add 10 episodes (c1_p006_e028 .. c9_p008_e029); total 2204 {'v1': 1088, 'v2': 1116}
Browse filesThis view is limited to 50 files because it contains too many changes. See raw diff
- episodes/c1_p006_e028/data.npz +3 -0
- episodes/c1_p006_e028/device_events.jsonl +35 -0
- episodes/c1_p006_e028/env.mp4 +3 -0
- episodes/c1_p006_e028/meta.json +32 -0
- episodes/c1_p006_e028/scene_snapshot.json +1558 -0
- episodes/c1_p006_e028/wrist.mp4 +3 -0
- episodes/c2_p008_e029/data.npz +3 -0
- episodes/c2_p008_e029/device_events.jsonl +35 -0
- episodes/c2_p008_e029/env.mp4 +3 -0
- episodes/c2_p008_e029/meta.json +32 -0
- episodes/c2_p008_e029/scene_snapshot.json +1558 -0
- episodes/c2_p008_e029/wrist.mp4 +3 -0
- episodes/c3_p006_e028/data.npz +3 -0
- episodes/c3_p006_e028/device_events.jsonl +35 -0
- episodes/c3_p006_e028/env.mp4 +3 -0
- episodes/c3_p006_e028/meta.json +32 -0
- episodes/c3_p006_e028/scene_snapshot.json +1558 -0
- episodes/c3_p006_e028/wrist.mp4 +3 -0
- episodes/c4_p006_e028/data.npz +3 -0
- episodes/c4_p006_e028/device_events.jsonl +35 -0
- episodes/c4_p006_e028/env.mp4 +3 -0
- episodes/c4_p006_e028/meta.json +32 -0
- episodes/c4_p006_e028/scene_snapshot.json +1558 -0
- episodes/c4_p006_e028/wrist.mp4 +3 -0
- episodes/c5_p006_e024/data.npz +3 -0
- episodes/c5_p006_e024/device_events.jsonl +37 -0
- episodes/c5_p006_e024/env.mp4 +3 -0
- episodes/c5_p006_e024/meta.json +32 -0
- episodes/c5_p006_e024/scene_snapshot.json +1558 -0
- episodes/c5_p006_e024/wrist.mp4 +3 -0
- episodes/c6_p007_e012/data.npz +3 -0
- episodes/c6_p007_e012/device_events.jsonl +35 -0
- episodes/c6_p007_e012/env.mp4 +3 -0
- episodes/c6_p007_e012/meta.json +32 -0
- episodes/c6_p007_e012/scene_snapshot.json +1558 -0
- episodes/c6_p007_e012/wrist.mp4 +3 -0
- episodes/c6_p007_e013/data.npz +3 -0
- episodes/c6_p007_e013/device_events.jsonl +36 -0
- episodes/c6_p007_e013/env.mp4 +3 -0
- episodes/c6_p007_e013/meta.json +32 -0
- episodes/c6_p007_e013/scene_snapshot.json +1558 -0
- episodes/c6_p007_e013/wrist.mp4 +3 -0
- episodes/c6_p007_e014/data.npz +3 -0
- episodes/c6_p007_e014/device_events.jsonl +35 -0
- episodes/c6_p007_e014/env.mp4 +3 -0
- episodes/c6_p007_e014/meta.json +32 -0
- episodes/c6_p007_e014/scene_snapshot.json +1558 -0
- episodes/c6_p007_e014/wrist.mp4 +3 -0
- episodes/c9_p008_e028/data.npz +3 -0
- episodes/c9_p008_e028/device_events.jsonl +35 -0
episodes/c1_p006_e028/data.npz
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version https://git-lfs.github.com/spec/v1
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oid sha256:b8b5ec052d7b8e9fd13aa1d184cbc4fbd5f018141b7d2550480533295773370b
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size 192363
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episodes/c1_p006_e028/device_events.jsonl
ADDED
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| 1 |
+
{"env_id": 1, "seq": 1, "step": 75, "t": 0.375, "topic": "conveyor_1.belt.station.pick.captured", "source": "conveyor_1.belt", "data": {"rider": "carrier_4"}, "cause": null}
|
| 2 |
+
{"env_id": 1, "seq": 2, "step": 75, "t": 0.375, "topic": "conveyor_1.belt.state.changed", "source": "conveyor_1.belt", "data": {"from": "running", "to": "at_station"}, "cause": null}
|
| 3 |
+
{"env_id": 1, "seq": 3, "step": 80, "t": 0.4, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_4"}, "cause": null}
|
| 4 |
+
{"env_id": 1, "seq": 4, "step": 5883, "t": 29.415, "topic": "a4s_sealer_1.plate_present.present", "source": "a4s_sealer_1.plate_present", "data": {"object": "plate_4"}, "cause": null}
|
| 5 |
+
{"env_id": 1, "seq": 5, "step": 6496, "t": 32.48, "topic": "a4s_sealer_1.command.started", "source": "a4s_sealer_1", "data": {"command_id": "task-1-1", "name": "seal", "source": "task"}, "cause": "task-1-1"}
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| 6 |
+
{"env_id": 1, "seq": 6, "step": 6496, "t": 32.48, "topic": "a4s_sealer_1.seal.started", "source": "a4s_sealer_1", "data": {"dwell": 2.9123578662801357}, "cause": "task-1-1"}
|
| 7 |
+
{"env_id": 1, "seq": 7, "step": 6496, "t": 32.48, "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"}
|
| 8 |
+
{"env_id": 1, "seq": 8, "step": 6496, "t": 32.48, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "at_out", "to": "moving"}, "cause": null}
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| 9 |
+
{"env_id": 1, "seq": 9, "step": 6496, "t": 32.48, "topic": "a4s_sealer_1.drawer.moving", "source": "a4s_sealer_1.drawer", "data": {"target": 0.3, "goal": "in"}, "cause": "program-1-2"}
|
| 10 |
+
{"env_id": 1, "seq": 10, "step": 6915, "t": 34.575, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "moving", "to": "at_in"}, "cause": null}
|
| 11 |
+
{"env_id": 1, "seq": 11, "step": 6915, "t": 34.575, "topic": "a4s_sealer_1.drawer.reached", "source": "a4s_sealer_1.drawer", "data": {"position": "in", "q": 0.2999999523162842}, "cause": "program-1-2"}
|
| 12 |
+
{"env_id": 1, "seq": 12, "step": 6915, "t": 34.575, "topic": "a4s_sealer_1.drawer.at_in", "source": "a4s_sealer_1.drawer", "data": {"q": 0.2999999523162842}, "cause": "program-1-2"}
|
| 13 |
+
{"env_id": 1, "seq": 13, "step": 6915, "t": 34.575, "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"}
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| 14 |
+
{"env_id": 1, "seq": 14, "step": 6915, "t": 34.575, "topic": "labware.plate_4.changed", "source": "labware.plate_4", "data": {"key": "sealed", "value": true}, "cause": "task-1-1"}
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| 15 |
+
{"env_id": 1, "seq": 15, "step": 6915, "t": 34.575, "topic": "a4s_sealer_1.sealed", "source": "a4s_sealer_1", "data": {"plate": "plate_4"}, "cause": "task-1-1"}
|
| 16 |
+
{"env_id": 1, "seq": 16, "step": 6915, "t": 34.575, "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"}
|
| 17 |
+
{"env_id": 1, "seq": 17, "step": 6915, "t": 34.575, "topic": "a4s_sealer_1.heater.state.changed", "source": "a4s_sealer_1.heater", "data": {"from": "ready", "to": "running"}, "cause": null}
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| 18 |
+
{"env_id": 1, "seq": 18, "step": 6915, "t": 34.575, "topic": "a4s_sealer_1.heater.started", "source": "a4s_sealer_1.heater", "data": {"duration": 2.9123578662801357}, "cause": "program-1-3"}
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| 19 |
+
{"env_id": 1, "seq": 19, "step": 7498, "t": 37.49, "topic": "a4s_sealer_1.heater.state.changed", "source": "a4s_sealer_1.heater", "data": {"from": "running", "to": "ready"}, "cause": null}
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| 20 |
+
{"env_id": 1, "seq": 20, "step": 7498, "t": 37.49, "topic": "a4s_sealer_1.heater.finished", "source": "a4s_sealer_1.heater", "data": {"elapsed": 2.9150000000014913}, "cause": "program-1-3"}
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| 21 |
+
{"env_id": 1, "seq": 21, "step": 7498, "t": 37.49, "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": 2.9150000000014913}}, "cause": "program-1-3"}
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| 22 |
+
{"env_id": 1, "seq": 22, "step": 7498, "t": 37.49, "topic": "a4s_sealer_1.drawer.command.started", "source": "a4s_sealer_1.drawer", "data": {"command_id": "program-1-4", "name": "open", "source": "program:seal"}, "cause": "program-1-4"}
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| 23 |
+
{"env_id": 1, "seq": 23, "step": 7498, "t": 37.49, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "at_in", "to": "moving"}, "cause": null}
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| 24 |
+
{"env_id": 1, "seq": 24, "step": 7498, "t": 37.49, "topic": "a4s_sealer_1.drawer.moving", "source": "a4s_sealer_1.drawer", "data": {"target": 0.0, "goal": "out"}, "cause": "program-1-4"}
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| 25 |
+
{"env_id": 1, "seq": 25, "step": 7917, "t": 39.585, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "moving", "to": "at_out"}, "cause": null}
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| 26 |
+
{"env_id": 1, "seq": 26, "step": 7917, "t": 39.585, "topic": "a4s_sealer_1.drawer.reached", "source": "a4s_sealer_1.drawer", "data": {"position": "out", "q": 1.1095487195689202e-08}, "cause": "program-1-4"}
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| 27 |
+
{"env_id": 1, "seq": 27, "step": 7917, "t": 39.585, "topic": "a4s_sealer_1.drawer.at_out", "source": "a4s_sealer_1.drawer", "data": {"q": 1.1095487195689202e-08}, "cause": "program-1-4"}
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| 28 |
+
{"env_id": 1, "seq": 28, "step": 7917, "t": 39.585, "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"}
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| 29 |
+
{"env_id": 1, "seq": 29, "step": 7917, "t": 39.585, "topic": "a4s_sealer_1.seal.finished", "source": "a4s_sealer_1", "data": {}, "cause": "task-1-1"}
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| 30 |
+
{"env_id": 1, "seq": 30, "step": 7917, "t": 39.585, "topic": "a4s_sealer_1.command.succeeded", "source": "a4s_sealer_1", "data": {"command_id": "task-1-1", "name": "seal", "source": "task"}, "cause": "task-1-1"}
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| 31 |
