 + } + }, + "rails": { + "height": 0.01, + "thickness": 0.01, + "gap": 0.001, + "friction": 0.05 + }, + "legs": 0.87, + "loop": { + "radius": 0.35, + "side": "left", + "curve_extra_width": 0.0, + "segments": 18, + "curve_rails": "both" + }, + "snap_distance": 0.1, + "junction_snap": 0.02, + "collision_approximation": "auto", + "plate_mass": 1.0, + "lift_drop": 0.004, + "accel": 0.0, + "decel": 0.0, + "drive_damping": 1000000.0, + "drive_max_force": 1000000000.0 + } + }, + "type_specific": { + "controller": { + "state": "at_station", + "speed": 0.1506049064538223, + "holds": [], + "station": "pick", + "rider": "carrier_1", + "arrived": true, + "applied_speed": 0.0 + } + } + } + ], + "carrier": [ + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + -0.0089569091796875, + 0.45000362396240234, + 0.8999999761581421 + ], + "ori": [ + 1.0, + -4.067048031686227e-09, + 4.517039187135197e-09, + -3.217634366592392e-05 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 9.627809660628373e-11, + 6.205539415660155e-10, + 0.0 + ], + "angular_velocity": [ + -7.049366956835001e-08, + -5.167429151242686e-09, + -6.714496958437621e-09 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + 0.5549612045288086, + 1.1500043869018555, + 0.8999999761581421 + ], + "ori": [ + 2.40348199440632e-05, + 1.2911276214833123e-10, + 5.547101666891763e-10, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -4.589377766706093e-10, + -2.998106762852615e-10, + 7.450580596923828e-09 + ], + "angular_velocity": [ + -7.343260222114623e-09, + -4.493660910043218e-08, + -1.0843212550071257e-08 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + 1.6624841690063477, + 0.6445407867431641, + 0.8999999761581421 + ], + "ori": [ + 0.8504171967506409, + -3.3666946563926103e-08, + 8.132740703103991e-08, + 0.5261088609695435 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 5.141699843669301e-10, + 3.2093916413344914e-10, + -3.725290298461914e-09 + ], + "angular_velocity": [ + -4.117927687730116e-08, + 6.228957971643467e-08, + 3.286631855559108e-09 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + -1.1065034866333008, + 1.1428728103637695, + 0.8999999761581421 + ], + "ori": [ + -0.08748581260442734, + -1.775436864193125e-08, + 5.103968803155112e-09, + 0.9961657524108887 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 1.1601068994337993e-09, + -3.7736320734893525e-09, + 3.725290298461914e-09 + ], + "angular_velocity": [ + 4.044653678647592e-08, + 4.657811913943988e-08, + 2.5585912055703375e-08 + ] + } + } + ], + "plate": [ + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_12_clear/Object.usd", + "pose": { + "pos": [ + -4.100799560546875e-05, + 0.4534902572631836, + 0.9179999828338623 + ], + "ori": [ + 0.9977717995643616, + -3.417346683409761e-10, + 5.463696162166798e-09, + 0.06672021746635437 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -3.458560371427666e-08, + -1.0019048701792599e-08, + 9.685754776000977e-08 + ], + "angular_velocity": [ + 5.582238600254641e-07, + -1.745458916957432e-06, + 1.3339985116544995e-07 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_96_white/Object.usd", + "pose": { + "pos": [ + 0.5456781387329102, + 1.1418037414550781, + 0.9180000424385071 + ], + "ori": [ + 0.10062151402235031, + 8.355215130873006e-11, + -9.83940928733773e-10, + 0.9949248433113098 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 7.4077690648266525e-09, + -3.3758258410898634e-09, + -5.0067901611328125e-06 + ], + "angular_velocity": [ + -3.16470277539338e-07, + 1.651676143410441e-06, + 2.755533135001542e-09 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/pcr_384_red/Object.usd", + "pose": { + "pos": [ + 1.6597003936767578, + 0.6508064270019531, + 0.9179999828338623 + ], + "ori": [ + 0.84969562292099, + -3.396837655600393e-08, + 8.161393338923517e-08, + 0.5272735357284546 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 2.9456512784520328e-09, + -7.855968320313877e-09, + -6.1355531215667725e-06 + ], + "angular_velocity": [ + 1.3089685353406821e-06, + 2.1012453998991987e-09, + -1.1457965243266699e-08 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/deep_well_96_1ml/Object.usd", + "pose": { + "pos": [ + -1.1082401275634766, + 1.1419553756713867, + 0.9179999828338623 + ], + "ori": [ + -0.14509955048561096, + -1.860565923550439e-08, + 3.773005019525044e-09, + 0.9894171357154846 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 8.872701329210031e-08, + 4.1218189750225065e-08, + 1.4901161193847656e-07 + ], + "angular_velocity": [ + -1.6313071000695345e-06, + 2.759572907962138e-06, + 3.3711029345795396e-07 + ] + } + } + ], + "deco_hub_west": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/hub_a.usd", + "pose": { + "pos": [ + -3.36, + 0.0, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_hub_east": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/hub_c.usd", + "pose": { + "pos": [ + 3.36, + 0.0, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_hub_back": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/hub_d.usd", + "pose": { + "pos": [ + -3.0, + -2.1, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_bench_east": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/bench_c.usd", + "pose": { + "pos": [ + 2.6, + -2.5, + 0.0 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_bench_gap": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/bench_b.usd", + "pose": { + "pos": [ + -0.1, + -2.9, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ] + }, + {}, + {} + ], + "devices": { + "hub": [ + null, + { + "t": 5.079999999999914, + "step": 1016, + "counter": 0, + "devices": { + "a4s_sealer_1": { + "mode": "auto", + "units": { + "drawer": { + "state": "at_out", + "active": null, + "target": 0.0, + "goal_name": "out", + "profile": null, + "q_start": null, + "reversing": false, + "blocked_for": 0.0, + "settled_for": 0.0, + "last_q": 4.373415692093818e-12 + }, + "heater": { + "state": "ready", + "active": null, + "duration": 0.0, + "t_start": null, + "elapsed": 0.0 + } + }, + "queues": {}, + "program": null, + "sensors": { + "plate_present": { + "occupants": [], + "pending": {} + } + }, + "interlocks": {} + }, + "conveyor_1": { + "mode": "auto", + "units": { + "belt": { + "state": "at_station", + "active": null, + "controller": { + "speed": 0.1506049064538223, + "holds": [], + "station": "pick", + "rider": "carrier_1", + "arrived": true, + "settle_count": 941, + "released": { + "pick": [] + }, + "last_pos": { + "carrier_1": [ + -0.15895691514015198, + 3.635883331298828e-06, + 0.0 + ], + "carrier_2": [ + 0.4049611985683441, + 0.7000043988227844, + 0.0 + ], + "carrier_3": [ + 1.5124841630458832, + 0.19454079866409302, + 0.0 + ], + "carrier_4": [ + -1.2565034925937653, + 0.6928728222846985, + 0.0 + ] + }, + "command": 0.0 + }, + "belt": { + "target_speed": 0.0, + "command_speed": 0.0 + }, + "seen": { + "state": "at_station", + "station": "pick", + "rider": "carrier_1", + "arrived": true + } + } + }, + "queues": {}, + "program": null, + "sensors": {}, + "interlocks": {} + } + }, + "zones": {}, + "labware": { + "plate_1": { + "sealed": false + }, + "plate_2": { + "sealed": false + }, + "plate_3": { + "sealed": false + }, + "plate_4": { + "sealed": false + } + }, + "rules": {}, + "records": [], + "bus": { + "seq": 3, + "queue": [] + } + }, + null, + null + ], + "drives": [ + null, + {}, + null, + null + ] + }, + "artifacts": [ + {}, + { + "ceiling": { + "type": "rect", + "pose": { + "pos": [ + 0.08717619034331692, + -0.48168316519236654, + 2.743169573704829 + ], + "ori": [ + 8.561460299085798, + -10.359061703293083, + 24.245591705694345 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "color_temperature": 3443.056479379527, + "color": [ + 0.9138581779059974, + 0.8666197119939351, + 0.9545608976559488 + ], + "intensity": 5748.628706830998, + "width": 2.1454377571614813, + "height": 1.6469228665316002 + } + }, + "key": { + "type": "disk", + "pose": { + "pos": [ + 0.586523892343779, + 0.9113057404367877, + 1.8528153405291083 + ], + "ori": [ + -27.03767113128051, + -12.179660476369712, + 0.7306519012639257 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "color_temperature": 5492.771908953576, + "color": [ + 0.9067611521620733, + 0.779367939955633, + 0.8756119421756026 + ], + "intensity": 9769.331216936833, + "radius": 0.37514850917269205 + } + } + }, + {}, + {} + ], + "background": { + "type": "dome", + "pose": { + "pos": null, + "ori": null, + "scale": null + }, + "dr": { + "intensity": 660.6432669523685, + "texture": null, + "color": [ + 0.92, + 0.94, + 0.96 + ] + } + } + }, + "robots": { + "UR5e": { + "root_pose": [ + [ + 11.0, + -11.0, + 0.9150000214576721, + 1.0, + 0.0, + 0.0, + 0.0 + ], + [ + 11.0, + 11.0, + 0.9150000214576721, + 1.0, + 0.0, + 0.0, + 0.0 + ], + [ + -11.0, + -11.0, + 0.9150000214576721, + 1.0, + 0.0, + 0.0, + 0.0 + ], + [ + -11.0, + 11.0, + 0.9150000214576721, + 1.0, + 0.0, + 0.0, + 0.0 + ] + ], + "root_vel": [ + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + ], + "joint_pos": [ + [ + 1.6471613645553589, + -1.433519721031189, + 2.1181492805480957, + -2.2557504177093506, + -1.5709518194198608, + 0.0714789554476738, + 0.01800004206597805, + 0.017999956384301186 + ], + [ + 0.9141026735305786, + -1.719398021697998, + 2.0904994010925293, + -1.941900610923767, + -1.5707999467849731, + 2.484900951385498, + 0.01799999736249447, + 0.018000001087784767 + ], + [ + 2.803091526031494, + -1.6903361082077026, + 1.7431061267852783, + -1.6233837604522705, + -1.5704448223114014, + 4.3742289543151855, + 0.016918212175369263, + 0.01680937595665455 + ], + [ + 1.5872712135314941, + -1.7865746021270752, + 2.194662094116211, + -1.9776475429534912, + -1.5706725120544434, + 3.031334161758423, + 0.006974474526941776, + 0.007955634035170078 + ] + ], + "joint_vel": [ + [ + 0.00012319802772253752, + -0.015086675994098186, + -0.01011782418936491, + 0.023882796987891197, + -9.727889846544713e-06, + -2.2319052732200362e-05, + -6.984957508393563e-06, + 6.987770120758796e-06 + ], + [ + 0.0, + 2.6076087696760716e-38, + 2.7159047583751007e-38, + 6.4371310788959e-37, + -6.4530161982874865e-37, + -1.0565370031469823e-37, + 2.5990388508034812e-08, + -2.5990388508034812e-08 + ], + [ + 0.00112950149923563, + 0.0031456705182790756, + -0.0029526562429964542, + -0.0002258796157548204, + -0.00015847575559746474, + 0.0011032440233975649, + 0.016300417482852936, + 0.017940513789653778 + ], + [ + 0.06563377380371094, + -0.05939679220318794, + 0.018299687653779984, + 0.03163120895624161, + 0.0004687157925218344, + 0.07870922982692719, + -0.005847420077770948, + 0.0005780588835477829 + ] + ] + } + }, + "cameras": { + "cameras": { + "camera0": [ + [ + 0.050481244921684265, + -0.00012016489927191287, + -0.02800290286540985, + -0.27877193689346313, + 0.6536247134208679, + 0.6468262076377869, + -0.27690568566322327 + ], + [ + 0.048127222806215286, + 0.002888459013774991, + -0.03030833788216114, + -0.2691187858581543, + 0.6546003222465515, + 0.6444125771522522, + -0.28949254751205444 + ], + [ + 0.05188411474227905, + -0.0009485658956691623, + -0.029274776577949524, + -0.27987220883369446, + 0.6493517756462097, + 0.6507403254508972, + -0.27667826414108276 + ], + [ + 0.04938356950879097, + 0.002394766081124544, + -0.030075781047344208, + -0.2798449993133545, + 0.6547982096672058, + 0.646753191947937, + -0.27319666743278503 + ] + ], + "camera1": [ + [ + 0.05410520359873772, + 0.5888223052024841, + 1.935428261756897, + 0.029247775673866272, + 0.010074445977807045, + 0.25635942816734314, + 0.9660863876342773 + ], + [ + 0.034035421907901764, + 0.5813454985618591, + 1.9487049579620361, + 0.035297516733407974, + 0.026838358491659164, + 0.25794342160224915, + 0.9651419520378113 + ], + [ + 0.02972318045794964, + 0.5914806127548218, + 1.9617388248443604, + 0.05414454638957977, + 0.012959024868905544, + 0.27719539403915405, + 0.9591992497444153 + ], + [ + 0.07215762883424759, + 0.5758117437362671, + 1.9632792472839355, + 0.04554348438978195, + 0.010803897865116596, + 0.26670512557029724, + 0.9626408815383911 + ] + ] + } + } + } +} \ No newline at end of file diff --git a/episodes/c2_p011_e014/wrist.mp4 b/episodes/c2_p011_e014/wrist.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..ef6227709b328487ce10e0676ba77fc82ae56f01 --- /dev/null +++ b/episodes/c2_p011_e014/wrist.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:ff11fb316912d13638b3b59cfac960db2e4685655b960556dedada90a3047e02 +size 7836774 diff --git a/episodes/c2_p011_e015/data.npz b/episodes/c2_p011_e015/data.npz new file mode 100644 index 0000000000000000000000000000000000000000..9a544a76afe4a55164003791fe7aff9d1aec5173 --- /dev/null +++ b/episodes/c2_p011_e015/data.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:907b4ff673ea8ca54afcdb69ae3fda8035d08c7defa244fa4b839870464c29e8 +size 188430 diff --git a/episodes/c2_p011_e015/device_events.jsonl b/episodes/c2_p011_e015/device_events.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..e0aa408bd92188045aa177eea7a70a7103ffe171 --- /dev/null +++ b/episodes/c2_p011_e015/device_events.jsonl @@ -0,0 +1,38 @@ +{"env_id": 0, "seq": 1, "step": 105, "t": 0.525, "topic": "conveyor_1.belt.station.pick.captured", "source": "conveyor_1.belt", "data": {"rider": "carrier_1"}, "cause": null} +{"env_id": 0, "seq": 2, "step": 105, "t": 0.525, "topic": "conveyor_1.belt.state.changed", "source": "conveyor_1.belt", "data": {"from": "running", "to": "at_station"}, "cause": null} +{"env_id": 0, "seq": 3, "step": 110, "t": 0.55, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_1"}, "cause": null} +{"env_id": 0, "seq": 4, "step": 2042, "t": 10.21, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_1"}, "cause": null} +{"env_id": 0, "seq": 5, "step": 2074, "t": 10.37, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_1"}, "cause": null} +{"env_id": 0, "seq": 6, "step": 2158, "t": 10.79, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_1"}, "cause": null} +{"env_id": 0, "seq": 7, "step": 7019, "t": 35.095, "topic": "a4s_sealer_1.plate_present.present", "source": "a4s_sealer_1.plate_present", "data": {"object": "plate_1"}, "cause": null} +{"env_id": 0, "seq": 8, "step": 7632, "t": 38.16, "topic": "a4s_sealer_1.command.started", "source": "a4s_sealer_1", "data": {"command_id": "task-0-1", "name": "seal", "source": "task"}, "cause": "task-0-1"} +{"env_id": 0, "seq": 9, "step": 7632, "t": 38.16, "topic": "a4s_sealer_1.seal.started", "source": "a4s_sealer_1", "data": {"dwell": 1.5705022283006747}, "cause": "task-0-1"} +{"env_id": 0, "seq": 10, "step": 7632, "t": 38.16, "topic": "a4s_sealer_1.drawer.command.started", "source": "a4s_sealer_1.drawer", "data": {"command_id": "program-0-2", "name": "close", "source": "program:seal"}, "cause": "program-0-2"} +{"env_id": 0, "seq": 11, "step": 7632, "t": 38.16, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "at_out", "to": "moving"}, "cause": null} +{"env_id": 0, "seq": 12, "step": 7632, "t": 38.16, "topic": "a4s_sealer_1.drawer.moving", "source": "a4s_sealer_1.drawer", "data": {"target": 0.3, "goal": "in"}, "cause": "program-0-2"} +{"env_id": 0, "seq": 13, "step": 8051, "t": 40.255, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "moving", "to": "at_in"}, "cause": null} +{"env_id": 0, "seq": 14, "step": 8051, "t": 40.255, "topic": "a4s_sealer_1.drawer.reached", "source": "a4s_sealer_1.drawer", "data": {"position": "in", "q": 0.30000001192092896}, "cause": "program-0-2"} +{"env_id": 0, "seq": 15, "step": 8051, "t": 40.255, "topic": "a4s_sealer_1.drawer.at_in", "source": "a4s_sealer_1.drawer", "data": {"q": 0.30000001192092896}, "cause": "program-0-2"} +{"env_id": 0, "seq": 16, "step": 8051, "t": 40.255, "topic": "a4s_sealer_1.drawer.command.succeeded", "source": "a4s_sealer_1.drawer", "data": {"command_id": "program-0-2", "name": "close", "source": "program:seal", "result": {"position": "in"}}, "cause": "program-0-2"} +{"env_id": 0, "seq": 17, "step": 8051, "t": 40.255, "topic": "labware.plate_1.changed", "source": "labware.plate_1", "data": {"key": "sealed", "value": true}, "cause": "task-0-1"} +{"env_id": 0, "seq": 18, "step": 8051, "t": 40.255, "topic": "a4s_sealer_1.sealed", "source": "a4s_sealer_1", "data": {"plate": "plate_1"}, "cause": "task-0-1"} +{"env_id": 0, "seq": 19, "step": 8051, "t": 40.255, "topic": "a4s_sealer_1.heater.command.started", "source": "a4s_sealer_1.heater", "data": {"command_id": "program-0-3", "name": "run", "source": "program:seal"}, "cause": "program-0-3"} +{"env_id": 0, "seq": 20, "step": 8051, "t": 40.255, "topic": "a4s_sealer_1.heater.state.changed", "source": "a4s_sealer_1.heater", "data": {"from": "ready", "to": "running"}, "cause": null} +{"env_id": 0, "seq": 21, "step": 8051, "t": 40.255, "topic": "a4s_sealer_1.heater.started", "source": "a4s_sealer_1.heater", "data": {"duration": 1.5705022283006747}, "cause": "program-0-3"} +{"env_id": 0, "seq": 22, "step": 8366, "t": 41.83, "topic": "a4s_sealer_1.heater.state.changed", "source": "a4s_sealer_1.heater", "data": {"from": "running", "to": "ready"}, "cause": null} +{"env_id": 0, "seq": 23, "step": 8366, "t": 41.83, "topic": "a4s_sealer_1.heater.finished", "source": "a4s_sealer_1.heater", "data": {"elapsed": 1.5750000000008058}, "cause": "program-0-3"} +{"env_id": 0, "seq": 24, "step": 8366, "t": 41.83, "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": 1.5750000000008058}}, "cause": "program-0-3"} +{"env_id": 0, "seq": 25, "step": 8366, "t": 41.83, "topic": "a4s_sealer_1.drawer.command.started", "source": "a4s_sealer_1.drawer", "data": {"command_id": "program-0-4", "name": "open", "source": "program:seal"}, "cause": "program-0-4"} +{"env_id": 0, "seq": 26, "step": 8366, "t": 41.83, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "at_in", "to": "moving"}, "cause": null} +{"env_id": 0, "seq": 27, "step": 8366, "t": 41.83, "topic": "a4s_sealer_1.drawer.moving", "source": "a4s_sealer_1.drawer", "data": {"target": 0.0, "goal": "out"}, "cause": "program-0-4"} +{"env_id": 0, "seq": 28, "step": 8786, "t": 43.93, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "moving", "to": "at_out"}, "cause": null} +{"env_id": 0, "seq": 29, "step": 8786, "t": 43.93, "topic": "a4s_sealer_1.drawer.reached", "source": "a4s_sealer_1.drawer", "data": {"position": "out", "q": 0.0}, "cause": "program-0-4"} +{"env_id": 0, "seq": 30, "step": 8786, "t": 43.93, "topic": "a4s_sealer_1.drawer.at_out", "source": "a4s_sealer_1.drawer", "data": {"q": 0.0}, "cause": "program-0-4"} +{"env_id": 0, "seq": 31, "step": 8786, "t": 43.93, "topic": "a4s_sealer_1.drawer.command.succeeded", "source": "a4s_sealer_1.drawer", "data": {"command_id": "program-0-4", "name": "open", "source": "program:seal", "result": {"position": "out"}}, "cause": "program-0-4"} +{"env_id": 0, "seq": 32, "step": 8786, "t": 43.93, "topic": "a4s_sealer_1.seal.finished", "source": "a4s_sealer_1", "data": {}, "cause": "task-0-1"} +{"env_id": 0, "seq": 33, "step": 8786, "t": 43.93, "topic": "a4s_sealer_1.command.succeeded", "source": "a4s_sealer_1", "data": {"command_id": "task-0-1", "name": "seal", "source": "task"}, "cause": "task-0-1"} +{"env_id": 0, "seq": 34, "step": 9366, "t": 46.83, "topic": "a4s_sealer_1.plate_present.absent", "source": "a4s_sealer_1.plate_present", "data": {"object": "plate_1"}, "cause": null} +{"env_id": 0, "seq": 35, "step": 11084, "t": 55.42, "topic": "conveyor_1.belt.command.started", "source": "conveyor_1.belt", "data": {"command_id": "task-0-5", "name": "release", "source": "task"}, "cause": "task-0-5"} +{"env_id": 0, "seq": 36, "step": 11084, "t": 55.42, "topic": "conveyor_1.belt.station.pick.released", "source": "conveyor_1.belt", "data": {"rider": "carrier_1"}, "cause": "task-0-5"} +{"env_id": 0, "seq": 37, "step": 11084, "t": 55.42, "topic": "conveyor_1.belt.state.changed", "source": "conveyor_1.belt", "data": {"from": "at_station", "to": "running"}, "cause": null} +{"env_id": 0, "seq": 38, "step": 11084, "t": 55.42, "topic": "conveyor_1.belt.command.succeeded", "source": "conveyor_1.belt", "data": {"command_id": "task-0-5", "name": "release", "source": "task", "result": {"state": "running"}}, "cause": "task-0-5"} diff --git a/episodes/c2_p011_e015/env.mp4 b/episodes/c2_p011_e015/env.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..34f8085138c24eb042db7aa2326bc5e0b4c76a0c --- /dev/null +++ b/episodes/c2_p011_e015/env.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:02c08b5ef530002a81f99e17c427376162811a6d8bc32c9851d995d8557cd046 +size 1275081 diff --git a/episodes/c2_p011_e015/meta.json b/episodes/c2_p011_e015/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..438ea0074cbfa58cc233bf4369c62390c97818bc --- /dev/null +++ b/episodes/c2_p011_e015/meta.json @@ -0,0 +1,32 @@ +{ + "source": "raw/c2_p011/magicsim/15", + "fps": 25, + "frames": 1189, + "kept_ticks": "even", + "video_frames": { + "wrist": 1189, + "env": 1189 + }, + "joint_target_source": "joint_pos_target", + "fk_vs_recorded_eef_max_m": 0.0, + "curobo_joints": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "joint_order": [ + "shoulder_pan", + "shoulder_lift", + "elbow", + "wrist_1", + "wrist_2", + "wrist_3", + "finger_left", + "finger_right" + ], + "frames_note": "eef / actions in the robot base frame; camera_pose = local pose (wrist: in plate_gripper_base, env: env frame), pos + quat wxyz", + "dr_version": "v2" +} \ No newline at end of file diff --git a/episodes/c2_p011_e015/scene_snapshot.json b/episodes/c2_p011_e015/scene_snapshot.json new file mode 100644 index 0000000000000000000000000000000000000000..c48e37fee14387fc84921910925aa97832187c0c --- /dev/null +++ b/episodes/c2_p011_e015/scene_snapshot.json @@ -0,0 +1,1558 @@ +{ + "trajectory_id": 15, + "env_id": 0, + "run_id": "c2_p011", + "task_type": "BioPlateCell", + "success": true, + "timing": { + "fps": 50.0, + "sim_dt": 0.005, + "decimation": 4 + }, + "restore_interface": { + "scene": "scene_manager.reset_to(snapshot['scene'], env_ids=[env_id])", + "robots": "robot_manager.set_state({'robots': snapshot['robots']}, env_ids=[env_id])" + }, + "snapshot": { + "env_id": 0, + "scene": { + "objects": [ + { + "rac_cell": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/rac_cell.usd", + "pose": { + "pos": [ + 0.0, + 0.0, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "physics_material": { + "static_friction": 0.6, + "dynamic_friction": 0.5, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "robot_mount": [ + { + "asset": "Cube", + "pose": { + "pos": [ + 0.0, + 0.0, + 0.9075 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": "color", + "value": [ + 0.55, + 0.56, + 0.58 + ], + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": { + "size": [ + 0.2, + 0.2, + 0.015 + ] + } + }, + "type_specific": {} + } + ], + "plate_rack": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/plate_hotel.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 0.9 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "physics_material": { + "static_friction": 0.6, + "dynamic_friction": 0.5, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "hotel_plate": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/deep_well_24_10ml/deep_well_24_10ml.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 0.9605 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_12_clear/plate_12_clear.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.0285 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/deep_well_24_10ml/deep_well_24_10ml.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.0965 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_48_clear/plate_48_clear.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.1645 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/deep_well_96_2ml/deep_well_96_2ml.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.2325 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "a4s_sealer": [ + { + "asset": "$MAGICSIM_ASSETS/Articulated/A4SSealer/Object.usd", + "pose": { + "pos": [ + 0.46334171295166016, + 0.11973381042480469, + 0.8999999761581421 + ], + "ori": [ + -0.6868569850921631, + 0.0, + 0.0, + 0.726792573928833 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "articulation", + "solver_position_iteration_count": 16.0, + "solver_velocity_iteration_count": 1.0, + "enabled_self_collisions": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "joint_position": [ + 0.0 + ], + "joint_velocity": [ + 0.0 + ], + "linear_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "angular_velocity": [ + 0.0, + 0.0, + 0.0 + ] + } + } + ], + "conveyor": [ + { + "asset": "Cube", + "pose": { + "pos": [ + 0.15, + 0.45, + 0.9 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "conveyor", + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9 + }, + "ratio": 1.0 + }, + "primitive_params": { + "size": [ + 2.4, + 0.076, + 0.03 + ] + }, + "conveyor": { + "speed": 0.2890082090455743, + "direction": [ + 1.0, + 0.0, + 0.0 + ], + "enabled": true, + "drive": "surface_velocity", + "lines": null, + "station_line": null, + "riders": [ + "carrier" + ], + "stations": { + "pick": { + "position": -0.0907630512652689, + "slow_distance": 0.03, + "slow_speed": 0.03 + } + }, + "rails": { + "height": 0.01, + "thickness": 0.01, + "gap": 0.001, + "friction": 0.05 + }, + "legs": 0.87, + "loop": { + "radius": 0.35, + "side": "left", + "curve_extra_width": 0.0, + "segments": 18, + "curve_rails": "both" + }, + "snap_distance": 0.1, + "junction_snap": 0.02, + "collision_approximation": "auto", + "plate_mass": 1.0, + "lift_drop": 0.004, + "accel": 0.0, + "decel": 0.0, + "drive_damping": 1000000.0, + "drive_max_force": 1000000000.0 + } + }, + "type_specific": { + "controller": { + "state": "at_station", + "speed": 0.2890082090455743, + "holds": [], + "station": "pick", + "rider": "carrier_1", + "arrived": true, + "applied_speed": 0.0 + } + } + } + ], + "carrier": [ + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + 0.058990478515625, + 0.4500007629394531, + 0.8999999761581421 + ], + "ori": [ + 1.0, + 4.405609210778039e-09, + 5.76965419885056e-11, + 1.143440113082761e-05 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 2.856964886888136e-09, + 2.07163775023389e-09, + 1.4901161193847656e-08 + ], + "angular_velocity": [ + -1.1422109480463405e-07, + 2.6154870624850446e-07, + -2.1968203256506058e-08 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + 1.580916404724121, + 0.5410881042480469, + 0.8999999761581421 + ], + "ori": [ + 0.9374619722366333, + 8.387576855284351e-09, + -1.150739414867985e-08, + 0.34808793663978577 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -6.730829227308277e-10, + -1.4445049600908533e-09, + 3.725290298461914e-09 + ], + "angular_velocity": [ + 1.5232217265293002e-07, + -7.551716407760978e-08, + -8.69306404638337e-10 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + -1.397200584411621, + 0.7821779251098633, + 0.8999999761581421 + ], + "ori": [ + -0.7174862623214722, + 1.5617742121776246e-07, + 4.914450713044971e-08, + 0.6965726613998413 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -2.706136115193658e-08, + 5.554167792354292e-09, + -3.725290298461914e-09 + ], + "angular_velocity": [ + 1.9791272620750533e-07, + -5.403619525168324e-07, + -3.7747761894024734e-07 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + 4.482269287109375e-05, + 1.1499948501586914, + 0.8999999761581421 + ], + "ori": [ + 4.712321606348269e-05, + 7.096760956670778e-10, + -1.0730216715160168e-09, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -1.9959318642293056e-09, + -4.349940851966494e-09, + 1.862645149230957e-08 + ], + "angular_velocity": [ + 2.3155988060352684e-07, + -1.766901789324038e-07, + -4.5440277318675726e-08 + ] + } + } + ], + "plate": [ + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_6_clear/Object.usd", + "pose": { + "pos": [ + 0.0662689208984375, + 0.44048118591308594, + 0.9179999828338623 + ], + "ori": [ + 0.9970903992652893, + 4.836161249244242e-09, + -2.130341236750155e-09, + 0.07622780650854111 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -1.767547175290929e-08, + 1.4621742039366836e-08, + 1.7881393432617188e-07 + ], + "angular_velocity": [ + 6.305279498519667e-08, + -1.887811663436878e-06, + -6.031408705808872e-09 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_96_black/Object.usd", + "pose": { + "pos": [ + 1.594468116760254, + 0.5443553924560547, + 0.9180000424385071 + ], + "ori": [ + 0.9470901489257812, + 9.127554712051733e-09, + -9.369834685912792e-09, + 0.32096782326698303 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -6.166806088003796e-08, + -3.603031473176088e-08, + 1.0803341865539551e-07 + ], + "angular_velocity": [ + 1.7463207768741995e-06, + -1.8569226085674018e-06, + 2.432237238281232e-07 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/pcr_96_blue/Object.usd", + "pose": { + "pos": [ + -1.4073457717895508, + 0.798004150390625, + 0.9180000424385071 + ], + "ori": [ + -0.6628581285476685, + 2.960786105177249e-07, + -1.894806018754025e-07, + 0.7487450838088989 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -2.009584932238795e-06, + 2.0103439055674244e-06, + -6.3963234424591064e-06 + ], + "angular_velocity": [ + -3.1342788133770227e-06, + 2.537104592192918e-06, + -1.0234562068944797e-05 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/deep_well_96_2ml/Object.usd", + "pose": { + "pos": [ + 0.008733749389648438, + 1.1612634658813477, + 0.9179999828338623 + ], + "ori": [ + -0.08225345611572266, + 6.954309350604149e-10, + -9.277482115876978e-10, + 0.996611475944519 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 5.235596844954671e-09, + -4.520843432942456e-08, + -1.125037670135498e-06 + ], + "angular_velocity": [ + 4.6145737542246934e-07, + 1.419308318872936e-06, + -1.199708208332595e-07 + ] + } + } + ], + "deco_hub_west": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/hub_d.usd", + "pose": { + "pos": [ + -3.36, + 0.0, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_hub_east": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/hub_e.usd", + "pose": { + "pos": [ + 3.36, + 0.0, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_hub_back": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/hub_b.usd", + "pose": { + "pos": [ + -3.0, + -2.1, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_bench_east": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/bench_a.usd", + "pose": { + "pos": [ + 2.6, + -2.5, + 0.0 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_bench_gap": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/bench_b.usd", + "pose": { + "pos": [ + -0.1, + -2.9, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ] + }, + {}, + {}, + {} + ], + "devices": { + "hub": [ + { + "t": 7.999999999999852, + "step": 1600, + "counter": 0, + "devices": { + "a4s_sealer_1": { + "mode": "auto", + "units": { + "drawer": { + "state": "at_out", + "active": null, + "target": 0.0, + "goal_name": "out", + "profile": null, + "q_start": null, + "reversing": false, + "blocked_for": 0.0, + "settled_for": 0.0, + "last_q": 0.0 + }, + "heater": { + "state": "ready", + "active": null, + "duration": 0.0, + "t_start": null, + "elapsed": 0.0 + } + }, + "queues": {}, + "program": null, + "sensors": { + "plate_present": { + "occupants": [], + "pending": {} + } + }, + "interlocks": {} + }, + "conveyor_1": { + "mode": "auto", + "units": { + "belt": { + "state": "at_station", + "active": null, + "controller": { + "speed": 0.2890082090455743, + "holds": [], + "station": "pick", + "rider": "carrier_1", + "arrived": true, + "settle_count": 1494, + "released": { + "pick": [] + }, + "last_pos": { + "carrier_1": [ + -0.09100952744483948, + 7.748603820800781e-07, + 0.0 + ], + "carrier_2": [ + 1.4309163987636566, + 0.09108811616897583, + 0.0 + ], + "carrier_3": [ + -1.5472005903720856, + 0.33217793703079224, + 0.0 + ], + "carrier_4": [ + -0.14995518326759338, + 0.6999948620796204, + 0.0 + ] + }, + "command": 0.0 + }, + "belt": { + "target_speed": 0.0, + "command_speed": 0.0 + }, + "seen": { + "state": "at_station", + "station": "pick", + "rider": "carrier_1", + "arrived": true + } + } + }, + "queues": {}, + "program": null, + "sensors": {}, + "interlocks": {} + } + }, + "zones": {}, + "labware": { + "plate_1": { + "sealed": false + }, + "plate_2": { + "sealed": false + }, + "plate_3": { + "sealed": false + }, + "plate_4": { + "sealed": false + } + }, + "rules": {}, + "records": [], + "bus": { + "seq": 3, + "queue": [] + } + }, + null, + null, + null + ], + "drives": [ + {}, + null, + null, + null + ] + }, + "artifacts": [ + { + "ceiling": { + "type": "rect", + "pose": { + "pos": [ + 0.2886898139829609, + -0.2914126613458381, + 2.9527825440566158 + ], + "ori": [ + -0.6946038292552501, + 9.27669322026242, + 29.6336362669405 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "color_temperature": 4612.913129964627, + "color": [ + 0.9604007931017275, + 0.8135366784053664, + 0.903508801325449 + ], + "intensity": 13521.567512030304, + "width": 2.455840111903914, + "height": 1.5979120261960014 + } + }, + "key": { + "type": "sphere", + "pose": { + "pos": [ + 1.1128375847645646, + -0.38758734809898576, + 1.777578766001435 + ], + "ori": [ + 27.884507929519543, + 10.418767395067562, + 19.358295354468552 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "color_temperature": 3829.662112229876, + "color": [ + 0.7637946261920965, + 0.9863213016375582, + 0.8793873597579569 + ], + "intensity": 3224.298309442912, + "radius": 0.21386749210825545 + } + } + }, + {}, + {}, + {} + ], + "background": { + "type": "dome", + "pose": { + "pos": null, + "ori": null, + "scale": null + }, + "dr": { + "intensity": 736.0858191530792, + "texture": null, + "color": [ + 0.92, + 0.94, + 0.96 + ] + } + } + }, + "robots": { + "UR5e": { + "root_pose": [ + [ + 11.0, + -11.0, + 0.9150000214576721, + 1.0, + 0.0, + 0.0, + 0.0 + ], + [ + 11.0, + 11.0, + 0.9150000214576721, + 1.0, + 0.0, + 0.0, + 0.0 + ], + [ + -11.0, + -11.0, + 0.9150000214576721, + 1.0, + 0.0, + 0.0, + 0.0 + ], + [ + -11.0, + 11.0, + 0.9150000214576721, + 1.0, + 0.0, + 0.0, + 0.0 + ] + ], + "root_vel": [ + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + ], + "joint_pos": [ + [ + 0.9141048192977905, + -1.7193970680236816, + 2.0904998779296875, + -1.9419019222259521, + -1.5707999467849731, + 2.4849019050598145, + 0.018000001087784767, + 0.01799999736249447 + ], + [ + 2.4687020778656006, + -2.319563865661621, + 2.434039354324341, + -1.6854403018951416, + -1.571518063545227, + 4.03834867477417, + 0.00769656989723444, + 0.007064817473292351 + ], + [ + 2.5915892124176025, + -2.1475088596343994, + 2.040036916732788, + -1.4632203578948975, + -1.5708237886428833, + 4.162694454193115, + 0.007804594002664089, + 0.007292440161108971 + ], + [ + 2.7931880950927734, + -1.6410961151123047, + 2.0657777786254883, + -1.9954748153686523, + -1.5707913637161255, + 4.363520622253418, + 0.017999982461333275, + 0.01800001598894596 + ] + ], + "joint_vel": [ + [ + -2.2826330822951176e-38, + 0.0, + 0.0, + 5.277130380726205e-37, + -5.644102870979097e-37, + 3.5633910119396353e-37, + -2.5990388508034812e-08, + 2.5990388508034812e-08 + ], + [ + 0.02564471773803234, + 0.03632171079516411, + -0.009643801487982273, + -0.026224706321954727, + 0.0005423518596217036, + 0.023840807378292084, + -0.007898548617959023, + 0.00029884494142606854 + ], + [ + -0.01622890867292881, + -0.024138493463397026, + 0.008324754424393177, + 0.01375842746347189, + 0.00042723800288513303, + -0.017615409567952156, + -0.006069834344089031, + 0.000369069428415969 + ], + [ + 0.00637937942519784, + 0.021454226225614548, + -0.019116412848234177, + -0.0018412178615108132, + 6.805315024394076e-06, + 0.006512576248496771, + 3.596546775952447e-06, + -3.596492888391367e-06 + ] + ] + } + }, + "cameras": { + "cameras": { + "camera0": [ + [ + 0.05046515539288521, + -0.004173595458269119, + -0.02744343690574169, + -0.2774975597858429, + 0.6453621983528137, + 0.6573613286018372, + -0.27272483706474304 + ], + [ + 0.051037803292274475, + 0.002599812811240554, + -0.028943784534931183, + -0.26903125643730164, + 0.6606196761131287, + 0.6409340500831604, + -0.28356197476387024 + ], + [ + 0.05119432508945465, + 0.0006609971751458943, + -0.0311376191675663, + -0.2809898853302002, + 0.645045280456543, + 0.6540725827217102, + -0.2777594327926636 + ], + [ + 0.049838416278362274, + 0.0020117564126849174, + -0.0313866101205349, + -0.27557507157325745, + 0.6495377421379089, + 0.6516826748847961, + -0.27833205461502075 + ] + ], + "camera1": [ + [ + 0.027473226189613342, + 0.5719531774520874, + 1.9470069408416748, + 0.06036493927240372, + 0.023705193772912025, + 0.28409871459007263, + 0.956599235534668 + ], + [ + 0.034035421907901764, + 0.5813454985618591, + 1.9487049579620361, + 0.035297516733407974, + 0.026838358491659164, + 0.25794342160224915, + 0.9651419520378113 + ], + [ + 0.02972318045794964, + 0.5914806127548218, + 1.9617388248443604, + 0.05414454638957977, + 0.012959024868905544, + 0.27719539403915405, + 0.9591992497444153 + ], + [ + 0.07215762883424759, + 0.5758117437362671, + 1.9632792472839355, + 0.04554348438978195, + 0.010803897865116596, + 0.26670512557029724, + 0.9626408815383911 + ] + ] + } + } + } +} \ No newline at end of file diff --git a/episodes/c2_p011_e015/wrist.mp4 b/episodes/c2_p011_e015/wrist.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..a8fd07f897f9af85c66df9e908ebe2d4aa4f1cb0 --- /dev/null +++ b/episodes/c2_p011_e015/wrist.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:0a5650a704331fdcb9f5b9dcc630d2705f141a534eaf197dca9035be6e167186 +size 7085860 diff --git a/episodes/c3_p009_e019/data.npz b/episodes/c3_p009_e019/data.npz new file mode 100644 index 0000000000000000000000000000000000000000..e1da48dbc58394045929ec44dbdb9a0f7afff174 --- /dev/null +++ b/episodes/c3_p009_e019/data.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:b5c8786e5919fc7d4319f82823b9b3d19ca7d1552fb7ebe5b1453d30ad508af9 +size 185120 diff --git a/episodes/c3_p009_e019/device_events.jsonl b/episodes/c3_p009_e019/device_events.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..447db306e0ade01d039d680f6615cc8902e197fe --- /dev/null +++ b/episodes/c3_p009_e019/device_events.jsonl @@ -0,0 +1,35 @@ +{"env_id": 0, "seq": 1, "step": 64, "t": 0.32, "topic": "conveyor_1.belt.station.pick.captured", "source": "conveyor_1.belt", "data": {"rider": "carrier_2"}, "cause": null} +{"env_id": 0, "seq": 2, "step": 64, "t": 0.32, "topic": "conveyor_1.belt.state.changed", "source": "conveyor_1.belt", "data": {"from": "running", "to": "at_station"}, "cause": null} +{"env_id": 0, "seq": 3, "step": 69, "t": 0.345, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_2"}, "cause": null} +{"env_id": 0, "seq": 4, "step": 5607, "t": 28.035, "topic": "a4s_sealer_1.plate_present.present", "source": "a4s_sealer_1.plate_present", "data": {"object": "plate_2"}, "cause": null} +{"env_id": 0, "seq": 5, "step": 6220, "t": 31.1, "topic": "a4s_sealer_1.command.started", "source": "a4s_sealer_1", "data": {"command_id": "task-0-1", "name": "seal", "source": "task"}, "cause": "task-0-1"} +{"env_id": 0, "seq": 6, "step": 6220, "t": 31.1, "topic": "a4s_sealer_1.seal.started", "source": "a4s_sealer_1", "data": {"dwell": 2.0889518845326167}, "cause": "task-0-1"} +{"env_id": 0, "seq": 7, "step": 6220, "t": 31.1, "topic": "a4s_sealer_1.drawer.command.started", "source": "a4s_sealer_1.drawer", "data": {"command_id": "program-0-2", "name": "close", "source": "program:seal"}, "cause": "program-0-2"} +{"env_id": 0, "seq": 8, "step": 6220, "t": 31.1, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "at_out", "to": "moving"}, "cause": null} +{"env_id": 0, "seq": 9, "step": 6220, "t": 31.1, "topic": "a4s_sealer_1.drawer.moving", "source": "a4s_sealer_1.drawer", "data": {"target": 0.3, "goal": "in"}, "cause": "program-0-2"} +{"env_id": 0, "seq": 10, "step": 6639, "t": 33.195, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "moving", "to": "at_in"}, "cause": null} +{"env_id": 0, "seq": 11, "step": 6639, "t": 33.195, "topic": "a4s_sealer_1.drawer.reached", "source": "a4s_sealer_1.drawer", "data": {"position": "in", "q": 0.30000001192092896}, "cause": "program-0-2"} +{"env_id": 0, "seq": 12, "step": 6639, "t": 33.195, "topic": "a4s_sealer_1.drawer.at_in", "source": "a4s_sealer_1.drawer", "data": {"q": 0.30000001192092896}, "cause": "program-0-2"} +{"env_id": 0, "seq": 13, "step": 6639, "t": 33.195, "topic": "a4s_sealer_1.drawer.command.succeeded", "source": "a4s_sealer_1.drawer", "data": {"command_id": "program-0-2", "name": "close", "source": "program:seal", "result": {"position": "in"}}, "cause": "program-0-2"} +{"env_id": 0, "seq": 14, "step": 6639, "t": 33.195, "topic": "labware.plate_2.changed", "source": "labware.plate_2", "data": {"key": "sealed", "value": true}, "cause": "task-0-1"} +{"env_id": 0, "seq": 15, "step": 6639, "t": 33.195, "topic": "a4s_sealer_1.sealed", "source": "a4s_sealer_1", "data": {"plate": "plate_2"}, "cause": "task-0-1"} +{"env_id": 0, "seq": 16, "step": 6639, "t": 33.195, "topic": "a4s_sealer_1.heater.command.started", "source": "a4s_sealer_1.heater", "data": {"command_id": "program-0-3", "name": "run", "source": "program:seal"}, "cause": "program-0-3"} +{"env_id": 0, "seq": 17, "step": 6639, "t": 33.195, "topic": "a4s_sealer_1.heater.state.changed", "source": "a4s_sealer_1.heater", "data": {"from": "ready", "to": "running"}, "cause": null} +{"env_id": 0, "seq": 18, "step": 6639, "t": 33.195, "topic": "a4s_sealer_1.heater.started", "source": "a4s_sealer_1.heater", "data": {"duration": 2.0889518845326167}, "cause": "program-0-3"} +{"env_id": 0, "seq": 19, "step": 7057, "t": 35.285, "topic": "a4s_sealer_1.heater.state.changed", "source": "a4s_sealer_1.heater", "data": {"from": "running", "to": "ready"}, "cause": null} +{"env_id": 0, "seq": 20, "step": 7057, "t": 35.285, "topic": "a4s_sealer_1.heater.finished", "source": "a4s_sealer_1.heater", "data": {"elapsed": 2.0900000000010692}, "cause": "program-0-3"} +{"env_id": 0, "seq": 21, "step": 7057, "t": 35.285, "topic": "a4s_sealer_1.heater.command.succeeded", "source": "a4s_sealer_1.heater", "data": {"command_id": "program-0-3", "name": "run", "source": "program:seal", "result": {"elapsed": 2.0900000000010692}}, "cause": "program-0-3"} +{"env_id": 0, "seq": 22, "step": 7057, "t": 35.285, "topic": "a4s_sealer_1.drawer.command.started", "source": "a4s_sealer_1.drawer", "data": {"command_id": "program-0-4", "name": "open", "source": "program:seal"}, "cause": "program-0-4"} +{"env_id": 0, "seq": 23, "step": 7057, "t": 35.285, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "at_in", "to": "moving"}, "cause": null} +{"env_id": 0, "seq": 24, "step": 7057, "t": 35.285, "topic": "a4s_sealer_1.drawer.moving", "source": "a4s_sealer_1.drawer", "data": {"target": 0.0, "goal": "out"}, "cause": "program-0-4"} +{"env_id": 0, "seq": 25, "step": 7477, "t": 37.385, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "moving", "to": "at_out"}, "cause": null} +{"env_id": 0, "seq": 26, "step": 7477, "t": 37.385, "topic": "a4s_sealer_1.drawer.reached", "source": "a4s_sealer_1.drawer", "data": {"position": "out", "q": 0.0}, "cause": "program-0-4"} +{"env_id": 0, "seq": 27, "step": 7477, "t": 37.385, "topic": "a4s_sealer_1.drawer.at_out", "source": "a4s_sealer_1.drawer", "data": {"q": 0.0}, "cause": "program-0-4"} +{"env_id": 0, "seq": 28, "step": 7477, "t": 37.385, "topic": "a4s_sealer_1.drawer.command.succeeded", "source": "a4s_sealer_1.drawer", "data": {"command_id": "program-0-4", "name": "open", "source": "program:seal", "result": {"position": "out"}}, "cause": "program-0-4"} +{"env_id": 0, "seq": 29, "step": 7477, "t": 37.385, "topic": "a4s_sealer_1.seal.finished", "source": "a4s_sealer_1", "data": {}, "cause": "task-0-1"} +{"env_id": 0, "seq": 30, "step": 7477, "t": 37.385, "topic": "a4s_sealer_1.command.succeeded", "source": "a4s_sealer_1", "data": {"command_id": "task-0-1", "name": "seal", "source": "task"}, "cause": "task-0-1"} +{"env_id": 0, "seq": 31, "step": 8053, "t": 40.265, "topic": "a4s_sealer_1.plate_present.absent", "source": "a4s_sealer_1.plate_present", "data": {"object": "plate_2"}, "cause": null} +{"env_id": 0, "seq": 32, "step": 9736, "t": 48.68, "topic": "conveyor_1.belt.command.started", "source": "conveyor_1.belt", "data": {"command_id": "task-0-5", "name": "release", "source": "task"}, "cause": "task-0-5"} +{"env_id": 0, "seq": 33, "step": 9736, "t": 48.68, "topic": "conveyor_1.belt.station.pick.released", "source": "conveyor_1.belt", "data": {"rider": "carrier_2"}, "cause": "task-0-5"} +{"env_id": 0, "seq": 34, "step": 9736, "t": 48.68, "topic": "conveyor_1.belt.state.changed", "source": "conveyor_1.belt", "data": {"from": "at_station", "to": "running"}, "cause": null} +{"env_id": 0, "seq": 35, "step": 9736, "t": 48.68, "topic": "conveyor_1.belt.command.succeeded", "source": "conveyor_1.belt", "data": {"command_id": "task-0-5", "name": "release", "source": "task", "result": {"state": "running"}}, "cause": "task-0-5"} diff --git a/episodes/c3_p009_e019/env.mp4 b/episodes/c3_p009_e019/env.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..5216daf88c5b3e2b3b8ea18a5a31031b179f9f19 --- /dev/null +++ b/episodes/c3_p009_e019/env.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:72f02535ae03449a8a0a5ceaa67c8271cbeed74ab8b82f3dba066cb5efa6da3c +size 1213551 diff --git a/episodes/c3_p009_e019/meta.json b/episodes/c3_p009_e019/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..ee43e41f88420af586b25c546723c2c29bca8372 --- /dev/null +++ b/episodes/c3_p009_e019/meta.json @@ -0,0 +1,32 @@ +{ + "source": "raw/c3_p009/magicsim/19", + "fps": 25, + "frames": 1167, + "kept_ticks": "even", + "video_frames": { + "wrist": 1167, + "env": 1167 + }, + "joint_target_source": "joint_pos_target", + "fk_vs_recorded_eef_max_m": 0.0, + "curobo_joints": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "joint_order": [ + "shoulder_pan", + "shoulder_lift", + "elbow", + "wrist_1", + "wrist_2", + "wrist_3", + "finger_left", + "finger_right" + ], + "frames_note": "eef / actions in the robot base frame; camera_pose = local pose (wrist: in plate_gripper_base, env: env frame), pos + quat wxyz", + "dr_version": "v2" +} \ No newline at end of file diff --git a/episodes/c3_p009_e019/scene_snapshot.json b/episodes/c3_p009_e019/scene_snapshot.json new file mode 100644 index 0000000000000000000000000000000000000000..d341d7280dd4cc2204947ba5c31cb1b21259a1b6 --- /dev/null +++ b/episodes/c3_p009_e019/scene_snapshot.json @@ -0,0 +1,1558 @@ +{ + "trajectory_id": 19, + "env_id": 0, + "run_id": "c3_p009", + "task_type": "BioPlateCell", + "success": true, + "timing": { + "fps": 50.0, + "sim_dt": 0.005, + "decimation": 4 + }, + "restore_interface": { + "scene": "scene_manager.reset_to(snapshot['scene'], env_ids=[env_id])", + "robots": "robot_manager.set_state({'robots': snapshot['robots']}, env_ids=[env_id])" + }, + "snapshot": { + "env_id": 0, + "scene": { + "objects": [ + { + "rac_cell": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/rac_cell.usd", + "pose": { + "pos": [ + 0.0, + 0.0, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "physics_material": { + "static_friction": 0.6, + "dynamic_friction": 0.5, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "robot_mount": [ + { + "asset": "Cube", + "pose": { + "pos": [ + 0.0, + 0.0, + 0.9075 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": "color", + "value": [ + 0.55, + 0.56, + 0.58 + ], + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": { + "size": [ + 0.2, + 0.2, + 0.015 + ] + } + }, + "type_specific": {} + } + ], + "plate_rack": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/plate_hotel.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 0.9 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "physics_material": { + "static_friction": 0.6, + "dynamic_friction": 0.5, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "hotel_plate": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/pcr_96_blue/pcr_96_blue.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 0.9605 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_96_black/plate_96_black.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.0285 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_48_clear/plate_48_clear.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.0965 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_96_clear/plate_96_clear.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.1645 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_6_clear/plate_6_clear.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.2325 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "a4s_sealer": [ + { + "asset": "$MAGICSIM_ASSETS/Articulated/A4SSealer/Object.usd", + "pose": { + "pos": [ + 0.46109962463378906, + 0.10063934326171875, + 0.8999999761581421 + ], + "ori": [ + -0.6942216753959656, + 0.0, + 0.0, + 0.7197612524032593 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "articulation", + "solver_position_iteration_count": 16.0, + "solver_velocity_iteration_count": 1.0, + "enabled_self_collisions": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "joint_position": [ + 0.0 + ], + "joint_velocity": [ + 0.0 + ], + "linear_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "angular_velocity": [ + 0.0, + 0.0, + 0.0 + ] + } + } + ], + "conveyor": [ + { + "asset": "Cube", + "pose": { + "pos": [ + 0.15, + 0.45, + 0.9 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "conveyor", + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9 + }, + "ratio": 1.0 + }, + "primitive_params": { + "size": [ + 2.4, + 0.076, + 0.03 + ] + }, + "conveyor": { + "speed": 0.21865032837007575, + "direction": [ + 1.0, + 0.0, + 0.0 + ], + "enabled": true, + "drive": "surface_velocity", + "lines": null, + "station_line": null, + "riders": [ + "carrier" + ], + "stations": { + "pick": { + "position": -0.029129158090191343, + "slow_distance": 0.03, + "slow_speed": 0.03 + } + }, + "rails": { + "height": 0.01, + "thickness": 0.01, + "gap": 0.001, + "friction": 0.05 + }, + "legs": 0.87, + "loop": { + "radius": 0.35, + "side": "left", + "curve_extra_width": 0.0, + "segments": 18, + "curve_rails": "both" + }, + "snap_distance": 0.1, + "junction_snap": 0.02, + "collision_approximation": "auto", + "plate_mass": 1.0, + "lift_drop": 0.004, + "accel": 0.0, + "decel": 0.0, + "drive_damping": 1000000.0, + "drive_max_force": 1000000000.0 + } + }, + "type_specific": { + "controller": { + "state": "at_station", + "speed": 0.21865032837007575, + "holds": [], + "station": "pick", + "rider": "carrier_2", + "arrived": true, + "applied_speed": 0.0 + } + } + } + ], + "carrier": [ + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + -0.12690067291259766, + 1.149998664855957, + 0.8999999761581421 + ], + "ori": [ + 4.5882337872171775e-05, + 4.778416551332043e-10, + 2.1782586845375818e-09, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -6.63306409798281e-10, + -2.0256176735955478e-09, + 3.725290298461914e-09 + ], + "angular_velocity": [ + 1.4320224295261141e-07, + -4.678575749039737e-08, + -2.1372175140754734e-09 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + 0.1211700439453125, + 0.4499979019165039, + 0.8999999761581421 + ], + "ori": [ + 1.0, + -5.511217704423643e-09, + 2.2966036017368907e-10, + -1.1597539014474023e-05 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 4.196501479647452e-10, + 1.4013730176287709e-09, + 0.0 + ], + "angular_velocity": [ + -1.1730830351552868e-07, + 2.8761643733332676e-08, + -3.255857805584128e-09 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + 1.5587968826293945, + 0.5226650238037109, + 0.8999999761581421 + ], + "ori": [ + 0.9508892893791199, + -1.7197205881558375e-09, + -1.0130667504881785e-07, + 0.3095310926437378 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -7.107048283216955e-10, + -4.704421296963801e-10, + 2.9802322387695312e-08 + ], + "angular_velocity": [ + 3.376164272594906e-07, + -1.5619626481111482e-07, + 3.2450483189450097e-08 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + -1.2966375350952148, + 1.0441932678222656, + 0.8999999761581421 + ], + "ori": [ + -0.3813091218471527, + -1.1840378988381417e-07, + -7.846539062938973e-08, + 0.9244476556777954 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 3.2173176123251324e-08, + -1.976450647589445e-08, + 5.587935447692871e-08 + ], + "angular_velocity": [ + -2.0712434434244642e-08, + 1.0368053153797518e-06, + 6.516201551676204e-07 + ] + } + } + ], + "plate": [ + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_6_clear/Object.usd", + "pose": { + "pos": [ + -0.13380050659179688, + 1.158945083618164, + 0.9179999828338623 + ], + "ori": [ + -0.09342420101165771, + 1.5417486176616535e-09, + 3.4870513143658854e-09, + 0.9956263899803162 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 3.6657233692949376e-08, + -1.62021649430244e-08, + 1.1175870895385742e-07 + ], + "angular_velocity": [ + 1.758324970069225e-07, + 1.7821799929151894e-06, + 1.909304785385757e-07 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_96_black/Object.usd", + "pose": { + "pos": [ + 0.12913227081298828, + 0.4464111328125, + 0.9180000424385071 + ], + "ori": [ + 0.9997333884239197, + -6.803169139146803e-09, + -5.56836132759031e-10, + 0.02309322915971279 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -1.831854490319529e-08, + 1.5183154289388767e-08, + -5.0514936447143555e-06 + ], + "angular_velocity": [ + -5.681388159928247e-08, + -1.2384481351546128e-06, + 1.443055879235544e-07 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/pcr_96_blue/Object.usd", + "pose": { + "pos": [ + 1.5525226593017578, + 0.5057821273803711, + 0.9180000424385071 + ], + "ori": [ + 0.9299342632293701, + -7.773802934707419e-09, + -1.0049708265569279e-07, + 0.3677258789539337 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -5.621985366133231e-08, + -4.042624368594261e-08, + -6.236135959625244e-06 + ], + "angular_velocity": [ + 3.5922203096561134e-06, + -1.8071253862217418e-06, + 3.674308857171127e-07 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/deep_well_96_2ml/Object.usd", + "pose": { + "pos": [ + -1.3018836975097656, + 1.0335607528686523, + 0.9179999828338623 + ], + "ori": [ + -0.4257064461708069, + -7.075973371684086e-07, + 5.01600993629836e-07, + 0.9048612713813782 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 1.0653321623976808e-05, + 1.8481966890249169e-06, + -4.470348358154297e-06 + ], + "angular_velocity": [ + -3.432238008826971e-05, + 8.183764293789864e-05, + 6.690183363389224e-05 + ] + } + } + ], + "deco_hub_west": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/hub_d.usd", + "pose": { + "pos": [ + -3.36, + 0.0, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_hub_east": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/hub_e.usd", + "pose": { + "pos": [ + 3.36, + 0.0, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_hub_back": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/hub_b.usd", + "pose": { + "pos": [ + -3.0, + -2.1, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_bench_east": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/bench_a.usd", + "pose": { + "pos": [ + 2.6, + -2.5, + 0.0 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_bench_gap": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/bench_b.usd", + "pose": { + "pos": [ + -0.1, + -2.9, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ] + }, + {}, + {}, + {} + ], + "devices": { + "hub": [ + { + "t": 2.1999999999999753, + "step": 440, + "counter": 0, + "devices": { + "a4s_sealer_1": { + "mode": "auto", + "units": { + "drawer": { + "state": "at_out", + "active": null, + "target": 0.0, + "goal_name": "out", + "profile": null, + "q_start": null, + "reversing": false, + "blocked_for": 0.0, + "settled_for": 0.0, + "last_q": 0.0 + }, + "heater": { + "state": "ready", + "active": null, + "duration": 0.0, + "t_start": null, + "elapsed": 0.0 + } + }, + "queues": {}, + "program": null, + "sensors": { + "plate_present": { + "occupants": [], + "pending": {} + } + }, + "interlocks": {} + }, + "conveyor_1": { + "mode": "auto", + "units": { + "belt": { + "state": "at_station", + "active": null, + "controller": { + "speed": 0.21865032837007575, + "holds": [], + "station": "pick", + "rider": "carrier_2", + "arrived": true, + "settle_count": 375, + "released": { + "pick": [] + }, + "last_pos": { + "carrier_1": [ + -0.27690067887306213, + 0.699998676776886, + 0.0 + ], + "carrier_2": [ + -0.028829962015151978, + -2.086162567138672e-06, + 0.0 + ], + "carrier_3": [ + 1.40879687666893, + 0.07266503572463989, + 0.0 + ], + "carrier_4": [ + -1.4466375410556793, + 0.5941932797431946, + 0.0 + ] + }, + "command": 0.0 + }, + "belt": { + "target_speed": 0.0, + "command_speed": 0.0 + }, + "seen": { + "state": "at_station", + "station": "pick", + "rider": "carrier_2", + "arrived": true + } + } + }, + "queues": {}, + "program": null, + "sensors": {}, + "interlocks": {} + } + }, + "zones": {}, + "labware": { + "plate_1": { + "sealed": false + }, + "plate_2": { + "sealed": false + }, + "plate_3": { + "sealed": false + }, + "plate_4": { + "sealed": false + } + }, + "rules": {}, + "records": [], + "bus": { + "seq": 3, + "queue": [] + } + }, + null, + null, + null + ], + "drives": [ + {}, + null, + null, + null + ] + }, + "artifacts": [ + { + "ceiling": { + "type": "rect", + "pose": { + "pos": [ + -0.12267575710229578, + 0.23932802123653263, + 2.8405772412691404 + ], + "ori": [ + 5.245348776928182, + 4.157913978137401, + 8.777051766922334 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "color_temperature": 3586.6953482016384, + "color": [ + 0.833326419795451, + 0.8984079838267329, + 0.886294314554035 + ], + "intensity": 11675.638861109637, + "width": 2.3848908601736554, + "height": 1.6946967192671085 + } + }, + "key": { + "type": "sphere", + "pose": { + "pos": [ + -0.7851711912389853, + 0.12903760139969678, + 2.772321048529199 + ], + "ori": [ + 28.670644544668534, + -36.77872618383817, + 18.307107272804032 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "color_temperature": 3791.4514644470064, + "color": [ + 0.8297613481194119, + 0.9843677186820197, + 0.8732459416379057 + ], + "intensity": 4851.24194594165, + "radius": 0.05538172102897936 + } + } + }, + {}, + {}, + {} + ], + "background": { + "type": "dome", + "pose": { + "pos": null, + "ori": null, + "scale": null + }, + "dr": { + "intensity": 1305.353316718044, + "texture": null, + "color": [ + 0.92, + 0.94, + 0.96 + ] + } + } + }, + "robots": { + "UR5e": { + "root_pose": [ + [ + 11.0, + -11.0, + 0.9150000214576721, + 1.0, + 0.0, + 0.0, + 0.0 + ], + [ + 11.0, + 11.0, + 0.9150000214576721, + 1.0, + 0.0, + 0.0, + 0.0 + ], + [ + -11.0, + -11.0, + 0.9150000214576721, + 1.0, + 0.0, + 0.0, + 0.0 + ], + [ + -11.0, + 11.0, + 0.9150000214576721, + 1.0, + 0.0, + 0.0, + 0.0 + ] + ], + "root_vel": [ + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + ], + "joint_pos": [ + [ + 0.9141007661819458, + -1.7193976640701294, + 2.0904996395111084, + -1.9419010877609253, + -1.5707999467849731, + 2.4849002361297607, + 0.01799999736249447, + 0.018000001087784767 + ], + [ + 2.771169900894165, + -1.7659662961959839, + 1.9885890483856201, + -1.7934106588363647, + -1.5707935094833374, + 4.341956615447998, + 0.017999978736042976, + 0.01800002157688141 + ], + [ + 2.792484998703003, + -1.4238415956497192, + 2.2599661350250244, + -2.4070773124694824, + -1.5708099603652954, + 4.361391067504883, + 0.018000029027462006, + 0.01799996942281723 + ], + [ + 2.540386915206909, + -2.2194576263427734, + 2.0668303966522217, + -1.4181653261184692, + -1.570826530456543, + 4.11154317855835, + 0.007646711077541113, + 0.00704506179317832 + ] + ], + "joint_vel": [ + [ + 2.826487105648522e-38, + -1.642001463359741e-38, + 1.5538426941124452e-38, + -5.007229086109531e-37, + 4.2350006315583935e-37, + -2.709877605524224e-37, + 2.5990388508034812e-08, + -2.5990388508034812e-08 + ], + [ + 0.0071750301867723465, + 0.021956581622362137, + -0.016605136916041374, + -0.004678551573306322, + 4.892694050795399e-06, + 0.007316360250115395, + 3.3420951695006806e-06, + -3.3679646094242344e-06 + ], + [ + -0.006686772219836712, + -0.01824704371392727, + 0.02222917042672634, + -0.004061131272464991, + -8.437175893050153e-06, + -0.006784975994378328, + -3.0960295589466114e-06, + 3.095984766332549e-06 + ], + [ + -0.012429640628397465, + -0.016676219180226326, + 0.005496183410286903, + 0.010525607503950596, + 0.0007401328766718507, + -0.014718684367835522, + -0.00765587342903018, + 0.00023101091210264713 + ] + ] + } + }, + "cameras": { + "cameras": { + "camera0": [ + [ + 0.04590723663568497, + 0.0016566930571570992, + -0.027138136327266693, + -0.2826095521450043, + 0.6395261287689209, + 0.6650369167327881, + -0.2624196708202362 + ], + [ + 0.04962056130170822, + 0.00420623691752553, + -0.0303395576775074, + -0.2860979437828064, + 0.6456024050712585, + 0.6480646729469299, + -0.28523266315460205 + ], + [ + 0.051931820809841156, + 0.00038577168015763164, + -0.030785655602812767, + -0.28498202562332153, + 0.6473207473754883, + 0.6478844881057739, + -0.2828546464443207 + ], + [ + 0.053054384887218475, + 0.0027127910871058702, + -0.03125312551856041, + -0.2776447534561157, + 0.6509587168693542, + 0.6481415033340454, + -0.28120940923690796 + ] + ], + "camera1": [ + [ + 0.0686308890581131, + 0.5563388466835022, + 1.953489065170288, + 0.03194686397910118, + 0.024289347231388092, + 0.28182998299598694, + 0.9586246609687805 + ], + [ + 0.055672094225883484, + 0.6035342812538147, + 1.9258209466934204, + 0.039913609623909, + 0.017692839726805687, + 0.2579860985279083, + 0.9651616811752319 + ], + [ + 0.049277421087026596, + 0.5576459765434265, + 1.9307578802108765, + 0.057764891535043716, + 0.012012912891805172, + 0.2768985629081726, + 0.9590860605239868 + ], + [ + 0.06799662113189697, + 0.5969244241714478, + 1.928644061088562, + 0.03945344313979149, + 0.0154574541375041, + 0.27487558126449585, + 0.9605455994606018 + ] + ] + } + } + } +} \ No newline at end of file diff --git a/episodes/c3_p009_e019/wrist.mp4 b/episodes/c3_p009_e019/wrist.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..2285ea8ef7c561c5fab8c8591f7a375c82570686 --- /dev/null +++ b/episodes/c3_p009_e019/wrist.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:f40495a7e1379297b91cac8be468038e05f67403f3f94de03490045e3eb14657 +size 6732155 diff --git a/episodes/c4_p009_e013/data.npz b/episodes/c4_p009_e013/data.npz new file mode 100644 index 0000000000000000000000000000000000000000..e15ea29cf18c4f692999bc25835a61bc134ac25a --- /dev/null +++ b/episodes/c4_p009_e013/data.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:06bc108fa89328c876b9c04a4d785f1498ca0f39c5357ae81c19a0e6161c7a65 +size 189164 diff --git a/episodes/c4_p009_e013/device_events.jsonl b/episodes/c4_p009_e013/device_events.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..da9d5cea76da87c9f0e240b48402bbd7ae6a4c9f --- /dev/null +++ b/episodes/c4_p009_e013/device_events.jsonl @@ -0,0 +1,37 @@ +{"env_id": 2, "seq": 1, "step": 215, "t": 1.075, "topic": "conveyor_1.belt.station.pick.captured", "source": "conveyor_1.belt", "data": {"rider": "carrier_1"}, "cause": null} +{"env_id": 2, "seq": 2, "step": 215, "t": 1.075, "topic": "conveyor_1.belt.state.changed", "source": "conveyor_1.belt", "data": {"from": "running", "to": "at_station"}, "cause": null} +{"env_id": 2, "seq": 3, "step": 220, "t": 1.1, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_1"}, "cause": null} +{"env_id": 2, "seq": 4, "step": 2106, "t": 10.53, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_1"}, "cause": null} +{"env_id": 2, "seq": 5, "step": 2117, "t": 10.585, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_1"}, "cause": null} +{"env_id": 2, "seq": 6, "step": 6651, "t": 33.255, "topic": "a4s_sealer_1.plate_present.present", "source": "a4s_sealer_1.plate_present", "data": {"object": "plate_1"}, "cause": null} +{"env_id": 2, "seq": 7, "step": 7264, "t": 36.32, "topic": "a4s_sealer_1.command.started", "source": "a4s_sealer_1", "data": {"command_id": "task-2-1", "name": "seal", "source": "task"}, "cause": "task-2-1"} +{"env_id": 2, "seq": 8, "step": 7264, "t": 36.32, "topic": "a4s_sealer_1.seal.started", "source": "a4s_sealer_1", "data": {"dwell": 2.526604653039226}, "cause": "task-2-1"} +{"env_id": 2, "seq": 9, "step": 7264, "t": 36.32, "topic": "a4s_sealer_1.drawer.command.started", "source": "a4s_sealer_1.drawer", "data": {"command_id": "program-2-2", "name": "close", "source": "program:seal"}, "cause": "program-2-2"} +{"env_id": 2, "seq": 10, "step": 7264, "t": 36.32, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "at_out", "to": "moving"}, "cause": null} +{"env_id": 2, "seq": 11, "step": 7264, "t": 36.32, "topic": "a4s_sealer_1.drawer.moving", "source": "a4s_sealer_1.drawer", "data": {"target": 0.3, "goal": "in"}, "cause": "program-2-2"} +{"env_id": 2, "seq": 12, "step": 7683, "t": 38.415, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "moving", "to": "at_in"}, "cause": null} +{"env_id": 2, "seq": 13, "step": 7683, "t": 38.415, "topic": "a4s_sealer_1.drawer.reached", "source": "a4s_sealer_1.drawer", "data": {"position": "in", "q": 0.30000001192092896}, "cause": "program-2-2"} +{"env_id": 2, "seq": 14, "step": 7683, "t": 38.415, "topic": "a4s_sealer_1.drawer.at_in", "source": "a4s_sealer_1.drawer", "data": {"q": 0.30000001192092896}, "cause": "program-2-2"} +{"env_id": 2, "seq": 15, "step": 7683, "t": 38.415, "topic": "a4s_sealer_1.drawer.command.succeeded", "source": "a4s_sealer_1.drawer", "data": {"command_id": "program-2-2", "name": "close", "source": "program:seal", "result": {"position": "in"}}, "cause": "program-2-2"} +{"env_id": 2, "seq": 16, "step": 7683, "t": 38.415, "topic": "labware.plate_1.changed", "source": "labware.plate_1", "data": {"key": "sealed", "value": true}, "cause": "task-2-1"} +{"env_id": 2, "seq": 17, "step": 7683, "t": 38.415, "topic": "a4s_sealer_1.sealed", "source": "a4s_sealer_1", "data": {"plate": "plate_1"}, "cause": "task-2-1"} +{"env_id": 2, "seq": 18, "step": 7683, "t": 38.415, "topic": "a4s_sealer_1.heater.command.started", "source": "a4s_sealer_1.heater", "data": {"command_id": "program-2-3", "name": "run", "source": "program:seal"}, "cause": "program-2-3"} +{"env_id": 2, "seq": 19, "step": 7683, "t": 38.415, "topic": "a4s_sealer_1.heater.state.changed", "source": "a4s_sealer_1.heater", "data": {"from": "ready", "to": "running"}, "cause": null} +{"env_id": 2, "seq": 20, "step": 7683, "t": 38.415, "topic": "a4s_sealer_1.heater.started", "source": "a4s_sealer_1.heater", "data": {"duration": 2.526604653039226}, "cause": "program-2-3"} +{"env_id": 2, "seq": 21, "step": 8189, "t": 40.945, "topic": "a4s_sealer_1.heater.state.changed", "source": "a4s_sealer_1.heater", "data": {"from": "running", "to": "ready"}, "cause": null} +{"env_id": 2, "seq": 22, "step": 8189, "t": 40.945, "topic": "a4s_sealer_1.heater.finished", "source": "a4s_sealer_1.heater", "data": {"elapsed": 2.5300000000012943}, "cause": "program-2-3"} +{"env_id": 2, "seq": 23, "step": 8189, "t": 40.945, "topic": "a4s_sealer_1.heater.command.succeeded", "source": "a4s_sealer_1.heater", "data": {"command_id": "program-2-3", "name": "run", "source": "program:seal", "result": {"elapsed": 2.5300000000012943}}, "cause": "program-2-3"} +{"env_id": 2, "seq": 24, "step": 8189, "t": 40.945, "topic": "a4s_sealer_1.drawer.command.started", "source": "a4s_sealer_1.drawer", "data": {"command_id": "program-2-4", "name": "open", "source": "program:seal"}, "cause": "program-2-4"} +{"env_id": 2, "seq": 25, "step": 8189, "t": 40.945, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "at_in", "to": "moving"}, "cause": null} +{"env_id": 2, "seq": 26, "step": 8189, "t": 40.945, "topic": "a4s_sealer_1.drawer.moving", "source": "a4s_sealer_1.drawer", "data": {"target": 0.0, "goal": "out"}, "cause": "program-2-4"} +{"env_id": 2, "seq": 27, "step": 8609, "t": 43.045, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "moving", "to": "at_out"}, "cause": null} +{"env_id": 2, "seq": 28, "step": 8609, "t": 43.045, "topic": "a4s_sealer_1.drawer.reached", "source": "a4s_sealer_1.drawer", "data": {"position": "out", "q": 1.1591001936039902e-08}, "cause": "program-2-4"} +{"env_id": 2, "seq": 29, "step": 8609, "t": 43.045, "topic": "a4s_sealer_1.drawer.at_out", "source": "a4s_sealer_1.drawer", "data": {"q": 1.1591001936039902e-08}, "cause": "program-2-4"} +{"env_id": 2, "seq": 30, "step": 8609, "t": 43.045, "topic": "a4s_sealer_1.drawer.command.succeeded", "source": "a4s_sealer_1.drawer", "data": {"command_id": "program-2-4", "name": "open", "source": "program:seal", "result": {"position": "out"}}, "cause": "program-2-4"} +{"env_id": 2, "seq": 31, "step": 8609, "t": 43.045, "topic": "a4s_sealer_1.seal.finished", "source": "a4s_sealer_1", "data": {}, "cause": "task-2-1"} +{"env_id": 2, "seq": 32, "step": 8609, "t": 43.045, "topic": "a4s_sealer_1.command.succeeded", "source": "a4s_sealer_1", "data": {"command_id": "task-2-1", "name": "seal", "source": "task"}, "cause": "task-2-1"} +{"env_id": 2, "seq": 33, "step": 9186, "t": 45.93, "topic": "a4s_sealer_1.plate_present.absent", "source": "a4s_sealer_1.plate_present", "data": {"object": "plate_1"}, "cause": null} +{"env_id": 2, "seq": 34, "step": 10980, "t": 54.9, "topic": "conveyor_1.belt.command.started", "source": "conveyor_1.belt", "data": {"command_id": "task-2-5", "name": "release", "source": "task"}, "cause": "task-2-5"} +{"env_id": 2, "seq": 35, "step": 10980, "t": 54.9, "topic": "conveyor_1.belt.station.pick.released", "source": "conveyor_1.belt", "data": {"rider": "carrier_1"}, "cause": "task-2-5"} +{"env_id": 2, "seq": 36, "step": 10980, "t": 54.9, "topic": "conveyor_1.belt.state.changed", "source": "conveyor_1.belt", "data": {"from": "at_station", "to": "running"}, "cause": null} +{"env_id": 2, "seq": 37, "step": 10980, "t": 54.9, "topic": "conveyor_1.belt.command.succeeded", "source": "conveyor_1.belt", "data": {"command_id": "task-2-5", "name": "release", "source": "task", "result": {"state": "running"}}, "cause": "task-2-5"} diff --git a/episodes/c4_p009_e013/env.mp4 b/episodes/c4_p009_e013/env.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..4d1de73f13c190196f1ee9c70c62d6bfb816d3e7 --- /dev/null +++ b/episodes/c4_p009_e013/env.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:1147584cacae067cab2400d8113694034092bac7bdbeb880dfcc86fd0f8d1964 +size 1148886 diff --git a/episodes/c4_p009_e013/meta.json b/episodes/c4_p009_e013/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..55034792118dfe8ca80c5e1c7bed06c1843bc280 --- /dev/null +++ b/episodes/c4_p009_e013/meta.json @@ -0,0 +1,32 @@ +{ + "source": "raw/c4_p009/magicsim/13", + "fps": 25, + "frames": 1171, + "kept_ticks": "even", + "video_frames": { + "wrist": 1171, + "env": 1171 + }, + "joint_target_source": "joint_pos_target", + "fk_vs_recorded_eef_max_m": 0.0, + "curobo_joints": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "joint_order": [ + "shoulder_pan", + "shoulder_lift", + "elbow", + "wrist_1", + "wrist_2", + "wrist_3", + "finger_left", + "finger_right" + ], + "frames_note": "eef / actions in the robot base frame; camera_pose = local pose (wrist: in plate_gripper_base, env: env frame), pos + quat wxyz", + "dr_version": "v2" +} \ No newline at end of file diff --git a/episodes/c4_p009_e013/scene_snapshot.json b/episodes/c4_p009_e013/scene_snapshot.json new file mode 100644 index 0000000000000000000000000000000000000000..4d6db13938f4e2a3da6fd8b3458a00526ecd293e --- /dev/null +++ b/episodes/c4_p009_e013/scene_snapshot.json @@ -0,0 +1,1558 @@ +{ + "trajectory_id": 13, + "env_id": 2, + "run_id": "c4_p009", + "task_type": "BioPlateCell", + "success": true, + "timing": { + "fps": 50.0, + "sim_dt": 0.005, + "decimation": 4 + }, + "restore_interface": { + "scene": "scene_manager.reset_to(snapshot['scene'], env_ids=[env_id])", + "robots": "robot_manager.set_state({'robots': snapshot['robots']}, env_ids=[env_id])" + }, + "snapshot": { + "env_id": 2, + "scene": { + "objects": [ + {}, + {}, + { + "rac_cell": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/rac_cell.usd", + "pose": { + "pos": [ + 0.0, + 0.0, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "physics_material": { + "static_friction": 0.6, + "dynamic_friction": 0.5, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "robot_mount": [ + { + "asset": "Cube", + "pose": { + "pos": [ + 0.0, + 0.0, + 0.9075 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": "color", + "value": [ + 0.55, + 0.56, + 0.58 + ], + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": { + "size": [ + 0.2, + 0.2, + 0.015 + ] + } + }, + "type_specific": {} + } + ], + "plate_rack": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/plate_hotel.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 0.9 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "physics_material": { + "static_friction": 0.6, + "dynamic_friction": 0.5, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "hotel_plate": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_48_clear/plate_48_clear.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 0.9605 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/deep_well_96_2ml/deep_well_96_2ml.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.0285 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/pcr_384_red/pcr_384_red.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.0965 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_96_black/plate_96_black.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.1645 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_12_clear/plate_12_clear.