+
{"env_id": 1, "seq": 31, "step": 8498, "t": 42.49, "topic": "a4s_sealer_1.plate_present.absent", "source": "a4s_sealer_1.plate_present", "data": {"object": "plate_4"}, "cause": null}
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| 32 |
+
{"env_id": 1, "seq": 32, "step": 10252, "t": 51.26, "topic": "conveyor_1.belt.command.started", "source": "conveyor_1.belt", "data": {"command_id": "task-1-5", "name": "release", "source": "task"}, "cause": "task-1-5"}
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| 33 |
+
{"env_id": 1, "seq": 33, "step": 10252, "t": 51.26, "topic": "conveyor_1.belt.station.pick.released", "source": "conveyor_1.belt", "data": {"rider": "carrier_4"}, "cause": "task-1-5"}
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| 34 |
+
{"env_id": 1, "seq": 34, "step": 10252, "t": 51.26, "topic": "conveyor_1.belt.state.changed", "source": "conveyor_1.belt", "data": {"from": "at_station", "to": "running"}, "cause": null}
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| 35 |
+
{"env_id": 1, "seq": 35, "step": 10252, "t": 51.26, "topic": "conveyor_1.belt.command.succeeded", "source": "conveyor_1.belt", "data": {"command_id": "task-1-5", "name": "release", "source": "task", "result": {"state": "running"}}, "cause": "task-1-5"}
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episodes/c1_p006_e028/env.mp4
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version https://git-lfs.github.com/spec/v1
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oid sha256:611bf579f5a65e343efb73a05d2ab068d034a3bea1e6687897fe2bc6ec71cfc4
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size 1303147
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episodes/c1_p006_e028/meta.json
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{
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| 2 |
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"source": "raw/c1_p006/magicsim/28",
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| 3 |
+
"fps": 25,
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| 4 |
+
"frames": 1207,
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| 5 |
+
"kept_ticks": "even",
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| 6 |
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"video_frames": {
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| 7 |
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"wrist": 1207,
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| 8 |
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"env": 1207
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| 9 |
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},
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| 10 |
+
"joint_target_source": "joint_pos_target",
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| 11 |
+
"fk_vs_recorded_eef_max_m": 0.0,
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| 12 |
+
"curobo_joints": [
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| 13 |
+
"shoulder_pan_joint",
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| 14 |
+
"shoulder_lift_joint",
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| 15 |
+
"elbow_joint",
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| 16 |
+
"wrist_1_joint",
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| 17 |
+
"wrist_2_joint",
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| 18 |
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"wrist_3_joint"
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| 19 |
+
],
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| 20 |
+
"joint_order": [
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| 21 |
+
"shoulder_pan",
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| 22 |
+
"shoulder_lift",
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| 23 |
+
"elbow",
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| 24 |
+
"wrist_1",
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| 25 |
+
"wrist_2",
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| 26 |
+
"wrist_3",
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| 27 |
+
"finger_left",
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| 28 |
+
"finger_right"
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| 29 |
+
],
|
| 30 |
+
"frames_note": "eef / actions in the robot base frame; camera_pose = local pose (wrist: in plate_gripper_base, env: env frame), pos + quat wxyz",
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| 31 |
+
"dr_version": "v2"
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| 32 |
+
}
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episodes/c1_p006_e028/scene_snapshot.json
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|
| 1 |
+
{
|
| 2 |
+
"trajectory_id": 28,
|
| 3 |
+
"env_id": 1,
|
| 4 |
+
"run_id": "c1_p006",
|
| 5 |
+
"task_type": "BioPlateCell",
|
| 6 |
+
"success": true,
|
| 7 |
+
"timing": {
|
| 8 |
+
"fps": 50.0,
|
| 9 |
+
"sim_dt": 0.005,
|
| 10 |
+
"decimation": 4
|
| 11 |
+
},
|
| 12 |
+
"restore_interface": {
|
| 13 |
+
"scene": "scene_manager.reset_to(snapshot['scene'], env_ids=[env_id])",
|
| 14 |
+
"robots": "robot_manager.set_state({'robots': snapshot['robots']}, env_ids=[env_id])"
|
| 15 |
+
},
|
| 16 |
+
"snapshot": {
|
| 17 |
+
"env_id": 1,
|
| 18 |
+
"scene": {
|
| 19 |
+
"objects": [
|
| 20 |
+
{},
|
| 21 |
+
{
|
| 22 |
+
"rac_cell": [
|
| 23 |
+
{
|
| 24 |
+
"asset": "$MAGICSIM_ASSETS/Bio/Lab/rac_cell.usd",
|
| 25 |
+
"pose": {
|
| 26 |
+
"pos": [
|
| 27 |
+
0.0,
|
| 28 |
+
0.0,
|
| 29 |
+
0.0
|
| 30 |
+
],
|
| 31 |
+
"ori": [
|
| 32 |
+
1.0,
|
| 33 |
+
0.0,
|
| 34 |
+
0.0,
|
| 35 |
+
0.0
|
| 36 |
+
],
|
| 37 |
+
"scale": [
|
| 38 |
+
1.0,
|
| 39 |
+
1.0,
|
| 40 |
+
1.0
|
| 41 |
+
]
|
| 42 |
+
},
|
| 43 |
+
"dr": {
|
| 44 |
+
"visual": {
|
| 45 |
+
"kind": null,
|
| 46 |
+
"value": null,
|
| 47 |
+
"visible": true
|
| 48 |
+
},
|
| 49 |
+
"physics": {
|
| 50 |
+
"type": "geometry",
|
| 51 |
+
"collision": false,
|
| 52 |
+
"physics_material": {
|
| 53 |
+
"static_friction": 0.6,
|
| 54 |
+
"dynamic_friction": 0.5,
|
| 55 |
+
"restitution": 0.0
|
| 56 |
+
},
|
| 57 |
+
"ratio": 1.0
|
| 58 |
+
},
|
| 59 |
+
"primitive_params": null
|
| 60 |
+
},
|
| 61 |
+
"type_specific": {}
|
| 62 |
+
}
|
| 63 |
+
],
|
| 64 |
+
"robot_mount": [
|
| 65 |
+
{
|
| 66 |
+
"asset": "Cube",
|
| 67 |
+
"pose": {
|
| 68 |
+
"pos": [
|
| 69 |
+
0.0,
|
| 70 |
+
0.0,
|
| 71 |
+
0.9075
|
| 72 |
+
],
|
| 73 |
+
"ori": [
|
| 74 |
+
1.0,
|
| 75 |
+
0.0,
|
| 76 |
+
0.0,
|
| 77 |
+
0.0
|
| 78 |
+
],
|
| 79 |
+
"scale": [
|
| 80 |
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1.0,
|
| 81 |
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1.0,
|
| 82 |
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1.0
|
| 83 |
+
]
|
| 84 |
+
},
|
| 85 |
+
"dr": {
|
| 86 |
+
"visual": {
|
| 87 |
+
"kind": "color",
|
| 88 |
+
"value": [
|
| 89 |
+
0.55,
|
| 90 |
+
0.56,
|
| 91 |
+
0.58
|
| 92 |
+
],
|
| 93 |
+
"visible": true
|
| 94 |
+
},
|
| 95 |
+
"physics": {
|
| 96 |
+
"type": "geometry",
|
| 97 |
+
"collision": false,
|
| 98 |
+
"ratio": 1.0
|
| 99 |
+
},
|
| 100 |
+
"primitive_params": {
|
| 101 |
+
"size": [
|
| 102 |
+
0.2,
|
| 103 |
+
0.2,
|
| 104 |
+
0.015
|
| 105 |
+
]
|
| 106 |
+
}
|
| 107 |
+
},
|
| 108 |
+
"type_specific": {}
|
| 109 |
+
}
|
| 110 |
+
],
|
| 111 |
+
"plate_rack": [
|
| 112 |
+
{
|
| 113 |
+
"asset": "$MAGICSIM_ASSETS/Bio/Lab/plate_hotel.usd",
|
| 114 |
+
"pose": {
|
| 115 |
+
"pos": [
|
| 116 |
+
-0.6,
|
| 117 |
+
0.02,
|
| 118 |
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0.9
|
| 119 |
+
],
|
| 120 |
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"ori": [
|
| 121 |
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|
| 122 |
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0.0,
|
| 123 |
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0.0,
|
| 124 |
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1.0
|
| 125 |
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],
|
| 126 |
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|
| 127 |
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1.0,
|
| 128 |
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1.0,
|
| 129 |
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1.0
|
| 130 |
+
]
|
| 131 |
+
},
|
| 132 |
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|
| 133 |
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|
| 134 |
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|
| 135 |
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|
| 136 |
+
"visible": true
|
| 137 |
+
},
|
| 138 |
+
"physics": {
|
| 139 |
+
"type": "geometry",
|
| 140 |
+
"collision": false,
|
| 141 |
+
"physics_material": {
|
| 142 |
+
"static_friction": 0.6,
|
| 143 |
+
"dynamic_friction": 0.5,
|
| 144 |
+
"restitution": 0.0
|
| 145 |
+
},
|
| 146 |
+
"ratio": 1.0
|
| 147 |
+
},
|
| 148 |
+
"primitive_params": null
|
| 149 |
+
},
|
| 150 |
+
"type_specific": {}
|
| 151 |
+
}
|
| 152 |
+
],
|
| 153 |
+
"hotel_plate": [
|
| 154 |
+
{
|
| 155 |
+
"asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_6_clear/plate_6_clear.usd",