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.2325 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "a4s_sealer": [ + { + "asset": "$MAGICSIM_ASSETS/Articulated/A4SSealer/Object.usd", + "pose": { + "pos": [ + 0.4977226257324219, + 0.10507011413574219, + 0.8999999761581421 + ], + "ori": [ + 0.7244132161140442, + 0.0, + 0.0, + -0.6893659830093384 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "articulation", + "solver_position_iteration_count": 16.0, + "solver_velocity_iteration_count": 1.0, + "enabled_self_collisions": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "joint_position": [ + 4.7098310494708695e-12 + ], + "joint_velocity": [ + 0.0 + ], + "linear_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "angular_velocity": [ + 0.0, + 0.0, + 0.0 + ] + } + } + ], + "conveyor": [ + { + "asset": "Cube", + "pose": { + "pos": [ + 0.15, + 0.45, + 0.9 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "conveyor", + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9 + }, + "ratio": 1.0 + }, + "primitive_params": { + "size": [ + 2.4, + 0.076, + 0.03 + ] + }, + "conveyor": { + "speed": 0.1699395108426017, + "direction": [ + 1.0, + 0.0, + 0.0 + ], + "enabled": true, + "drive": "surface_velocity", + "lines": null, + "station_line": null, + "riders": [ + "carrier" + ], + "stations": { + "pick": { + "position": -0.25405134375893573, + "slow_distance": 0.03, + "slow_speed": 0.03 + } + }, + "rails": { + "height": 0.01, + "thickness": 0.01, + "gap": 0.001, + "friction": 0.05 + }, + "legs": 0.87, + "loop": { + "radius": 0.35, + "side": "left", + "curve_extra_width": 0.0, + "segments": 18, + "curve_rails": "both" + }, + "snap_distance": 0.1, + "junction_snap": 0.02, + "collision_approximation": "auto", + "plate_mass": 1.0, + "lift_drop": 0.004, + "accel": 0.0, + "decel": 0.0, + "drive_damping": 1000000.0, + "drive_max_force": 1000000000.0 + } + }, + "type_specific": { + "controller": { + "state": "at_station", + "speed": 0.1699395108426017, + "holds": [], + "station": "pick", + "rider": "carrier_1", + "arrived": true, + "applied_speed": 0.0 + } + } + } + ], + "carrier": [ + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + -0.1034994125366211, + 0.44721412658691406, + 0.8999999761581421 + ], + "ori": [ + 0.9999548196792603, + -9.662708133628684e-11, + 1.966339313597132e-09, + 0.009504263289272785 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -1.4819896421158774e-09, + -2.765909501434294e-09, + 7.450580596923828e-09 + ], + "angular_velocity": [ + 1.2560246887005633e-07, + -1.0468171041111418e-07, + -2.6952420739689842e-08 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + -1.389389991760254, + 0.7256059646606445, + 0.8999999761581421 + ], + "ori": [ + -0.7771207690238953, + -9.584923787997468e-08, + -1.4132008629985648e-07, + 0.6293516159057617 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 3.941418302844113e-09, + -6.990041323540197e-10, + 0.0 + ], + "angular_velocity": [ + 5.83256749564498e-08, + 1.2964736129106313e-07, + 7.948747438035753e-09 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + 1.694687843322754, + 0.7581062316894531, + 0.8999999761581421 + ], + "ori": [ + 0.7507290840148926, + 1.2562541940042138e-07, + -5.033077599136959e-08, + 0.6606102585792542 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 6.063949342660635e-08, + 4.92700502618959e-09, + 2.2351741790771484e-08 + ], + "angular_velocity": [ + -4.680485403696366e-07, + 1.569622099850676e-06, + 6.752990202585352e-07 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + 0.36611175537109375, + 1.1525802612304688, + 0.8999999761581421 + ], + "ori": [ + -0.010878882370889187, + -5.110771805760805e-09, + 1.9694035291450973e-10, + 0.999940812587738 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -2.3550241756709056e-09, + -2.7642961253349085e-09, + 2.2351741790771484e-08 + ], + "angular_velocity": [ + 1.0544134454448795e-07, + -2.1585628928733058e-07, + -4.7114838253037306e-08 + ] + } + } + ], + "plate": [ + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_24_clear/Object.usd", + "pose": { + "pos": [ + -0.11179637908935547, + 0.4369392395019531, + 0.9179999828338623 + ], + "ori": [ + 0.9995943903923035, + -9.94840432255728e-10, + 1.5578404122251754e-09, + -0.028478961437940598 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -5.540483272170604e-08, + -3.871574705271996e-08, + 1.1175870895385742e-07 + ], + "angular_velocity": [ + 3.320901669212617e-07, + -2.4164096430467907e-06, + -1.4659455871424143e-08 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_384_black/Object.usd", + "pose": { + "pos": [ + -1.3979930877685547, + 0.7224798202514648, + 0.9180000424385071 + ], + "ori": [ + -0.7687468528747559, + -1.1066513394553112e-07, + -1.3745055582603527e-07, + 0.6395531296730042 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 1.1890158191363298e-07, + -3.0371282377927855e-08, + -5.494803190231323e-06 + ], + "angular_velocity": [ + -3.083574029005831e-06, + 1.8164530501962872e-06, + 5.125629627400485e-07 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_1536_black/Object.usd", + "pose": { + "pos": [ + 1.6896247863769531, + 0.7595081329345703, + 0.9180000424385071 + ], + "ori": [ + 0.7426987290382385, + -7.768188226009443e-08, + -1.4359332567437377e-07, + 0.6696258187294006 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 1.0811622814799193e-06, + -2.1568298507190775e-06, + -5.669891834259033e-06 + ], + "angular_velocity": [ + -2.313070945092477e-05, + -5.261167825665325e-05, + 3.5746272715186933e-06 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/deep_well_24_10ml/Object.usd", + "pose": { + "pos": [ + 0.37271785736083984, + 1.1619253158569336, + 0.9179999828338623 + ], + "ori": [ + 0.0770423635840416, + -6.386957185355868e-09, + -3.841473805721307e-10, + 0.9970278143882751 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 1.0238863978884183e-08, + -3.8594272666614415e-08, + -1.4156103134155273e-06 + ], + "angular_velocity": [ + 5.577504680331913e-07, + 1.2053915270371363e-06, + -7.308325677968242e-08 + ] + } + } + ], + "deco_hub_west": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/hub_c.usd", + "pose": { + "pos": [ + -3.36, + 0.0, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_hub_east": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/hub_a.usd", + "pose": { + "pos": [ + 3.36, + 0.0, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_hub_back": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/hub_e.usd", + "pose": { + "pos": [ + -3.0, + -2.1, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_bench_east": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/bench_a.usd", + "pose": { + "pos": [ + 2.6, + -2.5, + 0.0 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_bench_gap": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/bench_b.usd", + "pose": { + "pos": [ + -0.1, + -2.9, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ] + }, + {} + ], + "devices": { + "hub": [ + null, + null, + { + "t": 8.299999999999898, + "step": 1660, + "counter": 0, + "devices": { + "a4s_sealer_1": { + "mode": "auto", + "units": { + "drawer": { + "state": "at_out", + "active": null, + "target": 0.0, + "goal_name": "out", + "profile": null, + "q_start": null, + "reversing": false, + "blocked_for": 0.0, + "settled_for": 0.0, + "last_q": 4.7098310494708695e-12 + }, + "heater": { + "state": "ready", + "active": null, + "duration": 0.0, + "t_start": null, + "elapsed": 0.0 + } + }, + "queues": {}, + "program": null, + "sensors": { + "plate_present": { + "occupants": [], + "pending": {} + } + }, + "interlocks": {} + }, + "conveyor_1": { + "mode": "auto", + "units": { + "belt": { + "state": "at_station", + "active": null, + "controller": { + "speed": 0.1699395108426017, + "holds": [], + "station": "pick", + "rider": "carrier_1", + "arrived": true, + "settle_count": 1444, + "released": { + "pick": [] + }, + "last_pos": { + "carrier_1": [ + -0.25349941849708557, + -0.0027858614921569824, + 0.0 + ], + "carrier_2": [ + -1.5393899977207184, + 0.2756059765815735, + 0.0 + ], + "carrier_3": [ + 1.5446878373622894, + 0.3081062436103821, + 0.0 + ], + "carrier_4": [ + 0.21611174941062927, + 0.7025802731513977, + 0.0 + ] + }, + "command": 0.0 + }, + "belt": { + "target_speed": 0.0, + "command_speed": 0.0 + }, + "seen": { + "state": "at_station", + "station": "pick", + "rider": "carrier_1", + "arrived": true + } + } + }, + "queues": {}, + "program": null, + "sensors": {}, + "interlocks": {} + } + }, + "zones": {}, + "labware": { + "plate_1": { + "sealed": false + }, + "plate_2": { + "sealed": false + }, + "plate_3": { + "sealed": false + }, + "plate_4": { + "sealed": false + } + }, + "rules": {}, + "records": [], + "bus": { + "seq": 3, + "queue": [] + } + }, + null + ], + "drives": [ + null, + null, + {}, + null + ] + }, + "artifacts": [ + {}, + {}, + { + "ceiling": { + "type": "rect", + "pose": { + "pos": [ + 0.12149732215525755, + 0.39387057768002254, + 3.1119369587705834 + ], + "ori": [ + -3.6697325159178877, + 7.872647211981196, + 24.588064024911468 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "color_temperature": 5810.547151080304, + "color": [ + 0.9803431964899532, + 0.8658791401783318, + 0.8050231286710392 + ], + "intensity": 5701.759013009596, + "width": 1.6286458126006869, + "height": 1.065030758359578 + } + }, + "key": { + "type": "sphere", + "pose": { + "pos": [ + 0.9264178079575509, + 0.7498577697808213, + 1.928362931882973 + ], + "ori": [ + 32.607185715080746, + -16.05463390031381, + -37.63649378188471 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "color_temperature": 4958.538820186235, + "color": [ + 0.8443264670786226, + 0.8877755388197106, + 0.866071864767776 + ], + "intensity": 5026.7366735536325, + "radius": 0.17637719652055228 + } + } + }, + {} + ], + "background": { + "type": "dome", + "pose": { + "pos": null, + "ori": null, + "scale": null + }, + "dr": { + "intensity": 1384.2472045601999, + "texture": null, + "color": [ + 0.92, + 0.94, + 0.96 + ] + } + } + }, + "robots": { + "UR5e": { + "root_pose": [ + [ + 11.0, + -11.0, + 0.9150000214576721, + 1.0, + 0.0, + 0.0, + 0.0 + ], + [ + 11.0, + 11.0, + 0.9150000214576721, + 1.0, + 0.0, + 0.0, + 0.0 + ], + [ + -11.0, + -11.0, + 0.9150000214576721, + 1.0, + 0.0, + 0.0, + 0.0 + ], + [ + -11.0, + 11.0, + 0.9150000214576721, + 1.0, + 0.0, + 0.0, + 0.0 + ] + ], + "root_vel": [ + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + ], + "joint_pos": [ + [ + 2.616032600402832, + -2.116525411605835, + 2.1925718784332275, + -1.6469800472259521, + -1.5714572668075562, + 4.185991287231445, + 0.018000023439526558, + 0.017999975010752678 + ], + [ + 0.9141026735305786, + -1.719398021697998, + 2.0904994010925293, + -1.941900610923767, + -1.5707999467849731, + 2.484900951385498, + 0.01799999736249447, + 0.018000001087784767 + ], + [ + 0.9141111373901367, + -1.7193949222564697, + 2.0904974937438965, + -1.9419004917144775, + -1.5707999467849731, + 2.4849064350128174, + 0.01799999736249447, + 0.018000001087784767 + ], + [ + 1.0419652462005615, + -1.3028149604797363, + 2.273648500442505, + -2.5416131019592285, + -1.5707963705062866, + 2.6868650913238525, + 0.01799999177455902, + 0.018000006675720215 + ] + ], + "joint_vel": [ + [ + -0.014600975438952446, + -0.025968380272388458, + 0.010895748622715473, + 0.014418203383684158, + -1.2251346561242826e-05, + -0.014673149213194847, + -2.343061851206585e-06, + 2.343178493902087e-06 + ], + [ + -2.5542352729877894e-38, + 2.954210135737565e-38, + 2.9600950287683434e-38, + 7.044717950068832e-37, + -7.306760314482064e-37, + 2.5105275407428498e-37, + 2.5990386731677972e-08, + -2.5990386731677972e-08 + ], + [ + -2.555144995950829e-38, + 2.9552381282909935e-38, + 2.961174589105259e-38, + 7.047187822690112e-37, + -7.3090606860411e-37, + 2.4648987964591365e-37, + 2.5990400942532688e-08, + -2.5990381402607454e-08 + ], + [ + -3.0352013709489256e-05, + 0.008076940663158894, + 0.0025694456417113543, + -0.010177360847592354, + -1.0066514732898213e-05, + 4.7366931539727375e-05, + -4.159850050200475e-06, + 4.1601820157666225e-06 + ] + ] + } + }, + "cameras": { + "cameras": { + "camera0": [ + [ + 0.04935659468173981, + -0.0006891583907417953, + -0.024908509105443954, + -0.2943364679813385, + 0.6366862058639526, + 0.6584946513175964, + -0.272729754447937 + ], + [ + 0.05295620486140251, + -0.0014713802374899387, + -0.028425198048353195, + -0.2808666229248047, + 0.6587439179420471, + 0.6351573467254639, + -0.2893882095813751 + ], + [ + 0.0473480224609375, + -0.0022037290036678314, + -0.03215305879712105, + -0.2827264070510864, + 0.6379067897796631, + 0.6656703948974609, + -0.2646197974681854 + ], + [ + 0.04920974746346474, + -0.0032032213639467955, + -0.029799871146678925, + -0.2821500897407532, + 0.6445431113243103, + 0.656553328037262, + -0.27183297276496887 + ] + ], + "camera1": [ + [ + 0.07149513810873032, + 0.579954981803894, + 1.9370228052139282, + 0.048455964773893356, + 0.02335837297141552, + 0.2756730020046234, + 0.9597451686859131 + ], + [ + 0.06966770440340042, + 0.568945050239563, + 1.9496445655822754, + 0.04709344357252121, + 0.022359037771821022, + 0.2785893976688385, + 0.9589943885803223 + ], + [ + 0.0543195903301239, + 0.5679742097854614, + 1.9742120504379272, + 0.03502249717712402, + 0.026047060266137123, + 0.28110095858573914, + 0.9586851596832275 + ], + [ + 0.02889811061322689, + 0.5758922100067139, + 1.9421226978302002, + 0.05095195770263672, + 0.025228900834918022, + 0.2844528555870056, + 0.957002580165863 + ] + ] + } + } + } +} \ No newline at end of file diff --git a/episodes/c4_p009_e013/wrist.mp4 b/episodes/c4_p009_e013/wrist.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..9d0246cc050d436c35b72c9ecde12d95ff93a040 --- /dev/null +++ b/episodes/c4_p009_e013/wrist.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:cca98b474f4d4e6865b11ba62a0229917ae97ea0a93eb59a842e661b6d80e6f1 +size 6737733 diff --git a/episodes/c4_p009_e014/data.npz b/episodes/c4_p009_e014/data.npz new file mode 100644 index 0000000000000000000000000000000000000000..642c88210a1cace70baf0738a6f487d38cd035ff --- /dev/null +++ b/episodes/c4_p009_e014/data.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:143a67ead46d2991056d205bb659fc9fbc595dd291c428b29380c700ba3a0a07 +size 203651 diff --git a/episodes/c4_p009_e014/device_events.jsonl b/episodes/c4_p009_e014/device_events.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..3f20c108879f912a82f1eaf473ccfa6d89fea560 --- /dev/null +++ b/episodes/c4_p009_e014/device_events.jsonl @@ -0,0 +1,35 @@ +{"env_id": 3, "seq": 1, "step": 127, "t": 0.635, "topic": "conveyor_1.belt.station.pick.captured", "source": "conveyor_1.belt", "data": {"rider": "carrier_2"}, "cause": null} +{"env_id": 3, "seq": 2, "step": 127, "t": 0.635, "topic": "conveyor_1.belt.state.changed", "source": "conveyor_1.belt", "data": {"from": "running", "to": "at_station"}, "cause": null} +{"env_id": 3, "seq": 3, "step": 132, "t": 0.66, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_2"}, "cause": null} +{"env_id": 3, "seq": 4, "step": 6651, "t": 33.255, "topic": "a4s_sealer_1.plate_present.present", "source": "a4s_sealer_1.plate_present", "data": {"object": "plate_2"}, "cause": null} +{"env_id": 3, "seq": 5, "step": 7264, "t": 36.32, "topic": "a4s_sealer_1.command.started", "source": "a4s_sealer_1", "data": {"command_id": "task-3-1", "name": "seal", "source": "task"}, "cause": "task-3-1"} +{"env_id": 3, "seq": 6, "step": 7264, "t": 36.32, "topic": "a4s_sealer_1.seal.started", "source": "a4s_sealer_1", "data": {"dwell": 4.311283378162555}, "cause": "task-3-1"} +{"env_id": 3, "seq": 7, "step": 7264, "t": 36.32, "topic": "a4s_sealer_1.drawer.command.started", "source": "a4s_sealer_1.drawer", "data": {"command_id": "program-3-2", "name": "close", "source": "program:seal"}, "cause": "program-3-2"} +{"env_id": 3, "seq": 8, "step": 7264, "t": 36.32, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "at_out", "to": "moving"}, "cause": null} +{"env_id": 3, "seq": 9, "step": 7264, "t": 36.32, "topic": "a4s_sealer_1.drawer.moving", "source": "a4s_sealer_1.drawer", "data": {"target": 0.3, "goal": "in"}, "cause": "program-3-2"} +{"env_id": 3, "seq": 10, "step": 7683, "t": 38.415, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "moving", "to": "at_in"}, "cause": null} +{"env_id": 3, "seq": 11, "step": 7683, "t": 38.415, "topic": "a4s_sealer_1.drawer.reached", "source": "a4s_sealer_1.drawer", "data": {"position": "in", "q": 0.30000001192092896}, "cause": "program-3-2"} +{"env_id": 3, "seq": 12, "step": 7683, "t": 38.415, "topic": "a4s_sealer_1.drawer.at_in", "source": "a4s_sealer_1.drawer", "data": {"q": 0.30000001192092896}, "cause": "program-3-2"} +{"env_id": 3, "seq": 13, "step": 7683, "t": 38.415, "topic": "a4s_sealer_1.drawer.command.succeeded", "source": "a4s_sealer_1.drawer", "data": {"command_id": "program-3-2", "name": "close", "source": "program:seal", "result": {"position": "in"}}, "cause": "program-3-2"} +{"env_id": 3, "seq": 14, "step": 7683, "t": 38.415, "topic": "labware.plate_2.changed", "source": "labware.plate_2", "data": {"key": "sealed", "value": true}, "cause": "task-3-1"} +{"env_id": 3, "seq": 15, "step": 7683, "t": 38.415, "topic": "a4s_sealer_1.sealed", "source": "a4s_sealer_1", "data": {"plate": "plate_2"}, "cause": "task-3-1"} +{"env_id": 3, "seq": 16, "step": 7683, "t": 38.415, "topic": "a4s_sealer_1.heater.command.started", "source": "a4s_sealer_1.heater", "data": {"command_id": "program-3-3", "name": "run", "source": "program:seal"}, "cause": "program-3-3"} +{"env_id": 3, "seq": 17, "step": 7683, "t": 38.415, "topic": "a4s_sealer_1.heater.state.changed", "source": "a4s_sealer_1.heater", "data": {"from": "ready", "to": "running"}, "cause": null} +{"env_id": 3, "seq": 18, "step": 7683, "t": 38.415, "topic": "a4s_sealer_1.heater.started", "source": "a4s_sealer_1.heater", "data": {"duration": 4.311283378162555}, "cause": "program-3-3"} +{"env_id": 3, "seq": 19, "step": 8546, "t": 42.73, "topic": "a4s_sealer_1.heater.state.changed", "source": "a4s_sealer_1.heater", "data": {"from": "running", "to": "ready"}, "cause": null} +{"env_id": 3, "seq": 20, "step": 8546, "t": 42.73, "topic": "a4s_sealer_1.heater.finished", "source": "a4s_sealer_1.heater", "data": {"elapsed": 4.3150000000022075}, "cause": "program-3-3"} +{"env_id": 3, "seq": 21, "step": 8546, "t": 42.73, "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": 4.3150000000022075}}, "cause": "program-3-3"} +{"env_id": 3, "seq": 22, "step": 8546, "t": 42.73, "topic": "a4s_sealer_1.drawer.command.started", "source": "a4s_sealer_1.drawer", "data": {"command_id": "program-3-4", "name": "open", "source": "program:seal"}, "cause": "program-3-4"} +{"env_id": 3, "seq": 23, "step": 8546, "t": 42.73, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "at_in", "to": "moving"}, "cause": null} +{"env_id": 3, "seq": 24, "step": 8546, "t": 42.73, "topic": "a4s_sealer_1.drawer.moving", "source": "a4s_sealer_1.drawer", "data": {"target": 0.0, "goal": "out"}, "cause": "program-3-4"} +{"env_id": 3, "seq": 25, "step": 8966, "t": 44.83, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "moving", "to": "at_out"}, "cause": null} +{"env_id": 3, "seq": 26, "step": 8966, "t": 44.83, "topic": "a4s_sealer_1.drawer.reached", "source": "a4s_sealer_1.drawer", "data": {"position": "out", "q": 0.0}, "cause": "program-3-4"} +{"env_id": 3, "seq": 27, "step": 8966, "t": 44.83, "topic": "a4s_sealer_1.drawer.at_out", "source": "a4s_sealer_1.drawer", "data": {"q": 0.0}, "cause": "program-3-4"} +{"env_id": 3, "seq": 28, "step": 8966, "t": 44.83, "topic": "a4s_sealer_1.drawer.command.succeeded", "source": "a4s_sealer_1.drawer", "data": {"command_id": "program-3-4", "name": "open", "source": "program:seal", "result": {"position": "out"}}, "cause": "program-3-4"} +{"env_id": 3, "seq": 29, "step": 8966, "t": 44.83, "topic": "a4s_sealer_1.seal.finished", "source": "a4s_sealer_1", "data": {}, "cause": "task-3-1"} +{"env_id": 3, "seq": 30, "step": 8966, "t": 44.83, "topic": "a4s_sealer_1.command.succeeded", "source": "a4s_sealer_1", "data": {"command_id": "task-3-1", "name": "seal", "source": "task"}, "cause": "task-3-1"} +{"env_id": 3, "seq": 31, "step": 9546, "t": 47.73, "topic": "a4s_sealer_1.plate_present.absent", "source": "a4s_sealer_1.plate_present", "data": {"object": "plate_2"}, "cause": null} +{"env_id": 3, "seq": 32, "step": 11804, "t": 59.02, "topic": "conveyor_1.belt.command.started", "source": "conveyor_1.belt", "data": {"command_id": "task-3-5", "name": "release", "source": "task"}, "cause": "task-3-5"} +{"env_id": 3, "seq": 33, "step": 11804, "t": 59.02, "topic": "conveyor_1.belt.station.pick.released", "source": "conveyor_1.belt", "data": {"rider": "carrier_2"}, "cause": "task-3-5"} +{"env_id": 3, "seq": 34, "step": 11804, "t": 59.02, "topic": "conveyor_1.belt.state.changed", "source": "conveyor_1.belt", "data": {"from": "at_station", "to": "running"}, "cause": null} +{"env_id": 3, "seq": 35, "step": 11804, "t": 59.02, "topic": "conveyor_1.belt.command.succeeded", "source": "conveyor_1.belt", "data": {"command_id": "task-3-5", "name": "release", "source": "task", "result": {"state": "running"}}, "cause": "task-3-5"} diff --git a/episodes/c4_p009_e014/env.mp4 b/episodes/c4_p009_e014/env.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..5a1ee94f1b1a792f88f9a589a1a442c89648cdc7 --- /dev/null +++ b/episodes/c4_p009_e014/env.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:65e83c531f4a8d5198e545f154dc82745fde0475d3eedca96287eca4ed4c3488 +size 1373079 diff --git a/episodes/c4_p009_e014/meta.json b/episodes/c4_p009_e014/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..e767763d607055aef1aeff5a9ed82644c8696af5 --- /dev/null +++ b/episodes/c4_p009_e014/meta.json @@ -0,0 +1,32 @@ +{ + "source": "raw/c4_p009/magicsim/14", + "fps": 25, + "frames": 1295, + "kept_ticks": "even", + "video_frames": { + "wrist": 1295, + "env": 1295 + }, + "joint_target_source": "joint_pos_target", + "fk_vs_recorded_eef_max_m": 0.0, + "curobo_joints": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "joint_order": [ + "shoulder_pan", + "shoulder_lift", + "elbow", + "wrist_1", + "wrist_2", + "wrist_3", + "finger_left", + "finger_right" + ], + "frames_note": "eef / actions in the robot base frame; camera_pose = local pose (wrist: in plate_gripper_base, env: env frame), pos + quat wxyz", + "dr_version": "v2" +} \ No newline at end of file diff --git a/episodes/c4_p009_e014/scene_snapshot.json b/episodes/c4_p009_e014/scene_snapshot.json new file mode 100644 index 0000000000000000000000000000000000000000..f9dde85300c28c93c71b867e92050e537495ee3c --- /dev/null +++ b/episodes/c4_p009_e014/scene_snapshot.json @@ -0,0 +1,1558 @@ +{ + "trajectory_id": 14, + "env_id": 3, + "run_id": "c4_p009", + "task_type": "BioPlateCell", + "success": true, + "timing": { + "fps": 50.0, + "sim_dt": 0.005, + "decimation": 4 + }, + "restore_interface": { + "scene": "scene_manager.reset_to(snapshot['scene'], env_ids=[env_id])", + "robots": "robot_manager.set_state({'robots': snapshot['robots']}, env_ids=[env_id])" + }, + "snapshot": { + "env_id": 3, + "scene": { + "objects": [ + {}, + {}, + {}, + { + "rac_cell": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/rac_cell.usd", + "pose": { + "pos": [ + 0.0, + 0.0, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "physics_material": { + "static_friction": 0.6, + "dynamic_friction": 0.5, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "robot_mount": [ + { + "asset": "Cube", + "pose": { + "pos": [ + 0.0, + 0.0, + 0.9075 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": "color", + "value": [ + 0.55, + 0.56, + 0.58 + ], + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": { + "size": [ + 0.2, + 0.2, + 0.015 + ] + } + }, + "type_specific": {} + } + ], + "plate_rack": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/plate_hotel.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 0.9 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "physics_material": { + "static_friction": 0.6, + "dynamic_friction": 0.5, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "hotel_plate": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/deep_well_24_10ml/deep_well_24_10ml.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 0.9605 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_384_white/plate_384_white.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.0285 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_24_clear/plate_24_clear.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.0965 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_24_clear/plate_24_clear.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.1645 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_6_clear/plate_6_clear.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.2325 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "a4s_sealer": [ + { + "asset": "$MAGICSIM_ASSETS/Articulated/A4SSealer/Object.usd", + "pose": { + "pos": [ + 0.5234966278076172, + 0.1207571029663086, + 0.8999999761581421 + ], + "ori": [ + -0.6758458018302917, + 0.0, + 0.0, + 0.737043023109436 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "articulation", + "solver_position_iteration_count": 16.0, + "solver_velocity_iteration_count": 1.0, + "enabled_self_collisions": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "joint_position": [ + 2.018500817879687e-12 + ], + "joint_velocity": [ + 0.0 + ], + "linear_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "angular_velocity": [ + 0.0, + 0.0, + 0.0 + ] + } + } + ], + "conveyor": [ + { + "asset": "Cube", + "pose": { + "pos": [ + 0.15, + 0.45, + 0.9 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "conveyor", + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9 + }, + "ratio": 1.0 + }, + "primitive_params": { + "size": [ + 2.4, + 0.076, + 0.03 + ] + }, + "conveyor": { + "speed": 0.22916045638940197, + "direction": [ + 1.0, + 0.0, + 0.0 + ], + "enabled": true, + "drive": "surface_velocity", + "lines": null, + "station_line": null, + "riders": [ + "carrier" + ], + "stations": { + "pick": { + "position": -0.18054343557112829, + "slow_distance": 0.03, + "slow_speed": 0.03 + } + }, + "rails": { + "height": 0.01, + "thickness": 0.01, + "gap": 0.001, + "friction": 0.05 + }, + "legs": 0.87, + "loop": { + "radius": 0.35, + "side": "left", + "curve_extra_width": 0.0, + "segments": 18, + "curve_rails": "both" + }, + "snap_distance": 0.1, + "junction_snap": 0.02, + "collision_approximation": "auto", + "plate_mass": 1.0, + "lift_drop": 0.004, + "accel": 0.0, + "decel": 0.0, + "drive_damping": 1000000.0, + "drive_max_force": 1000000000.0 + } + }, + "type_specific": { + "controller": { + "state": "at_station", + "speed": 0.22916045638940197, + "holds": [], + "station": "pick", + "rider": "carrier_2", + "arrived": true, + "applied_speed": 0.0 + } + } + } + ], + "carrier": [ + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + 0.5271158218383789, + 1.1525402069091797, + 0.8999999761581421 + ], + "ori": [ + -0.011563998647034168, + -6.055066170684853e-11, + 3.68127417438302e-09, + 0.999933123588562 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 3.866960529563812e-09, + 1.2845922547910504e-08, + 1.862645149230957e-08 + ], + "angular_velocity": [ + -3.247361064495635e-07, + 2.2129850663077377e-07, + -1.0566640895603996e-07 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + -0.03040313720703125, + 0.44841957092285156, + 0.8999999761581421 + ], + "ori": [ + 0.9998147487640381, + 1.377371661170912e-09, + 2.6241059325471383e-10, + 0.019251182675361633 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 4.929956443078254e-11, + 1.1335357097408405e-09, + 3.725290298461914e-09 + ], + "angular_velocity": [ + -9.020912727919495e-08, + -1.2148014150170638e-08, + -5.75566838634245e-09 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + -1.364419937133789, + 0.6517429351806641, + 0.8999999761581421 + ], + "ori": [ + -0.83847576379776, + 5.716683517675847e-07, + -4.731564615667594e-07, + 0.5449389219284058 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -2.711951538003632e-06, + -2.9294960768311284e-07, + -4.686415195465088e-06 + ], + "angular_velocity": [ + 5.097217217553407e-05, + -0.0002903749991673976, + 8.439840712526347e-06 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + 1.416259765625, + 0.4598417282104492, + 0.8999999761581421 + ], + "ori": [ + 0.9959960579872131, + 1.2479820732380631e-08, + -1.7833232668351684e-09, + 0.08939799666404724 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 4.369482553556736e-10, + 6.335247881850137e-10, + 7.450580596923828e-09 + ], + "angular_velocity": [ + -2.5886919274853426e-09, + -4.519150564874508e-08, + 1.6209632747177238e-08 + ] + } + } + ], + "plate": [ + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_48_clear/Object.usd", + "pose": { + "pos": [ + 0.5182018280029297, + 1.1446771621704102, + 0.9179999828338623 + ], + "ori": [ + -0.09456817060709, + 6.713238853706116e-10, + 3.5636906758895748e-09, + 0.9955183863639832 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 7.485799358164513e-08, + 1.0277784667778178e-07, + 2.123415470123291e-07 + ], + "angular_velocity": [ + -2.911952606154955e-06, + 3.3331275517411996e-06, + -2.2039891689473734e-08 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_384_white/Object.usd", + "pose": { + "pos": [ + -0.03595924377441406, + 0.4519805908203125, + 0.9180000424385071 + ], + "ori": [ + 0.9993135929107666, + -3.952342064739156e-10, + 7.605938101562515e-10, + -0.03704749792814255 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -1.7660433115906926e-08, + 1.1332623728321778e-08, + -6.0461461544036865e-06 + ], + "angular_velocity": [ + 2.2862451487526414e-07, + -1.7274675201406353e-06, + 7.299207283040232e-08 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_96_clear/Object.usd", + "pose": { + "pos": [ + -1.3594894409179688, + 0.6527013778686523, + 0.9179999828338623 + ], + "ori": [ + -0.8221255540847778, + 9.468149073654786e-07, + -5.49862306797877e-07, + 0.5693064332008362 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -6.48668856229051e-06, + -4.578105745167704e-06, + -7.12275505065918e-06 + ], + "angular_velocity": [ + 9.896936535369605e-05, + -0.0003236746124457568, + -8.744867045606952e-06 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/reservoir_12ch/Object.usd", + "pose": { + "pos": [ + 1.4234867095947266, + 0.46755504608154297, + 0.9179999828338623 + ], + "ori": [ + 0.999435544013977, + 1.5607206194090395e-08, + -7.9542950004452e-10, + 0.033595189452171326 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 4.825895416615822e-08, + -4.011127430203487e-08, + -1.7248094081878662e-06 + ], + "angular_velocity": [ + 1.3605369986180449e-06, + 3.6038954931427725e-06, + 2.075289131653335e-07 + ] + } + } + ], + "deco_hub_west": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/hub_e.usd", + "pose": { + "pos": [ + -3.36, + 0.0, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_hub_east": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/hub_d.usd", + "pose": { + "pos": [ + 3.36, + 0.0, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_hub_back": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/hub_a.usd", + "pose": { + "pos": [ + -3.0, + -2.1, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_bench_east": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/bench_c.usd", + "pose": { + "pos": [ + 2.6, + -2.5, + 0.0 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_bench_gap": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/bench_b.usd", + "pose": { + "pos": [ + -0.1, + -2.9, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ] + } + ], + "devices": { + "hub": [ + null, + null, + null, + { + "t": 7.419999999999864, + "step": 1484, + "counter": 0, + "devices": { + "a4s_sealer_1": { + "mode": "auto", + "units": { + "drawer": { + "state": "at_out", + "active": null, + "target": 0.0, + "goal_name": "out", + "profile": null, + "q_start": null, + "reversing": false, + "blocked_for": 0.0, + "settled_for": 0.0, + "last_q": 2.018500817879687e-12 + }, + "heater": { + "state": "ready", + "active": null, + "duration": 0.0, + "t_start": null, + "elapsed": 0.0 + } + }, + "queues": {}, + "program": null, + "sensors": { + "plate_present": { + "occupants": [], + "pending": {} + } + }, + "interlocks": {} + }, + "conveyor_1": { + "mode": "auto", + "units": { + "belt": { + "state": "at_station", + "active": null, + "controller": { + "speed": 0.22916045638940197, + "holds": [], + "station": "pick", + "rider": "carrier_2", + "arrived": true, + "settle_count": 1356, + "released": { + "pick": [] + }, + "last_pos": { + "carrier_1": [ + 0.37711581587791443, + 0.7025402188301086, + 0.0 + ], + "carrier_2": [ + -0.18040314316749573, + -0.0015804171562194824, + 0.0 + ], + "carrier_3": [ + -1.5144199430942535, + 0.20174294710159302, + 0.0 + ], + "carrier_4": [ + 1.2662597596645355, + 0.009841740131378174, + 0.0 + ] + }, + "command": 0.0 + }, + "belt": { + "target_speed": 0.0, + "command_speed": 0.0 + }, + "seen": { + "state": "at_station", + "station": "pick", + "rider": "carrier_2", + "arrived": true + } + } + }, + "queues": {}, + "program": null, + "sensors": {}, + "interlocks": {} + } + }, + "zones": {}, + "labware": { + "plate_1": { + "sealed": false + }, + "plate_2": { + "sealed": false + }, + "plate_3": { + "sealed": false + }, + "plate_4": { + "sealed": false + } + }, + "rules": {}, + "records": [], + "bus": { + "seq": 3, + "queue": [] + } + } + ], + "drives": [ + null, + null, + null, + {} + ] + }, + "artifacts": [ + {}, + {}, + {}, + { + "ceiling": { + "type": "rect", + "pose": { + "pos": [ + 0.401880268287511, + 0.06925101441868442, + 2.904847669120781 + ], + "ori": [ + 14.470109902695718, + 9.884897473924177, + 13.73477353910581 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "color_temperature": 4616.111840494348, + "color": [ + 0.9787990981303175, + 0.9799674922299455, + 0.8124879880734182 + ], + "intensity": 15165.397045542315, + "width": 1.8450673868056038, + "height": 0.8375305919176407 + } + }, + "key": { + "type": "disk", + "pose": { + "pos": [ + 1.5992295829727357, + 0.3015297621481241, + 2.4377742356269065 + ], + "ori": [ + 29.763053147767025, + -14.700537898339377, + 9.77042987884274 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "color_temperature": 3819.4285575750764, + "color": [ + 0.7796446678600033, + 0.767972226986641, + 0.847795636126436 + ], + "intensity": 4034.908881191862, + "radius": 0.33587077070360116 + } + } + } + ], + "background": { + "type": "dome", + "pose": { + "pos": null, + "ori": null, + "scale": null + }, + "dr": { + "intensity": 1384.2472045601999, + "texture": null, + "color": [ + 0.92, + 0.94, + 0.96 + ] + } + } + }, + "robots": { + "UR5e": { + "root_pose": [ + [ + 11.0, + -11.0, + 0.9150000214576721, + 1.0, + 0.0, + 0.0, + 0.0 + ], + [ + 11.0, + 11.0, + 0.9150000214576721, + 1.0, + 0.0, + 0.0, + 0.0 + ], + [ + -11.0, + -11.0, + 0.9150000214576721, + 1.0, + 0.0, + 0.0, + 0.0 + ], + [ + -11.0, + 11.0, + 0.9150000214576721, + 1.0, + 0.0, + 0.0, + 0.0 + ] + ], + "root_vel": [ + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + ], + "joint_pos": [ + [ + 2.8048744201660156, + -1.6667932271957397, + 1.8980274200439453, + -1.8020118474960327, + -1.5714658498764038, + 4.374835968017578, + 0.018000010401010513, + 0.017999988049268723 + ], + [ + 0.9141026735305786, + -1.719398021697998, + 2.0904994010925293, + -1.941900610923767, + -1.5707999467849731, + 2.484900951385498, + 0.01799999736249447, + 0.018000001087784767 + ], + [ + 0.9141111373901367, + -1.7193949222564697, + 2.0904974937438965, + -1.9419004917144775, + -1.5707999467849731, + 2.4849064350128174, + 0.01799999736249447, + 0.018000001087784767 + ], + [ + 0.9141026735305786, + -1.719398021697998, + 2.0904994010925293, + -1.9419004917144775, + -1.5707999467849731, + 2.484900951385498, + 0.01799999736249447, + 0.018000001087784767 + ] + ], + "joint_vel": [ + [ + 6.811926141381264e-06, + 3.4059551126119914e-06, + -6.811947969254106e-06, + 1.8973156379331613e-12, + -6.81195479046437e-06, + -1.3623912309412844e-05, + -1.559564850595052e-07, + 1.5594669378060644e-07 + ], + [ + -2.5542352729877894e-38, + 2.954210135737565e-38, + 2.9600950287683434e-38, + 7.044717950068832e-37, + -7.306760314482064e-37, + 2.5105275407428498e-37, + 2.5990386731677972e-08, + -2.5990386731677972e-08 + ], + [ + -2.555144995950829e-38, + 2.9552381282909935e-38, + 2.961174589105259e-38, + 7.047187822690112e-37, + -7.3090606860411e-37, + 2.4648987964591365e-37, + 2.5990400942532688e-08, + -2.5990381402607454e-08 + ], + [ + 0.0, + 2.95577286378498e-38, + 2.8149743177253224e-38, + 4.364177929193712e-37, + -6.871084738912501e-37, + -1.0876458290549933e-37, + 2.5990388508034812e-08, + -2.5990388508034812e-08 + ] + ] + } + }, + "cameras": { + "cameras": { + "camera0": [ + [ + 0.051270343363285065, + -0.001336654182523489, + -0.027943843975663185, + -0.3016127347946167, + 0.6396164894104004, + 0.652931272983551, + -0.2712954878807068 + ], + [ + 0.05121886730194092, + -0.002046084962785244, + -0.028410475701093674, + -0.2794048488140106, + 0.6541664004325867, + 0.640444815158844, + -0.2895335555076599 + ], + [ + 0.0468435175716877, + -0.004888379015028477, + -0.03282826021313667, + -0.2837732434272766, + 0.6410664319992065, + 0.66205894947052, + -0.2649236023426056 + ], + [ + 0.04876431077718735, + -0.004723065532743931, + -0.0332532674074173, + -0.2843463122844696, + 0.6447246074676514, + 0.6557946801185608, + -0.2709440588951111 + ] + ], + "camera1": [ + [ + 0.07149513810873032, + 0.579954981803894, + 1.9370228052139282, + 0.048455964773893356, + 0.02335837297141552, + 0.2756730020046234, + 0.9597451686859131 + ], + [ + 0.06966770440340042, + 0.568945050239563, + 1.9496445655822754, + 0.04709344357252121, + 0.022359037771821022, + 0.2785893976688385, + 0.9589943885803223 + ], + [ + 0.0543195903301239, + 0.5679742097854614, + 1.9742120504379272, + 0.03502249717712402, + 0.026047060266137123, + 0.28110095858573914, + 0.9586851596832275 + ], + [ + 0.02889811061322689, + 0.5758922100067139, + 1.9421226978302002, + 0.05095195770263672, + 0.025228900834918022, + 0.2844528555870056, + 0.957002580165863 + ] + ] + } + } + } +} \ No newline at end of file diff --git a/episodes/c4_p009_e014/wrist.mp4 b/episodes/c4_p009_e014/wrist.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..4aa4e22a0482f46dcfc5f7c948b16928568912bd --- /dev/null +++ b/episodes/c4_p009_e014/wrist.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:fe448b6a04c7e6cf96f465d50aff13c140774289f7137d7da29ad11dca5d35eb +size 7564829 diff --git a/episodes/c4_p009_e015/data.npz b/episodes/c4_p009_e015/data.npz new file mode 100644 index 0000000000000000000000000000000000000000..5e8227642b0b5cb4f48adb86aacc64a58c8b7995 --- /dev/null +++ b/episodes/c4_p009_e015/data.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:3ba3ceecc2c2eea65ece57d6969610e02b920f1c0dbec04399a2a85b994e7d93 +size 203126 diff --git a/episodes/c4_p009_e015/device_events.jsonl b/episodes/c4_p009_e015/device_events.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..3caae8e313130660bb3d6b81bf0edafd79c3445f --- /dev/null +++ b/episodes/c4_p009_e015/device_events.jsonl @@ -0,0 +1,35 @@ +{"env_id": 1, "seq": 1, "step": 39, "t": 0.195, "topic": "conveyor_1.belt.station.pick.captured", "source": "conveyor_1.belt", "data": {"rider": "carrier_4"}, "cause": null} +{"env_id": 1, "seq": 2, "step": 39, "t": 0.195, "topic": "conveyor_1.belt.state.changed", "source": "conveyor_1.belt", "data": {"from": "running", "to": "at_station"}, "cause": null} +{"env_id": 1, "seq": 3, "step": 44, "t": 0.22, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_4"}, "cause": null} +{"env_id": 1, "seq": 4, "step": 6570, "t": 32.85, "topic": "a4s_sealer_1.plate_present.present", "source": "a4s_sealer_1.plate_present", "data": {"object": "plate_4"}, "cause": null} +{"env_id": 1, "seq": 5, "step": 7180, "t": 35.9, "topic": "a4s_sealer_1.command.started", "source": "a4s_sealer_1", "data": {"command_id": "task-1-1", "name": "seal", "source": "task"}, "cause": "task-1-1"} +{"env_id": 1, "seq": 6, "step": 7180, "t": 35.9, "topic": "a4s_sealer_1.seal.started", "source": "a4s_sealer_1", "data": {"dwell": 3.7788536206710677}, "cause": "task-1-1"} +{"env_id": 1, "seq": 7, "step": 7180, "t": 35.9, "topic": "a4s_sealer_1.drawer.command.started", "source": "a4s_sealer_1.drawer", "data": {"command_id": "program-1-2", "name": "close", "source": "program:seal"}, "cause": "program-1-2"} +{"env_id": 1, "seq": 8, "step": 7180, "t": 35.9, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "at_out", "to": "moving"}, "cause": null} +{"env_id": 1, "seq": 9, "step": 7180, "t": 35.9, "topic": "a4s_sealer_1.drawer.moving", "source": "a4s_sealer_1.drawer", "data": {"target": 0.3, "goal": "in"}, "cause": "program-1-2"} +{"env_id": 1, "seq": 10, "step": 7599, "t": 37.995, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "moving", "to": "at_in"}, "cause": null} +{"env_id": 1, "seq": 11, "step": 7599, "t": 37.995, "topic": "a4s_sealer_1.drawer.reached", "source": "a4s_sealer_1.drawer", "data": {"position": "in", "q": 0.30000001192092896}, "cause": "program-1-2"} +{"env_id": 1, "seq": 12, "step": 7599, "t": 37.995, "topic": "a4s_sealer_1.drawer.at_in", "source": "a4s_sealer_1.drawer", "data": {"q": 0.30000001192092896}, "cause": "program-1-2"} +{"env_id": 1, "seq": 13, "step": 7599, "t": 37.995, "topic": "a4s_sealer_1.drawer.command.succeeded", "source": "a4s_sealer_1.drawer", "data": {"command_id": "program-1-2", "name": "close", "source": "program:seal", "result": {"position": "in"}}, "cause": "program-1-2"} +{"env_id": 1, "seq": 14, "step": 7599, "t": 37.995, "topic": "labware.plate_4.changed", "source": "labware.plate_4", "data": {"key": "sealed", "value": true}, "cause": "task-1-1"} +{"env_id": 1, "seq": 15, "step": 7599, "t": 37.995, "topic": "a4s_sealer_1.sealed", "source": "a4s_sealer_1", "data": {"plate": "plate_4"}, "cause": "task-1-1"} +{"env_id": 1, "seq": 16, "step": 7599, "t": 37.995, "topic": "a4s_sealer_1.heater.command.started", "source": "a4s_sealer_1.heater", "data": {"command_id": "program-1-3", "name": "run", "source": "program:seal"}, "cause": "program-1-3"} +{"env_id": 1, "seq": 17, "step": 7599, "t": 37.995, "topic": "a4s_sealer_1.heater.state.changed", "source": "a4s_sealer_1.heater", "data": {"from": "ready", "to": "running"}, "cause": null} +{"env_id": 1, "seq": 18, "step": 7599, "t": 37.995, "topic": "a4s_sealer_1.heater.started", "source": "a4s_sealer_1.heater", "data": {"duration": 3.7788536206710677}, "cause": "program-1-3"} +{"env_id": 1, "seq": 19, "step": 8355, "t": 41.775, "topic": "a4s_sealer_1.heater.state.changed", "source": "a4s_sealer_1.heater", "data": {"from": "running", "to": "ready"}, "cause": null} +{"env_id": 1, "seq": 20, "step": 8355, "t": 41.775, "topic": "a4s_sealer_1.heater.finished", "source": "a4s_sealer_1.heater", "data": {"elapsed": 3.780000000001934}, "cause": "program-1-3"} +{"env_id": 1, "seq": 21, "step": 8355, "t": 41.775, "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": 3.780000000001934}}, "cause": "program-1-3"} +{"env_id": 1, "seq": 22, "step": 8355, "t": 41.775, "topic": "a4s_sealer_1.drawer.command.started", "source": "a4s_sealer_1.drawer", "data": {"command_id": "program-1-4", "name": "open", "source": "program:seal"}, "cause": "program-1-4"} +{"env_id": 1, "seq": 23, "step": 8355, "t": 41.775, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "at_in", "to": "moving"}, "cause": null} +{"env_id": 1, "seq": 24, "step": 8355, "t": 41.775, "topic": "a4s_sealer_1.drawer.moving", "source": "a4s_sealer_1.drawer", "data": {"target": 0.0, "goal": "out"}, "cause": "program-1-4"} +{"env_id": 1, "seq": 25, "step": 8775, "t": 43.875, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "moving", "to": "at_out"}, "cause": null} +{"env_id": 1, "seq": 26, "step": 8775, "t": 43.875, "topic": "a4s_sealer_1.drawer.reached", "source": "a4s_sealer_1.drawer", "data": {"position": "out", "q": 0.0}, "cause": "program-1-4"} +{"env_id": 1, "seq": 27, "step": 8775, "t": 43.875, "topic": "a4s_sealer_1.drawer.at_out", "source": "a4s_sealer_1.drawer", "data": {"q": 0.0}, "cause": "program-1-4"} +{"env_id": 1, "seq": 28, "step": 8775, "t": 43.875, "topic": "a4s_sealer_1.drawer.command.succeeded", "source": "a4s_sealer_1.drawer", "data": {"command_id": "program-1-4", "name": "open", "source": "program:seal", "result": {"position": "out"}}, "cause": "program-1-4"} +{"env_id": 1, "seq": 29, "step": 8775, "t": 43.875, "topic": "a4s_sealer_1.seal.finished", "source": "a4s_sealer_1", "data": {}, "cause": "task-1-1"} +{"env_id": 1, "seq": 30, "step": 8775, "t": 43.875, "topic": "a4s_sealer_1.command.succeeded", "source": "a4s_sealer_1", "data": {"command_id": "task-1-1", "name": "seal", "source": "task"}, "cause": "task-1-1"} +{"env_id": 1, "seq": 31, "step": 9355, "t": 46.775, "topic": "a4s_sealer_1.plate_present.absent", "source": "a4s_sealer_1.plate_present", "data": {"object": "plate_4"}, "cause": null} +{"env_id": 1, "seq": 32, "step": 11620, "t": 58.1, "topic": "conveyor_1.belt.command.started", "source": "conveyor_1.belt", "data": {"command_id": "task-1-5", "name": "release", "source": "task"}, "cause": "task-1-5"} +{"env_id": 1, "seq": 33, "step": 11620, "t": 58.1, "topic": "conveyor_1.belt.station.pick.released", "source": "conveyor_1.belt", "data": {"rider": "carrier_4"}, "cause": "task-1-5"} +{"env_id": 1, "seq": 34, "step": 11620, "t": 58.1, "topic": "conveyor_1.belt.state.changed", "source": "conveyor_1.belt", "data": {"from": "at_station", "to": "running"}, "cause": null} +{"env_id": 1, "seq": 35, "step": 11620, "t": 58.1, "topic": "conveyor_1.belt.command.succeeded", "source": "conveyor_1.belt", "data": {"command_id": "task-1-5", "name": "release", "source": "task", "result": {"state": "running"}}, "cause": "task-1-5"} diff --git a/episodes/c4_p009_e015/env.mp4 b/episodes/c4_p009_e015/env.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..6bc0bdae2916ce74f0fd28afe95235300bf63be0 --- /dev/null +++ b/episodes/c4_p009_e015/env.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:e9c13c54df294b6ed0ae40f441d5812ed822b68d54ceda42b1782028553e0297 +size 1347981 diff --git a/episodes/c4_p009_e015/meta.json b/episodes/c4_p009_e015/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..70abd730ed60c2d3c0acd20a7f2bf9396117300c --- /dev/null +++ b/episodes/c4_p009_e015/meta.json @@ -0,0 +1,32 @@ +{ + "source": "raw/c4_p009/magicsim/15", + "fps": 25, + "frames": 1281, + "kept_ticks": "even", + "video_frames": { + "wrist": 1281, + "env": 1281 + }, + "joint_target_source": "joint_pos_target", + "fk_vs_recorded_eef_max_m": 0.0, + "curobo_joints": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "joint_order": [ + "shoulder_pan", + "shoulder_lift", + "elbow", + "wrist_1", + "wrist_2", + "wrist_3", + "finger_left", + "finger_right" + ], + "frames_note": "eef / actions in the robot base frame; camera_pose = local pose (wrist: in plate_gripper_base, env: env frame), pos + quat wxyz", + "dr_version": "v2" +} \ No newline at end of file diff --git a/episodes/c4_p009_e015/scene_snapshot.json b/episodes/c4_p009_e015/scene_snapshot.json new file mode 100644 index 0000000000000000000000000000000000000000..4314839df7b574ddd78a0f4a0a2a567e6e80d037 --- /dev/null +++ b/episodes/c4_p009_e015/scene_snapshot.json @@ -0,0 +1,1558 @@ +{ + "trajectory_id": 15, + "env_id": 1, + "run_id": "c4_p009", + "task_type": "BioPlateCell", + "success": true, + "timing": { + "fps": 50.0, + "sim_dt": 0.005, + "decimation": 4 + }, + "restore_interface": { + "scene": "scene_manager.reset_to(snapshot['scene'], env_ids=[env_id])", + "robots": "robot_manager.set_state({'robots': snapshot['robots']}, env_ids=[env_id])" + }, + "snapshot": { + "env_id": 1, + "scene": { + "objects": [ + {}, + { + "rac_cell": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/rac_cell.usd", + "pose": { + "pos": [ + 0.0, + 0.0, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "physics_material": { + "static_friction": 0.6, + "dynamic_friction": 0.5, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "robot_mount": [ + { + "asset": "Cube", + "pose": { + "pos": [ + 0.0, + 0.0, + 0.9075 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": "color", + "value": [ + 0.55, + 0.56, + 0.58 + ], + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": { + "size": [ + 0.2, + 0.2, + 0.015 + ] + } + }, + "type_specific": {} + } + ], + "plate_rack": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/plate_hotel.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 0.9 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "physics_material": { + "static_friction": 0.6, + "dynamic_friction": 0.5, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "hotel_plate": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_96_white/plate_96_white.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 0.9605 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/deep_well_24_10ml/deep_well_24_10ml.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.0285 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_96_black/plate_96_black.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.0965 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_6_clear/plate_6_clear.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.1645 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/deep_well_24_10ml/deep_well_24_10ml.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.2325 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "a4s_sealer": [ + { + "asset": "$MAGICSIM_ASSETS/Articulated/A4SSealer/Object.usd", + "pose": { + "pos": [ + 0.4988422393798828, + 0.11703014373779297, + 0.8999999761581421 + ], + "ori": [ + 0.735316276550293, + 0.0, + 0.0, + -0.6777241230010986 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "articulation", + "solver_position_iteration_count": 16.0, + "solver_velocity_iteration_count": 1.0, + "enabled_self_collisions": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "joint_position": [ + 2.018501685241425e-12 + ], + "joint_velocity": [ + 0.0 + ], + "linear_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "angular_velocity": [ + 0.0, + 0.0, + 0.0 + ] + } + } + ], + "conveyor": [ + { + "asset": "Cube", + "pose": { + "pos": [ + 0.15, + 0.45, + 0.9 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "conveyor", + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9 + }, + "ratio": 1.0 + }, + "primitive_params": { + "size": [ + 2.4, + 0.076, + 0.03 + ] + }, + "conveyor": { + "speed": 0.24621073488663464, + "direction": [ + 1.0, + 0.0, + 0.0 + ], + "enabled": true, + "drive": "surface_velocity", + "lines": null, + "station_line": null, + "riders": [ + "carrier" + ], + "stations": { + "pick": { + "position": -0.24204114593678883, + "slow_distance": 0.03, + "slow_speed": 0.03 + } + }, + "rails": { + "height": 0.01, + "thickness": 0.01, + "gap": 0.001, + "friction": 0.05 + }, + "legs": 0.87, + "loop": { + "radius": 0.35, + "side": "left", + "curve_extra_width": 0.0, + "segments": 18, + "curve_rails": "both" + }, + "snap_distance": 0.1, + "junction_snap": 0.02, + "collision_approximation": "auto", + "plate_mass": 1.0, + "lift_drop": 0.004, + "accel": 0.0, + "decel": 0.0, + "drive_damping": 1000000.0, + "drive_max_force": 1000000000.0 + } + }, + "type_specific": { + "controller": { + "state": "at_station", + "speed": 0.24621073488663464, + "holds": [], + "station": "pick", + "rider": "carrier_4", + "arrived": true, + "applied_speed": 0.0 + } + } + } + ], + "carrier": [ + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + -1.356379508972168, + 0.633509635925293, + 0.8999999761581421 + ], + "ori": [ + -0.8578606843948364, + 3.4883399280261074e-08, + -6.821548481639184e-08, + 0.5138824582099915 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -7.052391026718396e-08, + -2.2583742875781354e-08, + 3.725290298461914e-09 + ], + "angular_velocity": [ + 1.7084774128761637e-07, + -1.0959699920931598e-06, + -9.174603974315687e-07 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + 0.36560916900634766, + 1.1500024795532227, + 0.8999999761581421 + ], + "ori": [ + 3.0016542496014154e-06, + 1.365433632827262e-08, + 5.978823214292106e-09, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -4.2003667211076845e-10, + -4.6129536301897645e-10, + 7.450580596923828e-09 + ], + "angular_velocity": [ + 3.725649833086209e-08, + -4.303318235088227e-08, + -2.7902038457483513e-09 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + 1.676762580871582, + 0.9226369857788086, + 0.8999999761581421 + ], + "ori": [ + 0.5715833902359009, + 1.2684775185789476e-07, + -5.651310175380786e-08, + 0.8205440640449524 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -2.7198886698442948e-08, + 5.091073118634881e-10, + 1.1175870895385742e-08 + ], + "angular_velocity": [ + 1.455543667816528e-07, + -4.23009225869464e-07, + -3.369110288531374e-07 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + -0.0920257568359375, + 0.4499998092651367, + 0.8999999761581421 + ], + "ori": [ + 1.0, + 1.2684238104299084e-09, + -5.5457444192441585e-11, + -3.173491859342903e-05 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -1.6173626882221015e-09, + 4.578919909903334e-09, + 1.1175870895385742e-08 + ], + "angular_velocity": [ + -3.0374468451555003e-07, + -1.5335166381191812e-07, + -4.864005864746446e-10 + ] + } + } + ], + "plate": [ + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_12_clear/Object.usd", + "pose": { + "pos": [ + -1.3571767807006836, + 0.6269750595092773, + 0.9179999828338623 + ], + "ori": [ + -0.8724242448806763, + 3.3995095805039455e-07, + -3.7466060121005285e-07, + 0.4887494444847107 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -1.3170387092031888e-06, + 3.0984324439486954e-06, + -1.3150274753570557e-06 + ], + "angular_velocity": [ + 2.4658629627083428e-05, + -4.773431282956153e-05, + 8.96865276445169e-06 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_96_white/Object.usd", + "pose": { + "pos": [ + 0.3752555847167969, + 1.1382369995117188, + 0.9180000424385071 + ], + "ori": [ + -0.05166344717144966, + 1.2831431916993097e-08, + 4.4831711676351915e-09, + 0.9986646175384521 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 1.773698521390088e-09, + 7.015338976401608e-09, + -5.27501106262207e-06 + ], + "angular_velocity": [ + -1.5236056469802861e-06, + 1.524216600046202e-06, + -8.385171668123803e-08 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/pcr_384_red/Object.usd", + "pose": { + "pos": [ + 1.6856002807617188, + 0.9185581207275391, + 0.9179999828338623 + ], + "ori": [ + 0.5316705107688904, + 2.3420190586875833e-07, + 5.761394561432098e-08, + 0.8469513058662415 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -3.2446394016005797e-07, + 2.222309149146895e-06, + -6.2175095081329346e-06 + ], + "angular_velocity": [ + -1.2684689863817766e-05, + -2.965052772196941e-05, + -8.807533959043212e-06 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/deep_well_96_1ml/Object.usd", + "pose": { + "pos": [ + -0.0806283950805664, + 0.44100093841552734, + 0.9179999828338623 + ], + "ori": [ + 0.9988949298858643, + 1.349306083531232e-10, + 1.2782455094395573e-09, + -0.046999040991067886 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -8.584295585478685e-08, + 6.610974168097528e-08, + 1.8998980522155762e-07 + ], + "angular_velocity": [ + -2.255961817354546e-06, + -3.3036199056368787e-06, + 2.800055654006428e-07 + ] + } + } + ], + "deco_hub_west": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/hub_a.usd", + "pose": { + "pos": [ + -3.36, + 0.0, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_hub_east": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/hub_c.usd", + "pose": { + "pos": [ + 3.36, + 0.0, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_hub_back": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/hub_d.usd", + "pose": { + "pos": [ + -3.0, + -2.1, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_bench_east": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/bench_c.usd", + "pose": { + "pos": [ + 2.6, + -2.5, + 0.0 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_bench_gap": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/bench_b.usd", + "pose": { + "pos": [ + -0.1, + -2.9, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ] + }, + {}, + {} + ], + "devices": { + "hub": [ + null, + { + "t": 7.039999999999872, + "step": 1408, + "counter": 0, + "devices": { + "a4s_sealer_1": { + "mode": "auto", + "units": { + "drawer": { + "state": "at_out", + "active": null, + "target": 0.0, + "goal_name": "out", + "profile": null, + "q_start": null, + "reversing": false, + "blocked_for": 0.0, + "settled_for": 0.0, + "last_q": 2.018501685241425e-12 + }, + "heater": { + "state": "ready", + "active": null, + "duration": 0.0, + "t_start": null, + "elapsed": 0.0 + } + }, + "queues": {}, + "program": null, + "sensors": { + "plate_present": { + "occupants": [], + "pending": {} + } + }, + "interlocks": {} + }, + "conveyor_1": { + "mode": "auto", + "units": { + "belt": { + "state": "at_station", + "active": null, + "controller": { + "speed": 0.24621073488663464, + "holds": [], + "station": "pick", + "rider": "carrier_4", + "arrived": true, + "settle_count": 1368, + "released": { + "pick": [] + }, + "last_pos": { + "carrier_1": [ + -1.5063795149326324, + 0.18350964784622192, + 0.0 + ], + "carrier_2": [ + 0.21560916304588318, + 0.7000024914741516, + 0.0 + ], + "carrier_3": [ + 1.5267625749111176, + 0.47263699769973755, + 0.0 + ], + "carrier_4": [ + -0.24202576279640198, + -1.7881393432617188e-07, + 0.0 + ] + }, + "command": 0.0 + }, + "belt": { + "target_speed": 0.0, + "command_speed": 0.0 + }, + "seen": { + "state": "at_station", + "station": "pick", + "rider": "carrier_4", + "arrived": true + } + } + }, + "queues": {}, + "program": null, + "sensors": {}, + "interlocks": {} + } + }, + "zones": {}, + "labware": { + "plate_1": { + "sealed": false + }, + "plate_2": { + "sealed": false + }, + "plate_3": { + "sealed": false + }, + "plate_4": { + "sealed": false + } + }, + "rules": {}, + "records": [], + "bus": { + "seq": 3, + "queue": [] + } + }, + null, + null + ], + "drives": [ + null, + {}, + null, + null + ] + }, + "artifacts": [ + {}, + { + "ceiling": { + "type": "rect", + "pose": { + "pos": [ + -0.08861119877714374, + 0.11999874424278933, + 2.701994395685534 + ], + "ori": [ + 9.312686248280734, + 11.297189131982606, + -1.3667721347996888 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "color_temperature": 4116.323619605186, + "color": [ + 0.8579387197567608, + 0.9446049728105298, + 0.930901522475025 + ], + "intensity": 10076.574779801556, + "width": 2.0376207822145216, + "height": 1.112080448269223 + } + }, + "key": { + "type": "disk", + "pose": { + "pos": [ + -0.5764805619128999, + -0.34385041674508354, + 2.1307641774909127 + ], + "ori": [ + -20.303644625396153, + -31.736862701063338, + -13.051896814438855 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "color_temperature": 4573.296699501594, + "color": [ + 0.8160195720470494, + 0.8824561800629225, + 0.8019301336757658 + ], + "intensity": 8949.08992852736, + "radius": 0.35720825336426587 + } + } + }, + {}, + {} + ], + "background": { + "type": "dome", + "pose": { + "pos": null, + "ori": null, + "scale": null + }, + "dr": { + "intensity": 1384.2472045601999, + "texture": null, + "color": [ + 0.92, + 0.94, + 0.96 + ] + } + } + }, + "robots": { + "UR5e": { + "root_pose": [ + [ + 11.0, + -11.0, + 0.9150000214576721, + 1.0, + 0.0, + 0.0, + 0.0 + ], + [ + 11.0, + 11.0, + 0.9150000214576721, + 1.0, + 0.0, + 0.0, + 0.0 + ], + [ + -11.0, + -11.0, + 0.9150000214576721, + 1.0, + 0.0, + 0.0, + 0.0 + ], + [ + -11.0, + 11.0, + 0.9150000214576721, + 1.0, + 0.0, + 0.0, + 0.0 + ] + ], + "root_vel": [ + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + ], + "joint_pos": [ + [ + 2.5284368991851807, + -2.2523386478424072, + 2.2443487644195557, + -1.5629717111587524, + -1.5714459419250488, + 4.098398208618164, + 0.01799999363720417, + 0.018000004813075066 + ], + [ + 0.9141026735305786, + -1.719398021697998, + 2.0904994010925293, + -1.941900610923767, + -1.5707999467849731, + 2.484900951385498, + 0.01799999736249447, + 0.018000001087784767 + ], + [ + 1.1089760065078735, + -1.6399319171905518, + 2.1706926822662354, + -2.1015255451202393, + -1.5707956552505493, + 2.719923257827759, + 0.01800055056810379, + 0.01799945719540119 + ], + [ + 1.0419986248016357, + -1.2978127002716064, + 2.2752315998077393, + -2.5480942726135254, + -1.5708894729614258, + 2.6863956451416016, + 0.007709764875471592, + 0.00713674072176218 + ] + ], + "joint_vel": [ + [ + 6.811904313508421e-06, + -2.015859007498122e-11, + 6.811942512285896e-06, + 3.4059742120007286e-06, + -6.717349116183713e-13, + -1.3623912309412844e-05, + 7.797559220534822e-08, + -7.796554513106457e-08 + ], + [ + -2.5542352729877894e-38, + 2.954210135737565e-38, + 2.9600950287683434e-38, + 7.044717950068832e-37, + -7.306760314482064e-37, + 2.5105275407428498e-37, + 2.5990386731677972e-08, + -2.5990386731677972e-08 + ], + [ + 0.030820416286587715, + 0.012681836262345314, + 0.01295745000243187, + -0.024692948907613754, + 5.419958324637264e-05, + 0.036486800760030746, + 6.343591849145014e-06, + -6.4486048358958215e-06 + ], + [ + -0.00044957484351471066, + 0.0001319298316957429, + -4.756768248626031e-05, + -0.0042115310207009315, + 0.0029411588329821825, + 0.015369756147265434, + -0.008401934057474136, + 0.0003959669847972691 + ] + ] + } + }, + "cameras": { + "cameras": { + "camera0": [ + [ + 0.05267675220966339, + 0.001386338728480041, + -0.027562327682971954, + -0.2892901301383972, + 0.6405271291732788, + 0.6561633944511414, + -0.27474674582481384 + ], + [ + 0.04979362338781357, + -0.0014739345060661435, + -0.0296554584056139, + -0.27490121126174927, + 0.6538825631141663, + 0.6435971260070801, + -0.28748852014541626 + ], + [ + 0.04926116764545441, + -0.0014623395400121808, + -0.0306994691491127, + -0.28077131509780884, + 0.6456477046012878, + 0.6609567403793335, + -0.2596973180770874 + ], + [ + 0.04862907528877258, + -0.0028443438932299614, + -0.03236803784966469, + -0.2832663357257843, + 0.6431248188018799, + 0.6554920077323914, + -0.27655166387557983 + ] + ], + "camera1": [ + [ + 0.07149513810873032, + 0.579954981803894, + 1.9370228052139282, + 0.048455964773893356, + 0.02335837297141552, + 0.2756730020046234, + 0.9597451686859131 + ], + [ + 0.06966770440340042, + 0.568945050239563, + 1.9496445655822754, + 0.04709344357252121, + 0.022359037771821022, + 0.2785893976688385, + 0.9589943885803223 + ], + [ + 0.0543195903301239, + 0.5679742097854614, + 1.9742120504379272, + 0.03502249717712402, + 0.026047060266137123, + 0.28110095858573914, + 0.9586851596832275 + ], + [ + 0.02889811061322689, + 0.5758922100067139, + 1.9421226978302002, + 0.05095195770263672, + 0.025228900834918022, + 0.2844528555870056, + 0.957002580165863 + ] + ] + } + } + } +} \ No newline at end of file diff --git a/episodes/c4_p009_e015/wrist.mp4 b/episodes/c4_p009_e015/wrist.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..9d18f1e32ffdbe3e0fa7a5e4481f5054e4fb10b8 --- /dev/null +++ b/episodes/c4_p009_e015/wrist.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:1b10f9e5f30484c9e06e73332ed44e6fc079840e8e92567fb4a83b35023429a9 +size 7025426 diff --git a/episodes/c7_p010_e000/data.npz b/episodes/c7_p010_e000/data.npz new file mode 100644 index 0000000000000000000000000000000000000000..5532701296ef4ecf022a10525c376ece0f11cb06 --- /dev/null +++ b/episodes/c7_p010_e000/data.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:8c0ff7bd958743e69c54e8e5c2e0b4adc4e78da63bdf20f5812f2a32356ddfdc +size 186634 diff --git a/episodes/c7_p010_e000/device_events.jsonl b/episodes/c7_p010_e000/device_events.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..c468efac0c388f87b7390a2cef289957a17fbcc1 --- /dev/null +++ b/episodes/c7_p010_e000/device_events.jsonl @@ -0,0 +1,35 @@ +{"env_id": 1, "seq": 1, "step": 144, "t": 0.72, "topic": "conveyor_1.belt.station.pick.captured", "source": "conveyor_1.belt", "data": {"rider": "carrier_1"}, "cause": null} +{"env_id": 1, "seq": 2, "step": 144, "t": 0.72, "topic": "conveyor_1.belt.state.changed", "source": "conveyor_1.belt", "data": {"from": "running", "to": "at_station"}, "cause": null} +{"env_id": 1, "seq": 3, "step": 149, "t": 0.745, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_1"}, "cause": null} +{"env_id": 1, "seq": 4, "step": 5687, "t": 28.435, "topic": "a4s_sealer_1.plate_present.present", "source": "a4s_sealer_1.plate_present", "data": {"object": "plate_1"}, "cause": null} +{"env_id": 1, "seq": 5, "step": 6300, "t": 31.5, "topic": "a4s_sealer_1.command.started", "source": "a4s_sealer_1", "data": {"command_id": "task-1-1", "name": "seal", "source": "task"}, "cause": "task-1-1"} +{"env_id": 1, "seq": 6, "step": 6300, "t": 31.5, "topic": "a4s_sealer_1.seal.started", "source": "a4s_sealer_1", "data": {"dwell": 2.555299865329327}, "cause": "task-1-1"} +{"env_id": 1, "seq": 7, "step": 6300, "t": 31.5, "topic": "a4s_sealer_1.drawer.command.started", "source": "a4s_sealer_1.drawer", "data": {"command_id": "program-1-2", "name": "close", "source": "program:seal"}, "cause": "program-1-2"} +{"env_id": 1, "seq": 8, "step": 6300, "t": 31.5, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "at_out", "to": "moving"}, "cause": null} +{"env_id": 1, "seq": 9, "step": 6300, "t": 31.5, "topic": "a4s_sealer_1.drawer.moving", "source": "a4s_sealer_1.drawer", "data": {"target": 0.3, "goal": "in"}, "cause": "program-1-2"} +{"env_id": 1, "seq": 10, "step": 6719, "t": 33.595, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "moving", "to": "at_in"}, "cause": null} +{"env_id": 1, "seq": 11, "step": 6719, "t": 33.595, "topic": "a4s_sealer_1.drawer.reached", "source": "a4s_sealer_1.drawer", "data": {"position": "in", "q": 0.30000001192092896}, "cause": "program-1-2"} +{"env_id": 1, "seq": 12, "step": 6719, "t": 33.595, "topic": "a4s_sealer_1.drawer.at_in", "source": "a4s_sealer_1.drawer", "data": {"q": 0.30000001192092896}, "cause": "program-1-2"} +{"env_id": 1, "seq": 13, "step": 6719, "t": 33.595, "topic": "a4s_sealer_1.drawer.command.succeeded", "source": "a4s_sealer_1.drawer", "data": {"command_id": "program-1-2", "name": "close", "source": "program:seal", "result": {"position": "in"}}, "cause": "program-1-2"} +{"env_id": 1, "seq": 14, "step": 6719, "t": 33.595, "topic": "labware.plate_1.changed", "source": "labware.plate_1", "data": {"key": "sealed", "value": true}, "cause": "task-1-1"} +{"env_id": 1, "seq": 15, "step": 6719, "t": 33.595, "topic": "a4s_sealer_1.sealed", "source": "a4s_sealer_1", "data": {"plate": "plate_1"}, "cause": "task-1-1"} +{"env_id": 1, "seq": 16, "step": 6719, "t": 33.595, "topic": "a4s_sealer_1.heater.command.started", "source": "a4s_sealer_1.heater", "data": {"command_id": "program-1-3", "name": "run", "source": "program:seal"}, "cause": "program-1-3"} +{"env_id": 1, "seq": 17, "step": 6719, "t": 33.595, "topic": "a4s_sealer_1.heater.state.changed", "source": "a4s_sealer_1.heater", "data": {"from": "ready", "to": "running"}, "cause": null} +{"env_id": 1, "seq": 18, "step": 6719, "t": 33.595, "topic": "a4s_sealer_1.heater.started", "source": "a4s_sealer_1.heater", "data": {"duration": 2.555299865329327}, "cause": "program-1-3"} +{"env_id": 1, "seq": 19, "step": 7231, "t": 36.155, "topic": "a4s_sealer_1.heater.state.changed", "source": "a4s_sealer_1.heater", "data": {"from": "running", "to": "ready"}, "cause": null} +{"env_id": 1, "seq": 20, "step": 7231, "t": 36.155, "topic": "a4s_sealer_1.heater.finished", "source": "a4s_sealer_1.heater", "data": {"elapsed": 2.5600000000013097}, "cause": "program-1-3"} +{"env_id": 1, "seq": 21, "step": 7231, "t": 36.155, "topic": "a4s_sealer_1.heater.command.succeeded", "source": "a4s_sealer_1.heater", "data": {"command_id": "program-1-3", "name": "run", "source": "program:seal", "result": {"elapsed": 2.5600000000013097}}, "cause": "program-1-3"} +{"env_id": 1, "seq": 22, "step": 7231, "t": 36.155, "topic": "a4s_sealer_1.drawer.command.started", "source": "a4s_sealer_1.drawer", "data": {"command_id": "program-1-4", "name": "open", "source": "program:seal"}, "cause": "program-1-4"} +{"env_id": 1, "seq": 23, "step": 7231, "t": 36.155, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "at_in", "to": "moving"}, "cause": null} +{"env_id": 1, "seq": 24, "step": 7231, "t": 36.155, "topic": "a4s_sealer_1.drawer.moving", "source": "a4s_sealer_1.drawer", "data": {"target": 0.0, "goal": "out"}, "cause": "program-1-4"} +{"env_id": 1, "seq": 25, "step": 7651, "t": 38.255, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "moving", "to": "at_out"}, "cause": null} +{"env_id": 1, "seq": 26, "step": 7651, "t": 38.255, "topic": "a4s_sealer_1.drawer.reached", "source": "a4s_sealer_1.drawer", "data": {"position": "out", "q": 2.2204071914444512e-11}, "cause": "program-1-4"} +{"env_id": 1, "seq": 27, "step": 7651, "t": 38.255, "topic": "a4s_sealer_1.drawer.at_out", "source": "a4s_sealer_1.drawer", "data": {"q": 2.2204071914444512e-11}, "cause": "program-1-4"} +{"env_id": 1, "seq": 28, "step": 7651, "t": 38.255, "topic": "a4s_sealer_1.drawer.command.succeeded", "source": "a4s_sealer_1.drawer", "data": {"command_id": "program-1-4", "name": "open", "source": "program:seal", "result": {"position": "out"}}, "cause": "program-1-4"} +{"env_id": 1, "seq": 29, "step": 7651, "t": 38.255, "topic": "a4s_sealer_1.seal.finished", "source": "a4s_sealer_1", "data": {}, "cause": "task-1-1"} +{"env_id": 1, "seq": 30, "step": 7651, "t": 38.255, "topic": "a4s_sealer_1.command.succeeded", "source": "a4s_sealer_1", "data": {"command_id": "task-1-1", "name": "seal", "source": "task"}, "cause": "task-1-1"} +{"env_id": 1, "seq": 31, "step": 8231, "t": 41.155, "topic": "a4s_sealer_1.plate_present.absent", "source": "a4s_sealer_1.plate_present", "data": {"object": "plate_1"}, "cause": null} +{"env_id": 1, "seq": 32, "step": 9996, "t": 49.98, "topic": "conveyor_1.belt.command.started", "source": "conveyor_1.belt", "data": {"command_id": "task-1-5", "name": "release", "source": "task"}, "cause": "task-1-5"} +{"env_id": 1, "seq": 33, "step": 9996, "t": 49.98, "topic": "conveyor_1.belt.station.pick.released", "source": "conveyor_1.belt", "data": {"rider": "carrier_1"}, "cause": "task-1-5"} +{"env_id": 1, "seq": 34, "step": 9996, "t": 49.98, "topic": "conveyor_1.belt.state.changed", "source": "conveyor_1.belt", "data": {"from": "at_station", "to": "running"}, "cause": null} +{"env_id": 1, "seq": 35, "step": 9996, "t": 49.98, "topic": "conveyor_1.belt.command.succeeded", "source": "conveyor_1.belt", "data": {"command_id": "task-1-5", "name": "release", "source": "task", "result": {"state": "running"}}, "cause": "task-1-5"} diff --git a/episodes/c7_p010_e000/env.mp4 b/episodes/c7_p010_e000/env.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..488b41f05eb04a8712cbad81a309eae21e373c06 --- /dev/null +++ b/episodes/c7_p010_e000/env.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:76cd0db7957177c2a90337f3b453d12b737c1e2cfe0ccb677e3982a56c4475e9 +size 1185928 diff --git a/episodes/c7_p010_e000/meta.json b/episodes/c7_p010_e000/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..412e9dcde1d0f925d18564e8ecf06fafd35ab7cb --- /dev/null +++ b/episodes/c7_p010_e000/meta.json @@ -0,0 +1,32 @@ +{ + "source": "raw/c7_p010/magicsim/0", + "fps": 25, + "frames": 1181, + "kept_ticks": "even", + "video_frames": { + "wrist": 1181, + "env": 1181 + }, + "joint_target_source": "joint_pos_target", + "fk_vs_recorded_eef_max_m": 0.0, + "curobo_joints": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "joint_order": [ + "shoulder_pan", + "shoulder_lift", + "elbow", + "wrist_1", + "wrist_2", + "wrist_3", + "finger_left", + "finger_right" + ], + "frames_note": "eef / actions in the robot base frame; camera_pose = local pose (wrist: in plate_gripper_base, env: env frame), pos + quat wxyz", + "dr_version": "v2" +} \ No newline at end of file diff --git a/episodes/c7_p010_e000/scene_snapshot.json b/episodes/c7_p010_e000/scene_snapshot.json new file mode 100644 index 0000000000000000000000000000000000000000..f441e8686a337d554b84439ec3835bcfe0517bf3 --- /dev/null +++ b/episodes/c7_p010_e000/scene_snapshot.json @@ -0,0 +1,1558 @@ +{ + "trajectory_id": 0, + "env_id": 1, + "run_id": "c7_p010", + "task_type": "BioPlateCell", + "success": true, + "timing": { + "fps": 50.0, + "sim_dt": 0.005, + "decimation": 4 + }, + "restore_interface": { + "scene": "scene_manager.reset_to(snapshot['scene'], env_ids=[env_id])", + "robots": "robot_manager.set_state({'robots': snapshot['robots']}, env_ids=[env_id])" + }, + "snapshot": { + "env_id": 1, + "scene": { + "objects": [ + {}, + { + "rac_cell": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/rac_cell.usd", + "pose": { + "pos": [ + 0.0, + 0.0, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "physics_material": { + "static_friction": 0.6, + "dynamic_friction": 0.5, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "robot_mount": [ + { + "asset": "Cube", + "pose": { + "pos": [ + 0.0, + 0.0, + 0.9075 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": "color", + "value": [ + 0.55, + 0.56, + 0.58 + ], + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": { + "size": [ + 0.2, + 0.2, + 0.015 + ] + } + }, + "type_specific": {} + } + ], + "plate_rack": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/plate_hotel.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 0.9 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "physics_material": { + "static_friction": 0.6, + "dynamic_friction": 0.5, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "hotel_plate": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/deep_well_24_10ml/deep_well_24_10ml.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 0.9605 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_24_clear/plate_24_clear.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.0285 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_96_black/plate_96_black.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.0965 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_96_white/plate_96_white.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.1645 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_6_clear/plate_6_clear.