|
| 156 |
+
"pose": {
|
| 157 |
+
"pos": [
|
| 158 |
+
-0.6,
|
| 159 |
+
0.02,
|
| 160 |
+
0.9605
|
| 161 |
+
],
|
| 162 |
+
"ori": [
|
| 163 |
+
1.0,
|
| 164 |
+
0.0,
|
| 165 |
+
0.0,
|
| 166 |
+
0.0
|
| 167 |
+
],
|
| 168 |
+
"scale": [
|
| 169 |
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1.0,
|
| 170 |
+
1.0,
|
| 171 |
+
1.0
|
| 172 |
+
]
|
| 173 |
+
},
|
| 174 |
+
"dr": {
|
| 175 |
+
"visual": {
|
| 176 |
+
"kind": null,
|
| 177 |
+
"value": null,
|
| 178 |
+
"visible": true
|
| 179 |
+
},
|
| 180 |
+
"physics": {
|
| 181 |
+
"type": "geometry",
|
| 182 |
+
"collision": false,
|
| 183 |
+
"ratio": 1.0
|
| 184 |
+
},
|
| 185 |
+
"primitive_params": null
|
| 186 |
+
},
|
| 187 |
+
"type_specific": {}
|
| 188 |
+
},
|
| 189 |
+
{
|
| 190 |
+
"asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_96_white/plate_96_white.usd",
|
| 191 |
+
"pose": {
|
| 192 |
+
"pos": [
|
| 193 |
+
-0.6,
|
| 194 |
+
0.02,
|
| 195 |
+
1.0285
|
| 196 |
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],
|
| 197 |
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"ori": [
|
| 198 |
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6.123234262925839e-17,
|
| 199 |
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0.0,
|
| 200 |
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0.0,
|
| 201 |
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1.0
|
| 202 |
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],
|
| 203 |
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"scale": [
|
| 204 |
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1.0,
|
| 205 |
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1.0,
|
| 206 |
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1.0
|
| 207 |
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]
|
| 208 |
+
},
|
| 209 |
+
"dr": {
|
| 210 |
+
"visual": {
|
| 211 |
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"kind": null,
|
| 212 |
+
"value": null,
|
| 213 |
+
"visible": true
|
| 214 |
+
},
|
| 215 |
+
"physics": {
|
| 216 |
+
"type": "geometry",
|
| 217 |
+
"collision": false,
|
| 218 |
+
"ratio": 1.0
|
| 219 |
+
},
|
| 220 |
+
"primitive_params": null
|
| 221 |
+
},
|
| 222 |
+
"type_specific": {}
|
| 223 |
+
},
|
| 224 |
+
{
|
| 225 |
+
"asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_96_white/plate_96_white.usd",
|
| 226 |
+
"pose": {
|
| 227 |
+
"pos": [
|
| 228 |
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-0.6,
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| 1557 |
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episodes/c1_p006_e028/wrist.mp4
ADDED
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version https://git-lfs.github.com/spec/v1
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size 5970237
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episodes/c2_p008_e029/data.npz
ADDED
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version https://git-lfs.github.com/spec/v1
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size 185227
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episodes/c2_p008_e029/device_events.jsonl
ADDED
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@@ -0,0 +1,35 @@
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|
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|
| 1 |
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{"env_id": 3, "seq": 1, "step": 202, "t": 1.01, "topic": "conveyor_1.belt.station.pick.captured", "source": "conveyor_1.belt", "data": {"rider": "carrier_3"}, "cause": null}
|
| 2 |
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{"env_id": 3, "seq": 2, "step": 202, "t": 1.01, "topic": "conveyor_1.belt.state.changed", "source": "conveyor_1.belt", "data": {"from": "running", "to": "at_station"}, "cause": null}
|
| 3 |
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{"env_id": 3, "seq": 3, "step": 207, "t": 1.035, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_3"}, "cause": null}
|
| 4 |
+
{"env_id": 3, "seq": 4, "step": 6590, "t": 32.95, "topic": "a4s_sealer_1.plate_present.present", "source": "a4s_sealer_1.plate_present", "data": {"object": "plate_3"}, "cause": null}
|
| 5 |
+
{"env_id": 3, "seq": 5, "step": 7204, "t": 36.02, "topic": "a4s_sealer_1.command.started", "source": "a4s_sealer_1", "data": {"command_id": "task-3-1", "name": "seal", "source": "task"}, "cause": "task-3-1"}
|
| 6 |
+
{"env_id": 3, "seq": 6, "step": 7204, "t": 36.02, "topic": "a4s_sealer_1.seal.started", "source": "a4s_sealer_1", "data": {"dwell": 3.083697181789738}, "cause": "task-3-1"}
|
| 7 |
+
{"env_id": 3, "seq": 7, "step": 7204, "t": 36.02, "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"}
|
| 8 |
+
{"env_id": 3, "seq": 8, "step": 7204, "t": 36.02, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "at_out", "to": "moving"}, "cause": null}
|
| 9 |
+
{"env_id": 3, "seq": 9, "step": 7204, "t": 36.02, "topic": "a4s_sealer_1.drawer.moving", "source": "a4s_sealer_1.drawer", "data": {"target": 0.3, "goal": "in"}, "cause": "program-3-2"}
|
| 10 |
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{"env_id": 3, "seq": 10, "step": 7623, "t": 38.115, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "moving", "to": "at_in"}, "cause": null}
|
| 11 |
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{"env_id": 3, "seq": 11, "step": 7623, "t": 38.115, "topic": "a4s_sealer_1.drawer.reached", "source": "a4s_sealer_1.drawer", "data": {"position": "in", "q": 0.30000001192092896}, "cause": "program-3-2"}
|
| 12 |
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{"env_id": 3, "seq": 12, "step": 7623, "t": 38.115, "topic": "a4s_sealer_1.drawer.at_in", "source": "a4s_sealer_1.drawer", "data": {"q": 0.30000001192092896}, "cause": "program-3-2"}
|
| 13 |
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{"env_id": 3, "seq": 13, "step": 7623, "t": 38.115, "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"}
|
| 14 |
+
{"env_id": 3, "seq": 14, "step": 7623, "t": 38.115, "topic": "labware.plate_3.changed", "source": "labware.plate_3", "data": {"key": "sealed", "value": true}, "cause": "task-3-1"}
|
| 15 |
+
{"env_id": 3, "seq": 15, "step": 7623, "t": 38.115, "topic": "a4s_sealer_1.sealed", "source": "a4s_sealer_1", "data": {"plate": "plate_3"}, "cause": "task-3-1"}
|
| 16 |
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{"env_id": 3, "seq": 16, "step": 7623, "t": 38.115, "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"}
|
| 17 |
+
{"env_id": 3, "seq": 17, "step": 7623, "t": 38.115, "topic": "a4s_sealer_1.heater.state.changed", "source": "a4s_sealer_1.heater", "data": {"from": "ready", "to": "running"}, "cause": null}
|
| 18 |
+
{"env_id": 3, "seq": 18, "step": 7623, "t": 38.115, "topic": "a4s_sealer_1.heater.started", "source": "a4s_sealer_1.heater", "data": {"duration": 3.083697181789738}, "cause": "program-3-3"}
|
| 19 |
+
{"env_id": 3, "seq": 19, "step": 8240, "t": 41.2, "topic": "a4s_sealer_1.heater.state.changed", "source": "a4s_sealer_1.heater", "data": {"from": "running", "to": "ready"}, "cause": null}
|
| 20 |
+
{"env_id": 3, "seq": 20, "step": 8240, "t": 41.2, "topic": "a4s_sealer_1.heater.finished", "source": "a4s_sealer_1.heater", "data": {"elapsed": 3.0850000000015783}, "cause": "program-3-3"}
|
| 21 |
+
{"env_id": 3, "seq": 21, "step": 8240, "t": 41.2, "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": 3.0850000000015783}}, "cause": "program-3-3"}
|
| 22 |
+
{"env_id": 3, "seq": 22, "step": 8240, "t": 41.2, "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"}
|
| 23 |
+
{"env_id": 3, "seq": 23, "step": 8240, "t": 41.2, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "at_in", "to": "moving"}, "cause": null}
|
| 24 |
+
{"env_id": 3, "seq": 24, "step": 8240, "t": 41.2, "topic": "a4s_sealer_1.drawer.moving", "source": "a4s_sealer_1.drawer", "data": {"target": 0.0, "goal": "out"}, "cause": "program-3-4"}
|
| 25 |
+
{"env_id": 3, "seq": 25, "step": 8660, "t": 43.3, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "moving", "to": "at_out"}, "cause": null}
|
| 26 |
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{"env_id": 3, "seq": 26, "step": 8660, "t": 43.3, "topic": "a4s_sealer_1.drawer.reached", "source": "a4s_sealer_1.drawer", "data": {"position": "out", "q": 4.6254311492077704e-09}, "cause": "program-3-4"}
|
| 27 |
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{"env_id": 3, "seq": 27, "step": 8660, "t": 43.3, "topic": "a4s_sealer_1.drawer.at_out", "source": "a4s_sealer_1.drawer", "data": {"q": 4.6254311492077704e-09}, "cause": "program-3-4"}
|
| 28 |
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{"env_id": 3, "seq": 28, "step": 8660, "t": 43.3, "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"}
|
| 29 |
+
{"env_id": 3, "seq": 29, "step": 8660, "t": 43.3, "topic": "a4s_sealer_1.seal.finished", "source": "a4s_sealer_1", "data": {}, "cause": "task-3-1"}
|
| 30 |
+
{"env_id": 3, "seq": 30, "step": 8660, "t": 43.3, "topic": "a4s_sealer_1.command.succeeded", "source": "a4s_sealer_1", "data": {"command_id": "task-3-1", "name": "seal", "source": "task"}, "cause": "task-3-1"}
|
| 31 |
+