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.2325 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "a4s_sealer": [ + { + "asset": "$MAGICSIM_ASSETS/Articulated/A4SSealer/Object.usd", + "pose": { + "pos": [ + 0.4943122863769531, + 0.12484455108642578, + 0.8999999761581421 + ], + "ori": [ + -0.6890893578529358, + 0.0, + 0.0, + 0.7246763706207275 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "articulation", + "solver_position_iteration_count": 16.0, + "solver_velocity_iteration_count": 1.0, + "enabled_self_collisions": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "joint_position": [ + 2.8915899622644625e-12 + ], + "joint_velocity": [ + 0.0 + ], + "linear_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "angular_velocity": [ + 0.0, + 0.0, + 0.0 + ] + } + } + ], + "conveyor": [ + { + "asset": "Cube", + "pose": { + "pos": [ + 0.15, + 0.45, + 0.9 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "conveyor", + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9 + }, + "ratio": 1.0 + }, + "primitive_params": { + "size": [ + 2.4, + 0.076, + 0.03 + ] + }, + "conveyor": { + "speed": 0.25979309915556464, + "direction": [ + 1.0, + 0.0, + 0.0 + ], + "enabled": true, + "drive": "surface_velocity", + "lines": null, + "station_line": null, + "riders": [ + "carrier" + ], + "stations": { + "pick": { + "position": -0.11222763985479381, + "slow_distance": 0.03, + "slow_speed": 0.03 + } + }, + "rails": { + "height": 0.01, + "thickness": 0.01, + "gap": 0.001, + "friction": 0.05 + }, + "legs": 0.87, + "loop": { + "radius": 0.35, + "side": "left", + "curve_extra_width": 0.0, + "segments": 18, + "curve_rails": "both" + }, + "snap_distance": 0.1, + "junction_snap": 0.02, + "collision_approximation": "auto", + "plate_mass": 1.0, + "lift_drop": 0.004, + "accel": 0.0, + "decel": 0.0, + "drive_damping": 1000000.0, + "drive_max_force": 1000000000.0 + } + }, + "type_specific": { + "controller": { + "state": "at_station", + "speed": 0.25979309915556464, + "holds": [], + "station": "pick", + "rider": "carrier_1", + "arrived": true, + "applied_speed": 0.0 + } + } + } + ], + "carrier": [ + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + 0.037606239318847656, + 0.4472055435180664, + 0.8999999761581421 + ], + "ori": [ + 0.9999691843986511, + 7.811189028927856e-09, + 3.970457851387721e-10, + 0.007853890769183636 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 3.6054093044413094e-10, + -7.85116238688488e-09, + 1.1175870895385742e-08 + ], + "angular_velocity": [ + 1.7212926195497857e-07, + 5.2497668434625666e-08, + 3.448735341748943e-08 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + 0.19282817840576172, + 1.1526355743408203, + 0.8999999761581421 + ], + "ori": [ + -0.008144418708980083, + -9.860198213473836e-10, + 2.536103771433318e-09, + 0.9999668598175049 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -1.57458379668185e-10, + -4.0102732246083406e-10, + 3.725290298461914e-09 + ], + "angular_velocity": [ + -1.8847458704840392e-08, + -6.341025482470286e-09, + 3.6275071835234485e-09 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + 1.674788475036621, + 0.6773080825805664, + 0.8999999761581421 + ], + "ori": [ + 0.8278077840805054, + 6.050607481711268e-08, + -1.0199441646818741e-07, + 0.5610119700431824 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -7.834663051653479e-07, + -8.775513151704217e-07, + -4.258006811141968e-06 + ], + "angular_velocity": [ + 7.67209057812579e-05, + -6.874067184980959e-05, + -2.3426719053531997e-07 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + -1.366032600402832, + 0.9445457458496094, + 0.8999999761581421 + ], + "ori": [ + -0.534259021282196, + 9.011988488794032e-09, + -7.204737784149984e-08, + 0.8453208804130554 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -2.2423156664785893e-09, + 2.3539845628306466e-09, + 3.725290298461914e-09 + ], + "angular_velocity": [ + -8.40857694583974e-09, + -1.8761075182283093e-07, + 6.096350091411296e-10 + ] + } + } + ], + "plate": [ + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_12_clear/Object.usd", + "pose": { + "pos": [ + 0.02571868896484375, + 0.45697784423828125, + 0.9179999828338623 + ], + "ori": [ + 0.9999569654464722, + 1.1259747800806963e-08, + 1.6445262929210003e-09, + -0.009276204742491245 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -1.7029975651894347e-08, + -1.061660555023991e-07, + 1.6763806343078613e-07 + ], + "angular_velocity": [ + 2.8214110443514073e-06, + -1.981354671443114e-06, + -8.389206129777449e-08 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_96_white/Object.usd", + "pose": { + "pos": [ + 0.20318984985351562, + 1.1436729431152344, + 0.9180000424385071 + ], + "ori": [ + -0.10891646146774292, + 4.647834894733194e-11, + 1.4397187886316942e-09, + 0.994050920009613 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 1.0792060578523888e-08, + 3.6708924788797503e-09, + -6.064772605895996e-06 + ], + "angular_velocity": [ + -8.828149020700948e-07, + 1.0601138455967885e-06, + 4.40058727235737e-08 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/pcr_384_red/Object.usd", + "pose": { + "pos": [ + 1.6836004257202148, + 0.6821622848510742, + 0.9179999232292175 + ], + "ori": [ + 0.8346899747848511, + 6.814812536504178e-08, + -9.693786751086009e-08, + 0.5507201552391052 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -1.4957439589124988e-06, + -1.6591988014624803e-06, + -9.890645742416382e-06 + ], + "angular_velocity": [ + 7.679529517190531e-05, + -6.88824147800915e-05, + -1.3930761610936315e-07 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/deep_well_96_1ml/Object.usd", + "pose": { + "pos": [ + -1.3622894287109375, + 0.9367456436157227, + 0.9179999828338623 + ], + "ori": [ + -0.4485040307044983, + 1.8239006749354303e-08, + -7.180484118407549e-08, + 0.8937807679176331 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -3.726601960352127e-08, + 9.84415535754124e-08, + 1.7881393432617188e-07 + ], + "angular_velocity": [ + -4.804788204637589e-06, + -1.091851004275668e-06, + 1.4538713344336429e-08 + ] + } + } + ], + "deco_hub_west": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/hub_a.usd", + "pose": { + "pos": [ + -3.36, + 0.0, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_hub_east": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/hub_c.usd", + "pose": { + "pos": [ + 3.36, + 0.0, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_hub_back": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/hub_d.usd", + "pose": { + "pos": [ + -3.0, + -2.1, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_bench_east": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/bench_c.usd", + "pose": { + "pos": [ + 2.6, + -2.5, + 0.0 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_bench_gap": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/bench_b.usd", + "pose": { + "pos": [ + -0.1, + -2.9, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ] + }, + {}, + {} + ], + "devices": { + "hub": [ + null, + { + "t": 2.91999999999996, + "step": 584, + "counter": 0, + "devices": { + "a4s_sealer_1": { + "mode": "auto", + "units": { + "drawer": { + "state": "at_out", + "active": null, + "target": 0.0, + "goal_name": "out", + "profile": null, + "q_start": null, + "reversing": false, + "blocked_for": 0.0, + "settled_for": 0.0, + "last_q": 2.8915899622644625e-12 + }, + "heater": { + "state": "ready", + "active": null, + "duration": 0.0, + "t_start": null, + "elapsed": 0.0 + } + }, + "queues": {}, + "program": null, + "sensors": { + "plate_present": { + "occupants": [], + "pending": {} + } + }, + "interlocks": {} + }, + "conveyor_1": { + "mode": "auto", + "units": { + "belt": { + "state": "at_station", + "active": null, + "controller": { + "speed": 0.25979309915556464, + "holds": [], + "station": "pick", + "rider": "carrier_1", + "arrived": true, + "settle_count": 439, + "released": { + "pick": [] + }, + "last_pos": { + "carrier_1": [ + -0.11239376664161682, + -0.0027944445610046387, + 0.0 + ], + "carrier_2": [ + 0.04282817244529724, + 0.7026355862617493, + 0.0 + ], + "carrier_3": [ + 1.5247884690761566, + 0.22730809450149536, + 0.0 + ], + "carrier_4": [ + -1.5160326063632965, + 0.49454575777053833, + 0.0 + ] + }, + "command": 0.0 + }, + "belt": { + "target_speed": 0.0, + "command_speed": 0.0 + }, + "seen": { + "state": "at_station", + "station": "pick", + "rider": "carrier_1", + "arrived": true + } + } + }, + "queues": {}, + "program": null, + "sensors": {}, + "interlocks": {} + } + }, + "zones": {}, + "labware": { + "plate_1": { + "sealed": false + }, + "plate_2": { + "sealed": false + }, + "plate_3": { + "sealed": false + }, + "plate_4": { + "sealed": false + } + }, + "rules": {}, + "records": [], + "bus": { + "seq": 3, + "queue": [] + } + }, + null, + null + ], + "drives": [ + null, + {}, + null, + null + ] + }, + "artifacts": [ + {}, + { + "ceiling": { + "type": "rect", + "pose": { + "pos": [ + 0.3544852425910673, + 0.06019469173922731, + 3.0035541528090834 + ], + "ori": [ + 12.556383523916015, + -4.046730940608297, + -0.40536970661998595 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "color_temperature": 5554.210441860108, + "color": [ + 0.8549930020732417, + 0.8836489424441571, + 0.964950170644274 + ], + "intensity": 13724.309159448236, + "width": 2.2962741506804956, + "height": 1.4081701272403162 + } + }, + "key": { + "type": "disk", + "pose": { + "pos": [ + -1.2471460112105708, + 1.1303279962487613, + 2.579243237227254 + ], + "ori": [ + 18.730801272614556, + 33.450625053191075, + -33.80821633437666 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "color_temperature": 5556.228493623514, + "color": [ + 0.7789586596087125, + 0.9581089125581435, + 0.9836115537963787 + ], + "intensity": 9712.232408766873, + "radius": 0.10574848768878642 + } + } + }, + {}, + {} + ], + "background": { + "type": "dome", + "pose": { + "pos": null, + "ori": null, + "scale": null + }, + "dr": { + "intensity": 1530.622389570849, + "texture": null, + "color": [ + 0.92, + 0.94, + 0.96 + ] + } + } + }, + "robots": { + "UR5e": { + "root_pose": [ + [ + 11.0, + -11.0, + 0.9150000214576721, + 1.0, + 0.0, + 0.0, + 0.0 + ], + [ + 11.0, + 11.0, + 0.9150000214576721, + 1.0, + 0.0, + 0.0, + 0.0 + ], + [ + -11.0, + -11.0, + 0.9150000214576721, + 1.0, + 0.0, + 0.0, + 0.0 + ], + [ + -11.0, + 11.0, + 0.9150000214576721, + 1.0, + 0.0, + 0.0, + 0.0 + ] + ], + "root_vel": [ + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + ], + "joint_pos": [ + [ + 0.9208698868751526, + -1.5865284204483032, + 2.1108081340789795, + -2.0950207710266113, + -1.5707981586456299, + 2.542379856109619, + 0.018001273274421692, + 0.017998743802309036 + ], + [ + 0.9140999913215637, + -1.7194000482559204, + 2.0905001163482666, + -1.9419000148773193, + -1.5707999467849731, + 2.4848999977111816, + 0.017999999225139618, + 0.017999999225139618 + ], + [ + 0.9140999913215637, + -1.7194000482559204, + 2.0905001163482666, + -1.9419000148773193, + -1.5707999467849731, + 2.4848999977111816, + 0.017999999225139618, + 0.017999999225139618 + ], + [ + 0.9141013622283936, + -1.7193995714187622, + 2.0905003547668457, + -1.9419008493423462, + -1.5707999467849731, + 2.48490047454834, + 0.017999999225139618, + 0.017999999225139618 + ] + ], + "joint_vel": [ + [ + 0.0010965752881020308, + 0.028588319197297096, + 0.004608865361660719, + -0.031356606632471085, + -8.547453035134822e-06, + 0.011804414913058281, + 3.107096199528314e-05, + -3.1246196158463135e-05 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + [ + 5.108950517751509e-06, + -6.811930234107422e-06, + 2.0435840269783512e-05, + 1.0217926501354668e-05, + -2.054527338188339e-12, + 2.0435871192603372e-05, + -2.372999149610755e-12, + -1.176263730515159e-12 + ] + ] + } + }, + "cameras": { + "cameras": { + "camera0": [ + [ + 0.05254418030381203, + -0.001257334602996707, + -0.031271856278181076, + -0.2753008008003235, + 0.6469890475273132, + 0.6525861620903015, + -0.28239330649375916 + ], + [ + 0.05091625824570656, + -0.0014967959141358733, + -0.03253056854009628, + -0.2767244875431061, + 0.6523136496543884, + 0.6408023834228516, + -0.2954365909099579 + ], + [ + 0.048795729875564575, + 0.0004691807262133807, + -0.028927333652973175, + -0.2754710614681244, + 0.6505268812179565, + 0.6555755734443665, + -0.2667417526245117 + ], + [ + 0.05009666830301285, + 0.002153086243197322, + -0.030527524650096893, + -0.27437713742256165, + 0.6591556668281555, + 0.6424335241317749, + -0.27840644121170044 + ] + ], + "camera1": [ + [ + 0.0716182217001915, + 0.6020354628562927, + 1.9395501613616943, + 0.03822057694196701, + 0.013973505236208439, + 0.27816060185432434, + 0.9596721529960632 + ], + [ + 0.0655459389090538, + 0.582245409488678, + 1.9480291604995728, + 0.03057086281478405, + 0.012941237539052963, + 0.26566019654273987, + 0.9634950160980225 + ], + [ + 0.0393747054040432, + 0.569907009601593, + 1.9290940761566162, + 0.055712804198265076, + 0.0030745435506105423, + 0.26614755392074585, + 0.9623160362243652 + ], + [ + 0.0433141365647316, + 0.5783144235610962, + 1.929490089416504, + 0.0579552985727787, + 0.008135812357068062, + 0.26457178592681885, + 0.9625885486602783 + ] + ] + } + } + } +} \ No newline at end of file diff --git a/episodes/c7_p010_e000/wrist.mp4 b/episodes/c7_p010_e000/wrist.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..ef914ebcc050f7f56f2c0c8c1c78570b9c597889 --- /dev/null +++ b/episodes/c7_p010_e000/wrist.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:ac0f92a8dfb97f22db0ab2fe897236eb77c501153a8c60e48425b7fece56c325 +size 6621312 diff --git a/episodes/c7_p010_e001/data.npz b/episodes/c7_p010_e001/data.npz new file mode 100644 index 0000000000000000000000000000000000000000..c6958fcb8dbba3782988403b31a94f0502b6ad61 --- /dev/null +++ b/episodes/c7_p010_e001/data.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:3f5cef960dc760abb5687497aa6446462eb89cf03f7dce76880e2b1e571b9162 +size 190678 diff --git a/episodes/c7_p010_e001/device_events.jsonl b/episodes/c7_p010_e001/device_events.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..71eec3c044a0272eabfd9c64f61dfff599fd7f0e --- /dev/null +++ b/episodes/c7_p010_e001/device_events.jsonl @@ -0,0 +1,37 @@ +{"env_id": 0, "seq": 1, "step": 93, "t": 0.465, "topic": "conveyor_1.belt.station.pick.captured", "source": "conveyor_1.belt", "data": {"rider": "carrier_2"}, "cause": null} +{"env_id": 0, "seq": 2, "step": 93, "t": 0.465, "topic": "conveyor_1.belt.state.changed", "source": "conveyor_1.belt", "data": {"from": "running", "to": "at_station"}, "cause": null} +{"env_id": 0, "seq": 3, "step": 98, "t": 0.49, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_2"}, "cause": null} +{"env_id": 0, "seq": 4, "step": 893, "t": 4.465, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_2"}, "cause": null} +{"env_id": 0, "seq": 5, "step": 905, "t": 4.525, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_2"}, "cause": null} +{"env_id": 0, "seq": 6, "step": 5629, "t": 28.145, "topic": "a4s_sealer_1.plate_present.present", "source": "a4s_sealer_1.plate_present", "data": {"object": "plate_2"}, "cause": null} +{"env_id": 0, "seq": 7, "step": 6240, "t": 31.2, "topic": "a4s_sealer_1.command.started", "source": "a4s_sealer_1", "data": {"command_id": "task-0-1", "name": "seal", "source": "task"}, "cause": "task-0-1"} +{"env_id": 0, "seq": 8, "step": 6240, "t": 31.2, "topic": "a4s_sealer_1.seal.started", "source": "a4s_sealer_1", "data": {"dwell": 4.071576024710932}, "cause": "task-0-1"} +{"env_id": 0, "seq": 9, "step": 6240, "t": 31.2, "topic": "a4s_sealer_1.drawer.command.started", "source": "a4s_sealer_1.drawer", "data": {"command_id": "program-0-2", "name": "close", "source": "program:seal"}, "cause": "program-0-2"} +{"env_id": 0, "seq": 10, "step": 6240, "t": 31.2, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "at_out", "to": "moving"}, "cause": null} +{"env_id": 0, "seq": 11, "step": 6240, "t": 31.2, "topic": "a4s_sealer_1.drawer.moving", "source": "a4s_sealer_1.drawer", "data": {"target": 0.3, "goal": "in"}, "cause": "program-0-2"} +{"env_id": 0, "seq": 12, "step": 6659, "t": 33.295, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "moving", "to": "at_in"}, "cause": null} +{"env_id": 0, "seq": 13, "step": 6659, "t": 33.295, "topic": "a4s_sealer_1.drawer.reached", "source": "a4s_sealer_1.drawer", "data": {"position": "in", "q": 0.30000001192092896}, "cause": "program-0-2"} +{"env_id": 0, "seq": 14, "step": 6659, "t": 33.295, "topic": "a4s_sealer_1.drawer.at_in", "source": "a4s_sealer_1.drawer", "data": {"q": 0.30000001192092896}, "cause": "program-0-2"} +{"env_id": 0, "seq": 15, "step": 6659, "t": 33.295, "topic": "a4s_sealer_1.drawer.command.succeeded", "source": "a4s_sealer_1.drawer", "data": {"command_id": "program-0-2", "name": "close", "source": "program:seal", "result": {"position": "in"}}, "cause": "program-0-2"} +{"env_id": 0, "seq": 16, "step": 6659, "t": 33.295, "topic": "labware.plate_2.changed", "source": "labware.plate_2", "data": {"key": "sealed", "value": true}, "cause": "task-0-1"} +{"env_id": 0, "seq": 17, "step": 6659, "t": 33.295, "topic": "a4s_sealer_1.sealed", "source": "a4s_sealer_1", "data": {"plate": "plate_2"}, "cause": "task-0-1"} +{"env_id": 0, "seq": 18, "step": 6659, "t": 33.295, "topic": "a4s_sealer_1.heater.command.started", "source": "a4s_sealer_1.heater", "data": {"command_id": "program-0-3", "name": "run", "source": "program:seal"}, "cause": "program-0-3"} +{"env_id": 0, "seq": 19, "step": 6659, "t": 33.295, "topic": "a4s_sealer_1.heater.state.changed", "source": "a4s_sealer_1.heater", "data": {"from": "ready", "to": "running"}, "cause": null} +{"env_id": 0, "seq": 20, "step": 6659, "t": 33.295, "topic": "a4s_sealer_1.heater.started", "source": "a4s_sealer_1.heater", "data": {"duration": 4.071576024710932}, "cause": "program-0-3"} +{"env_id": 0, "seq": 21, "step": 7474, "t": 37.37, "topic": "a4s_sealer_1.heater.state.changed", "source": "a4s_sealer_1.heater", "data": {"from": "running", "to": "ready"}, "cause": null} +{"env_id": 0, "seq": 22, "step": 7474, "t": 37.37, "topic": "a4s_sealer_1.heater.finished", "source": "a4s_sealer_1.heater", "data": {"elapsed": 4.075000000002085}, "cause": "program-0-3"} +{"env_id": 0, "seq": 23, "step": 7474, "t": 37.37, "topic": "a4s_sealer_1.heater.command.succeeded", "source": "a4s_sealer_1.heater", "data": {"command_id": "program-0-3", "name": "run", "source": "program:seal", "result": {"elapsed": 4.075000000002085}}, "cause": "program-0-3"} +{"env_id": 0, "seq": 24, "step": 7474, "t": 37.37, "topic": "a4s_sealer_1.drawer.command.started", "source": "a4s_sealer_1.drawer", "data": {"command_id": "program-0-4", "name": "open", "source": "program:seal"}, "cause": "program-0-4"} +{"env_id": 0, "seq": 25, "step": 7474, "t": 37.37, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "at_in", "to": "moving"}, "cause": null} +{"env_id": 0, "seq": 26, "step": 7474, "t": 37.37, "topic": "a4s_sealer_1.drawer.moving", "source": "a4s_sealer_1.drawer", "data": {"target": 0.0, "goal": "out"}, "cause": "program-0-4"} +{"env_id": 0, "seq": 27, "step": 7894, "t": 39.47, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "moving", "to": "at_out"}, "cause": null} +{"env_id": 0, "seq": 28, "step": 7894, "t": 39.47, "topic": "a4s_sealer_1.drawer.reached", "source": "a4s_sealer_1.drawer", "data": {"position": "out", "q": 0.0}, "cause": "program-0-4"} +{"env_id": 0, "seq": 29, "step": 7894, "t": 39.47, "topic": "a4s_sealer_1.drawer.at_out", "source": "a4s_sealer_1.drawer", "data": {"q": 0.0}, "cause": "program-0-4"} +{"env_id": 0, "seq": 30, "step": 7894, "t": 39.47, "topic": "a4s_sealer_1.drawer.command.succeeded", "source": "a4s_sealer_1.drawer", "data": {"command_id": "program-0-4", "name": "open", "source": "program:seal", "result": {"position": "out"}}, "cause": "program-0-4"} +{"env_id": 0, "seq": 31, "step": 7894, "t": 39.47, "topic": "a4s_sealer_1.seal.finished", "source": "a4s_sealer_1", "data": {}, "cause": "task-0-1"} +{"env_id": 0, "seq": 32, "step": 7894, "t": 39.47, "topic": "a4s_sealer_1.command.succeeded", "source": "a4s_sealer_1", "data": {"command_id": "task-0-1", "name": "seal", "source": "task"}, "cause": "task-0-1"} +{"env_id": 0, "seq": 33, "step": 8475, "t": 42.375, "topic": "a4s_sealer_1.plate_present.absent", "source": "a4s_sealer_1.plate_present", "data": {"object": "plate_2"}, "cause": null} +{"env_id": 0, "seq": 34, "step": 10232, "t": 51.16, "topic": "conveyor_1.belt.command.started", "source": "conveyor_1.belt", "data": {"command_id": "task-0-5", "name": "release", "source": "task"}, "cause": "task-0-5"} +{"env_id": 0, "seq": 35, "step": 10232, "t": 51.16, "topic": "conveyor_1.belt.station.pick.released", "source": "conveyor_1.belt", "data": {"rider": "carrier_2"}, "cause": "task-0-5"} +{"env_id": 0, "seq": 36, "step": 10232, "t": 51.16, "topic": "conveyor_1.belt.state.changed", "source": "conveyor_1.belt", "data": {"from": "at_station", "to": "running"}, "cause": null} +{"env_id": 0, "seq": 37, "step": 10232, "t": 51.16, "topic": "conveyor_1.belt.command.succeeded", "source": "conveyor_1.belt", "data": {"command_id": "task-0-5", "name": "release", "source": "task", "result": {"state": "running"}}, "cause": "task-0-5"} diff --git a/episodes/c7_p010_e001/env.mp4 b/episodes/c7_p010_e001/env.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..f2df444076f3631854f62a37b2b037fd22ff450c --- /dev/null +++ b/episodes/c7_p010_e001/env.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:15a9ef31db92e5e9a0f9b4e897a96828673fc16c27021f5093a98580b7ba0401 +size 1264565 diff --git a/episodes/c7_p010_e001/meta.json b/episodes/c7_p010_e001/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..cefa8d501b3db09738f8c8dc63a50eb72e867720 --- /dev/null +++ b/episodes/c7_p010_e001/meta.json @@ -0,0 +1,32 @@ +{ + "source": "raw/c7_p010/magicsim/1", + "fps": 25, + "frames": 1223, + "kept_ticks": "even", + "video_frames": { + "wrist": 1223, + "env": 1223 + }, + "joint_target_source": "joint_pos_target", + "fk_vs_recorded_eef_max_m": 0.0, + "curobo_joints": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "joint_order": [ + "shoulder_pan", + "shoulder_lift", + "elbow", + "wrist_1", + "wrist_2", + "wrist_3", + "finger_left", + "finger_right" + ], + "frames_note": "eef / actions in the robot base frame; camera_pose = local pose (wrist: in plate_gripper_base, env: env frame), pos + quat wxyz", + "dr_version": "v2" +} \ No newline at end of file diff --git a/episodes/c7_p010_e001/scene_snapshot.json b/episodes/c7_p010_e001/scene_snapshot.json new file mode 100644 index 0000000000000000000000000000000000000000..bb0a44ce983c81ea8f6f2408d0ca1ece9f7d440b --- /dev/null +++ b/episodes/c7_p010_e001/scene_snapshot.json @@ -0,0 +1,1558 @@ +{ + "trajectory_id": 1, + "env_id": 0, + "run_id": "c7_p010", + "task_type": "BioPlateCell", + "success": true, + "timing": { + "fps": 50.0, + "sim_dt": 0.005, + "decimation": 4 + }, + "restore_interface": { + "scene": "scene_manager.reset_to(snapshot['scene'], env_ids=[env_id])", + "robots": "robot_manager.set_state({'robots': snapshot['robots']}, env_ids=[env_id])" + }, + "snapshot": { + "env_id": 0, + "scene": { + "objects": [ + { + "rac_cell": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/rac_cell.usd", + "pose": { + "pos": [ + 0.0, + 0.0, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "physics_material": { + "static_friction": 0.6, + "dynamic_friction": 0.5, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "robot_mount": [ + { + "asset": "Cube", + "pose": { + "pos": [ + 0.0, + 0.0, + 0.9075 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": "color", + "value": [ + 0.55, + 0.56, + 0.58 + ], + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": { + "size": [ + 0.2, + 0.2, + 0.015 + ] + } + }, + "type_specific": {} + } + ], + "plate_rack": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/plate_hotel.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 0.9 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "physics_material": { + "static_friction": 0.6, + "dynamic_friction": 0.5, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "hotel_plate": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_24_clear/plate_24_clear.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 0.9605 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/pcr_384_red/pcr_384_red.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.0285 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_48_clear/plate_48_clear.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.0965 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_96_clear/plate_96_clear.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.1645 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_384_white/plate_384_white.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.2325 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "a4s_sealer": [ + { + "asset": "$MAGICSIM_ASSETS/Articulated/A4SSealer/Object.usd", + "pose": { + "pos": [ + 0.4947824478149414, + 0.1017904281616211, + 0.8999999761581421 + ], + "ori": [ + 0.7262182235717773, + 0.0, + 0.0, + -0.6874642372131348 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "articulation", + "solver_position_iteration_count": 16.0, + "solver_velocity_iteration_count": 1.0, + "enabled_self_collisions": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "joint_position": [ + 5.783179924528925e-12 + ], + "joint_velocity": [ + 0.0 + ], + "linear_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "angular_velocity": [ + 0.0, + 0.0, + 0.0 + ] + } + } + ], + "conveyor": [ + { + "asset": "Cube", + "pose": { + "pos": [ + 0.15, + 0.45, + 0.9 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "conveyor", + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9 + }, + "ratio": 1.0 + }, + "primitive_params": { + "size": [ + 2.4, + 0.076, + 0.03 + ] + }, + "conveyor": { + "speed": 0.22018446756378918, + "direction": [ + 1.0, + 0.0, + 0.0 + ], + "enabled": true, + "drive": "surface_velocity", + "lines": null, + "station_line": null, + "riders": [ + "carrier" + ], + "stations": { + "pick": { + "position": -0.1259519180973678, + "slow_distance": 0.03, + "slow_speed": 0.03 + } + }, + "rails": { + "height": 0.01, + "thickness": 0.01, + "gap": 0.001, + "friction": 0.05 + }, + "legs": 0.87, + "loop": { + "radius": 0.35, + "side": "left", + "curve_extra_width": 0.0, + "segments": 18, + "curve_rails": "both" + }, + "snap_distance": 0.1, + "junction_snap": 0.02, + "collision_approximation": "auto", + "plate_mass": 1.0, + "lift_drop": 0.004, + "accel": 0.0, + "decel": 0.0, + "drive_damping": 1000000.0, + "drive_max_force": 1000000000.0 + } + }, + "type_specific": { + "controller": { + "state": "at_station", + "speed": 0.22018446756378918, + "holds": [], + "station": "pick", + "rider": "carrier_2", + "arrived": true, + "applied_speed": 0.0 + } + } + } + ], + "carrier": [ + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + -1.3914203643798828, + 0.7314376831054688, + 0.8999999761581421 + ], + "ori": [ + -0.7676492929458618, + 3.264408299230581e-09, + -7.2459438449357094e-09, + 0.6408702731132507 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -5.324617546875743e-08, + -1.7438622990084696e-08, + 0.0 + ], + "angular_velocity": [ + 2.8595039225365326e-08, + -1.3770620626019081e-06, + -4.739194423564186e-07 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + 0.023801803588867188, + 0.4499950408935547, + 0.8999999761581421 + ], + "ori": [ + 1.0, + 5.00045915785563e-09, + 4.182838103661268e-12, + -1.7856107660918497e-05 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 1.1162732960201538e-09, + 5.608315478689008e-10, + 1.1175870895385742e-08 + ], + "angular_velocity": [ + 5.867015318017366e-09, + 9.991599370096083e-08, + -1.7917905381636956e-08 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + 0.21799373626708984, + 1.1500005722045898, + 0.8999999761581421 + ], + "ori": [ + -2.484882679709699e-05, + 3.524610647787085e-08, + 1.1981411418560128e-08, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 2.138309085353285e-09, + -1.6724193585559988e-08, + 2.2351741790771484e-08 + ], + "angular_velocity": [ + 1.2204372978885658e-06, + 1.7893330550577957e-07, + -3.9584975297657365e-08 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + 1.6898174285888672, + 0.7279624938964844, + 0.8999999761581421 + ], + "ori": [ + 0.7808119058609009, + -5.9158352883059706e-08, + 9.933930300576321e-08, + 0.6247662305831909 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 2.63847638182213e-10, + 1.2279377514801126e-10, + 3.725290298461914e-09 + ], + "angular_velocity": [ + -5.529851421215426e-08, + 4.921590956996624e-08, + -5.391980195668111e-09 + ] + } + } + ], + "plate": [ + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_6_clear/Object.usd", + "pose": { + "pos": [ + -1.3882408142089844, + 0.721013069152832, + 0.9179999828338623 + ], + "ori": [ + -0.748883068561554, + 2.4558482891734457e-07, + -5.4707697927369736e-08, + 0.662702202796936 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -3.1666536415286828e-06, + -1.086694737750804e-06, + -8.821487426757812e-06 + ], + "angular_velocity": [ + -3.613795342971571e-05, + 1.162388434750028e-05, + -3.9332033338723704e-05 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_96_black/Object.usd", + "pose": { + "pos": [ + 0.021636009216308594, + 0.44524288177490234, + 0.9180000424385071 + ], + "ori": [ + 0.9993017315864563, + 4.062843839136576e-09, + 1.1060631299741885e-09, + -0.03736446797847748 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -8.050131228287682e-09, + 1.6228103305593322e-08, + -5.46872615814209e-06 + ], + "angular_velocity": [ + 3.488418087727041e-08, + -1.613933136468404e-06, + -3.3384064401786873e-09 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/pcr_96_blue/Object.usd", + "pose": { + "pos": [ + 0.20376110076904297, + 1.1511878967285156, + 0.9180000424385071 + ], + "ori": [ + 0.008509539999067783, + 1.6267229341337952e-08, + 1.4250565527618164e-07, + 0.9999638199806213 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 1.0740604921011254e-06, + -5.924093784415163e-07, + -1.015886664390564e-05 + ], + "angular_velocity": [ + -0.00019192526815459132, + -3.875238689943217e-07, + 2.1404674043878913e-05 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/deep_well_96_2ml/Object.usd", + "pose": { + "pos": [ + 1.6958131790161133, + 0.7228488922119141, + 0.9179999828338623 + ], + "ori": [ + 0.8329616785049438, + -6.748319236749012e-08, + 9.488561403259155e-08, + 0.5533307790756226 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -3.786111335557507e-08, + -6.61314558669801e-08, + -1.296401023864746e-06 + ], + "angular_velocity": [ + 2.8322358502919087e-06, + -1.3337277096070466e-06, + -2.494851081280558e-08 + ] + } + } + ], + "deco_hub_west": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/hub_d.usd", + "pose": { + "pos": [ + -3.36, + 0.0, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_hub_east": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/hub_e.usd", + "pose": { + "pos": [ + 3.36, + 0.0, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_hub_back": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/hub_b.usd", + "pose": { + "pos": [ + -3.0, + -2.1, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_bench_east": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/bench_a.usd", + "pose": { + "pos": [ + 2.6, + -2.5, + 0.0 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_bench_gap": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/bench_b.usd", + "pose": { + "pos": [ + -0.1, + -2.9, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ] + }, + {}, + {}, + {} + ], + "devices": { + "hub": [ + { + "t": 2.43999999999997, + "step": 488, + "counter": 0, + "devices": { + "a4s_sealer_1": { + "mode": "auto", + "units": { + "drawer": { + "state": "at_out", + "active": null, + "target": 0.0, + "goal_name": "out", + "profile": null, + "q_start": null, + "reversing": false, + "blocked_for": 0.0, + "settled_for": 0.0, + "last_q": 5.783179924528925e-12 + }, + "heater": { + "state": "ready", + "active": null, + "duration": 0.0, + "t_start": null, + "elapsed": 0.0 + } + }, + "queues": {}, + "program": null, + "sensors": { + "plate_present": { + "occupants": [], + "pending": {} + } + }, + "interlocks": {} + }, + "conveyor_1": { + "mode": "auto", + "units": { + "belt": { + "state": "at_station", + "active": null, + "controller": { + "speed": 0.22018446756378918, + "holds": [], + "station": "pick", + "rider": "carrier_2", + "arrived": true, + "settle_count": 394, + "released": { + "pick": [] + }, + "last_pos": { + "carrier_1": [ + -1.5414203703403473, + 0.2814376950263977, + 0.0 + ], + "carrier_2": [ + -0.1261982023715973, + -4.947185516357422e-06, + 0.0 + ], + "carrier_3": [ + 0.06799373030662537, + 0.7000005841255188, + 0.0 + ], + "carrier_4": [ + 1.5398174226284027, + 0.27796250581741333, + 0.0 + ] + }, + "command": 0.0 + }, + "belt": { + "target_speed": 0.0, + "command_speed": 0.0 + }, + "seen": { + "state": "at_station", + "station": "pick", + "rider": "carrier_2", + "arrived": true + } + } + }, + "queues": {}, + "program": null, + "sensors": {}, + "interlocks": {} + } + }, + "zones": {}, + "labware": { + "plate_1": { + "sealed": false + }, + "plate_2": { + "sealed": false + }, + "plate_3": { + "sealed": false + }, + "plate_4": { + "sealed": false + } + }, + "rules": {}, + "records": [], + "bus": { + "seq": 3, + "queue": [] + } + }, + null, + null, + null + ], + "drives": [ + {}, + null, + null, + null + ] + }, + "artifacts": [ + { + "ceiling": { + "type": "rect", + "pose": { + "pos": [ + 0.30377042964515033, + -0.4515663962329243, + 3.097340046676163 + ], + "ori": [ + 12.521698273815218, + -4.962320799326104, + -0.12782540839372558 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "color_temperature": 4954.705736440532, + "color": [ + 0.8334648957223213, + 0.9087506012767976, + 0.9567440639760428 + ], + "intensity": 5360.704092232005, + "width": 2.7533234154780715, + "height": 1.6264411867929125 + } + }, + "key": { + "type": "disk", + "pose": { + "pos": [ + -0.7446301283344405, + -0.43986280373281383, + 2.787629449219322 + ], + "ori": [ + -17.939655814030218, + -6.4791706003371985, + 14.456252648392187 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "color_temperature": 4015.6090497394935, + "color": [ + 0.9357120393359482, + 0.9262595225181729, + 0.7706170162992041 + ], + "intensity": 5252.3613404177795, + "radius": 0.34982665002383995 + } + } + }, + {}, + {}, + {} + ], + "background": { + "type": "dome", + "pose": { + "pos": null, + "ori": null, + "scale": null + }, + "dr": { + "intensity": 1530.622389570849, + "texture": null, + "color": [ + 0.92, + 0.94, + 0.96 + ] + } + } + }, + "robots": { + "UR5e": { + "root_pose": [ + [ + 11.0, + -11.0, + 0.9150000214576721, + 1.0, + 0.0, + 0.0, + 0.0 + ], + [ + 11.0, + 11.0, + 0.9150000214576721, + 1.0, + 0.0, + 0.0, + 0.0 + ], + [ + -11.0, + -11.0, + 0.9150000214576721, + 1.0, + 0.0, + 0.0, + 0.0 + ], + [ + -11.0, + 11.0, + 0.9150000214576721, + 1.0, + 0.0, + 0.0, + 0.0 + ] + ], + "root_vel": [ + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + ], + "joint_pos": [ + [ + 0.9140999913215637, + -1.7194000482559204, + 2.0905001163482666, + -1.9419000148773193, + -1.5707999467849731, + 2.4848999977111816, + 0.017999999225139618, + 0.017999999225139618 + ], + [ + 0.9140999913215637, + -1.7194000482559204, + 2.0905001163482666, + -1.9419000148773193, + -1.5707999467849731, + 2.4848999977111816, + 0.017999999225139618, + 0.017999999225139618 + ], + [ + 0.9140999913215637, + -1.7194000482559204, + 2.0905001163482666, + -1.9419000148773193, + -1.5707999467849731, + 2.4848999977111816, + 0.017999999225139618, + 0.017999999225139618 + ], + [ + 0.9140999913215637, + -1.7194000482559204, + 2.0905001163482666, + -1.9419000148773193, + -1.5707999467849731, + 2.4848999977111816, + 0.017999999225139618, + 0.017999999225139618 + ] + ], + "joint_vel": [ + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + ] + } + }, + "cameras": { + "cameras": { + "camera0": [ + [ + 0.04969782009720802, + -0.0013995448825880885, + -0.03255177661776543, + -0.27800682187080383, + 0.6463009119033813, + 0.6517235636711121, + -0.28330865502357483 + ], + [ + 0.04936903342604637, + 0.0005578180425800383, + -0.03298073634505272, + -0.27397385239601135, + 0.6503117084503174, + 0.645077109336853, + -0.29310157895088196 + ], + [ + 0.048268888145685196, + 0.0006825885502621531, + -0.02758876606822014, + -0.2779022753238678, + 0.6513198614120483, + 0.653221607208252, + -0.2680564224720001 + ], + [ + 0.049251146614551544, + 0.0006684529362246394, + -0.030447619035840034, + -0.2716885507106781, + 0.6611055135726929, + 0.639464795589447, + -0.2832130193710327 + ] + ], + "camera1": [ + [ + 0.0716182217001915, + 0.6020354628562927, + 1.9395501613616943, + 0.03822057694196701, + 0.013973505236208439, + 0.27816060185432434, + 0.9596721529960632 + ], + [ + 0.0655459389090538, + 0.582245409488678, + 1.9480291604995728, + 0.03057086281478405, + 0.012941237539052963, + 0.26566019654273987, + 0.9634950160980225 + ], + [ + 0.0393747054040432, + 0.569907009601593, + 1.9290940761566162, + 0.055712804198265076, + 0.0030745435506105423, + 0.26614755392074585, + 0.9623160362243652 + ], + [ + 0.0433141365647316, + 0.5783144235610962, + 1.929490089416504, + 0.0579552985727787, + 0.008135812357068062, + 0.26457178592681885, + 0.9625885486602783 + ] + ] + } + } + } +} \ No newline at end of file diff --git a/episodes/c7_p010_e001/wrist.mp4 b/episodes/c7_p010_e001/wrist.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..6a8446416a949b53ed204931eeca059f938b4077 --- /dev/null +++ b/episodes/c7_p010_e001/wrist.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:6a51ebb713cc9ebee09f4a18e2151200a53519e4939d30c31aca3891c2c9c6be +size 6508704 diff --git a/episodes/c7_p010_e002/data.npz b/episodes/c7_p010_e002/data.npz new file mode 100644 index 0000000000000000000000000000000000000000..5d92f96204fe451b16d775ea6ac96aa59b06f5bc --- /dev/null +++ b/episodes/c7_p010_e002/data.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:c0268038a3c75964764ce635ba7dab240243cf267ecaff4aacab43812e212b27 +size 193819 diff --git a/episodes/c7_p010_e002/device_events.jsonl b/episodes/c7_p010_e002/device_events.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..1ee7eea5d84a88671f384fa0b20d06ad9ea476d8 --- /dev/null +++ b/episodes/c7_p010_e002/device_events.jsonl @@ -0,0 +1,36 @@ +{"env_id": 3, "seq": 1, "step": 190, "t": 0.95, "topic": "conveyor_1.belt.station.pick.captured", "source": "conveyor_1.belt", "data": {"rider": "carrier_2"}, "cause": null} +{"env_id": 3, "seq": 2, "step": 190, "t": 0.95, "topic": "conveyor_1.belt.state.changed", "source": "conveyor_1.belt", "data": {"from": "running", "to": "at_station"}, "cause": null} +{"env_id": 3, "seq": 3, "step": 195, "t": 0.975, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_2"}, "cause": null} +{"env_id": 3, "seq": 4, "step": 1142, "t": 5.71, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_2"}, "cause": null} +{"env_id": 3, "seq": 5, "step": 6167, "t": 30.835, "topic": "a4s_sealer_1.plate_present.present", "source": "a4s_sealer_1.plate_present", "data": {"object": "plate_2"}, "cause": null} +{"env_id": 3, "seq": 6, "step": 6780, "t": 33.9, "topic": "a4s_sealer_1.command.started", "source": "a4s_sealer_1", "data": {"command_id": "task-3-1", "name": "seal", "source": "task"}, "cause": "task-3-1"} +{"env_id": 3, "seq": 7, "step": 6780, "t": 33.9, "topic": "a4s_sealer_1.seal.started", "source": "a4s_sealer_1", "data": {"dwell": 3.16068672978777}, "cause": "task-3-1"} +{"env_id": 3, "seq": 8, "step": 6780, "t": 33.9, "topic": "a4s_sealer_1.drawer.command.started", "source": "a4s_sealer_1.drawer", "data": {"command_id": "program-3-2", "name": "close", "source": "program:seal"}, "cause": "program-3-2"} +{"env_id": 3, "seq": 9, "step": 6780, "t": 33.9, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "at_out", "to": "moving"}, "cause": null} +{"env_id": 3, "seq": 10, "step": 6780, "t": 33.9, "topic": "a4s_sealer_1.drawer.moving", "source": "a4s_sealer_1.drawer", "data": {"target": 0.3, "goal": "in"}, "cause": "program-3-2"} +{"env_id": 3, "seq": 11, "step": 7199, "t": 35.995, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "moving", "to": "at_in"}, "cause": null} +{"env_id": 3, "seq": 12, "step": 7199, "t": 35.995, "topic": "a4s_sealer_1.drawer.reached", "source": "a4s_sealer_1.drawer", "data": {"position": "in", "q": 0.30000001192092896}, "cause": "program-3-2"} +{"env_id": 3, "seq": 13, "step": 7199, "t": 35.995, "topic": "a4s_sealer_1.drawer.at_in", "source": "a4s_sealer_1.drawer", "data": {"q": 0.30000001192092896}, "cause": "program-3-2"} +{"env_id": 3, "seq": 14, "step": 7199, "t": 35.995, "topic": "a4s_sealer_1.drawer.command.succeeded", "source": "a4s_sealer_1.drawer", "data": {"command_id": "program-3-2", "name": "close", "source": "program:seal", "result": {"position": "in"}}, "cause": "program-3-2"} +{"env_id": 3, "seq": 15, "step": 7199, "t": 35.995, "topic": "labware.plate_2.changed", "source": "labware.plate_2", "data": {"key": "sealed", "value": true}, "cause": "task-3-1"} +{"env_id": 3, "seq": 16, "step": 7199, "t": 35.995, "topic": "a4s_sealer_1.sealed", "source": "a4s_sealer_1", "data": {"plate": "plate_2"}, "cause": "task-3-1"} +{"env_id": 3, "seq": 17, "step": 7199, "t": 35.995, "topic": "a4s_sealer_1.heater.command.started", "source": "a4s_sealer_1.heater", "data": {"command_id": "program-3-3", "name": "run", "source": "program:seal"}, "cause": "program-3-3"} +{"env_id": 3, "seq": 18, "step": 7199, "t": 35.995, "topic": "a4s_sealer_1.heater.state.changed", "source": "a4s_sealer_1.heater", "data": {"from": "ready", "to": "running"}, "cause": null} +{"env_id": 3, "seq": 19, "step": 7199, "t": 35.995, "topic": "a4s_sealer_1.heater.started", "source": "a4s_sealer_1.heater", "data": {"duration": 3.16068672978777}, "cause": "program-3-3"} +{"env_id": 3, "seq": 20, "step": 7832, "t": 39.16, "topic": "a4s_sealer_1.heater.state.changed", "source": "a4s_sealer_1.heater", "data": {"from": "running", "to": "ready"}, "cause": null} +{"env_id": 3, "seq": 21, "step": 7832, "t": 39.16, "topic": "a4s_sealer_1.heater.finished", "source": "a4s_sealer_1.heater", "data": {"elapsed": 3.165000000001619}, "cause": "program-3-3"} +{"env_id": 3, "seq": 22, "step": 7832, "t": 39.16, "topic": "a4s_sealer_1.heater.command.succeeded", "source": "a4s_sealer_1.heater", "data": {"command_id": "program-3-3", "name": "run", "source": "program:seal", "result": {"elapsed": 3.165000000001619}}, "cause": "program-3-3"} +{"env_id": 3, "seq": 23, "step": 7832, "t": 39.16, "topic": "a4s_sealer_1.drawer.command.started", "source": "a4s_sealer_1.drawer", "data": {"command_id": "program-3-4", "name": "open", "source": "program:seal"}, "cause": "program-3-4"} +{"env_id": 3, "seq": 24, "step": 7832, "t": 39.16, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "at_in", "to": "moving"}, "cause": null} +{"env_id": 3, "seq": 25, "step": 7832, "t": 39.16, "topic": "a4s_sealer_1.drawer.moving", "source": "a4s_sealer_1.drawer", "data": {"target": 0.0, "goal": "out"}, "cause": "program-3-4"} +{"env_id": 3, "seq": 26, "step": 8252, "t": 41.26, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "moving", "to": "at_out"}, "cause": null} +{"env_id": 3, "seq": 27, "step": 8252, "t": 41.26, "topic": "a4s_sealer_1.drawer.reached", "source": "a4s_sealer_1.drawer", "data": {"position": "out", "q": 1.9170350640251854e-08}, "cause": "program-3-4"} +{"env_id": 3, "seq": 28, "step": 8252, "t": 41.26, "topic": "a4s_sealer_1.drawer.at_out", "source": "a4s_sealer_1.drawer", "data": {"q": 1.9170350640251854e-08}, "cause": "program-3-4"} +{"env_id": 3, "seq": 29, "step": 8252, "t": 41.26, "topic": "a4s_sealer_1.drawer.command.succeeded", "source": "a4s_sealer_1.drawer", "data": {"command_id": "program-3-4", "name": "open", "source": "program:seal", "result": {"position": "out"}}, "cause": "program-3-4"} +{"env_id": 3, "seq": 30, "step": 8252, "t": 41.26, "topic": "a4s_sealer_1.seal.finished", "source": "a4s_sealer_1", "data": {}, "cause": "task-3-1"} +{"env_id": 3, "seq": 31, "step": 8252, "t": 41.26, "topic": "a4s_sealer_1.command.succeeded", "source": "a4s_sealer_1", "data": {"command_id": "task-3-1", "name": "seal", "source": "task"}, "cause": "task-3-1"} +{"env_id": 3, "seq": 32, "step": 8831, "t": 44.155, "topic": "a4s_sealer_1.plate_present.absent", "source": "a4s_sealer_1.plate_present", "data": {"object": "plate_2"}, "cause": null} +{"env_id": 3, "seq": 33, "step": 10544, "t": 52.72, "topic": "conveyor_1.belt.command.started", "source": "conveyor_1.belt", "data": {"command_id": "task-3-5", "name": "release", "source": "task"}, "cause": "task-3-5"} +{"env_id": 3, "seq": 34, "step": 10544, "t": 52.72, "topic": "conveyor_1.belt.station.pick.released", "source": "conveyor_1.belt", "data": {"rider": "carrier_2"}, "cause": "task-3-5"} +{"env_id": 3, "seq": 35, "step": 10544, "t": 52.72, "topic": "conveyor_1.belt.state.changed", "source": "conveyor_1.belt", "data": {"from": "at_station", "to": "running"}, "cause": null} +{"env_id": 3, "seq": 36, "step": 10544, "t": 52.72, "topic": "conveyor_1.belt.command.succeeded", "source": "conveyor_1.belt", "data": {"command_id": "task-3-5", "name": "release", "source": "task", "result": {"state": "running"}}, "cause": "task-3-5"} diff --git a/episodes/c7_p010_e002/env.mp4 b/episodes/c7_p010_e002/env.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..cfdd5bca7b7af167f3144de4eee686de3f9c9596 --- /dev/null +++ b/episodes/c7_p010_e002/env.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:cf4721cd11261ba86472276c68f252057f267092f1b71ffded1cd22760e482cc +size 1288552 diff --git a/episodes/c7_p010_e002/meta.json b/episodes/c7_p010_e002/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..f33effa1949804eceee3ba40fafd035ddde68671 --- /dev/null +++ b/episodes/c7_p010_e002/meta.json @@ -0,0 +1,32 @@ +{ + "source": "raw/c7_p010/magicsim/2", + "fps": 25, + "frames": 1240, + "kept_ticks": "even", + "video_frames": { + "wrist": 1240, + "env": 1240 + }, + "joint_target_source": "joint_pos_target", + "fk_vs_recorded_eef_max_m": 0.0, + "curobo_joints": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "joint_order": [ + "shoulder_pan", + "shoulder_lift", + "elbow", + "wrist_1", + "wrist_2", + "wrist_3", + "finger_left", + "finger_right" + ], + "frames_note": "eef / actions in the robot base frame; camera_pose = local pose (wrist: in plate_gripper_base, env: env frame), pos + quat wxyz", + "dr_version": "v2" +} \ No newline at end of file diff --git a/episodes/c7_p010_e002/scene_snapshot.json b/episodes/c7_p010_e002/scene_snapshot.json new file mode 100644 index 0000000000000000000000000000000000000000..fc07fdb58bcf42d6880894b416b5ac0dd9a1e95e --- /dev/null +++ b/episodes/c7_p010_e002/scene_snapshot.json @@ -0,0 +1,1558 @@ +{ + "trajectory_id": 2, + "env_id": 3, + "run_id": "c7_p010", + "task_type": "BioPlateCell", + "success": true, + "timing": { + "fps": 50.0, + "sim_dt": 0.005, + "decimation": 4 + }, + "restore_interface": { + "scene": "scene_manager.reset_to(snapshot['scene'], env_ids=[env_id])", + "robots": "robot_manager.set_state({'robots': snapshot['robots']}, env_ids=[env_id])" + }, + "snapshot": { + "env_id": 3, + "scene": { + "objects": [ + {}, + {}, + {}, + { + "rac_cell": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/rac_cell.usd", + "pose": { + "pos": [ + 0.0, + 0.0, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "physics_material": { + "static_friction": 0.6, + "dynamic_friction": 0.5, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "robot_mount": [ + { + "asset": "Cube", + "pose": { + "pos": [ + 0.0, + 0.0, + 0.9075 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": "color", + "value": [ + 0.55, + 0.56, + 0.58 + ], + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": { + "size": [ + 0.2, + 0.2, + 0.015 + ] + } + }, + "type_specific": {} + } + ], + "plate_rack": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/plate_hotel.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 0.9 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "physics_material": { + "static_friction": 0.6, + "dynamic_friction": 0.5, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "hotel_plate": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_6_clear/plate_6_clear.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 0.9605 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_12_clear/plate_12_clear.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.0285 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/pcr_384_red/pcr_384_red.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.0965 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_24_clear/plate_24_clear.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.1645 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/deep_well_24_10ml/deep_well_24_10ml.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.2325 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "a4s_sealer": [ + { + "asset": "$MAGICSIM_ASSETS/Articulated/A4SSealer/Object.usd", + "pose": { + "pos": [ + 0.5084505081176758, + 0.052756309509277344, + 0.8999999761581421 + ], + "ori": [ + -0.6875692009925842, + 0.0, + 0.0, + 0.7261188626289368 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "articulation", + "solver_position_iteration_count": 16.0, + "solver_velocity_iteration_count": 1.0, + "enabled_self_collisions": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "joint_position": [ + 4.6988368057609975e-12 + ], + "joint_velocity": [ + 0.0 + ], + "linear_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "angular_velocity": [ + 0.0, + 0.0, + 0.0 + ] + } + } + ], + "conveyor": [ + { + "asset": "Cube", + "pose": { + "pos": [ + 0.15, + 0.45, + 0.9 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "conveyor", + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9 + }, + "ratio": 1.0 + }, + "primitive_params": { + "size": [ + 2.4, + 0.076, + 0.03 + ] + }, + "conveyor": { + "speed": 0.1955442232493193, + "direction": [ + 1.0, + 0.0, + 0.0 + ], + "enabled": true, + "drive": "surface_velocity", + "lines": null, + "station_line": null, + "riders": [ + "carrier" + ], + "stations": { + "pick": { + "position": -0.26866920007148154, + "slow_distance": 0.03, + "slow_speed": 0.03 + } + }, + "rails": { + "height": 0.01, + "thickness": 0.01, + "gap": 0.001, + "friction": 0.05 + }, + "legs": 0.87, + "loop": { + "radius": 0.35, + "side": "left", + "curve_extra_width": 0.0, + "segments": 18, + "curve_rails": "both" + }, + "snap_distance": 0.1, + "junction_snap": 0.02, + "collision_approximation": "auto", + "plate_mass": 1.0, + "lift_drop": 0.004, + "accel": 0.0, + "decel": 0.0, + "drive_damping": 1000000.0, + "drive_max_force": 1000000000.0 + } + }, + "type_specific": { + "controller": { + "state": "at_station", + "speed": 0.1955442232493193, + "holds": [], + "station": "pick", + "rider": "carrier_2", + "arrived": true, + "applied_speed": 0.0 + } + } + } + ], + "carrier": [ + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + 0.20767879486083984, + 1.15264892578125, + 0.8999999761581421 + ], + "ori": [ + -0.010135747492313385, + -7.902899668010832e-09, + 1.0324785471027553e-10, + 0.9999486804008484 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 2.7555890902419833e-10, + -1.1768483965113319e-09, + 3.725290298461914e-09 + ], + "angular_velocity": [ + 1.6722263751489663e-07, + 4.916370954788363e-08, + -1.5752771531651888e-08 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + -0.11846446990966797, + 0.4473609924316406, + 0.8999999761581421 + ], + "ori": [ + 0.9999463558197021, + -8.009479190995705e-10, + 6.117209516709465e-10, + 0.010362968780100346 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 1.5510006612373672e-09, + -1.4226588795906991e-09, + 1.1175870895385742e-08 + ], + "angular_velocity": [ + 4.790507190932658e-08, + 1.4599039843687933e-07, + 1.9115608651532057e-08 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + -1.1628503799438477, + 1.1277904510498047, + 0.8999999761581421 + ], + "ori": [ + -0.15950557589530945, + -1.0431699593027588e-07, + -1.6856795070907538e-08, + 0.9871970415115356 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -1.1750153134926222e-06, + -2.056884795820224e-07, + -3.118067979812622e-06 + ], + "angular_velocity": [ + 2.9914031983935274e-05, + -9.732622856972739e-05, + 1.7738545921019977e-06 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + 1.654623031616211, + 0.6333808898925781, + 0.8999999761581421 + ], + "ori": [ + 0.8619040250778198, + 1.2380501956954504e-08, + -2.058735759646879e-08, + 0.5070714354515076 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -7.97575228084213e-10, + 5.236665545638175e-10, + 0.0 + ], + "angular_velocity": [ + -3.045928664846542e-08, + -7.028457105207053e-08, + 7.10273617698931e-10 + ] + } + } + ], + "plate": [ + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_48_clear/Object.usd", + "pose": { + "pos": [ + 0.2191915512084961, + 1.1483421325683594, + 0.9179999828338623 + ], + "ori": [ + -0.0012770636240020394, + -9.158044100843199e-09, + 7.867647644488329e-10, + 0.9999991655349731 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 2.8125986872851172e-08, + -4.801705699719605e-10, + 1.0803341865539551e-07 + ], + "angular_velocity": [ + -4.5105639401299413e-07, + 1.7511763417132897e-06, + 1.2289835638057411e-07 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_384_white/Object.usd", + "pose": { + "pos": [ + -0.12802886962890625, + 0.4418048858642578, + 0.9180000424385071 + ], + "ori": [ + 0.9982543587684631, + -2.3105914959131724e-09, + -1.6994632090483464e-10, + -0.05906296521425247 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -5.778395983924156e-09, + -1.176919361967066e-08, + -5.532056093215942e-06 + ], + "angular_velocity": [ + 2.3804705051588826e-07, + -1.9711571894731605e-06, + 1.4555590510667571e-08 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_96_clear/Object.usd", + "pose": { + "pos": [ + -1.1729040145874023, + 1.1234636306762695, + 0.9179999828338623 + ], + "ori": [ + -0.0965375006198883, + -9.560714886447386e-08, + -1.9088048475168762e-08, + 0.9953293800354004 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -2.3263833099917974e-06, + -5.490254579854081e-07, + -4.179775714874268e-06 + ], + "angular_velocity": [ + 2.9047972930129617e-05, + -9.659389615990222e-05, + 1.6122121451189741e-06 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/reservoir_12ch/Object.usd", + "pose": { + "pos": [ + 1.6505165100097656, + 0.6295099258422852, + 0.9179999828338623 + ], + "ori": [ + 0.8389845490455627, + 1.1179218439849592e-08, + -2.79112892798139e-08, + 0.5441551804542542 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 1.340030308938367e-09, + -3.74503414946048e-08, + -1.4230608940124512e-06 + ], + "angular_velocity": [ + 1.7408732446710928e-06, + 2.578865689883969e-07, + -1.8844019677999313e-09 + ] + } + } + ], + "deco_hub_west": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/hub_e.usd", + "pose": { + "pos": [ + -3.36, + 0.0, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_hub_east": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/hub_d.usd", + "pose": { + "pos": [ + 3.36, + 0.0, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_hub_back": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/hub_a.usd", + "pose": { + "pos": [ + -3.0, + -2.1, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_bench_east": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/bench_c.usd", + "pose": { + "pos": [ + 2.6, + -2.5, + 0.0 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_bench_gap": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/bench_b.usd", + "pose": { + "pos": [ + -0.1, + -2.9, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ] + } + ], + "devices": { + "hub": [ + null, + null, + null, + { + "t": 3.3599999999999506, + "step": 672, + "counter": 0, + "devices": { + "a4s_sealer_1": { + "mode": "auto", + "units": { + "drawer": { + "state": "at_out", + "active": null, + "target": 0.0, + "goal_name": "out", + "profile": null, + "q_start": null, + "reversing": false, + "blocked_for": 0.0, + "settled_for": 0.0, + "last_q": 4.6988368057609975e-12 + }, + "heater": { + "state": "ready", + "active": null, + "duration": 0.0, + "t_start": null, + "elapsed": 0.0 + } + }, + "queues": {}, + "program": null, + "sensors": { + "plate_present": { + "occupants": [], + "pending": {} + } + }, + "interlocks": {} + }, + "conveyor_1": { + "mode": "auto", + "units": { + "belt": { + "state": "at_station", + "active": null, + "controller": { + "speed": 0.1955442232493193, + "holds": [], + "station": "pick", + "rider": "carrier_2", + "arrived": true, + "settle_count": 481, + "released": { + "pick": [] + }, + "last_pos": { + "carrier_1": [ + 0.057678788900375366, + 0.702648937702179, + 0.0 + ], + "carrier_2": [ + -0.26846447587013245, + -0.00263899564743042, + 0.0 + ], + "carrier_3": [ + -1.3128503859043121, + 0.6777904629707336, + 0.0 + ], + "carrier_4": [ + 1.5046230256557465, + 0.18338090181350708, + 0.0 + ] + }, + "command": 0.0 + }, + "belt": { + "target_speed": 0.0, + "command_speed": 0.0 + }, + "seen": { + "state": "at_station", + "station": "pick", + "rider": "carrier_2", + "arrived": true + } + } + }, + "queues": {}, + "program": null, + "sensors": {}, + "interlocks": {} + } + }, + "zones": {}, + "labware": { + "plate_1": { + "sealed": false + }, + "plate_2": { + "sealed": false + }, + "plate_3": { + "sealed": false + }, + "plate_4": { + "sealed": false + } + }, + "rules": {}, + "records": [], + "bus": { + "seq": 3, + "queue": [] + } + } + ], + "drives": [ + null, + null, + null, + {} + ] + }, + "artifacts": [ + {}, + {}, + {}, + { + "ceiling": { + "type": "rect", + "pose": { + "pos": [ + -0.338225918068533, + -0.10422700369592869, + 2.9563667371917255 + ], + "ori": [ + 1.5455572381007947, + -14.99468401839786, + 20.236684623887093 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "color_temperature": 5486.934080693665, + "color": [ + 0.8553575860170345, + 0.8059558386252917, + 0.9187750662554812 + ], + "intensity": 11726.149806781701, + "width": 1.4379503086451337, + "height": 1.0123221835054184 + } + }, + "key": { + "type": "sphere", + "pose": { + "pos": [ + -0.33207525771488244, + -0.009659241404218033, + 2.493252313367092 + ], + "ori": [ + -9.586026367289175, + 3.389069934659325, + -6.223070182474842 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "color_temperature": 6068.598494284652, + "color": [ + 0.7599600067663136, + 0.7509471246640755, + 0.7669240148471661 + ], + "intensity": 8580.29340873165, + "radius": 0.06834604894751642 + } + } + } + ], + "background": { + "type": "dome", + "pose": { + "pos": null, + "ori": null, + "scale": null + }, + "dr": { + "intensity": 1530.622389570849, + "texture": null, + "color": [ + 0.92, + 0.94, + 0.96 + ] + } + } + }, + "robots": { + "UR5e": { + "root_pose": [ + [ + 11.0, + -11.0, + 0.9150000214576721, + 1.0, + 0.0, + 0.0, + 0.0 + ], + [ + 11.0, + 11.0, + 0.9150000214576721, + 1.0, + 0.0, + 0.0, + 0.0 + ], + [ + -11.0, + -11.0, + 0.9150000214576721, + 1.0, + 0.0, + 0.0, + 0.0 + ], + [ + -11.0, + 11.0, + 0.9150000214576721, + 1.0, + 0.0, + 0.0, + 0.0 + ] + ], + "root_vel": [ + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + ], + "joint_pos": [ + [ + 0.9240269064903259, + -1.5052831172943115, + 2.1370255947113037, + -2.202497959136963, + -1.5707964897155762, + 2.5691134929656982, + 0.0180000439286232, + 0.017999954521656036 + ], + [ + 0.9295631051063538, + -1.5843020677566528, + 2.0787410736083984, + -2.0651681423187256, + -1.570798397064209, + 2.5107014179229736, + 0.018001984804868698, + 0.017998015508055687 + ], + [ + 0.9141020774841309, + -1.7193984985351562, + 2.0904996395111084, + -1.9419007301330566, + -1.5707999467849731, + 2.48490047454834, + 0.017999999225139618, + 0.017999999225139618 + ], + [ + 0.9141013622283936, + -1.7193995714187622, + 2.0905003547668457, + -1.9419008493423462, + -1.5707999467849731, + 2.48490047454834, + 0.01799999736249447, + 0.018000001087784767 + ] + ], + "joint_vel": [ + [ + -9.919821604853496e-05, + 0.011338580399751663, + 0.009077579714357853, + -0.019408993422985077, + -9.714230145618785e-06, + 2.0134813894401304e-05, + -4.9398731789551675e-06, + 4.941016413795296e-06 + ], + [ + 0.003981938119977713, + 0.039849262684583664, + -0.002858230145648122, + -0.034703366458415985, + -2.40270219364902e-06, + 0.007282683160156012, + 5.4955220548436046e-05, + -5.4964213632047176e-05 + ], + [ + 3.4059653444273863e-06, + 1.657257339172935e-12, + 1.6046339604280924e-12, + -3.405976030990132e-06, + -3.405978077353211e-06, + 8.732320964412177e-13, + 1.6454135417457577e-13, + 7.475584821309278e-14 + ], + [ + -2.527969334572485e-38, + 1.5499014020516852e-38, + 3.8572760902926146e-38, + 5.210929902362941e-37, + -4.883688819832621e-38, + 4.337454158544144e-37, + 2.5990399166175848e-08, + -2.5990386731677972e-08 + ] + ] + } + }, + "cameras": { + "cameras": { + "camera0": [ + [ + 0.050468310713768005, + -0.0013588408473879099, + -0.03251347690820694, + -0.2779122591018677, + 0.6470629572868347, + 0.6498225927352905, + -0.2860155999660492 + ], + [ + 0.05285388603806496, + -0.0017655238043516874, + -0.03350028023123741, + -0.28007861971855164, + 0.6473512649536133, + 0.6463510394096375, + -0.2910715937614441 + ], + [ + 0.04741738364100456, + 0.001612180727533996, + -0.027592893689870834, + -0.27603834867477417, + 0.6489341259002686, + 0.6564043760299683, + -0.267993688583374 + ], + [ + 0.05042167752981186, + 0.000408208929002285, + -0.02962234616279602, + -0.2674925923347473, + 0.6612743139266968, + 0.6431134939193726, + -0.27851223945617676 + ] + ], + "camera1": [ + [ + 0.0716182217001915, + 0.6020354628562927, + 1.9395501613616943, + 0.03822057694196701, + 0.013973505236208439, + 0.27816060185432434, + 0.9596721529960632 + ], + [ + 0.0655459389090538, + 0.582245409488678, + 1.9480291604995728, + 0.03057086281478405, + 0.012941237539052963, + 0.26566019654273987, + 0.9634950160980225 + ], + [ + 0.0393747054040432, + 0.569907009601593, + 1.9290940761566162, + 0.055712804198265076, + 0.0030745435506105423, + 0.26614755392074585, + 0.9623160362243652 + ], + [ + 0.0433141365647316, + 0.5783144235610962, + 1.929490089416504, + 0.0579552985727787, + 0.008135812357068062, + 0.26457178592681885, + 0.9625885486602783 + ] + ] + } + } + } +} \ No newline at end of file diff --git a/episodes/c7_p010_e002/wrist.mp4 b/episodes/c7_p010_e002/wrist.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..e1c58d348f8d7b2b7de0b86167e7d274eac259cd --- /dev/null +++ b/episodes/c7_p010_e002/wrist.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:79d0a3b31a98581209848468ccaa8862c2eca784132d83a8bae572935a9157f7 +size 6964526 diff --git a/episodes/c7_p010_e003/data.npz b/episodes/c7_p010_e003/data.npz new file mode 100644 index 0000000000000000000000000000000000000000..266eb50749330d38a9af13d14c38492dda72def5 --- /dev/null +++ b/episodes/c7_p010_e003/data.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:b22d24febba291fd9de66dfbddf70a3d0db52ecb4dbabde44509b67fc24a7007 +size 189617 diff --git a/episodes/c7_p010_e003/device_events.jsonl b/episodes/c7_p010_e003/device_events.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..27f60843311c5ff86e1771dcae18a92c5641807d --- /dev/null +++ b/episodes/c7_p010_e003/device_events.jsonl @@ -0,0 +1,37 @@ +{"env_id": 2, "seq": 1, "step": 152, "t": 0.76, "topic": "conveyor_1.belt.station.pick.captured", "source": "conveyor_1.belt", "data": {"rider": "carrier_2"}, "cause": null} +{"env_id": 2, "seq": 2, "step": 152, "t": 0.76, "topic": "conveyor_1.belt.state.changed", "source": "conveyor_1.belt", "data": {"from": "running", "to": "at_station"}, "cause": null} +{"env_id": 2, "seq": 3, "step": 157, "t": 0.785, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_2"}, "cause": null} +{"env_id": 2, "seq": 4, "step": 2051, "t": 10.255, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_2"}, "cause": null} +{"env_id": 2, "seq": 5, "step": 2135, "t": 10.675, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_2"}, "cause": null} +{"env_id": 2, "seq": 6, "step": 6859, "t": 34.295, "topic": "a4s_sealer_1.plate_present.present", "source": "a4s_sealer_1.plate_present", "data": {"object": "plate_2"}, "cause": null} +{"env_id": 2, "seq": 7, "step": 7472, "t": 37.36, "topic": "a4s_sealer_1.command.started", "source": "a4s_sealer_1", "data": {"command_id": "task-2-1", "name": "seal", "source": "task"}, "cause": "task-2-1"} +{"env_id": 2, "seq": 8, "step": 7472, "t": 37.36, "topic": "a4s_sealer_1.seal.started", "source": "a4s_sealer_1", "data": {"dwell": 2.7475120282211205}, "cause": "task-2-1"} +{"env_id": 2, "seq": 9, "step": 7472, "t": 37.36, "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"} +{"env_id": 2, "seq": 10, "step": 7472, "t": 37.36, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "at_out", "to": "moving"}, "cause": null} +{"env_id": 2, "seq": 11, "step": 7472, "t": 37.36, "topic": "a4s_sealer_1.drawer.moving", "source": "a4s_sealer_1.drawer", "data": {"target": 0.3, "goal": "in"}, "cause": "program-2-2"} +{"env_id": 2, "seq": 12, "step": 7891, "t": 39.455, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "moving", "to": "at_in"}, "cause": null} +{"env_id": 2, "seq": 13, "step": 7891, "t": 39.455, "topic": "a4s_sealer_1.drawer.reached", "source": "a4s_sealer_1.drawer", "data": {"position": "in", "q": 0.30000001192092896}, "cause": "program-2-2"} +{"env_id": 2, "seq": 14, "step": 7891, "t": 39.455, "topic": "a4s_sealer_1.drawer.at_in", "source": "a4s_sealer_1.drawer", "data": {"q": 0.30000001192092896}, "cause": "program-2-2"} +{"env_id": 2, "seq": 15, "step": 7891, "t": 39.455, "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"} +{"env_id": 2, "seq": 16, "step": 7891, "t": 39.455, "topic": "labware.plate_2.changed", "source": "labware.plate_2", "data": {"key": "sealed", "value": true}, "cause": "task-2-1"} +{"env_id": 2, "seq": 17, "step": 7891, "t": 39.455, "topic": "a4s_sealer_1.sealed", "source": "a4s_sealer_1", "data": {"plate": "plate_2"}, "cause": "task-2-1"} +{"env_id": 2, "seq": 18, "step": 7891, "t": 39.455, "topic": "a4s_sealer_1.heater.command.started", "source": "a4s_sealer_1.heater", "data": {"command_id": "program-2-3", "name": "run", "source": "program:seal"}, "cause": "program-2-3"} +{"env_id": 2, "seq": 19, "step": 7891, "t": 39.455, "topic": "a4s_sealer_1.heater.state.changed", "source": "a4s_sealer_1.heater", "data": {"from": "ready", "to": "running"}, "cause": null} +{"env_id": 2, "seq": 20, "step": 7891, "t": 39.455, "topic": "a4s_sealer_1.heater.started", "source": "a4s_sealer_1.heater", "data": {"duration": 2.7475120282211205}, "cause": "program-2-3"} +{"env_id": 2, "seq": 21, "step": 8441, "t": 42.205, "topic": "a4s_sealer_1.heater.state.changed", "source": "a4s_sealer_1.heater", "data": {"from": "running", "to": "ready"}, "cause": null} +{"env_id": 2, "seq": 22, "step": 8441, "t": 42.205, "topic": "a4s_sealer_1.heater.finished", "source": "a4s_sealer_1.heater", "data": {"elapsed": 2.750000000001407}, "cause": "program-2-3"} +{"env_id": 2, "seq": 23, "step": 8441, "t": 42.205, "topic": "a4s_sealer_1.heater.command.succeeded", "source": "a4s_sealer_1.heater", "data": {"command_id": "program-2-3", "name": "run", "source": "program:seal", "result": {"elapsed": 2.750000000001407}}, "cause": "program-2-3"} +{"env_id": 2, "seq": 24, "step": 8441, "t": 42.205, "topic": "a4s_sealer_1.drawer.command.started", "source": "a4s_sealer_1.drawer", "data": {"command_id": "program-2-4", "name": "open", "source": "program:seal"}, "cause": "program-2-4"} +{"env_id": 2, "seq": 25, "step": 8441, "t": 42.205, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "at_in", "to": "moving"}, "cause": null} +{"env_id": 2, "seq": 26, "step": 8441, "t": 42.205, "topic": "a4s_sealer_1.drawer.moving", "source": "a4s_sealer_1.drawer", "data": {"target": 0.0, "goal": "out"}, "cause": "program-2-4"} +{"env_id": 2, "seq": 27, "step": 8861, "t": 44.305, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "moving", "to": "at_out"}, "cause": null} +{"env_id": 2, "seq": 28, "step": 8861, "t": 44.305, "topic": "a4s_sealer_1.drawer.reached", "source": "a4s_sealer_1.drawer", "data": {"position": "out", "q": 0.0}, "cause": "program-2-4"} +{"env_id": 2, "seq": 29, "step": 8861, "t": 44.305, "topic": "a4s_sealer_1.drawer.at_out", "source": "a4s_sealer_1.drawer", "data": {"q": 0.0}, "cause": "program-2-4"} +{"env_id": 2, "seq": 30, "step": 8861, "t": 44.305, "topic": "a4s_sealer_1.drawer.command.succeeded", "source": "a4s_sealer_1.drawer", "data": {"command_id": "program-2-4", "name": "open", "source": "program:seal", "result": {"position": "out"}}, "cause": "program-2-4"} +{"env_id": 2, "seq": 31, "step": 8861, "t": 44.305, "topic": "a4s_sealer_1.seal.finished", "source": "a4s_sealer_1", "data": {}, "cause": "task-2-1"} +{"env_id": 2, "seq": 32, "step": 8861, "t": 44.305, "topic": "a4s_sealer_1.command.succeeded", "source": "a4s_sealer_1", "data": {"command_id": "task-2-1", "name": "seal", "source": "task"}, "cause": "task-2-1"} +{"env_id": 2, "seq": 33, "step": 9443, "t": 47.215, "topic": "a4s_sealer_1.plate_present.absent", "source": "a4s_sealer_1.plate_present", "data": {"object": "plate_2"}, "cause": null} +{"env_id": 2, "seq": 34, "step": 11212, "t": 56.06, "topic": "conveyor_1.belt.command.started", "source": "conveyor_1.belt", "data": {"command_id": "task-2-5", "name": "release", "source": "task"}, "cause": "task-2-5"} +{"env_id": 2, "seq": 35, "step": 11212, "t": 56.06, "topic": "conveyor_1.belt.station.pick.released", "source": "conveyor_1.belt", "data": {"rider": "carrier_2"}, "cause": "task-2-5"} +{"env_id": 2, "seq": 36, "step": 11212, "t": 56.06, "topic": "conveyor_1.belt.state.changed", "source": "conveyor_1.belt", "data": {"from": "at_station", "to": "running"}, "cause": null} +{"env_id": 2, "seq": 37, "step": 11212, "t": 56.06, "topic": "conveyor_1.belt.command.succeeded", "source": "conveyor_1.belt", "data": {"command_id": "task-2-5", "name": "release", "source": "task", "result": {"state": "running"}}, "cause": "task-2-5"} diff --git a/episodes/c7_p010_e003/env.mp4 b/episodes/c7_p010_e003/env.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..e2e3b85fdedcd774621bce293aebc97fc2e46f00 --- /dev/null +++ b/episodes/c7_p010_e003/env.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:cad4703c61f8112e959e4567ef563ea749a2fce3f1da1cb6d245a99dbf56b6fe +size 1209646 diff --git a/episodes/c7_p010_e003/meta.json b/episodes/c7_p010_e003/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..46080fc98db68b186008135378a9bdb5ff0d7809 --- /dev/null +++ b/episodes/c7_p010_e003/meta.json @@ -0,0 +1,32 @@ +{ + "source": "raw/c7_p010/magicsim/3", + "fps": 25, + "frames": 1201, + "kept_ticks": "even", + "video_frames": { + "wrist": 1201, + "env": 1201 + }, + "joint_target_source": "joint_pos_target", + "fk_vs_recorded_eef_max_m": 0.0, + "curobo_joints": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "joint_order": [ + "shoulder_pan", + "shoulder_lift", + "elbow", + "wrist_1", + "wrist_2", + "wrist_3", + "finger_left", + "finger_right" + ], + "frames_note": "eef / actions in the robot base frame; camera_pose = local pose (wrist: in plate_gripper_base, env: env frame), pos + quat wxyz", + "dr_version": "v2" +} \ No newline at end of file diff --git a/episodes/c7_p010_e003/scene_snapshot.json b/episodes/c7_p010_e003/scene_snapshot.json new file mode 100644 index 0000000000000000000000000000000000000000..d19e15085f1798224bafb612058d84ca1e847c10 --- /dev/null +++ b/episodes/c7_p010_e003/scene_snapshot.json @@ -0,0 +1,1558 @@ +{ + "trajectory_id": 3, + "env_id": 2, + "run_id": "c7_p010", + "task_type": "BioPlateCell", + "success": true, + "timing": { + "fps": 50.0, + "sim_dt": 0.005, + "decimation": 4 + }, + "restore_interface": { + "scene": "scene_manager.reset_to(snapshot['scene'], env_ids=[env_id])", + "robots": "robot_manager.set_state({'robots': snapshot['robots']}, env_ids=[env_id])" + }, + "snapshot": { + "env_id": 2, + "scene": { + "objects": [ + {}, + {}, + { + "rac_cell": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/rac_cell.usd", + "pose": { + "pos": [ + 0.0, + 0.0, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "physics_material": { + "static_friction": 0.6, + "dynamic_friction": 0.5, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "robot_mount": [ + { + "asset": "Cube", + "pose": { + "pos": [ + 0.0, + 0.0, + 0.9075 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": "color", + "value": [ + 0.55, + 0.56, + 0.58 + ], + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": { + "size": [ + 0.2, + 0.2, + 0.015 + ] + } + }, + "type_specific": {} + } + ], + "plate_rack": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/plate_hotel.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 0.9 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "physics_material": { + "static_friction": 0.6, + "dynamic_friction": 0.5, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "hotel_plate": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_96_clear/plate_96_clear.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 0.9605 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/pcr_96_blue/pcr_96_blue.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.0285 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_384_white/plate_384_white.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.0965 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_12_clear/plate_12_clear.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.1645 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_24_clear/plate_24_clear.