{"env_id": 3, "seq": 31, "step": 9238, "t": 46.19, "topic": "a4s_sealer_1.plate_present.absent", "source": "a4s_sealer_1.plate_present", "data": {"object": "plate_3"}, "cause": null}
|
| 32 |
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{"env_id": 3, "seq": 32, "step": 10912, "t": 54.56, "topic": "conveyor_1.belt.command.started", "source": "conveyor_1.belt", "data": {"command_id": "task-3-5", "name": "release", "source": "task"}, "cause": "task-3-5"}
|
| 33 |
+
{"env_id": 3, "seq": 33, "step": 10912, "t": 54.56, "topic": "conveyor_1.belt.station.pick.released", "source": "conveyor_1.belt", "data": {"rider": "carrier_3"}, "cause": "task-3-5"}
|
| 34 |
+
{"env_id": 3, "seq": 34, "step": 10912, "t": 54.56, "topic": "conveyor_1.belt.state.changed", "source": "conveyor_1.belt", "data": {"from": "at_station", "to": "running"}, "cause": null}
|
| 35 |
+
{"env_id": 3, "seq": 35, "step": 10912, "t": 54.56, "topic": "conveyor_1.belt.command.succeeded", "source": "conveyor_1.belt", "data": {"command_id": "task-3-5", "name": "release", "source": "task", "result": {"state": "running"}}, "cause": "task-3-5"}
|
episodes/c2_p008_e029/env.mp4
ADDED
|
@@ -0,0 +1,3 @@
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|
| 1 |
+
version https://git-lfs.github.com/spec/v1
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| 3 |
+
size 1266199
|
episodes/c2_p008_e029/meta.json
ADDED
|
@@ -0,0 +1,32 @@
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|
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|
|
|
|
|
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|
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|
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|
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|
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|
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|
|
|
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|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"source": "raw/c2_p008/magicsim/29",
|
| 3 |
+
"fps": 25,
|
| 4 |
+
"frames": 1187,
|
| 5 |
+
"kept_ticks": "even",
|
| 6 |
+
"video_frames": {
|
| 7 |
+
"wrist": 1187,
|
| 8 |
+
"env": 1187
|
| 9 |
+
},
|
| 10 |
+
"joint_target_source": "joint_pos_target",
|
| 11 |
+
"fk_vs_recorded_eef_max_m": 0.0,
|
| 12 |
+
"curobo_joints": [
|
| 13 |
+
"shoulder_pan_joint",
|
| 14 |
+
"shoulder_lift_joint",
|
| 15 |
+
"elbow_joint",
|
| 16 |
+
"wrist_1_joint",
|
| 17 |
+
"wrist_2_joint",
|
| 18 |
+
"wrist_3_joint"
|
| 19 |
+
],
|
| 20 |
+
"joint_order": [
|
| 21 |
+
"shoulder_pan",
|
| 22 |
+
"shoulder_lift",
|
| 23 |
+
"elbow",
|
| 24 |
+
"wrist_1",
|
| 25 |
+
"wrist_2",
|
| 26 |
+
"wrist_3",
|
| 27 |
+
"finger_left",
|
| 28 |
+
"finger_right"
|
| 29 |
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],
|
| 30 |
+
"frames_note": "eef / actions in the robot base frame; camera_pose = local pose (wrist: in plate_gripper_base, env: env frame), pos + quat wxyz",
|
| 31 |
+
"dr_version": "v2"
|
| 32 |
+
}
|
episodes/c2_p008_e029/scene_snapshot.json
ADDED
|
@@ -0,0 +1,1558 @@
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|
| 1 |
+
{
|
| 2 |
+
"trajectory_id": 29,
|
| 3 |
+
"env_id": 3,
|
| 4 |
+
"run_id": "c2_p008",
|
| 5 |
+
"task_type": "BioPlateCell",
|
| 6 |
+
"success": true,
|
| 7 |
+
"timing": {
|
| 8 |
+
"fps": 50.0,
|
| 9 |
+
"sim_dt": 0.005,
|
| 10 |
+
"decimation": 4
|
| 11 |
+
},
|
| 12 |
+
"restore_interface": {
|
| 13 |
+
"scene": "scene_manager.reset_to(snapshot['scene'], env_ids=[env_id])",
|
| 14 |
+
"robots": "robot_manager.set_state({'robots': snapshot['robots']}, env_ids=[env_id])"
|
| 15 |
+
},
|
| 16 |
+
"snapshot": {
|
| 17 |
+
"env_id": 3,
|
| 18 |
+
"scene": {
|
| 19 |
+
"objects": [
|
| 20 |
+
{},
|
| 21 |
+
{},
|
| 22 |
+
{},
|
| 23 |
+
{
|
| 24 |
+
"rac_cell": [
|
| 25 |
+
{
|
| 26 |
+
"asset": "$MAGICSIM_ASSETS/Bio/Lab/rac_cell.usd",
|
| 27 |
+
"pose": {
|
| 28 |
+
"pos": [
|
| 29 |
+
0.0,
|
| 30 |
+
0.0,
|
| 31 |
+
0.0
|
| 32 |
+
],
|
| 33 |
+
"ori": [
|
| 34 |
+
1.0,
|
| 35 |
+
0.0,
|
| 36 |
+
0.0,
|
| 37 |
+
0.0
|
| 38 |
+
],
|
| 39 |
+
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|
| 40 |
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1.0,
|
| 41 |
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1.0,
|
| 42 |
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1.0
|
| 43 |
+
]
|
| 44 |
+
},
|
| 45 |
+
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|
| 46 |
+
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|
| 47 |
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"kind": null,
|
| 48 |
+
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|
| 49 |
+
"visible": true
|
| 50 |
+
},
|
| 51 |
+
"physics": {
|
| 52 |
+
"type": "geometry",
|
| 53 |
+
"collision": false,
|
| 54 |
+
"physics_material": {
|
| 55 |
+
"static_friction": 0.6,
|
| 56 |
+
"dynamic_friction": 0.5,
|
| 57 |
+
"restitution": 0.0
|
| 58 |
+
},
|
| 59 |
+
"ratio": 1.0
|
| 60 |
+
},
|
| 61 |
+
"primitive_params": null
|
| 62 |
+
},
|
| 63 |
+
"type_specific": {}
|
| 64 |
+
}
|
| 65 |
+
],
|
| 66 |
+
"robot_mount": [
|
| 67 |
+
{
|
| 68 |
+
"asset": "Cube",
|
| 69 |
+
"pose": {
|
| 70 |
+
"pos": [
|
| 71 |
+
0.0,
|
| 72 |
+
0.0,
|
| 73 |
+
0.9075
|
| 74 |
+
],
|
| 75 |
+
"ori": [
|
| 76 |
+
1.0,
|
| 77 |
+
0.0,
|
| 78 |
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0.0,
|
| 79 |
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0.0
|
| 80 |
+
],
|
| 81 |
+
"scale": [
|
| 82 |
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1.0,
|
| 83 |
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1.0,
|
| 84 |
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1.0
|
| 85 |
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]
|
| 86 |
+
},
|
| 87 |
+
"dr": {
|
| 88 |
+
"visual": {
|
| 89 |
+
"kind": "color",
|
| 90 |
+
"value": [
|
| 91 |
+
0.55,
|
| 92 |
+
0.56,
|
| 93 |
+
0.58
|
| 94 |
+
],
|
| 95 |
+
"visible": true
|
| 96 |
+
},
|
| 97 |
+
"physics": {
|
| 98 |
+
"type": "geometry",
|
| 99 |
+
"collision": false,
|
| 100 |
+
"ratio": 1.0
|
| 101 |
+
},
|
| 102 |
+
"primitive_params": {
|
| 103 |
+
"size": [
|
| 104 |
+
0.2,
|
| 105 |
+
0.2,
|
| 106 |
+
0.015
|
| 107 |
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]
|
| 108 |
+
}
|
| 109 |
+
},
|
| 110 |
+
"type_specific": {}
|
| 111 |
+
}
|
| 112 |
+
],
|
| 113 |
+
"plate_rack": [
|
| 114 |
+
{
|
| 115 |
+
"asset": "$MAGICSIM_ASSETS/Bio/Lab/plate_hotel.usd",
|
| 116 |
+
"pose": {
|
| 117 |
+
"pos": [
|
| 118 |
+
-0.6,
|
| 119 |
+
0.02,
|
| 120 |
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|
| 121 |
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],
|
| 122 |
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"ori": [
|
| 123 |
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6.123234262925839e-17,
|
| 124 |
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0.0,
|
| 125 |
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0.0,
|
| 126 |
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|
| 127 |
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],
|
| 128 |
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|
| 129 |
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|
| 130 |
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1.0,
|
| 131 |
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|
| 132 |
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]
|
| 133 |
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},
|
| 134 |
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|
| 135 |
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|
| 136 |
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|
| 137 |
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|
| 138 |
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"visible": true
|
| 139 |
+
},
|
| 140 |
+
"physics": {
|
| 141 |
+
"type": "geometry",
|
| 142 |
+
"collision": false,
|
| 143 |
+
"physics_material": {
|
| 144 |
+
"static_friction": 0.6,
|
| 145 |
+
"dynamic_friction": 0.5,
|
| 146 |
+
"restitution": 0.0
|
| 147 |
+
},
|
| 148 |
+
"ratio": 1.0
|
| 149 |
+
},
|
| 150 |
+
"primitive_params": null
|
| 151 |
+
},
|
| 152 |
+
"type_specific": {}
|
| 153 |
+
}
|
| 154 |
+
],
|
| 155 |
+
"hotel_plate": [
|
| 156 |
+
{
|
| 157 |
+
"asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/deep_well_24_10ml/deep_well_24_10ml.usd",
|
| 158 |
+
"pose": {
|
| 159 |
+
"pos": [
|
| 160 |
+
-0.6,
|
| 161 |
+
0.02,
|
| 162 |
+
0.9605
|
| 163 |
+
],
|
| 164 |
+
"ori": [
|
| 165 |
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1.0,
|
| 166 |
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0.0,
|
| 167 |
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0.0,
|
| 168 |
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0.0
|
| 169 |
+
],
|
| 170 |
+
"scale": [
|
| 171 |
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1.0,
|
| 172 |
+
1.0,
|
| 173 |
+
1.0
|
| 174 |
+
]
|
| 175 |
+
},
|
| 176 |
+
"dr": {
|
| 177 |
+
"visual": {
|
| 178 |
+
"kind": null,
|
| 179 |
+
"value": null,
|
| 180 |
+
"visible": true
|
| 181 |
+
},
|
| 182 |
+
"physics": {
|
| 183 |
+
"type": "geometry",
|
| 184 |
+
"collision": false,
|
| 185 |
+
"ratio": 1.0
|
| 186 |
+
},
|