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.2325 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "a4s_sealer": [ + { + "asset": "$MAGICSIM_ASSETS/Articulated/A4SSealer/Object.usd", + "pose": { + "pos": [ + 0.4654064178466797, + 0.08583927154541016, + 0.8999999761581421 + ], + "ori": [ + 0.7158191800117493, + 0.0, + 0.0, + -0.698285698890686 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "articulation", + "solver_position_iteration_count": 16.0, + "solver_velocity_iteration_count": 1.0, + "enabled_self_collisions": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "joint_position": [ + 2.8915908296262005e-12 + ], + "joint_velocity": [ + 0.0 + ], + "linear_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "angular_velocity": [ + 0.0, + 0.0, + 0.0 + ] + } + } + ], + "conveyor": [ + { + "asset": "Cube", + "pose": { + "pos": [ + 0.15, + 0.45, + 0.9 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "conveyor", + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9 + }, + "ratio": 1.0 + }, + "primitive_params": { + "size": [ + 2.4, + 0.076, + 0.03 + ] + }, + "conveyor": { + "speed": 0.2390233522619925, + "direction": [ + 1.0, + 0.0, + 0.0 + ], + "enabled": true, + "drive": "surface_velocity", + "lines": null, + "station_line": null, + "riders": [ + "carrier" + ], + "stations": { + "pick": { + "position": -0.2174726426746821, + "slow_distance": 0.03, + "slow_speed": 0.03 + } + }, + "rails": { + "height": 0.01, + "thickness": 0.01, + "gap": 0.001, + "friction": 0.05 + }, + "legs": 0.87, + "loop": { + "radius": 0.35, + "side": "left", + "curve_extra_width": 0.0, + "segments": 18, + "curve_rails": "both" + }, + "snap_distance": 0.1, + "junction_snap": 0.02, + "collision_approximation": "auto", + "plate_mass": 1.0, + "lift_drop": 0.004, + "accel": 0.0, + "decel": 0.0, + "drive_damping": 1000000.0, + "drive_max_force": 1000000000.0 + } + }, + "type_specific": { + "controller": { + "state": "at_station", + "speed": 0.2390233522619925, + "holds": [], + "station": "pick", + "rider": "carrier_2", + "arrived": true, + "applied_speed": 0.0 + } + } + } + ], + "carrier": [ + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + 1.5945501327514648, + 0.5540733337402344, + 0.8999999761581421 + ], + "ori": [ + 0.9275561571121216, + 7.768791476792103e-08, + -1.219891458958955e-07, + 0.373683899641037 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 8.420302233247412e-10, + 5.219685239588046e-10, + -3.725290298461914e-09 + ], + "angular_velocity": [ + -6.46535269765991e-08, + 5.721430795802007e-08, + -7.0538215268811655e-09 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + -0.06723594665527344, + 0.44727420806884766, + 0.8999999761581421 + ], + "ori": [ + 0.9999467730522156, + 3.7713721035004255e-11, + -1.0720067056269045e-09, + 0.010325880721211433 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 1.9728243483285723e-09, + 8.365103054686074e-10, + 1.1175870895385742e-08 + ], + "angular_velocity": [ + -3.8112830225145444e-08, + 1.8750252195331996e-07, + -1.566106355710417e-08 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + -1.396803855895996, + 0.778477668762207, + 0.8999999761581421 + ], + "ori": [ + -0.7229130864143372, + -4.6120348429212754e-08, + -1.205187203368041e-07, + 0.6909390091896057 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 9.142458168298617e-08, + -1.3560237448473345e-06, + -2.909451723098755e-06 + ], + "angular_velocity": [ + 0.0001157076476374641, + 5.255871656117961e-06, + 1.335761680820724e-06 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + 0.5154542922973633, + 1.1527032852172852, + 0.8999999761581421 + ], + "ori": [ + -0.010447530075907707, + -5.497760025008347e-10, + 1.2618353029125728e-09, + 0.9999454021453857 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -7.382454647597569e-10, + -1.4147009119724885e-09, + 3.725290298461914e-09 + ], + "angular_velocity": [ + 1.1224458518199754e-07, + -9.936946554489623e-08, + 1.422588047361728e-09 + ] + } + } + ], + "plate": [ + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_24_clear/Object.usd", + "pose": { + "pos": [ + 1.6068315505981445, + 0.5542488098144531, + 0.9179999828338623 + ], + "ori": [ + 0.9533060789108276, + 8.087783953669714e-08, + -1.1691703605265502e-07, + 0.3020060360431671 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -3.832096240330429e-08, + -2.1800385496817398e-08, + 3.725290298461914e-08 + ], + "angular_velocity": [ + 5.176017339181271e-07, + -8.705476943760004e-07, + 1.307894734736692e-07 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_384_black/Object.usd", + "pose": { + "pos": [ + -0.06752872467041016, + 0.44827747344970703, + 0.9180000424385071 + ], + "ori": [ + 0.9998419880867004, + -6.35524632919271e-10, + -6.949938402556199e-10, + 0.017777618020772934 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -5.1449506877077056e-09, + 8.71225402931941e-09, + -5.617737770080566e-06 + ], + "angular_velocity": [ + 7.874086804804392e-07, + -1.8426421775075141e-06, + -4.467435843480416e-08 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_1536_black/Object.usd", + "pose": { + "pos": [ + -1.4048528671264648, + 0.7743263244628906, + 0.9179999828338623 + ], + "ori": [ + -0.78277987241745, + -4.962233646210734e-08, + -1.1366776675458823e-07, + 0.6222988367080688 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 1.7884363501252665e-07, + -2.586588607300655e-06, + -3.28943133354187e-06 + ], + "angular_velocity": [ + 0.00011474216444185004, + 5.550022251554765e-06, + 1.46822264923685e-06 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/deep_well_24_10ml/Object.usd", + "pose": { + "pos": [ + 0.5302801132202148, + 1.1516056060791016, + 0.9179999828338623 + ], + "ori": [ + 0.005867852363735437, + -1.6358719934217447e-09, + 9.108660492529452e-10, + 0.9999827742576599 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 1.4632264289105024e-08, + 1.2004424121414559e-09, + -1.5869736671447754e-06 + ], + "angular_velocity": [ + -1.8935088519356214e-07, + 7.930943866085727e-07, + 3.2042674291687945e-08 + ] + } + } + ], + "deco_hub_west": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/hub_c.usd", + "pose": { + "pos": [ + -3.36, + 0.0, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_hub_east": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/hub_a.usd", + "pose": { + "pos": [ + 3.36, + 0.0, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_hub_back": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/hub_e.usd", + "pose": { + "pos": [ + -3.0, + -2.1, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_bench_east": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/bench_a.usd", + "pose": { + "pos": [ + 2.6, + -2.5, + 0.0 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_bench_gap": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/bench_b.usd", + "pose": { + "pos": [ + -0.1, + -2.9, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ] + }, + {} + ], + "devices": { + "hub": [ + null, + null, + { + "t": 8.199999999999882, + "step": 1640, + "counter": 0, + "devices": { + "a4s_sealer_1": { + "mode": "auto", + "units": { + "drawer": { + "state": "at_out", + "active": null, + "target": 0.0, + "goal_name": "out", + "profile": null, + "q_start": null, + "reversing": false, + "blocked_for": 0.0, + "settled_for": 0.0, + "last_q": 2.8915908296262005e-12 + }, + "heater": { + "state": "ready", + "active": null, + "duration": 0.0, + "t_start": null, + "elapsed": 0.0 + } + }, + "queues": {}, + "program": null, + "sensors": { + "plate_present": { + "occupants": [], + "pending": {} + } + }, + "interlocks": {} + }, + "conveyor_1": { + "mode": "auto", + "units": { + "belt": { + "state": "at_station", + "active": null, + "controller": { + "speed": 0.2390233522619925, + "holds": [], + "station": "pick", + "rider": "carrier_2", + "arrived": true, + "settle_count": 1487, + "released": { + "pick": [] + }, + "last_pos": { + "carrier_1": [ + 1.4445501267910004, + 0.10407334566116333, + 0.0 + ], + "carrier_2": [ + -0.21723595261573792, + -0.0027257800102233887, + 0.0 + ], + "carrier_3": [ + -1.5468038618564606, + 0.328477680683136, + 0.0 + ], + "carrier_4": [ + 0.3654542863368988, + 0.7027032971382141, + 0.0 + ] + }, + "command": 0.0 + }, + "belt": { + "target_speed": 0.0, + "command_speed": 0.0 + }, + "seen": { + "state": "at_station", + "station": "pick", + "rider": "carrier_2", + "arrived": true + } + } + }, + "queues": {}, + "program": null, + "sensors": {}, + "interlocks": {} + } + }, + "zones": {}, + "labware": { + "plate_1": { + "sealed": false + }, + "plate_2": { + "sealed": false + }, + "plate_3": { + "sealed": false + }, + "plate_4": { + "sealed": false + } + }, + "rules": {}, + "records": [], + "bus": { + "seq": 3, + "queue": [] + } + }, + null + ], + "drives": [ + null, + null, + {}, + null + ] + }, + "artifacts": [ + {}, + {}, + { + "ceiling": { + "type": "rect", + "pose": { + "pos": [ + -0.04257338307996561, + 0.358098141073688, + 2.736737218179378 + ], + "ori": [ + -13.559998991445136, + 12.689134783228852, + 13.807613946232976 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "color_temperature": 7014.212674141431, + "color": [ + 0.9285488467707493, + 0.8345186875711368, + 0.8524101912424078 + ], + "intensity": 13880.839606730087, + "width": 2.2538847253789354, + "height": 1.506183582241774 + } + }, + "key": { + "type": "sphere", + "pose": { + "pos": [ + -0.45639574400919924, + 1.5550390825562161, + 2.719970044489057 + ], + "ori": [ + -26.37625969212766, + -15.718048382330785, + -9.058703749559598 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "color_temperature": 4739.800722812193, + "color": [ + 0.8691830832830577, + 0.8059486387693527, + 0.8243333259478097 + ], + "intensity": 5268.638033014611, + "radius": 0.16584802719695435 + } + } + }, + {} + ], + "background": { + "type": "dome", + "pose": { + "pos": null, + "ori": null, + "scale": null + }, + "dr": { + "intensity": 1530.622389570849, + "texture": null, + "color": [ + 0.92, + 0.94, + 0.96 + ] + } + } + }, + "robots": { + "UR5e": { + "root_pose": [ + [ + 11.0, + -11.0, + 0.9150000214576721, + 1.0, + 0.0, + 0.0, + 0.0 + ], + [ + 11.0, + 11.0, + 0.9150000214576721, + 1.0, + 0.0, + 0.0, + 0.0 + ], + [ + -11.0, + -11.0, + 0.9150000214576721, + 1.0, + 0.0, + 0.0, + 0.0 + ], + [ + -11.0, + 11.0, + 0.9150000214576721, + 1.0, + 0.0, + 0.0, + 0.0 + ] + ], + "root_vel": [ + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + ], + "joint_pos": [ + [ + 0.9235398769378662, + -1.5236986875534058, + 2.119985580444336, + -2.167877674102783, + -1.5709830522537231, + 2.569512128829956, + 0.007870090194046497, + 0.006913986522704363 + ], + [ + 0.9418911337852478, + -1.4768306016921997, + 2.069368839263916, + -2.163329601287842, + -1.5707871913909912, + 2.5312914848327637, + 0.007668472360819578, + 0.007090804632753134 + ], + [ + 0.9141020774841309, + -1.7193984985351562, + 2.0904996395111084, + -1.9419007301330566, + -1.5707999467849731, + 2.48490047454834, + 0.017999999225139618, + 0.017999999225139618 + ], + [ + 1.2262130975723267, + -1.6175507307052612, + 2.2149477005004883, + -2.169060468673706, + -1.5706813335418701, + 2.915393829345703, + 0.009225907735526562, + 0.005887010600417852 + ] + ], + "joint_vel": [ + [ + 0.005363128613680601, + 0.0029207465704530478, + 0.004737409763038158, + 0.0024455636739730835, + 0.0014332877472043037, + 0.00625006714835763, + -0.00641799159348011, + 0.00012986357614863664 + ], + [ + 9.412231884198263e-05, + -8.792421795078553e-06, + -0.00021539742010645568, + 6.434423994505778e-05, + 4.0473943954566494e-05, + 3.46979359164834e-05, + -0.007422173395752907, + 0.0001024625962600112 + ], + [ + 3.4059653444273863e-06, + 1.6448765093046713e-12, + 1.6182297472508433e-12, + -3.405976030990132e-06, + -3.405978077353211e-06, + 5.960375964488007e-13, + 2.403910133019077e-13, + 4.8611881528623155e-14 + ], + [ + -0.0019323808373883367, + -0.0003684048424474895, + 0.0008491845801472664, + -0.00037878972943872213, + 0.00016497481556143612, + -5.443922054837458e-05, + -0.00407917657867074, + 0.0001248696498805657 + ] + ] + } + }, + "cameras": { + "cameras": { + "camera0": [ + [ + 0.05008552595973015, + -2.6178171538049355e-05, + -0.03169973939657211, + -0.2777458131313324, + 0.6433731317520142, + 0.6531525254249573, + -0.2869147062301636 + ], + [ + 0.05056166648864746, + -0.0009810560150071979, + -0.0339316688477993, + -0.2766874134540558, + 0.6499752998352051, + 0.6460155844688416, + -0.2892058491706848 + ], + [ + 0.051173288375139236, + 0.002844695234671235, + -0.027394482865929604, + -0.2862405478954315, + 0.6510804891586304, + 0.6514233350753784, + -0.26421234011650085 + ], + [ + 0.04920341819524765, + -0.0011128681944683194, + -0.030511382967233658, + -0.27408578991889954, + 0.6583847403526306, + 0.6438422799110413, + -0.2772608697414398 + ] + ], + "camera1": [ + [ + 0.0716182217001915, + 0.6020354628562927, + 1.9395501613616943, + 0.03822057694196701, + 0.013973505236208439, + 0.27816060185432434, + 0.9596721529960632 + ], + [ + 0.0655459389090538, + 0.582245409488678, + 1.9480291604995728, + 0.03057086281478405, + 0.012941237539052963, + 0.26566019654273987, + 0.9634950160980225 + ], + [ + 0.0393747054040432, + 0.569907009601593, + 1.9290940761566162, + 0.055712804198265076, + 0.0030745435506105423, + 0.26614755392074585, + 0.9623160362243652 + ], + [ + 0.0433141365647316, + 0.5783144235610962, + 1.929490089416504, + 0.0579552985727787, + 0.008135812357068062, + 0.26457178592681885, + 0.9625885486602783 + ] + ] + } + } + } +} \ No newline at end of file diff --git a/episodes/c7_p010_e003/wrist.mp4 b/episodes/c7_p010_e003/wrist.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..abb32024cd60564956790816f112c1a7ad55e7fa --- /dev/null +++ b/episodes/c7_p010_e003/wrist.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:d10f14fbff411c1d2b3d14727d037def7ce5314212d69daf52a1328ce2a3190a +size 6546401 diff --git a/episodes/c8_p010_e004/data.npz b/episodes/c8_p010_e004/data.npz new file mode 100644 index 0000000000000000000000000000000000000000..6139fe8dacb3d3450fc7ce69644c466156e100b0 --- /dev/null +++ b/episodes/c8_p010_e004/data.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:86df76c6734d830e4c93c2a318b8c0db1a8d8abaf54c47654fba31f2c211cf17 +size 189896 diff --git a/episodes/c8_p010_e004/device_events.jsonl b/episodes/c8_p010_e004/device_events.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..755c12f32cb039cd709353d97ad9c04b75f2201f --- /dev/null +++ b/episodes/c8_p010_e004/device_events.jsonl @@ -0,0 +1,36 @@ +{"env_id": 3, "seq": 1, "step": 83, "t": 0.415, "topic": "conveyor_1.belt.station.pick.captured", "source": "conveyor_1.belt", "data": {"rider": "carrier_2"}, "cause": null} +{"env_id": 3, "seq": 2, "step": 83, "t": 0.415, "topic": "conveyor_1.belt.state.changed", "source": "conveyor_1.belt", "data": {"from": "running", "to": "at_station"}, "cause": null} +{"env_id": 3, "seq": 3, "step": 88, "t": 0.44, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_2"}, "cause": null} +{"env_id": 3, "seq": 4, "step": 1436, "t": 7.18, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_2"}, "cause": null} +{"env_id": 3, "seq": 5, "step": 6245, "t": 31.225, "topic": "a4s_sealer_1.plate_present.present", "source": "a4s_sealer_1.plate_present", "data": {"object": "plate_2"}, "cause": null} +{"env_id": 3, "seq": 6, "step": 6852, "t": 34.26, "topic": "a4s_sealer_1.command.started", "source": "a4s_sealer_1", "data": {"command_id": "task-3-1", "name": "seal", "source": "task"}, "cause": "task-3-1"} +{"env_id": 3, "seq": 7, "step": 6852, "t": 34.26, "topic": "a4s_sealer_1.seal.started", "source": "a4s_sealer_1", "data": {"dwell": 3.9502734881932895}, "cause": "task-3-1"} +{"env_id": 3, "seq": 8, "step": 6852, "t": 34.26, "topic": "a4s_sealer_1.drawer.command.started", "source": "a4s_sealer_1.drawer", "data": {"command_id": "program-3-2", "name": "close", "source": "program:seal"}, "cause": "program-3-2"} +{"env_id": 3, "seq": 9, "step": 6852, "t": 34.26, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "at_out", "to": "moving"}, "cause": null} +{"env_id": 3, "seq": 10, "step": 6852, "t": 34.26, "topic": "a4s_sealer_1.drawer.moving", "source": "a4s_sealer_1.drawer", "data": {"target": 0.3, "goal": "in"}, "cause": "program-3-2"} +{"env_id": 3, "seq": 11, "step": 7271, "t": 36.355, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "moving", "to": "at_in"}, "cause": null} +{"env_id": 3, "seq": 12, "step": 7271, "t": 36.355, "topic": "a4s_sealer_1.drawer.reached", "source": "a4s_sealer_1.drawer", "data": {"position": "in", "q": 0.30000001192092896}, "cause": "program-3-2"} +{"env_id": 3, "seq": 13, "step": 7271, "t": 36.355, "topic": "a4s_sealer_1.drawer.at_in", "source": "a4s_sealer_1.drawer", "data": {"q": 0.30000001192092896}, "cause": "program-3-2"} +{"env_id": 3, "seq": 14, "step": 7271, "t": 36.355, "topic": "a4s_sealer_1.drawer.command.succeeded", "source": "a4s_sealer_1.drawer", "data": {"command_id": "program-3-2", "name": "close", "source": "program:seal", "result": {"position": "in"}}, "cause": "program-3-2"} +{"env_id": 3, "seq": 15, "step": 7271, "t": 36.355, "topic": "labware.plate_2.changed", "source": "labware.plate_2", "data": {"key": "sealed", "value": true}, "cause": "task-3-1"} +{"env_id": 3, "seq": 16, "step": 7271, "t": 36.355, "topic": "a4s_sealer_1.sealed", "source": "a4s_sealer_1", "data": {"plate": "plate_2"}, "cause": "task-3-1"} +{"env_id": 3, "seq": 17, "step": 7271, "t": 36.355, "topic": "a4s_sealer_1.heater.command.started", "source": "a4s_sealer_1.heater", "data": {"command_id": "program-3-3", "name": "run", "source": "program:seal"}, "cause": "program-3-3"} +{"env_id": 3, "seq": 18, "step": 7271, "t": 36.355, "topic": "a4s_sealer_1.heater.state.changed", "source": "a4s_sealer_1.heater", "data": {"from": "ready", "to": "running"}, "cause": null} +{"env_id": 3, "seq": 19, "step": 7271, "t": 36.355, "topic": "a4s_sealer_1.heater.started", "source": "a4s_sealer_1.heater", "data": {"duration": 3.9502734881932895}, "cause": "program-3-3"} +{"env_id": 3, "seq": 20, "step": 8062, "t": 40.31, "topic": "a4s_sealer_1.heater.state.changed", "source": "a4s_sealer_1.heater", "data": {"from": "running", "to": "ready"}, "cause": null} +{"env_id": 3, "seq": 21, "step": 8062, "t": 40.31, "topic": "a4s_sealer_1.heater.finished", "source": "a4s_sealer_1.heater", "data": {"elapsed": 3.9550000000020233}, "cause": "program-3-3"} +{"env_id": 3, "seq": 22, "step": 8062, "t": 40.31, "topic": "a4s_sealer_1.heater.command.succeeded", "source": "a4s_sealer_1.heater", "data": {"command_id": "program-3-3", "name": "run", "source": "program:seal", "result": {"elapsed": 3.9550000000020233}}, "cause": "program-3-3"} +{"env_id": 3, "seq": 23, "step": 8062, "t": 40.31, "topic": "a4s_sealer_1.drawer.command.started", "source": "a4s_sealer_1.drawer", "data": {"command_id": "program-3-4", "name": "open", "source": "program:seal"}, "cause": "program-3-4"} +{"env_id": 3, "seq": 24, "step": 8062, "t": 40.31, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "at_in", "to": "moving"}, "cause": null} +{"env_id": 3, "seq": 25, "step": 8062, "t": 40.31, "topic": "a4s_sealer_1.drawer.moving", "source": "a4s_sealer_1.drawer", "data": {"target": 0.0, "goal": "out"}, "cause": "program-3-4"} +{"env_id": 3, "seq": 26, "step": 8482, "t": 42.41, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "moving", "to": "at_out"}, "cause": null} +{"env_id": 3, "seq": 27, "step": 8482, "t": 42.41, "topic": "a4s_sealer_1.drawer.reached", "source": "a4s_sealer_1.drawer", "data": {"position": "out", "q": 7.368596843804198e-09}, "cause": "program-3-4"} +{"env_id": 3, "seq": 28, "step": 8482, "t": 42.41, "topic": "a4s_sealer_1.drawer.at_out", "source": "a4s_sealer_1.drawer", "data": {"q": 7.368596843804198e-09}, "cause": "program-3-4"} +{"env_id": 3, "seq": 29, "step": 8482, "t": 42.41, "topic": "a4s_sealer_1.drawer.command.succeeded", "source": "a4s_sealer_1.drawer", "data": {"command_id": "program-3-4", "name": "open", "source": "program:seal", "result": {"position": "out"}}, "cause": "program-3-4"} +{"env_id": 3, "seq": 30, "step": 8482, "t": 42.41, "topic": "a4s_sealer_1.seal.finished", "source": "a4s_sealer_1", "data": {}, "cause": "task-3-1"} +{"env_id": 3, "seq": 31, "step": 8482, "t": 42.41, "topic": "a4s_sealer_1.command.succeeded", "source": "a4s_sealer_1", "data": {"command_id": "task-3-1", "name": "seal", "source": "task"}, "cause": "task-3-1"} +{"env_id": 3, "seq": 32, "step": 9059, "t": 45.295, "topic": "a4s_sealer_1.plate_present.absent", "source": "a4s_sealer_1.plate_present", "data": {"object": "plate_2"}, "cause": null} +{"env_id": 3, "seq": 33, "step": 10756, "t": 53.78, "topic": "conveyor_1.belt.command.started", "source": "conveyor_1.belt", "data": {"command_id": "task-3-5", "name": "release", "source": "task"}, "cause": "task-3-5"} +{"env_id": 3, "seq": 34, "step": 10756, "t": 53.78, "topic": "conveyor_1.belt.station.pick.released", "source": "conveyor_1.belt", "data": {"rider": "carrier_2"}, "cause": "task-3-5"} +{"env_id": 3, "seq": 35, "step": 10756, "t": 53.78, "topic": "conveyor_1.belt.state.changed", "source": "conveyor_1.belt", "data": {"from": "at_station", "to": "running"}, "cause": null} +{"env_id": 3, "seq": 36, "step": 10756, "t": 53.78, "topic": "conveyor_1.belt.command.succeeded", "source": "conveyor_1.belt", "data": {"command_id": "task-3-5", "name": "release", "source": "task", "result": {"state": "running"}}, "cause": "task-3-5"} diff --git a/episodes/c8_p010_e004/env.mp4 b/episodes/c8_p010_e004/env.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..f2b2d756230b505572638d3a87237c67f7fef466 --- /dev/null +++ b/episodes/c8_p010_e004/env.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:e90683829aba95d4ea735d77e1a78508d39ee7f928926b134b109542ad92b944 +size 1236676 diff --git a/episodes/c8_p010_e004/meta.json b/episodes/c8_p010_e004/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..41d0f143b8bf337940b70c927ef21ea3bf16cf7a --- /dev/null +++ b/episodes/c8_p010_e004/meta.json @@ -0,0 +1,32 @@ +{ + "source": "raw/c8_p010/magicsim/4", + "fps": 25, + "frames": 1222, + "kept_ticks": "even", + "video_frames": { + "wrist": 1222, + "env": 1222 + }, + "joint_target_source": "joint_pos_target", + "fk_vs_recorded_eef_max_m": 0.0, + "curobo_joints": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "joint_order": [ + "shoulder_pan", + "shoulder_lift", + "elbow", + "wrist_1", + "wrist_2", + "wrist_3", + "finger_left", + "finger_right" + ], + "frames_note": "eef / actions in the robot base frame; camera_pose = local pose (wrist: in plate_gripper_base, env: env frame), pos + quat wxyz", + "dr_version": "v2" +} \ No newline at end of file diff --git a/episodes/c8_p010_e004/scene_snapshot.json b/episodes/c8_p010_e004/scene_snapshot.json new file mode 100644 index 0000000000000000000000000000000000000000..b6ec30155a6ae0cfb323f209a4ef4b74c39052f4 --- /dev/null +++ b/episodes/c8_p010_e004/scene_snapshot.json @@ -0,0 +1,1558 @@ +{ + "trajectory_id": 4, + "env_id": 3, + "run_id": "c8_p010", + "task_type": "BioPlateCell", + "success": true, + "timing": { + "fps": 50.0, + "sim_dt": 0.005, + "decimation": 4 + }, + "restore_interface": { + "scene": "scene_manager.reset_to(snapshot['scene'], env_ids=[env_id])", + "robots": "robot_manager.set_state({'robots': snapshot['robots']}, env_ids=[env_id])" + }, + "snapshot": { + "env_id": 3, + "scene": { + "objects": [ + {}, + {}, + {}, + { + "rac_cell": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/rac_cell.usd", + "pose": { + "pos": [ + 0.0, + 0.0, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "physics_material": { + "static_friction": 0.6, + "dynamic_friction": 0.5, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "robot_mount": [ + { + "asset": "Cube", + "pose": { + "pos": [ + 0.0, + 0.0, + 0.9075 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": "color", + "value": [ + 0.55, + 0.56, + 0.58 + ], + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": { + "size": [ + 0.2, + 0.2, + 0.015 + ] + } + }, + "type_specific": {} + } + ], + "plate_rack": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/plate_hotel.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 0.9 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "physics_material": { + "static_friction": 0.6, + "dynamic_friction": 0.5, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "hotel_plate": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/pcr_96_blue/pcr_96_blue.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 0.9605 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_24_clear/plate_24_clear.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.0285 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_24_clear/plate_24_clear.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.0965 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_24_clear/plate_24_clear.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.1645 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/deep_well_96_2ml/deep_well_96_2ml.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.2325 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "a4s_sealer": [ + { + "asset": "$MAGICSIM_ASSETS/Articulated/A4SSealer/Object.usd", + "pose": { + "pos": [ + 0.470947265625, + 0.11478233337402344, + 0.8999999761581421 + ], + "ori": [ + 0.7274402976036072, + 0.0, + 0.0, + -0.6861709952354431 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "articulation", + "solver_position_iteration_count": 16.0, + "solver_velocity_iteration_count": 1.0, + "enabled_self_collisions": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "joint_position": [ + 0.0 + ], + "joint_velocity": [ + 0.0 + ], + "linear_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "angular_velocity": [ + 0.0, + 0.0, + 0.0 + ] + } + } + ], + "conveyor": [ + { + "asset": "Cube", + "pose": { + "pos": [ + 0.15, + 0.45, + 0.9 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "conveyor", + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9 + }, + "ratio": 1.0 + }, + "primitive_params": { + "size": [ + 2.4, + 0.076, + 0.03 + ] + }, + "conveyor": { + "speed": 0.18827965062623625, + "direction": [ + 1.0, + 0.0, + 0.0 + ], + "enabled": true, + "drive": "surface_velocity", + "lines": null, + "station_line": null, + "riders": [ + "carrier" + ], + "stations": { + "pick": { + "position": -0.18633245390613085, + "slow_distance": 0.03, + "slow_speed": 0.03 + } + }, + "rails": { + "height": 0.01, + "thickness": 0.01, + "gap": 0.001, + "friction": 0.05 + }, + "legs": 0.87, + "loop": { + "radius": 0.35, + "side": "left", + "curve_extra_width": 0.0, + "segments": 18, + "curve_rails": "both" + }, + "snap_distance": 0.1, + "junction_snap": 0.02, + "collision_approximation": "auto", + "plate_mass": 1.0, + "lift_drop": 0.004, + "accel": 0.0, + "decel": 0.0, + "drive_damping": 1000000.0, + "drive_max_force": 1000000000.0 + } + }, + "type_specific": { + "controller": { + "state": "at_station", + "speed": 0.18827965062623625, + "holds": [], + "station": "pick", + "rider": "carrier_2", + "arrived": true, + "applied_speed": 0.0 + } + } + } + ], + "carrier": [ + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + 1.581721305847168, + 0.5418558120727539, + 0.8999999761581421 + ], + "ori": [ + 0.9351562857627869, + 4.281936138994524e-09, + -1.1677035871571206e-07, + 0.35423561930656433 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 7.408755831050939e-09, + -1.131046190039342e-08, + -1.1175870895385742e-08 + ], + "angular_velocity": [ + 8.399489388466463e-07, + 3.2691767160031304e-07, + 4.547965559709155e-08 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + -0.036522865295410156, + 0.4499988555908203, + 0.8999999761581421 + ], + "ori": [ + 1.0, + 2.5843227557942328e-09, + -1.9159326902773444e-10, + -4.2305437091272324e-05 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 1.6710735017966272e-09, + 1.294441442922789e-09, + 1.4901161193847656e-08 + ], + "angular_velocity": [ + -6.523281115278223e-08, + 1.61959476940865e-07, + -1.6611572561942012e-08 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + 0.1141672134399414, + 1.1500024795532227, + 0.8999999761581421 + ], + "ori": [ + 5.157699888513889e-06, + -5.081856602195955e-10, + -4.404067333041439e-09, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 4.359123062513959e-10, + 2.802359455600367e-10, + 0.0 + ], + "angular_velocity": [ + -2.7053850715219596e-08, + 4.8014378251082235e-08, + -3.175530283172634e-09 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + -1.244154930114746, + 1.087453842163086, + 0.8999999761581421 + ], + "ori": [ + -0.2898395359516144, + 2.534500609385759e-09, + -1.6887316434122113e-08, + 0.9570752382278442 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -9.72481650762802e-10, + 2.7301355620679146e-10, + -3.725290298461914e-09 + ], + "angular_velocity": [ + 2.4961906319731497e-08, + -7.436669591243117e-08, + -6.641503347282196e-09 + ] + } + } + ], + "plate": [ + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_48_clear/Object.usd", + "pose": { + "pos": [ + 1.5771570205688477, + 0.5399751663208008, + 0.9179999828338623 + ], + "ori": [ + 0.9002013206481934, + -8.364482440015308e-09, + -1.1904838714826838e-07, + 0.435474157333374 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 1.558932893885867e-08, + -4.767519712345347e-08, + 1.341104507446289e-07 + ], + "angular_velocity": [ + 3.400234163564164e-06, + -3.345181198710634e-08, + 5.217682996772055e-08 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_384_white/Object.usd", + "pose": { + "pos": [ + -0.026765823364257812, + 0.45023536682128906, + 0.9180000424385071 + ], + "ori": [ + 0.9995929598808289, + 3.263766590322348e-09, + -1.9873490353372603e-10, + 0.028529146686196327 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -6.10563688496768e-09, + 7.844369598331014e-09, + -5.252659320831299e-06 + ], + "angular_velocity": [ + 5.390516548686719e-07, + -1.7687964373180876e-06, + -3.206075405159936e-08 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_96_clear/Object.usd", + "pose": { + "pos": [ + 0.1276264190673828, + 1.1424226760864258, + 0.9180000424385071 + ], + "ori": [ + 0.08505050092935562, + 7.820966790861306e-11, + -2.0826271818208397e-09, + 0.9963767528533936 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 7.899505050090738e-09, + -4.105604745063829e-11, + -5.885958671569824e-06 + ], + "angular_velocity": [ + -1.3852973097527865e-06, + 6.692053489132377e-07, + 6.393314322394872e-08 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/reservoir_12ch/Object.usd", + "pose": { + "pos": [ + -1.2433834075927734, + 1.0995979309082031, + 0.9179999828338623 + ], + "ori": [ + -0.36272281408309937, + 2.1998864951910946e-09, + -1.6339896546924138e-08, + 0.9318971037864685 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 6.984780753782616e-09, + 4.239482720436172e-08, + -3.2670795917510986e-06 + ], + "angular_velocity": [ + -1.844005396378634e-06, + 5.246636760602996e-07, + -6.658303419726508e-08 + ] + } + } + ], + "deco_hub_west": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/hub_e.usd", + "pose": { + "pos": [ + -3.36, + 0.0, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_hub_east": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/hub_d.usd", + "pose": { + "pos": [ + 3.36, + 0.0, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_hub_back": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/hub_a.usd", + "pose": { + "pos": [ + -3.0, + -2.1, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_bench_east": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/bench_c.usd", + "pose": { + "pos": [ + 2.6, + -2.5, + 0.0 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_bench_gap": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/bench_b.usd", + "pose": { + "pos": [ + -0.1, + -2.9, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ] + } + ], + "devices": { + "hub": [ + null, + null, + null, + { + "t": 5.119999999999913, + "step": 1024, + "counter": 0, + "devices": { + "a4s_sealer_1": { + "mode": "auto", + "units": { + "drawer": { + "state": "at_out", + "active": null, + "target": 0.0, + "goal_name": "out", + "profile": null, + "q_start": null, + "reversing": false, + "blocked_for": 0.0, + "settled_for": 0.0, + "last_q": 0.0 + }, + "heater": { + "state": "ready", + "active": null, + "duration": 0.0, + "t_start": null, + "elapsed": 0.0 + } + }, + "queues": {}, + "program": null, + "sensors": { + "plate_present": { + "occupants": [], + "pending": {} + } + }, + "interlocks": {} + }, + "conveyor_1": { + "mode": "auto", + "units": { + "belt": { + "state": "at_station", + "active": null, + "controller": { + "speed": 0.18827965062623625, + "holds": [], + "station": "pick", + "rider": "carrier_2", + "arrived": true, + "settle_count": 940, + "released": { + "pick": [] + }, + "last_pos": { + "carrier_1": [ + 1.4317212998867035, + 0.09185582399368286, + 0.0 + ], + "carrier_2": [ + -0.18652287125587463, + -1.1324882507324219e-06, + 0.0 + ], + "carrier_3": [ + -0.03583279252052307, + 0.7000024914741516, + 0.0 + ], + "carrier_4": [ + -1.3941549360752106, + 0.6374538540840149, + 0.0 + ] + }, + "command": 0.0 + }, + "belt": { + "target_speed": 0.0, + "command_speed": 0.0 + }, + "seen": { + "state": "at_station", + "station": "pick", + "rider": "carrier_2", + "arrived": true + } + } + }, + "queues": {}, + "program": null, + "sensors": {}, + "interlocks": {} + } + }, + "zones": {}, + "labware": { + "plate_1": { + "sealed": false + }, + "plate_2": { + "sealed": false + }, + "plate_3": { + "sealed": false + }, + "plate_4": { + "sealed": false + } + }, + "rules": {}, + "records": [], + "bus": { + "seq": 3, + "queue": [] + } + } + ], + "drives": [ + null, + null, + null, + {} + ] + }, + "artifacts": [ + {}, + {}, + {}, + { + "ceiling": { + "type": "rect", + "pose": { + "pos": [ + 0.3771167846857534, + -0.14986276011524546, + 2.642309403717278 + ], + "ori": [ + -11.261499719449432, + -9.262981835868004, + -22.103970077514425 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "color_temperature": 5641.290690787908, + "color": [ + 0.867439813331709, + 0.9897868203987429, + 0.9191826898931322 + ], + "intensity": 13973.181706801164, + "width": 2.112184507798056, + "height": 1.3530523950892888 + } + }, + "key": { + "type": "disk", + "pose": { + "pos": [ + 1.7711515640389313, + 0.3702286661991874, + 2.598344867019029 + ], + "ori": [ + -0.010113857207372234, + 30.332995450906154, + -38.84095589046836 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "color_temperature": 5820.11736964417, + "color": [ + 0.858848673126792, + 0.7664178251014138, + 0.9627173658534481 + ], + "intensity": 10373.68062977982, + "radius": 0.35628677515743956 + } + } + } + ], + "background": { + "type": "dome", + "pose": { + "pos": null, + "ori": null, + "scale": null + }, + "dr": { + "intensity": 643.286387759428, + "texture": null, + "color": [ + 0.92, + 0.94, + 0.96 + ] + } + } + }, + "robots": { + "UR5e": { + "root_pose": [ + [ + 11.0, + -11.0, + 0.9150000214576721, + 1.0, + 0.0, + 0.0, + 0.0 + ], + [ + 11.0, + 11.0, + 0.9150000214576721, + 1.0, + 0.0, + 0.0, + 0.0 + ], + [ + -11.0, + -11.0, + 0.9150000214576721, + 1.0, + 0.0, + 0.0, + 0.0 + ], + [ + -11.0, + 11.0, + 0.9150000214576721, + 1.0, + 0.0, + 0.0, + 0.0 + ] + ], + "root_vel": [ + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + ], + "joint_pos": [ + [ + 1.0215871334075928, + -1.6992243528366089, + 2.2279038429260254, + -2.0994622707366943, + -1.570821762084961, + 5.718140602111816, + 0.00926041230559349, + 0.005767638795077801 + ], + [ + 0.9140999913215637, + -1.7194000482559204, + 2.0905001163482666, + -1.9419000148773193, + -1.5707999467849731, + 2.4848999977111816, + 0.017999999225139618, + 0.017999999225139618 + ], + [ + 1.587559700012207, + -1.2805272340774536, + 2.233964443206787, + -2.523509979248047, + -1.5707175731658936, + 0.007299697957932949, + 0.017999986186623573, + 0.017999986186623573 + ], + [ + 0.9141014218330383, + -1.7193995714187622, + 2.0905003547668457, + -1.9419008493423462, + -1.5707999467849731, + 2.48490047454834, + 0.017999999225139618, + 0.017999999225139618 + ] + ], + "joint_vel": [ + [ + 0.06993409991264343, + 0.029860761016607285, + -0.01076129637658596, + -0.018121963366866112, + 0.0002408763684798032, + 0.07163491100072861, + -0.005122217815369368, + 0.0002673905109986663 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + [ + 3.4059669360431144e-06, + 3.4059187328239204e-06, + 6.811930234107422e-06, + -4.453087638217612e-12, + -3.4059778499795357e-06, + -3.9912880112069615e-08, + 1.8193247797171352e-07, + 1.819337569486379e-07 + ], + [ + 5.108950517751509e-06, + -6.81192932461272e-06, + 2.043584390776232e-05, + 6.811947969254106e-06, + -3.25914940651692e-13, + 2.0435873011592776e-05, + -2.2267355060529015e-12, + -7.166950951979778e-13 + ] + ] + } + }, + "cameras": { + "cameras": { + "camera0": [ + [ + 0.05136145278811455, + -0.0006244148244149983, + -0.02967037446796894, + -0.28334277868270874, + 0.6472753286361694, + 0.6486911177635193, + -0.2827567160129547 + ], + [ + 0.05011318251490593, + 0.0019830723758786917, + -0.029232604429125786, + -0.27173054218292236, + 0.6586962938308716, + 0.6387878060340881, + -0.2902272343635559 + ], + [ + 0.05233132094144821, + -0.0015746256103739142, + -0.03005254454910755, + -0.2777678370475769, + 0.6557712554931641, + 0.6447432041168213, + -0.277696430683136 + ], + [ + 0.04913712292909622, + -0.000878842722158879, + -0.03179151192307472, + -0.2858673632144928, + 0.6482924818992615, + 0.6491362452507019, + -0.2768010199069977 + ] + ], + "camera1": [ + [ + 0.07469746470451355, + 0.5909135341644287, + 1.9453957080841064, + 0.05570125952363014, + 0.012937326915562153, + 0.2737239599227905, + 0.9601068496704102 + ], + [ + 0.05445541441440582, + 0.5753890872001648, + 1.9500510692596436, + 0.029510948807001114, + 0.02959403581917286, + 0.2659071087837219, + 0.9630922675132751 + ], + [ + 0.06371621042490005, + 0.5780899524688721, + 1.9379671812057495, + 0.049368273466825485, + 0.006517446134239435, + 0.27055084705352783, + 0.9614169597625732 + ], + [ + 0.0574842132627964, + 0.5976231098175049, + 1.9560532569885254, + 0.04379293695092201, + -0.0060548316687345505, + 0.26088377833366394, + 0.9643573760986328 + ] + ] + } + } + } +} \ No newline at end of file diff --git a/episodes/c8_p010_e004/wrist.mp4 b/episodes/c8_p010_e004/wrist.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..879ff950fd16d7019bf5ad98e97f5066c8fb1b02 --- /dev/null +++ b/episodes/c8_p010_e004/wrist.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:f71e2084c5a639a4a6259ba18cfa9f6f97df1020e7576b3e4d161c463ff633fe +size 6572351 diff --git a/episodes/c8_p010_e005/data.npz b/episodes/c8_p010_e005/data.npz new file mode 100644 index 0000000000000000000000000000000000000000..17d041ac4323281601932b0d4afd3f67afa72461 --- /dev/null +++ b/episodes/c8_p010_e005/data.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:e08d7e4efe6048155141362b41f4933011f5f3b28660185f830e22e6bbbaa1d8 +size 189859 diff --git a/episodes/c8_p010_e005/device_events.jsonl b/episodes/c8_p010_e005/device_events.