| 187 |
+
"primitive_params": null
|
| 188 |
+
},
|
| 189 |
+
"type_specific": {}
|
| 190 |
+
},
|
| 191 |
+
{
|
| 192 |
+
"asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_12_clear/plate_12_clear.usd",
|
| 193 |
+
"pose": {
|
| 194 |
+
"pos": [
|
| 195 |
+
-0.6,
|
| 196 |
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0.02,
|
| 197 |
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1.0285
|
| 198 |
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],
|
| 199 |
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"ori": [
|
| 200 |
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6.123234262925839e-17,
|
| 201 |
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0.0,
|
| 202 |
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0.0,
|
| 203 |
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1.0
|
| 204 |
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],
|
| 205 |
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"scale": [
|
| 206 |
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1.0,
|
| 207 |
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1.0,
|
| 208 |
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1.0
|
| 209 |
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]
|
| 210 |
+
},
|
| 211 |
+
"dr": {
|
| 212 |
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"visual": {
|
| 213 |
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"kind": null,
|
| 214 |
+
"value": null,
|
| 215 |
+
"visible": true
|
| 216 |
+
},
|
| 217 |
+
"physics": {
|
| 218 |
+
"type": "geometry",
|
| 219 |
+
"collision": false,
|
| 220 |
+
"ratio": 1.0
|
| 221 |
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},
|
| 222 |
+
"primitive_params": null
|
| 223 |
+
},
|
| 224 |
+
"type_specific": {}
|
| 225 |
+
},
|
| 226 |
+
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episodes/c2_p008_e029/wrist.mp4
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episodes/c3_p006_e028/device_events.jsonl
ADDED
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{"env_id": 0, "seq": 1, "step": 171, "t": 0.855, "topic": "conveyor_1.belt.station.pick.captured", "source": "conveyor_1.belt", "data": {"rider": "carrier_3"}, "cause": null}
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{"env_id": 0, "seq": 2, "step": 171, "t": 0.855, "topic": "conveyor_1.belt.state.changed", "source": "conveyor_1.belt", "data": {"from": "running", "to": "at_station"}, "cause": null}
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{"env_id": 0, "seq": 3, "step": 176, "t": 0.88, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_3"}, "cause": null}
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{"env_id": 0, "seq": 4, "step": 7123, "t": 35.615, "topic": "a4s_sealer_1.plate_present.present", "source": "a4s_sealer_1.plate_present", "data": {"object": "plate_3"}, "cause": null}
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| 5 |
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{"env_id": 0, "seq": 5, "step": 7736, "t": 38.68, "topic": "a4s_sealer_1.command.started", "source": "a4s_sealer_1", "data": {"command_id": "task-0-1", "name": "seal", "source": "task"}, "cause": "task-0-1"}
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| 6 |
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{"env_id": 0, "seq": 6, "step": 7736, "t": 38.68, "topic": "a4s_sealer_1.seal.started", "source": "a4s_sealer_1", "data": {"dwell": 3.977612585203749}, "cause": "task-0-1"}
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| 7 |
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{"env_id": 0, "seq": 7, "step": 7736, "t": 38.68, "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"}
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| 8 |
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| 9 |
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|
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| 11 |
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| 15 |
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| 16 |
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| 17 |
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| 18 |
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|
| 19 |
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|
| 20 |
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|
| 21 |
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| 23 |
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| 24 |
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| 25 |
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| 29 |
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| 30 |
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| 31 |
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| 33 |
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| 34 |
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| 35 |
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episodes/c3_p006_e028/env.mp4
ADDED
|
@@ -0,0 +1,3 @@
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| 1 |
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version https://git-lfs.github.com/spec/v1
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| 3 |
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size 1317937
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episodes/c3_p006_e028/meta.json
ADDED
|
@@ -0,0 +1,32 @@
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|
| 1 |
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{
|
| 2 |
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| 3 |
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|
| 4 |
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|
| 5 |
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| 6 |
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| 7 |
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|
| 8 |
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"env": 1272
|
| 9 |
+
},
|
| 10 |
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"joint_target_source": "joint_pos_target",
|
| 11 |
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|
| 12 |
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"curobo_joints": [
|
| 13 |
+
"shoulder_pan_joint",
|
| 14 |
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|
| 15 |
+
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|
| 16 |
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|
| 17 |
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| 18 |
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|
| 19 |
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|
| 20 |
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"joint_order": [
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| 21 |
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| 22 |
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| 23 |
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| 25 |
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| 26 |
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| 27 |
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|
| 28 |
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|
| 29 |
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|
| 30 |
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"frames_note": "eef / actions in the robot base frame; camera_pose = local pose (wrist: in plate_gripper_base, env: env frame), pos + quat wxyz",
|
| 31 |
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|
| 32 |
+
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|
episodes/c3_p006_e028/scene_snapshot.json
ADDED
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|
| 1 |
+
{
|
| 2 |
+
"trajectory_id": 28,
|
| 3 |
+
"env_id": 0,
|
| 4 |
+
"run_id": "c3_p006",
|
| 5 |
+
"task_type": "BioPlateCell",
|
| 6 |
+
"success": true,
|
| 7 |
+
"timing": {
|
| 8 |
+
"fps": 50.0,
|
| 9 |
+
"sim_dt": 0.005,
|
| 10 |
+
"decimation": 4
|
| 11 |
+
},
|
| 12 |
+
"restore_interface": {
|
| 13 |
+
"scene": "scene_manager.reset_to(snapshot['scene'], env_ids=[env_id])",
|
| 14 |
+
"robots": "robot_manager.set_state({'robots': snapshot['robots']}, env_ids=[env_id])"
|
| 15 |
+
},
|
| 16 |
+
"snapshot": {
|
| 17 |
+
"env_id": 0,
|
| 18 |
+
"scene": {
|
| 19 |
+
"objects": [
|
| 20 |
+
{
|
| 21 |
+
"rac_cell": [
|
| 22 |
+
{
|
| 23 |
+
"asset": "$MAGICSIM_ASSETS/Bio/Lab/rac_cell.usd",
|
| 24 |
+
"pose": {
|
| 25 |
+
"pos": [
|
| 26 |
+
0.0,
|
| 27 |
+
0.0,
|
| 28 |
+
0.0
|
| 29 |
+
],
|
| 30 |
+
"ori": [
|
| 31 |
+
1.0,
|
| 32 |
+
0.0,
|
| 33 |
+
0.0,
|
| 34 |
+
0.0
|
| 35 |
+
],
|
| 36 |
+
"scale": [
|
| 37 |
+
1.0,
|
| 38 |
+
1.0,
|
| 39 |
+
1.0
|
| 40 |
+
]
|
| 41 |
+
},
|
| 42 |
+
"dr": {
|
| 43 |
+
"visual": {
|
| 44 |
+
"kind": null,
|
| 45 |
+
"value": null,
|
| 46 |
+
"visible": true
|
| 47 |
+
},
|
| 48 |
+
"physics": {
|
| 49 |
+
"type": "geometry",
|
| 50 |
+
"collision": false,
|
| 51 |
+
"physics_material": {
|
| 52 |
+
"static_friction": 0.6,
|
| 53 |
+
"dynamic_friction": 0.5,
|
| 54 |
+
"restitution": 0.0
|
| 55 |
+
},
|
| 56 |
+
"ratio": 1.0
|
| 57 |
+
},
|
| 58 |
+
"primitive_params": null
|
| 59 |
+
},
|
| 60 |
+
"type_specific": {}
|
| 61 |
+
}
|
| 62 |
+
],
|
| 63 |
+
"robot_mount": [
|
| 64 |
+
{
|
| 65 |
+
"asset": "Cube",
|
| 66 |
+
"pose": {
|
| 67 |
+
"pos": [
|
| 68 |
+
0.0,
|
| 69 |
+
0.0,
|
| 70 |
+
0.9075
|
| 71 |
+
],
|
| 72 |
+
"ori": [
|
| 73 |
+
1.0,
|
| 74 |
+
0.0,
|
| 75 |
+
0.0,
|
| 76 |
+
0.0
|
| 77 |
+
],
|
| 78 |
+
"scale": [
|
| 79 |
+
1.0,
|
| 80 |
+
1.0,
|
| 81 |
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1.0
|
| 82 |
+
]
|
| 83 |
+
},
|
| 84 |
+
"dr": {
|
| 85 |
+
"visual": {
|
| 86 |
+
"kind": "color",
|
| 87 |
+
"value": [
|
| 88 |
+
0.55,
|
| 89 |
+
0.56,
|
| 90 |
+
0.58
|
| 91 |
+
],
|
| 92 |
+
"visible": true
|
| 93 |
+
},
|
| 94 |
+
"physics": {
|
| 95 |
+
"type": "geometry",
|
| 96 |
+
"collision": false,
|
| 97 |
+
"ratio": 1.0
|
| 98 |
+
},
|
| 99 |
+
"primitive_params": {
|
| 100 |
+
"size": [
|
| 101 |
+
0.2,
|
| 102 |
+
0.2,
|
| 103 |
+
0.015
|
| 104 |
+
]
|
| 105 |
+
}
|
| 106 |
+
},
|
| 107 |
+
"type_specific": {}
|
| 108 |
+
}
|
| 109 |
+
],
|
| 110 |
+
"plate_rack": [
|
| 111 |
+
{
|
| 112 |
+
"asset": "$MAGICSIM_ASSETS/Bio/Lab/plate_hotel.usd",
|
| 113 |
+
"pose": {
|
| 114 |
+
"pos": [
|
| 115 |
+
-0.6,
|
| 116 |
+
0.02,
|
| 117 |
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0.9
|
| 118 |
+
],
|
| 119 |
+
"ori": [
|
| 120 |
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6.123234262925839e-17,
|
| 121 |
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0.0,
|
| 122 |
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0.0,
|
| 123 |
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1.0
|
| 124 |
+
],
|
| 125 |
+
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|
| 126 |
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1.0,
|
| 127 |
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1.0,
|
| 128 |
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1.0
|
| 129 |
+
]
|
| 130 |
+
},
|
| 131 |
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|
| 132 |
+
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|
| 133 |
+
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|
| 134 |
+
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|
| 135 |
+
"visible": true
|
| 136 |
+
},
|
| 137 |
+
"physics": {
|
| 138 |
+
"type": "geometry",
|
| 139 |
+
"collision": false,
|
| 140 |
+
"physics_material": {
|
| 141 |
+
"static_friction": 0.6,
|
| 142 |
+
"dynamic_friction": 0.5,
|
| 143 |
+
"restitution": 0.0
|
| 144 |
+
},
|
| 145 |
+
"ratio": 1.0
|
| 146 |
+
},
|
| 147 |
+
"primitive_params": null
|
| 148 |
+
},
|
| 149 |
+
"type_specific": {}
|
| 150 |
+
}
|
| 151 |
+
],
|
| 152 |
+
"hotel_plate": [
|
| 153 |
+
{
|
| 154 |
+
"asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_12_clear/plate_12_clear.usd",
|
| 155 |
+
"pose": {
|
| 156 |
+
"pos": [
|
| 157 |
+
-0.6,
|
| 158 |
+
0.02,
|
| 159 |
+
0.9605
|
| 160 |
+
],
|
| 161 |
+
"ori": [
|
| 162 |
+
1.0,
|
| 163 |
+
0.0,
|
| 164 |
+
0.0,
|
| 165 |
+
0.0
|
| 166 |
+
],
|
| 167 |
+
"scale": [
|
| 168 |
+
1.0,
|
| 169 |
+
1.0,
|
| 170 |
+
1.0
|
| 171 |
+
]
|
| 172 |
+
},
|
| 173 |
+
"dr": {
|
| 174 |
+
"visual": {
|
| 175 |
+
"kind": null,
|
| 176 |
+
"value": null,
|
| 177 |
+
"visible": true
|
| 178 |
+
},
|
| 179 |
+
"physics": {
|
| 180 |
+
"type": "geometry",
|
| 181 |
+
"collision": false,
|
| 182 |
+
"ratio": 1.0
|
| 183 |
+
},
|
| 184 |
+
"primitive_params": null
|
| 185 |
+
},
|
| 186 |
+
"type_specific": {}
|
| 187 |
+
},
|
| 188 |
+
{
|
| 189 |
+
"asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/deep_well_24_10ml/deep_well_24_10ml.usd",
|
| 190 |
+
"pose": {
|
| 191 |
+
"pos": [
|
| 192 |
+
-0.6,
|
| 193 |
+
0.02,
|
| 194 |
+
1.0285
|
| 195 |
+
],
|
| 196 |
+
"ori": [
|
| 197 |
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6.123234262925839e-17,
|
| 198 |
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0.0,
|
| 199 |
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0.0,
|
| 200 |
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1.0
|
| 201 |
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],
|
| 202 |
+
"scale": [
|
| 203 |
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1.0,
|
| 204 |
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1.0,
|
| 205 |
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1.0
|
| 206 |
+
]
|
| 207 |
+
},
|
| 208 |
+
"dr": {
|
| 209 |
+
"visual": {
|
| 210 |
+
"kind": null,
|
| 211 |
+
"value": null,
|
| 212 |
+
"visible": true
|
| 213 |
+
},
|
| 214 |
+
"physics": {
|
| 215 |
+
"type": "geometry",
|
| 216 |
+
"collision": false,
|
| 217 |
+
"ratio": 1.0
|
| 218 |
+
},
|
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episodes/c3_p006_e028/wrist.mp4
ADDED
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version https://git-lfs.github.com/spec/v1
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size 8278277
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episodes/c4_p006_e028/data.npz
ADDED
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version https://git-lfs.github.com/spec/v1
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episodes/c4_p006_e028/device_events.jsonl
ADDED
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| 1 |
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{"env_id": 2, "seq": 1, "step": 224, "t": 1.12, "topic": "conveyor_1.belt.station.pick.captured", "source": "conveyor_1.belt", "data": {"rider": "carrier_3"}, "cause": null}
|
| 2 |
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{"env_id": 2, "seq": 2, "step": 224, "t": 1.12, "topic": "conveyor_1.belt.state.changed", "source": "conveyor_1.belt", "data": {"from": "running", "to": "at_station"}, "cause": null}
|
| 3 |
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{"env_id": 2, "seq": 3, "step": 229, "t": 1.145, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_3"}, "cause": null}
|
| 4 |
+
{"env_id": 2, "seq": 4, "step": 5451, "t": 27.255, "topic": "a4s_sealer_1.plate_present.present", "source": "a4s_sealer_1.plate_present", "data": {"object": "plate_3"}, "cause": null}
|
| 5 |
+
{"env_id": 2, "seq": 5, "step": 6064, "t": 30.32, "topic": "a4s_sealer_1.command.started", "source": "a4s_sealer_1", "data": {"command_id": "task-2-1", "name": "seal", "source": "task"}, "cause": "task-2-1"}
|
| 6 |
+
{"env_id": 2, "seq": 6, "step": 6064, "t": 30.32, "topic": "a4s_sealer_1.seal.started", "source": "a4s_sealer_1", "data": {"dwell": 2.729471866808069}, "cause": "task-2-1"}
|
| 7 |
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{"env_id": 2, "seq": 7, "step": 6064, "t": 30.32, "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"}
|
| 8 |
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{"env_id": 2, "seq": 8, "step": 6064, "t": 30.32, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "at_out", "to": "moving"}, "cause": null}
|
| 9 |
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{"env_id": 2, "seq": 9, "step": 6064, "t": 30.32, "topic": "a4s_sealer_1.drawer.moving", "source": "a4s_sealer_1.drawer", "data": {"target": 0.3, "goal": "in"}, "cause": "program-2-2"}
|
| 10 |
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{"env_id": 2, "seq": 10, "step": 6483, "t": 32.415, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "moving", "to": "at_in"}, "cause": null}
|
| 11 |
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{"env_id": 2, "seq": 11, "step": 6483, "t": 32.415, "topic": "a4s_sealer_1.drawer.reached", "source": "a4s_sealer_1.drawer", "data": {"position": "in", "q": 0.30000001192092896}, "cause": "program-2-2"}
|
| 12 |
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|
| 13 |
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{"env_id": 2, "seq": 13, "step": 6483, "t": 32.415, "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"}
|
| 14 |
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{"env_id": 2, "seq": 14, "step": 6483, "t": 32.415, "topic": "labware.plate_3.changed", "source": "labware.plate_3", "data": {"key": "sealed", "value": true}, "cause": "task-2-1"}
|
| 15 |
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{"env_id": 2, "seq": 15, "step": 6483, "t": 32.415, "topic": "a4s_sealer_1.sealed", "source": "a4s_sealer_1", "data": {"plate": "plate_3"}, "cause": "task-2-1"}
|
| 16 |
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{"env_id": 2, "seq": 16, "step": 6483, "t": 32.415, "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"}
|
| 17 |
+
{"env_id": 2, "seq": 17, "step": 6483, "t": 32.415, "topic": "a4s_sealer_1.heater.state.changed", "source": "a4s_sealer_1.heater", "data": {"from": "ready", "to": "running"}, "cause": null}
|
| 18 |
+
{"env_id": 2, "seq": 18, "step": 6483, "t": 32.415, "topic": "a4s_sealer_1.heater.started", "source": "a4s_sealer_1.heater", "data": {"duration": 2.729471866808069}, "cause": "program-2-3"}
|
| 19 |
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{"env_id": 2, "seq": 19, "step": 7029, "t": 35.145, "topic": "a4s_sealer_1.heater.state.changed", "source": "a4s_sealer_1.heater", "data": {"from": "running", "to": "ready"}, "cause": null}
|
| 20 |
+
{"env_id": 2, "seq": 20, "step": 7029, "t": 35.145, "topic": "a4s_sealer_1.heater.finished", "source": "a4s_sealer_1.heater", "data": {"elapsed": 2.7300000000013966}, "cause": "program-2-3"}