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..ba57d7a744329490e78ba1949489f36416d9bc80 --- /dev/null +++ b/episodes/c8_p010_e005/device_events.jsonl @@ -0,0 +1,37 @@ +{"env_id": 2, "seq": 1, "step": 100, "t": 0.5, "topic": "conveyor_1.belt.station.pick.captured", "source": "conveyor_1.belt", "data": {"rider": "carrier_4"}, "cause": null} +{"env_id": 2, "seq": 2, "step": 100, "t": 0.5, "topic": "conveyor_1.belt.state.changed", "source": "conveyor_1.belt", "data": {"from": "running", "to": "at_station"}, "cause": null} +{"env_id": 2, "seq": 3, "step": 105, "t": 0.525, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_4"}, "cause": null} +{"env_id": 2, "seq": 4, "step": 948, "t": 4.74, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_4"}, "cause": null} +{"env_id": 2, "seq": 5, "step": 1099, "t": 5.495, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_4"}, "cause": null} +{"env_id": 2, "seq": 6, "step": 5910, "t": 29.55, "topic": "a4s_sealer_1.plate_present.present", "source": "a4s_sealer_1.plate_present", "data": {"object": "plate_4"}, "cause": null} +{"env_id": 2, "seq": 7, "step": 6520, "t": 32.6, "topic": "a4s_sealer_1.command.started", "source": "a4s_sealer_1", "data": {"command_id": "task-2-1", "name": "seal", "source": "task"}, "cause": "task-2-1"} +{"env_id": 2, "seq": 8, "step": 6520, "t": 32.6, "topic": "a4s_sealer_1.seal.started", "source": "a4s_sealer_1", "data": {"dwell": 1.7817607128759652}, "cause": "task-2-1"} +{"env_id": 2, "seq": 9, "step": 6520, "t": 32.6, "topic": "a4s_sealer_1.drawer.command.started", "source": "a4s_sealer_1.drawer", "data": {"command_id": "program-2-2", "name": "close", "source": "program:seal"}, "cause": "program-2-2"} +{"env_id": 2, "seq": 10, "step": 6520, "t": 32.6, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "at_out", "to": "moving"}, "cause": null} +{"env_id": 2, "seq": 11, "step": 6520, "t": 32.6, "topic": "a4s_sealer_1.drawer.moving", "source": "a4s_sealer_1.drawer", "data": {"target": 0.3, "goal": "in"}, "cause": "program-2-2"} +{"env_id": 2, "seq": 12, "step": 6939, "t": 34.695, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "moving", "to": "at_in"}, "cause": null} +{"env_id": 2, "seq": 13, "step": 6939, "t": 34.695, "topic": "a4s_sealer_1.drawer.reached", "source": "a4s_sealer_1.drawer", "data": {"position": "in", "q": 0.30000001192092896}, "cause": "program-2-2"} +{"env_id": 2, "seq": 14, "step": 6939, "t": 34.695, "topic": "a4s_sealer_1.drawer.at_in", "source": "a4s_sealer_1.drawer", "data": {"q": 0.30000001192092896}, "cause": "program-2-2"} +{"env_id": 2, "seq": 15, "step": 6939, "t": 34.695, "topic": "a4s_sealer_1.drawer.command.succeeded", "source": "a4s_sealer_1.drawer", "data": {"command_id": "program-2-2", "name": "close", "source": "program:seal", "result": {"position": "in"}}, "cause": "program-2-2"} +{"env_id": 2, "seq": 16, "step": 6939, "t": 34.695, "topic": "labware.plate_4.changed", "source": "labware.plate_4", "data": {"key": "sealed", "value": true}, "cause": "task-2-1"} +{"env_id": 2, "seq": 17, "step": 6939, "t": 34.695, "topic": "a4s_sealer_1.sealed", "source": "a4s_sealer_1", "data": {"plate": "plate_4"}, "cause": "task-2-1"} +{"env_id": 2, "seq": 18, "step": 6939, "t": 34.695, "topic": "a4s_sealer_1.heater.command.started", "source": "a4s_sealer_1.heater", "data": {"command_id": "program-2-3", "name": "run", "source": "program:seal"}, "cause": "program-2-3"} +{"env_id": 2, "seq": 19, "step": 6939, "t": 34.695, "topic": "a4s_sealer_1.heater.state.changed", "source": "a4s_sealer_1.heater", "data": {"from": "ready", "to": "running"}, "cause": null} +{"env_id": 2, "seq": 20, "step": 6939, "t": 34.695, "topic": "a4s_sealer_1.heater.started", "source": "a4s_sealer_1.heater", "data": {"duration": 1.7817607128759652}, "cause": "program-2-3"} +{"env_id": 2, "seq": 21, "step": 7296, "t": 36.48, "topic": "a4s_sealer_1.heater.state.changed", "source": "a4s_sealer_1.heater", "data": {"from": "running", "to": "ready"}, "cause": null} +{"env_id": 2, "seq": 22, "step": 7296, "t": 36.48, "topic": "a4s_sealer_1.heater.finished", "source": "a4s_sealer_1.heater", "data": {"elapsed": 1.7850000000009132}, "cause": "program-2-3"} +{"env_id": 2, "seq": 23, "step": 7296, "t": 36.48, "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": 1.7850000000009132}}, "cause": "program-2-3"} +{"env_id": 2, "seq": 24, "step": 7296, "t": 36.48, "topic": "a4s_sealer_1.drawer.command.started", "source": "a4s_sealer_1.drawer", "data": {"command_id": "program-2-4", "name": "open", "source": "program:seal"}, "cause": "program-2-4"} +{"env_id": 2, "seq": 25, "step": 7296, "t": 36.48, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "at_in", "to": "moving"}, "cause": null} +{"env_id": 2, "seq": 26, "step": 7296, "t": 36.48, "topic": "a4s_sealer_1.drawer.moving", "source": "a4s_sealer_1.drawer", "data": {"target": 0.0, "goal": "out"}, "cause": "program-2-4"} +{"env_id": 2, "seq": 27, "step": 7716, "t": 38.58, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "moving", "to": "at_out"}, "cause": null} +{"env_id": 2, "seq": 28, "step": 7716, "t": 38.58, "topic": "a4s_sealer_1.drawer.reached", "source": "a4s_sealer_1.drawer", "data": {"position": "out", "q": 0.0}, "cause": "program-2-4"} +{"env_id": 2, "seq": 29, "step": 7716, "t": 38.58, "topic": "a4s_sealer_1.drawer.at_out", "source": "a4s_sealer_1.drawer", "data": {"q": 0.0}, "cause": "program-2-4"} +{"env_id": 2, "seq": 30, "step": 7716, "t": 38.58, "topic": "a4s_sealer_1.drawer.command.succeeded", "source": "a4s_sealer_1.drawer", "data": {"command_id": "program-2-4", "name": "open", "source": "program:seal", "result": {"position": "out"}}, "cause": "program-2-4"} +{"env_id": 2, "seq": 31, "step": 7716, "t": 38.58, "topic": "a4s_sealer_1.seal.finished", "source": "a4s_sealer_1", "data": {}, "cause": "task-2-1"} +{"env_id": 2, "seq": 32, "step": 7716, "t": 38.58, "topic": "a4s_sealer_1.command.succeeded", "source": "a4s_sealer_1", "data": {"command_id": "task-2-1", "name": "seal", "source": "task"}, "cause": "task-2-1"} +{"env_id": 2, "seq": 33, "step": 8299, "t": 41.495, "topic": "a4s_sealer_1.plate_present.absent", "source": "a4s_sealer_1.plate_present", "data": {"object": "plate_4"}, "cause": null} +{"env_id": 2, "seq": 34, "step": 10032, "t": 50.16, "topic": "conveyor_1.belt.command.started", "source": "conveyor_1.belt", "data": {"command_id": "task-2-5", "name": "release", "source": "task"}, "cause": "task-2-5"} +{"env_id": 2, "seq": 35, "step": 10032, "t": 50.16, "topic": "conveyor_1.belt.station.pick.released", "source": "conveyor_1.belt", "data": {"rider": "carrier_4"}, "cause": "task-2-5"} +{"env_id": 2, "seq": 36, "step": 10032, "t": 50.16, "topic": "conveyor_1.belt.state.changed", "source": "conveyor_1.belt", "data": {"from": "at_station", "to": "running"}, "cause": null} +{"env_id": 2, "seq": 37, "step": 10032, "t": 50.16, "topic": "conveyor_1.belt.command.succeeded", "source": "conveyor_1.belt", "data": {"command_id": "task-2-5", "name": "release", "source": "task", "result": {"state": "running"}}, "cause": "task-2-5"} diff --git a/episodes/c8_p010_e005/env.mp4 b/episodes/c8_p010_e005/env.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..790114e20f30ca5fb81988a28a7f1ea0fd21e99a --- /dev/null +++ b/episodes/c8_p010_e005/env.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:0f3c9533452923aae44174d615dd0d75420e45249d261a5294b907882fa5835a +size 1279691 diff --git a/episodes/c8_p010_e005/meta.json b/episodes/c8_p010_e005/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..29190d7e677d5f6a695b25c527e544dc18ccb240 --- /dev/null +++ b/episodes/c8_p010_e005/meta.json @@ -0,0 +1,32 @@ +{ + "source": "raw/c8_p010/magicsim/5", + "fps": 25, + "frames": 1193, + "kept_ticks": "even", + "video_frames": { + "wrist": 1193, + "env": 1193 + }, + "joint_target_source": "joint_pos_target", + "fk_vs_recorded_eef_max_m": 0.0, + "curobo_joints": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "joint_order": [ + "shoulder_pan", + "shoulder_lift", + "elbow", + "wrist_1", + "wrist_2", + "wrist_3", + "finger_left", + "finger_right" + ], + "frames_note": "eef / actions in the robot base frame; camera_pose = local pose (wrist: in plate_gripper_base, env: env frame), pos + quat wxyz", + "dr_version": "v2" +} \ No newline at end of file diff --git a/episodes/c8_p010_e005/scene_snapshot.json b/episodes/c8_p010_e005/scene_snapshot.json new file mode 100644 index 0000000000000000000000000000000000000000..478d23debb4091931ec8075ed88d9dfb0de9776b --- /dev/null +++ b/episodes/c8_p010_e005/scene_snapshot.json @@ -0,0 +1,1558 @@ +{ + "trajectory_id": 5, + "env_id": 2, + "run_id": "c8_p010", + "task_type": "BioPlateCell", + "success": true, + "timing": { + "fps": 50.0, + "sim_dt": 0.005, + "decimation": 4 + }, + "restore_interface": { + "scene": "scene_manager.reset_to(snapshot['scene'], env_ids=[env_id])", + "robots": "robot_manager.set_state({'robots': snapshot['robots']}, env_ids=[env_id])" + }, + "snapshot": { + "env_id": 2, + "scene": { + "objects": [ + {}, + {}, + { + "rac_cell": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/rac_cell.usd", + "pose": { + "pos": [ + 0.0, + 0.0, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "physics_material": { + "static_friction": 0.6, + "dynamic_friction": 0.5, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "robot_mount": [ + { + "asset": "Cube", + "pose": { + "pos": [ + 0.0, + 0.0, + 0.9075 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": "color", + "value": [ + 0.55, + 0.56, + 0.58 + ], + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": { + "size": [ + 0.2, + 0.2, + 0.015 + ] + } + }, + "type_specific": {} + } + ], + "plate_rack": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/plate_hotel.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 0.9 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "physics_material": { + "static_friction": 0.6, + "dynamic_friction": 0.5, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "hotel_plate": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_384_white/plate_384_white.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 0.9605 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_384_white/plate_384_white.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.0285 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/pcr_384_red/pcr_384_red.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.0965 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/deep_well_96_2ml/deep_well_96_2ml.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.1645 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_96_clear/plate_96_clear.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.2325 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "a4s_sealer": [ + { + "asset": "$MAGICSIM_ASSETS/Articulated/A4SSealer/Object.usd", + "pose": { + "pos": [ + 0.5017671585083008, + 0.0675649642944336, + 0.8999999761581421 + ], + "ori": [ + -0.6824094653129578, + 0.0, + 0.0, + 0.7309701442718506 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "articulation", + "solver_position_iteration_count": 16.0, + "solver_velocity_iteration_count": 1.0, + "enabled_self_collisions": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "joint_position": [ + 5.046247274209659e-12 + ], + "joint_velocity": [ + 0.0 + ], + "linear_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "angular_velocity": [ + 0.0, + 0.0, + 0.0 + ] + } + } + ], + "conveyor": [ + { + "asset": "Cube", + "pose": { + "pos": [ + 0.15, + 0.45, + 0.9 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "conveyor", + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9 + }, + "ratio": 1.0 + }, + "primitive_params": { + "size": [ + 2.4, + 0.076, + 0.03 + ] + }, + "conveyor": { + "speed": 0.25045864238289406, + "direction": [ + 1.0, + 0.0, + 0.0 + ], + "enabled": true, + "drive": "surface_velocity", + "lines": null, + "station_line": null, + "riders": [ + "carrier" + ], + "stations": { + "pick": { + "position": -0.06753464915533325, + "slow_distance": 0.03, + "slow_speed": 0.03 + } + }, + "rails": { + "height": 0.01, + "thickness": 0.01, + "gap": 0.001, + "friction": 0.05 + }, + "legs": 0.87, + "loop": { + "radius": 0.35, + "side": "left", + "curve_extra_width": 0.0, + "segments": 18, + "curve_rails": "both" + }, + "snap_distance": 0.1, + "junction_snap": 0.02, + "collision_approximation": "auto", + "plate_mass": 1.0, + "lift_drop": 0.004, + "accel": 0.0, + "decel": 0.0, + "drive_damping": 1000000.0, + "drive_max_force": 1000000000.0 + } + }, + "type_specific": { + "controller": { + "state": "at_station", + "speed": 0.25045864238289406, + "holds": [], + "station": "pick", + "rider": "carrier_4", + "arrived": true, + "applied_speed": 0.0 + } + } + } + ], + "carrier": [ + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + 1.6796598434448242, + 0.9101438522338867, + 0.8999999761581421 + ], + "ori": [ + 0.5923232436180115, + 3.279656368704309e-08, + 4.087631921834145e-08, + 0.805700421333313 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -2.4448478797012285e-09, + -3.109564161718481e-09, + 1.862645149230957e-08 + ], + "angular_velocity": [ + 2.6046160428450094e-07, + -3.907020413862483e-07, + -3.1815591938766374e-08 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + -0.062211036682128906, + 1.150003433227539, + 0.8999999761581421 + ], + "ori": [ + 1.8208016626886092e-05, + 3.479216081903047e-10, + -1.6345673703455077e-09, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -3.3480529459950503e-10, + -1.0016847351579372e-09, + 3.725290298461914e-09 + ], + "angular_velocity": [ + 4.7679691306257155e-08, + -1.8004485013989324e-08, + 1.4562608896540041e-09 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + -1.2564353942871094, + 1.0785932540893555, + 0.8999999761581421 + ], + "ori": [ + -0.3051765263080597, + 1.4057651753773825e-07, + 1.0225347324421818e-07, + 0.9522957801818848 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 1.022784317683545e-06, + 6.854609182482818e-07, + -2.6300549507141113e-06 + ], + "angular_velocity": [ + -5.8483325119595975e-05, + 8.701180195203051e-05, + 6.373702632345157e-08 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + 0.08237361907958984, + 0.45000267028808594, + 0.8999999761581421 + ], + "ori": [ + 1.0, + -4.4657526565572425e-09, + 3.0181732668665973e-09, + 7.04583726474084e-05 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 3.0341835710601117e-09, + 3.807732795735319e-09, + 2.2351741790771484e-08 + ], + "angular_velocity": [ + -2.3984205199667485e-07, + 2.72657473487925e-07, + -2.979302493599789e-08 + ] + } + } + ], + "plate": [ + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_24_clear/Object.usd", + "pose": { + "pos": [ + 1.6790809631347656, + 0.9165449142456055, + 0.9179999828338623 + ], + "ori": [ + 0.6308766603469849, + 3.177241936214159e-08, + 4.305720224806464e-08, + 0.7758830785751343 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 1.9144135166015985e-08, + -4.821469445914772e-08, + 8.568167686462402e-08 + ], + "angular_velocity": [ + 1.4000255532664596e-06, + 6.699369237139763e-07, + -1.1528418042416888e-07 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_384_black/Object.usd", + "pose": { + "pos": [ + -0.07651710510253906, + 1.1412630081176758, + 0.9180000424385071 + ], + "ori": [ + 0.04610767960548401, + 8.052170596961616e-10, + -8.810427387651032e-10, + 0.9989364743232727 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 2.0892748864298483e-08, + -3.1817566359393368e-09, + -5.4836273193359375e-06 + ], + "angular_velocity": [ + -4.4165454937683535e-07, + 1.7476523908044328e-06, + 1.0795940852403874e-07 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_1536_black/Object.usd", + "pose": { + "pos": [ + -1.2610931396484375, + 1.0678749084472656, + 0.9179999828338623 + ], + "ori": [ + -0.30709323287010193, + 1.358632886194755e-07, + 1.0098942482272832e-07, + 0.951679527759552 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 1.9607834929047385e-06, + 1.29650561575545e-06, + -7.826834917068481e-06 + ], + "angular_velocity": [ + -5.719427645090036e-05, + 8.731517300475389e-05, + 3.0171693765623786e-07 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/deep_well_24_10ml/Object.usd", + "pose": { + "pos": [ + 0.06963157653808594, + 0.44449710845947266, + 0.9179999828338623 + ], + "ori": [ + 0.9983347654342651, + -4.772698680710619e-09, + 1.9282635488337974e-09, + -0.05768711492419243 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -1.1844971226082635e-08, + 3.807416248946538e-08, + -1.0207295417785645e-06 + ], + "angular_velocity": [ + -5.456625444821839e-07, + -1.7390863149557845e-06, + -8.076855806393723e-08 + ] + } + } + ], + "deco_hub_west": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/hub_c.usd", + "pose": { + "pos": [ + -3.36, + 0.0, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_hub_east": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/hub_a.usd", + "pose": { + "pos": [ + 3.36, + 0.0, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_hub_back": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/hub_e.usd", + "pose": { + "pos": [ + -3.0, + -2.1, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_bench_east": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/bench_a.usd", + "pose": { + "pos": [ + 2.6, + -2.5, + 0.0 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_bench_gap": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/bench_b.usd", + "pose": { + "pos": [ + -0.1, + -2.9, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ] + }, + {} + ], + "devices": { + "hub": [ + null, + null, + { + "t": 2.6199999999999664, + "step": 524, + "counter": 0, + "devices": { + "a4s_sealer_1": { + "mode": "auto", + "units": { + "drawer": { + "state": "at_out", + "active": null, + "target": 0.0, + "goal_name": "out", + "profile": null, + "q_start": null, + "reversing": false, + "blocked_for": 0.0, + "settled_for": 0.0, + "last_q": 5.046247274209659e-12 + }, + "heater": { + "state": "ready", + "active": null, + "duration": 0.0, + "t_start": null, + "elapsed": 0.0 + } + }, + "queues": {}, + "program": null, + "sensors": { + "plate_present": { + "occupants": [], + "pending": {} + } + }, + "interlocks": {} + }, + "conveyor_1": { + "mode": "auto", + "units": { + "belt": { + "state": "at_station", + "active": null, + "controller": { + "speed": 0.25045864238289406, + "holds": [], + "station": "pick", + "rider": "carrier_4", + "arrived": true, + "settle_count": 423, + "released": { + "pick": [] + }, + "last_pos": { + "carrier_1": [ + 1.5296598374843597, + 0.4601438641548157, + 0.0 + ], + "carrier_2": [ + -0.21221104264259338, + 0.700003445148468, + 0.0 + ], + "carrier_3": [ + -1.4064354002475739, + 0.6285932660102844, + 0.0 + ], + "carrier_4": [ + -0.06762638688087463, + 2.682209014892578e-06, + 0.0 + ] + }, + "command": 0.0 + }, + "belt": { + "target_speed": 0.0, + "command_speed": 0.0 + }, + "seen": { + "state": "at_station", + "station": "pick", + "rider": "carrier_4", + "arrived": true + } + } + }, + "queues": {}, + "program": null, + "sensors": {}, + "interlocks": {} + } + }, + "zones": {}, + "labware": { + "plate_1": { + "sealed": false + }, + "plate_2": { + "sealed": false + }, + "plate_3": { + "sealed": false + }, + "plate_4": { + "sealed": false + } + }, + "rules": {}, + "records": [], + "bus": { + "seq": 3, + "queue": [] + } + }, + null + ], + "drives": [ + null, + null, + {}, + null + ] + }, + "artifacts": [ + {}, + {}, + { + "ceiling": { + "type": "rect", + "pose": { + "pos": [ + -0.1262680045747513, + -0.49573874116530914, + 2.8036566444789175 + ], + "ori": [ + 4.616752757685074, + -7.510332155492726, + -27.228598877692455 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "color_temperature": 5748.0249427296585, + "color": [ + 0.8277862786829854, + 0.952809581219915, + 0.9048079845679609 + ], + "intensity": 8886.492309197129, + "width": 1.5323956758752564, + "height": 1.4998998188134367 + } + }, + "key": { + "type": "disk", + "pose": { + "pos": [ + 1.2707612117721405, + -0.7632705763669098, + 1.6409321530629781 + ], + "ori": [ + -35.60062717357983, + 33.764556294657794, + 3.7565322467111955 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "color_temperature": 4844.329775542372, + "color": [ + 0.9114090794989147, + 0.8202180878611903, + 0.8365255830691776 + ], + "intensity": 2902.008517261731, + "radius": 0.32807867129963225 + } + } + }, + {} + ], + "background": { + "type": "dome", + "pose": { + "pos": null, + "ori": null, + "scale": null + }, + "dr": { + "intensity": 510.7841232460819, + "texture": null, + "color": [ + 0.92, + 0.94, + 0.96 + ] + } + } + }, + "robots": { + "UR5e": { + "root_pose": [ + [ + 11.0, + -11.0, + 0.9150000214576721, + 1.0, + 0.0, + 0.0, + 0.0 + ], + [ + 11.0, + 11.0, + 0.9150000214576721, + 1.0, + 0.0, + 0.0, + 0.0 + ], + [ + -11.0, + -11.0, + 0.9150000214576721, + 1.0, + 0.0, + 0.0, + 0.0 + ], + [ + -11.0, + 11.0, + 0.9150000214576721, + 1.0, + 0.0, + 0.0, + 0.0 + ] + ], + "root_vel": [ + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + ], + "joint_pos": [ + [ + 0.9140999913215637, + -1.7194000482559204, + 2.0905001163482666, + -1.9419000148773193, + -1.5707999467849731, + 2.4848999977111816, + 0.017999999225139618, + 0.017999999225139618 + ], + [ + 0.9141014218330383, + -1.719399333000183, + 2.0905003547668457, + -1.941900372505188, + -1.5707999467849731, + 2.4849002361297607, + 0.018000001087784767, + 0.01799999736249447 + ], + [ + 0.9141036868095398, + -1.7193959951400757, + 2.090498208999634, + -1.9419002532958984, + -1.5707999467849731, + 2.484900712966919, + 0.01799999736249447, + 0.018000001087784767 + ], + [ + 1.042655110359192, + -1.504106044769287, + 2.099503755569458, + -2.1662144660949707, + -1.5707645416259766, + 2.556525945663452, + 0.007699686102569103, + 0.007219910621643066 + ] + ], + "joint_vel": [ + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + [ + -2.8278317916548883e-38, + 1.6427875917982272e-38, + -1.5545825797016087e-38, + 5.009593581086294e-37, + -4.236992493247523e-37, + 2.6748135306227484e-37, + -2.59903654153959e-08, + 2.5990400942532688e-08 + ], + [ + 2.7253178406793563e-38, + 0.0, + -2.843076517648278e-38, + -4.141895671095601e-37, + 7.519713736339595e-37, + -2.5143137370895783e-37, + 2.5990381402607454e-08, + -2.599039206074849e-08 + ], + [ + 0.00012279364455025643, + -9.316082469013054e-06, + 6.949715498194564e-06, + 0.0007390981772914529, + -0.0006799837574362755, + -0.002617089543491602, + -0.005997907370328903, + 0.0002032298216363415 + ] + ] + } + }, + "cameras": { + "cameras": { + "camera0": [ + [ + 0.05240693688392639, + 0.001809607376344502, + -0.02773994952440262, + -0.2869475781917572, + 0.6410229206085205, + 0.6522634625434875, + -0.2851369380950928 + ], + [ + 0.04987306892871857, + 0.0036199036985635757, + -0.028372429311275482, + -0.2756563127040863, + 0.6583700776100159, + 0.6389321684837341, + -0.2869287133216858 + ], + [ + 0.05031444877386093, + 0.0012967580696567893, + -0.03221651166677475, + -0.28054046630859375, + 0.6534891128540039, + 0.637895941734314, + -0.29552963376045227 + ], + [ + 0.04954348877072334, + 0.0004467769176699221, + -0.029839232563972473, + -0.28502100706100464, + 0.6491201519966125, + 0.6499663591384888, + -0.2737694978713989 + ] + ], + "camera1": [ + [ + 0.027099503204226494, + 0.5939759016036987, + 1.964240550994873, + 0.048339102417230606, + 0.014245161786675453, + 0.27876412868499756, + 0.9590364694595337 + ], + [ + 0.05445541441440582, + 0.5753890872001648, + 1.9500510692596436, + 0.029510948807001114, + 0.02959403581917286, + 0.2659071087837219, + 0.9630922675132751 + ], + [ + 0.05152834951877594, + 0.5667750835418701, + 1.959219217300415, + 0.024454405531287193, + 0.008178109303116798, + 0.26410120725631714, + 0.9641502499580383 + ], + [ + 0.0574842132627964, + 0.5976231098175049, + 1.9560532569885254, + 0.04379293695092201, + -0.0060548316687345505, + 0.26088377833366394, + 0.9643573760986328 + ] + ] + } + } + } +} \ No newline at end of file diff --git a/episodes/c8_p010_e005/wrist.mp4 b/episodes/c8_p010_e005/wrist.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..b3ef72a68c5bf1dbf2553ccb0ccef0dcd64da8a5 --- /dev/null +++ b/episodes/c8_p010_e005/wrist.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:d9d741e72a1eac8e6c9d2fd18294bb1b60e3174d286bfb7d169506677c6612d6 +size 6305119 diff --git a/index/episodes.csv b/index/episodes.csv index 2594dca0bcf7714f9b82a557b0e6eff9187a987e..d7aae33b95055e8f2c3fd193f7a1a2ea8e547def 100644 --- a/index/episodes.csv +++ b/index/episodes.csv @@ -2937,3 +2937,16 @@ c9_p011_e012,3,True,0.01764678955078125,0.4499979019165039,-0.010832766247242791 c9_p011_e013,0,True,0.10480880737304688,0.4472389221191406,0.007717071163834849,0.011503471976747363,-7.120951324224819,pcr_96_blue,0.4791736602783203,0.06023120880126953,-88.05324592295906,0.21156120999235367,737.0089887111665,rect,0.3205135201495781,-0.3204877643675868,2.8076539460951735,7002.661465788315,4305.081071771017,disk,-0.748634225744262,-0.5965223766390993,2.762485206145976,5568.004827691984,5889.963929731495,0.04923634976148605,0.0007862679776735604,-0.0312081016600132,-0.2725851833820343,0.6445165872573853,0.6600797176361084,-0.27311259508132935,0.06922361254692078,0.6023773550987244,1.9316688776016235,0.046144019812345505,0.01980013959109783,0.2588728964328766,0.9646053910255432,1208,1,,2.081252098083496,0.3505610187072677,0.0,0.006879502907395363,0.5372516556291391,12,release,0.0423283576965332,"Pre-grasping the small plate, moving the arm toward it; the ",v2,True,False c9_p011_e014,1,True,0.06463146209716797,0.4499969482421875,-0.008666696675925265,-0.008218123237308198,-10.725927177591046,deep_well_96_1ml,0.5227231979370117,0.11492919921875,-88.80199811353675,0.20094098405226207,737.0089887111665,rect,0.7466109774478845,-0.39569509725126284,2.891966717986537,5840.9331696004,3338.1395388761,disk,-1.4100438725906002,0.2213164625434645,1.8133443370217124,9445.193902809537,4709.4126839165765,0.05303909629583359,0.0007688454352319241,-0.02811247855424881,-0.2848223149776459,0.6461927890777588,0.6515985131263733,-0.27700281143188477,0.03605316951870918,0.5791581273078918,1.9429868459701538,0.0398077592253685,0.016882160678505898,0.28209352493286133,0.9584119915962219,1201,1,,2.0708072185516357,0.25487416703964366,0.0,0.007471475750207901,0.5303913405495421,12,release,0.04238578677177429,"Pre-grasping the small plate, moving the arm toward it; the ",v2,True,False c9_p011_e015,2,True,0.11206436157226562,0.4500007629394531,0.009438130500341665,-0.011676145232401765,9.584900743979688,deep_well_24_10ml,0.5055665969848633,0.09293270111083984,-85.08654863577858,0.268305704886876,737.0089887111665,rect,0.4808900505447774,-0.3604545773052463,3.1795884810188517,11394.57942249869,3859.1126010965113,disk,0.7928530497529946,1.3169526961629454,1.6566007786270636,7696.432742640094,3089.9269173732678,0.05138605460524559,5.513458381756209e-05,-0.027617264539003372,-0.28470489382743835,0.6399149894714355,0.6595539450645447,-0.27283796668052673,0.030196934938430786,0.5943936109542847,1.9679666757583618,0.04861418902873993,0.017816748470067978,0.26972687244415283,0.9615438580513,1212,1,,2.082695960998535,0.31830772753051007,0.0,0.00749574601650238,0.5288778877887789,12,release,0.04243183135986328,"Pre-grasping the small plate, moving the arm toward it; the ",v2,True,False +c2_p011_e013,3,True,-0.12009811401367188,0.45000553131103516,-0.01179371858525567,0.005830541376188301,10.33019468687354,reservoir_12ch,0.48239707946777344,0.11338615417480469,-91.06423776343438,0.24875490701063202,660.6432669523685,rect,0.6314999095462906,0.3461192873289777,2.61913922384997,8712.754209869781,7196.624213272662,disk,0.743478651998783,0.26486268551354053,2.234668232183774,5138.212042487125,3986.4224962771896,0.049677859991788864,0.00047620123950764537,-0.03076423704624176,-0.2782461941242218,0.6552284955978394,0.6447294354438782,-0.2785293161869049,0.07215762883424759,0.5758117437362671,1.9632792472839355,0.04554348438978195,0.010803897865116596,0.26670512557029724,0.9626408815383911,1210,1,,2.0643322467803955,0.3224537104882396,0.0,0.007383088581264019,0.5256198347107438,12,release,0.04254913330078125,"Pre-grasping the small plate, moving the arm toward it; the ",v2,True,False +c2_p011_e014,1,True,-0.0089569091796875,0.45000362396240234,0.008915676791397814,0.003487207055762889,7.654945333804363,plate_12_clear,0.4982614517211914,0.053275108337402344,-87.2023952995098,0.1506049064538223,660.6432669523685,rect,0.08717619034331692,-0.48168316519236654,2.743169573704829,5748.628706830998,3443.056479379527,disk,0.586523892343779,0.9113057404367877,1.8528153405291083,9769.331216936833,5492.771908953576,0.048127222806215286,0.002888459013774991,-0.03030833788216114,-0.2691187858581543,0.6546003222465515,0.6444125771522522,-0.28949254751205444,0.034035421907901764,0.5813454985618591,1.9487049579620361,0.035297516733407974,0.026838358491659164,0.25794342160224915,0.9651419520378113,1317,1,,2.0898900032043457,0.2821299238607405,0.0,0.0073611922562122345,0.5360668185269551,12,release,0.042243003845214844,"Pre-grasping the small plate, moving the arm toward it; the ",v2,True,False +c2_p011_e015,0,True,0.058990478515625,0.4500007629394531,0.007278224679584622,-0.009519743473137528,8.742234292655866,plate_6_clear,0.46334171295166016,0.11973381042480469,-93.2363477926365,0.2890082090455743,736.0858191530792,rect,0.2886898139829609,-0.2914126613458381,2.9527825440566158,13521.567512030304,4612.913129964627,sphere,1.1128375847645646,-0.38758734809898576,1.777578766001435,3224.298309442912,3829.662112229876,0.05046515539288521,-0.004173595458269119,-0.02744343690574169,-0.2774975597858429,0.6453621983528137,0.6573613286018372,-0.27272483706474304,0.027473226189613342,0.5719531774520874,1.9470069408416748,0.06036493927240372,0.023705193772912025,0.28409871459007263,0.956599235534668,1189,1,,2.078047037124634,0.28762321246160066,0.0,0.0073823584243655205,0.5391084945332212,12,release,0.042221784591674805,"Pre-grasping the small plate, moving the arm toward it; the ",v2,True,False +c3_p009_e019,0,True,0.1211700439453125,0.4499979019165039,0.007962310060923135,-0.0035865844185655645,2.6478535705971638,plate_96_black,0.46109962463378906,0.10063934326171875,-92.06954503385543,0.21865032837007575,1305.353316718044,rect,-0.12267575710229578,0.23932802123653263,2.8405772412691404,11675.638861109637,3586.6953482016384,sphere,-0.7851711912389853,0.12903760139969678,2.772321048529199,4851.24194594165,3791.4514644470064,0.04590723663568497,0.0016566930571570992,-0.027138136327266693,-0.2826095521450043,0.6395261287689209,0.6650369167327881,-0.2624196708202362,0.0686308890581131,0.5563388466835022,1.953489065170288,0.03194686397910118,0.024289347231388092,0.28182998299598694,0.9586246609687805,1167,1,,2.120389938354492,0.307036697336271,0.0,0.007289234083145857,0.5449871465295629,12,release,0.0421980619430542,"Pre-grasping the small plate, moving the arm toward it; the ",v2,True,False +c4_p009_e013,2,True,-0.1034994125366211,0.44721412658691406,-0.00849076924591892,-0.010115324819225899,-4.353014613489904,plate_24_clear,0.4977226257324219,0.10507011413574219,-87.15988363439565,0.1699395108426017,1384.2472045601999,rect,0.12149732215525755,0.39387057768002254,3.1119369587705834,5701.759013009596,5810.547151080304,sphere,0.9264178079575509,0.7498577697808213,1.928362931882973,5026.7366735536325,4958.538820186235,0.0473480224609375,-0.0022037290036678314,-0.03215305879712105,-0.2827264070510864,0.6379067897796631,0.6656703948974609,-0.2646197974681854,0.0543195903301239,0.5679742097854614,1.9742120504379272,0.03502249717712402,0.026047060266137123,0.28110095858573914,0.9586851596832275,1171,1,,2.108830690383911,0.3120456312514358,0.0,0.0072893728502094746,0.5439795046968403,12,release,0.042279720306396484,"Pre-grasping the small plate, moving the arm toward it; the ",v2,True,False +c4_p009_e014,3,True,-0.03040313720703125,0.44841957092285156,-0.005414906001609307,0.003772264027339899,-6.45246212055568,plate_384_white,0.5234966278076172,0.1207571029663086,-94.96026412449318,0.22916045638940197,1384.2472045601999,rect,0.401880268287511,0.06925101441868442,2.904847669120781,15165.397045542315,4616.111840494348,disk,1.5992295829727357,0.3015297621481241,2.4377742356269065,4034.908881191862,3819.4285575750764,0.04876431077718735,-0.004723065532743931,-0.0332532674074173,-0.2843463122844696,0.6447246074676514,0.6557946801185608,-0.2709440588951111,0.02889811061322689,0.5758922100067139,1.9421226978302002,0.05095195770263672,0.025228900834918022,0.2844528555870056,0.957002580165863,1295,1,,2.0404984951019287,0.26984468824911456,0.0,0.007417802233248949,0.5413127413127413,12,release,0.04238414764404297,"Pre-grasping the small plate, moving the arm toward it; the ",v2,True,False +c4_p009_e015,1,True,-0.0920257568359375,0.4499998092651367,0.011397932889282102,-0.008998147442788785,-5.3840415267572155,deep_well_96_1ml,0.4988422393798828,0.11703014373779297,-85.3321059681004,0.24621073488663464,1384.2472045601999,rect,-0.08861119877714374,0.11999874424278933,2.701994395685534,10076.574779801556,4116.323619605186,disk,-0.5764805619128999,-0.34385041674508354,2.1307641774909127,8949.08992852736,4573.296699501594,0.04979362338781357,-0.0014739345060661435,-0.0296554584056139,-0.27490121126174927,0.6538825631141663,0.6435971260070801,-0.28748852014541626,0.06966770440340042,0.568945050239563,1.9496445655822754,0.04709344357252121,0.022359037771821022,0.2785893976688385,0.9589943885803223,1281,1,,2.0377042293548584,0.28338139021168757,0.0,0.007473986595869064,0.5433255269320844,12,release,0.04229545593261719,"Pre-grasping the small plate, moving the arm toward it; the ",v2,True,False +c7_p010_e000,1,True,0.037606239318847656,0.4472055435180664,-0.011732587385509903,0.009957816428648595,-1.962988862458559,plate_12_clear,0.4943122863769531,0.12484455108642578,-92.88386472532007,0.25979309915556464,1530.622389570849,rect,0.3544852425910673,0.06019469173922731,3.0035541528090834,13724.309159448236,5554.210441860108,disk,-1.2471460112105708,1.1303279962487613,2.579243237227254,9712.232408766873,5556.228493623514,0.05091625824570656,-0.0014967959141358733,-0.03253056854009628,-0.2767244875431061,0.6523136496543884,0.6408023834228516,-0.2954365909099579,0.0655459389090538,0.582245409488678,1.9480291604995728,0.03057086281478405,0.012941237539052963,0.26566019654273987,0.9634950160980225,1181,1,,2.0642333030700684,0.28512501469242574,0.0,0.007364913821220398,0.5469940728196444,12,release,0.042177796363830566,"Pre-grasping the small plate, moving the arm toward it; the ",v2,True,False +c7_p010_e001,0,True,0.023801803588867188,0.4499950408935547,-0.0021656246610478186,-0.004752236460936957,-4.280603492558896,plate_96_black,0.4947824478149414,0.1017904281616211,-86.85942985338791,0.22018446756378918,1530.622389570849,rect,0.30377042964515033,-0.4515663962329243,3.097340046676163,5360.704092232005,4954.705736440532,disk,-0.7446301283344405,-0.43986280373281383,2.787629449219322,5252.3613404177795,4015.6090497394935,0.04969782009720802,-0.0013995448825880885,-0.03255177661776543,-0.27800682187080383,0.6463009119033813,0.6517235636711121,-0.28330865502357483,0.0716182217001915,0.6020354628562927,1.9395501613616943,0.03822057694196701,0.013973505236208439,0.27816060185432434,0.9596721529960632,1223,1,,2.012317657470703,0.27847041029810016,0.0,0.007256877608597279,0.5257563368765331,12,release,0.04313468933105469,"Pre-grasping the small plate, moving the arm toward it; the ",v2,True,False +c7_p010_e002,3,True,-0.11846446990966797,0.4473609924316406,-0.009677494796155732,-0.005356692696791415,-7.9595892120128156,plate_384_white,0.5084505081176758,0.052756309509277344,-93.12400749015953,0.1955442232493193,1530.622389570849,rect,-0.338225918068533,-0.10422700369592869,2.9563667371917255,11726.149806781701,5486.934080693665,sphere,-0.33207525771488244,-0.009659241404218033,2.493252313367092,8580.29340873165,6068.598494284652,0.05042167752981186,0.000408208929002285,-0.02962234616279602,-0.2674925923347473,0.6612743139266968,0.6431134939193726,-0.27851223945617676,0.0433141365647316,0.5783144235610962,1.929490089416504,0.0579552985727787,0.008135812357068062,0.26457178592681885,0.9625885486602783,1240,1,,2.0652475357055664,0.3256943124867792,0.0,0.007380789145827293,0.5129032258064516,12,release,0.04203718900680542,"Pre-grasping the small plate, moving the arm toward it; the ",v2,True,False +c7_p010_e003,2,True,-0.06723594665527344,0.44727420806884766,-0.00027199748642090383,0.001009097496755895,0.8539924305987086,plate_384_black,0.4654064178466797,0.08583927154541016,-88.57925339217232,0.2390233522619925,1530.622389570849,rect,-0.04257338307996561,0.358098141073688,2.736737218179378,13880.839606730087,7014.212674141431,sphere,-0.45639574400919924,1.5550390825562161,2.719970044489057,5268.638033014611,4739.800722812193,0.051173288375139236,0.002844695234671235,-0.027394482865929604,-0.2862405478954315,0.6510804891586304,0.6514233350753784,-0.26421234011650085,0.0393747054040432,0.569907009601593,1.9290940761566162,0.055712804198265076,0.0030745435506105423,0.26614755392074585,0.9623160362243652,1201,1,,2.071805715560913,0.3332226680422035,0.0,0.007422395050525665,0.5320566194837635,12,release,0.04252362251281738,"Pre-grasping the small plate, moving the arm toward it; the ",v2,True,False +c8_p010_e004,3,True,-0.036522865295410156,0.4499988555908203,0.009757021884805048,0.0002373367814693886,3.2744908746814474,plate_384_white,0.470947265625,0.11478233337402344,-86.6555380947792,0.18827965062623625,643.286387759428,rect,0.3771167846857534,-0.14986276011524546,2.642309403717278,13973.181706801164,5641.290690787908,disk,1.7711515640389313,0.3702286661991874,2.598344867019029,10373.68062977982,5820.11736964417,0.04913712292909622,-0.000878842722158879,-0.03179151192307472,-0.2858673632144928,0.6482924818992615,0.6491362452507019,-0.2768010199069977,0.0574842132627964,0.5976231098175049,1.9560532569885254,0.04379293695092201,-0.0060548316687345505,0.26088377833366394,0.9643573760986328,1222,1,,2.056511163711548,0.2927800312662051,0.0,0.007418245077133179,0.5212765957446809,12,release,0.04212069511413574,"Pre-grasping the small plate, moving the arm toward it; the ",v2,True,False +c8_p010_e005,2,True,0.08237361907958984,0.45000267028808594,-0.012742818240845073,-0.005503766206786497,-6.622202606304825,deep_well_24_10ml,0.5017671585083008,0.0675649642944336,-93.9355727520357,0.25045864238289406,510.7841232460819,rect,-0.1262680045747513,-0.49573874116530914,2.8036566444789175,8886.492309197129,5748.0249427296585,disk,1.2707612117721405,-0.7632705763669098,1.6409321530629781,2902.008517261731,4844.329775542372,0.05031444877386093,0.0012967580696567893,-0.03221651166677475,-0.28054046630859375,0.6534891128540039,0.637895941734314,-0.29552963376045227,0.05152834951877594,0.5667750835418701,1.959219217300415,0.024454405531287193,0.008178109303116798,0.26410120725631714,0.9641502499580383,1193,1,,2.096419095993042,0.27233673180699675,0.0,0.007538630161434412,0.539815590947192,12,release,0.044886112213134766,"Pre-grasping the small plate, moving the arm toward it; the ",v2,True,False