|
| 21 |
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{"env_id": 2, "seq": 21, "step": 7029, "t": 35.145, "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": 2.7300000000013966}}, "cause": "program-2-3"}
|
| 22 |
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{"env_id": 2, "seq": 22, "step": 7029, "t": 35.145, "topic": "a4s_sealer_1.drawer.command.started", "source": "a4s_sealer_1.drawer", "data": {"command_id": "program-2-4", "name": "open", "source": "program:seal"}, "cause": "program-2-4"}
|
| 23 |
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{"env_id": 2, "seq": 23, "step": 7029, "t": 35.145, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "at_in", "to": "moving"}, "cause": null}
|
| 24 |
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{"env_id": 2, "seq": 24, "step": 7029, "t": 35.145, "topic": "a4s_sealer_1.drawer.moving", "source": "a4s_sealer_1.drawer", "data": {"target": 0.0, "goal": "out"}, "cause": "program-2-4"}
|
| 25 |
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{"env_id": 2, "seq": 25, "step": 7449, "t": 37.245, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "moving", "to": "at_out"}, "cause": null}
|
| 26 |
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{"env_id": 2, "seq": 26, "step": 7449, "t": 37.245, "topic": "a4s_sealer_1.drawer.reached", "source": "a4s_sealer_1.drawer", "data": {"position": "out", "q": 0.0}, "cause": "program-2-4"}
|
| 27 |
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{"env_id": 2, "seq": 27, "step": 7449, "t": 37.245, "topic": "a4s_sealer_1.drawer.at_out", "source": "a4s_sealer_1.drawer", "data": {"q": 0.0}, "cause": "program-2-4"}
|
| 28 |
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{"env_id": 2, "seq": 28, "step": 7449, "t": 37.245, "topic": "a4s_sealer_1.drawer.command.succeeded", "source": "a4s_sealer_1.drawer", "data": {"command_id": "program-2-4", "name": "open", "source": "program:seal", "result": {"position": "out"}}, "cause": "program-2-4"}
|
| 29 |
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{"env_id": 2, "seq": 29, "step": 7449, "t": 37.245, "topic": "a4s_sealer_1.seal.finished", "source": "a4s_sealer_1", "data": {}, "cause": "task-2-1"}
|
| 30 |
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{"env_id": 2, "seq": 30, "step": 7449, "t": 37.245, "topic": "a4s_sealer_1.command.succeeded", "source": "a4s_sealer_1", "data": {"command_id": "task-2-1", "name": "seal", "source": "task"}, "cause": "task-2-1"}
|
| 31 |
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{"env_id": 2, "seq": 31, "step": 8032, "t": 40.16, "topic": "a4s_sealer_1.plate_present.absent", "source": "a4s_sealer_1.plate_present", "data": {"object": "plate_3"}, "cause": null}
|
| 32 |
+
{"env_id": 2, "seq": 32, "step": 9764, "t": 48.82, "topic": "conveyor_1.belt.command.started", "source": "conveyor_1.belt", "data": {"command_id": "task-2-5", "name": "release", "source": "task"}, "cause": "task-2-5"}
|
| 33 |
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{"env_id": 2, "seq": 33, "step": 9764, "t": 48.82, "topic": "conveyor_1.belt.station.pick.released", "source": "conveyor_1.belt", "data": {"rider": "carrier_3"}, "cause": "task-2-5"}
|
| 34 |
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{"env_id": 2, "seq": 34, "step": 9764, "t": 48.82, "topic": "conveyor_1.belt.state.changed", "source": "conveyor_1.belt", "data": {"from": "at_station", "to": "running"}, "cause": null}
|
| 35 |
+
{"env_id": 2, "seq": 35, "step": 9764, "t": 48.82, "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"}
|
episodes/c4_p006_e028/env.mp4
ADDED
|
@@ -0,0 +1,3 @@
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| 1 |
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version https://git-lfs.github.com/spec/v1
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| 3 |
+
size 1304240
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episodes/c4_p006_e028/meta.json
ADDED
|
@@ -0,0 +1,32 @@
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|
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|
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|
|
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|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"source": "raw/c4_p006/magicsim/28",
|
| 3 |
+
"fps": 25,
|
| 4 |
+
"frames": 1191,
|
| 5 |
+
"kept_ticks": "even",
|
| 6 |
+
"video_frames": {
|
| 7 |
+
"wrist": 1191,
|
| 8 |
+
"env": 1191
|
| 9 |
+
},
|
| 10 |
+
"joint_target_source": "joint_pos_target",
|
| 11 |
+
"fk_vs_recorded_eef_max_m": 0.0,
|
| 12 |
+
"curobo_joints": [
|
| 13 |
+
"shoulder_pan_joint",
|
| 14 |
+
"shoulder_lift_joint",
|
| 15 |
+
"elbow_joint",
|
| 16 |
+
"wrist_1_joint",
|
| 17 |
+
"wrist_2_joint",
|
| 18 |
+
"wrist_3_joint"
|
| 19 |
+
],
|
| 20 |
+
"joint_order": [
|
| 21 |
+
"shoulder_pan",
|
| 22 |
+
"shoulder_lift",
|
| 23 |
+
"elbow",
|
| 24 |
+
"wrist_1",
|
| 25 |
+
"wrist_2",
|
| 26 |
+
"wrist_3",
|
| 27 |
+
"finger_left",
|
| 28 |
+
"finger_right"
|
| 29 |
+
],
|
| 30 |
+
"frames_note": "eef / actions in the robot base frame; camera_pose = local pose (wrist: in plate_gripper_base, env: env frame), pos + quat wxyz",
|
| 31 |
+
"dr_version": "v2"
|
| 32 |
+
}
|
episodes/c4_p006_e028/scene_snapshot.json
ADDED
|
@@ -0,0 +1,1558 @@
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|
| 1 |
+
{
|
| 2 |
+
"trajectory_id": 28,
|
| 3 |
+
"env_id": 2,
|
| 4 |
+
"run_id": "c4_p006",
|
| 5 |
+
"task_type": "BioPlateCell",
|
| 6 |
+
"success": true,
|
| 7 |
+
"timing": {
|
| 8 |
+
"fps": 50.0,
|
| 9 |
+
"sim_dt": 0.005,
|
| 10 |
+
"decimation": 4
|
| 11 |
+
},
|
| 12 |
+
"restore_interface": {
|
| 13 |
+
"scene": "scene_manager.reset_to(snapshot['scene'], env_ids=[env_id])",
|
| 14 |
+
"robots": "robot_manager.set_state({'robots': snapshot['robots']}, env_ids=[env_id])"
|
| 15 |
+
},
|
| 16 |
+
"snapshot": {
|
| 17 |
+
"env_id": 2,
|
| 18 |
+
"scene": {
|
| 19 |
+
"objects": [
|
| 20 |
+
{},
|
| 21 |
+
{},
|
| 22 |
+
{
|
| 23 |
+
"rac_cell": [
|
| 24 |
+
{
|
| 25 |
+
"asset": "$MAGICSIM_ASSETS/Bio/Lab/rac_cell.usd",
|
| 26 |
+
"pose": {
|
| 27 |
+
"pos": [
|
| 28 |
+
0.0,
|
| 29 |
+
0.0,
|
| 30 |
+
0.0
|
| 31 |
+
],
|
| 32 |
+
"ori": [
|
| 33 |
+
1.0,
|
| 34 |
+
0.0,
|
| 35 |
+
0.0,
|
| 36 |
+
0.0
|
| 37 |
+
],
|
| 38 |
+
"scale": [
|
| 39 |
+
1.0,
|
| 40 |
+
1.0,
|
| 41 |
+
1.0
|
| 42 |
+
]
|
| 43 |
+
},
|
| 44 |
+
"dr": {
|
| 45 |
+
"visual": {
|
| 46 |
+
"kind": null,
|
| 47 |
+
"value": null,
|
| 48 |
+
"visible": true
|
| 49 |
+
},
|
| 50 |
+
"physics": {
|
| 51 |
+
"type": "geometry",
|
| 52 |
+
"collision": false,
|
| 53 |
+
"physics_material": {
|
| 54 |
+
"static_friction": 0.6,
|
| 55 |
+
"dynamic_friction": 0.5,
|
| 56 |
+
"restitution": 0.0
|
| 57 |
+
},
|
| 58 |
+
"ratio": 1.0
|
| 59 |
+
},
|
| 60 |
+
"primitive_params": null
|
| 61 |
+
},
|
| 62 |
+
"type_specific": {}
|
| 63 |
+
}
|
| 64 |
+
],
|
| 65 |
+
"robot_mount": [
|
| 66 |
+
{
|
| 67 |
+
"asset": "Cube",
|
| 68 |
+
"pose": {
|
| 69 |
+
"pos": [
|
| 70 |
+
0.0,
|
| 71 |
+
0.0,
|
| 72 |
+
0.9075
|
| 73 |
+
],
|
| 74 |
+
"ori": [
|
| 75 |
+
1.0,
|
| 76 |
+
0.0,
|
| 77 |
+
0.0,
|
| 78 |
+
0.0
|
| 79 |
+
],
|
| 80 |
+
"scale": [
|
| 81 |
+
1.0,
|
| 82 |
+
1.0,
|
| 83 |
+
1.0
|
| 84 |
+
]
|
| 85 |
+
},
|
| 86 |
+
"dr": {
|
| 87 |
+
"visual": {
|
| 88 |
+
"kind": "color",
|
| 89 |
+
"value": [
|
| 90 |
+
0.55,
|
| 91 |
+
0.56,
|
| 92 |
+
0.58
|
| 93 |
+
],
|
| 94 |
+
"visible": true
|
| 95 |
+
},
|
| 96 |
+
"physics": {
|
| 97 |
+
"type": "geometry",
|
| 98 |
+
"collision": false,
|
| 99 |
+
"ratio": 1.0
|
| 100 |
+
},
|
| 101 |
+
"primitive_params": {
|
| 102 |
+
"size": [
|
| 103 |
+
0.2,
|
| 104 |
+
0.2,
|
| 105 |
+
0.015
|
| 106 |
+
]
|
| 107 |
+
}
|
| 108 |
+
},
|
| 109 |
+
"type_specific": {}
|
| 110 |
+
}
|
| 111 |
+
],
|
| 112 |
+
"plate_rack": [
|
| 113 |
+
{
|
| 114 |
+
"asset": "$MAGICSIM_ASSETS/Bio/Lab/plate_hotel.usd",
|
| 115 |
+
"pose": {
|
| 116 |
+
"pos": [
|
| 117 |
+
-0.6,
|
| 118 |
+
0.02,
|
| 119 |
+
0.9
|
| 120 |
+
],
|
| 121 |
+
"ori": [
|
| 122 |
+
6.123234262925839e-17,
|
| 123 |
+
0.0,
|
| 124 |
+
0.0,
|
| 125 |
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1.0
|
| 126 |
+
],
|
| 127 |
+
"scale": [
|
| 128 |
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1.0,
|
| 129 |
+
1.0,
|
| 130 |
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1.0
|
| 131 |
+
]
|
| 132 |
+
},
|
| 133 |
+
"dr": {
|
| 134 |
+
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|
| 135 |
+
"kind": null,
|
| 136 |
+
"value": null,
|
| 137 |
+
"visible": true
|
| 138 |
+
},
|
| 139 |
+
"physics": {
|
| 140 |
+
"type": "geometry",
|
| 141 |
+
"collision": false,
|
| 142 |
+
"physics_material": {
|
| 143 |
+
"static_friction": 0.6,
|
| 144 |
+
"dynamic_friction": 0.5,
|
| 145 |
+
"restitution": 0.0
|
| 146 |
+
},
|
| 147 |
+
"ratio": 1.0
|
| 148 |
+
},
|
| 149 |
+
"primitive_params": null
|
| 150 |
+
},
|
| 151 |
+
"type_specific": {}
|
| 152 |
+
}
|
| 153 |
+
],
|
| 154 |
+
"hotel_plate": [
|
| 155 |
+
{
|
| 156 |
+
"asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_96_white/plate_96_white.usd",
|
| 157 |
+
"pose": {
|
| 158 |
+
"pos": [
|
| 159 |
+
-0.6,
|
| 160 |
+
0.02,
|
| 161 |
+
0.9605
|
| 162 |
+
],
|
| 163 |
+
"ori": [
|
| 164 |
+
1.0,
|
| 165 |
+
0.0,
|
| 166 |
+
0.0,
|
| 167 |
+
0.0
|
| 168 |
+
],
|
| 169 |
+
"scale": [
|
| 170 |
+
1.0,
|
| 171 |
+
1.0,
|
| 172 |
+
1.0
|
| 173 |
+
]
|
| 174 |
+
},
|
| 175 |
+
"dr": {
|
| 176 |
+
"visual": {
|
| 177 |
+
"kind": null,
|
| 178 |
+
"value": null,
|
| 179 |
+
"visible": true
|
| 180 |
+
},
|
| 181 |
+
"physics": {
|
| 182 |
+
"type": "geometry",
|
| 183 |
+
"collision": false,
|
| 184 |
+
"ratio": 1.0
|
| 185 |
+
},
|
| 186 |
+
"primitive_params": null
|
| 187 |
+
},
|
| 188 |
+
"type_specific": {}
|
| 189 |
+
},
|
| 190 |
+
{
|
| 191 |
+
"asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_48_clear/plate_48_clear.usd",
|
| 192 |
+
"pose": {
|
| 193 |
+
"pos": [
|
| 194 |
+
-0.6,
|
| 195 |
+
0.02,
|
| 196 |
+
1.0285
|
| 197 |
+
],
|
| 198 |
+
"ori": [
|
| 199 |
+
6.123234262925839e-17,
|
| 200 |
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0.0,
|
| 201 |
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0.0,
|
| 202 |
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1.0
|
| 203 |
+
],
|
| 204 |
+
"scale": [
|
| 205 |
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1.0,
|
| 206 |
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1.0,
|
| 207 |
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1.0
|
| 208 |
+
]
|
| 209 |
+
},
|
| 210 |
+
"dr": {
|
| 211 |
+
"visual": {
|
| 212 |
+
"kind": null,
|
| 213 |
+
"value": null,
|
| 214 |
+
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episodes/c4_p006_e028/wrist.mp4
ADDED
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episodes/c5_p006_e024/data.npz
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episodes/c5_p006_e024/device_events.jsonl
ADDED
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|
| 7 |
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|
| 8 |
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|
| 9 |
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|
| 10 |
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|
| 11 |
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|
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|
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|
| 17 |
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|
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|
| 19 |
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|
| 20 |
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|
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|
| 22 |
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|
| 23 |
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|
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|
| 25 |
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| 36 |
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| 37 |
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episodes/c5_p006_e024/env.mp4
ADDED
|
@@ -0,0 +1,3 @@
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| 1 |
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version https://git-lfs.github.com/spec/v1
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| 3 |
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size 1208144
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episodes/c5_p006_e024/meta.json
ADDED
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@@ -0,0 +1,32 @@
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|
| 1 |
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{
|
| 2 |
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"source": "raw/c5_p006/magicsim/24",
|
| 3 |
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|
| 4 |
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"frames": 1275,
|
| 5 |
+
"kept_ticks": "even",
|
| 6 |
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| 7 |
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"wrist": 1275,
|
| 8 |
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"env": 1275
|
| 9 |
+
},
|
| 10 |
+
"joint_target_source": "joint_pos_target",
|
| 11 |
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|
| 12 |
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"curobo_joints": [
|
| 13 |
+
"shoulder_pan_joint",
|
| 14 |
+
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|
| 15 |
+
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|
| 16 |
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|
| 17 |
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"wrist_2_joint",
|
| 18 |
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|
| 19 |
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|
| 20 |
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"joint_order": [
|
| 21 |
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|
| 22 |
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| 23 |
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| 24 |
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| 25 |
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| 26 |
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| 27 |
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|
| 28 |
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|
| 29 |
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],
|
| 30 |
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"frames_note": "eef / actions in the robot base frame; camera_pose = local pose (wrist: in plate_gripper_base, env: env frame), pos + quat wxyz",
|
| 31 |
+
"dr_version": "v2"
|
| 32 |
+
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|
episodes/c5_p006_e024/scene_snapshot.json
ADDED
|
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|
| 1 |
+
{
|
| 2 |
+
"trajectory_id": 24,
|
| 3 |
+
"env_id": 0,
|
| 4 |
+
"run_id": "c5_p006",
|
| 5 |
+
"task_type": "BioPlateCell",
|
| 6 |
+
"success": true,
|
| 7 |
+
"timing": {
|
| 8 |
+
"fps": 50.0,
|
| 9 |
+
"sim_dt": 0.005,
|
| 10 |
+
"decimation": 4
|
| 11 |
+
},
|
| 12 |
+
"restore_interface": {
|
| 13 |
+
"scene": "scene_manager.reset_to(snapshot['scene'], env_ids=[env_id])",
|
| 14 |
+
"robots": "robot_manager.set_state({'robots': snapshot['robots']}, env_ids=[env_id])"
|
| 15 |
+
},
|
| 16 |
+
"snapshot": {
|
| 17 |
+
"env_id": 0,
|
| 18 |
+
"scene": {
|
| 19 |
+
"objects": [
|
| 20 |
+
{
|
| 21 |
+
"rac_cell": [
|
| 22 |
+
{
|
| 23 |
+
"asset": "$MAGICSIM_ASSETS/Bio/Lab/rac_cell.usd",
|
| 24 |
+
"pose": {
|
| 25 |
+
"pos": [
|
| 26 |
+
0.0,
|
| 27 |
+
0.0,
|
| 28 |
+
0.0
|
| 29 |
+
],
|
| 30 |
+
"ori": [
|
| 31 |
+
1.0,
|
| 32 |
+
0.0,
|
| 33 |
+
0.0,
|
| 34 |
+
0.0
|
| 35 |
+
],
|
| 36 |
+
"scale": [
|
| 37 |
+
1.0,
|
| 38 |
+
1.0,
|
| 39 |
+
1.0
|
| 40 |
+
]
|
| 41 |
+
},
|
| 42 |
+
"dr": {
|
| 43 |
+
"visual": {
|
| 44 |
+
"kind": null,
|
| 45 |
+
"value": null,
|
| 46 |
+
"visible": true
|
| 47 |
+
},
|
| 48 |
+
"physics": {
|
| 49 |
+
"type": "geometry",
|
| 50 |
+
"collision": false,
|
| 51 |
+
"physics_material": {
|
| 52 |
+
"static_friction": 0.6,
|
| 53 |
+
"dynamic_friction": 0.5,
|
| 54 |
+
"restitution": 0.0
|
| 55 |
+
},
|
| 56 |
+
"ratio": 1.0
|
| 57 |
+
},
|
| 58 |
+
"primitive_params": null
|
| 59 |
+
},
|
| 60 |
+
"type_specific": {}
|
| 61 |
+
}
|
| 62 |
+
],
|
| 63 |
+
"robot_mount": [
|
| 64 |
+
{
|
| 65 |
+
"asset": "Cube",
|
| 66 |
+
"pose": {
|
| 67 |
+
"pos": [
|
| 68 |
+
0.0,
|
| 69 |
+
0.0,
|
| 70 |
+
0.9075
|
| 71 |
+
],
|
| 72 |
+
"ori": [
|
| 73 |
+
1.0,
|
| 74 |
+
0.0,
|
| 75 |
+
0.0,
|
| 76 |
+
0.0
|
| 77 |
+
],
|
| 78 |
+
"scale": [
|
| 79 |
+
1.0,
|
| 80 |
+
1.0,
|
| 81 |
+
1.0
|
| 82 |
+
]
|
| 83 |
+
},
|
| 84 |
+
"dr": {
|
| 85 |
+
"visual": {
|
| 86 |
+
"kind": "color",
|
| 87 |
+
"value": [
|
| 88 |
+
0.55,
|
| 89 |
+
0.56,
|
| 90 |
+
0.58
|
| 91 |
+
],
|
| 92 |
+
"visible": true
|
| 93 |
+
},
|
| 94 |
+
"physics": {
|
| 95 |
+
"type": "geometry",
|
| 96 |
+
"collision": false,
|
| 97 |
+
"ratio": 1.0
|
| 98 |
+
},
|
| 99 |
+
"primitive_params": {
|
| 100 |
+
"size": [
|
| 101 |
+
0.2,
|
| 102 |
+
0.2,
|
| 103 |
+
0.015
|
| 104 |
+
]
|
| 105 |
+
}
|
| 106 |
+
},
|
| 107 |
+
"type_specific": {}
|
| 108 |
+
}
|
| 109 |
+
],
|
| 110 |
+
"plate_rack": [
|
| 111 |
+
{
|
| 112 |
+
"asset": "$MAGICSIM_ASSETS/Bio/Lab/plate_hotel.usd",
|
| 113 |
+
"pose": {
|
| 114 |
+
"pos": [
|
| 115 |
+
-0.6,
|
| 116 |
+
0.02,
|
| 117 |
+
0.9
|
| 118 |
+
],
|
| 119 |
+
"ori": [
|
| 120 |
+
6.123234262925839e-17,
|
| 121 |
+
0.0,
|
| 122 |
+
0.0,
|
| 123 |
+
1.0
|
| 124 |
+
],
|
| 125 |
+
"scale": [
|
| 126 |
+
1.0,
|
| 127 |
+
1.0,
|
| 128 |
+
1.0
|
| 129 |
+
]
|
| 130 |
+
},
|
| 131 |
+
"dr": {
|
| 132 |
+
"visual": {
|
| 133 |
+
"kind": null,
|
| 134 |
+
"value": null,
|
| 135 |
+
"visible": true
|
| 136 |
+
},
|
| 137 |
+
"physics": {
|
| 138 |
+
"type": "geometry",
|
| 139 |
+
"collision": false,
|
| 140 |
+
"physics_material": {
|
| 141 |
+
"static_friction": 0.6,
|
| 142 |
+
"dynamic_friction": 0.5,
|
| 143 |
+
"restitution": 0.0
|
| 144 |
+
},
|
| 145 |
+
"ratio": 1.0
|
| 146 |
+
},
|
| 147 |
+
"primitive_params": null
|
| 148 |
+
},
|
| 149 |
+
"type_specific": {}
|
| 150 |
+
}
|
| 151 |
+
],
|
| 152 |
+
"hotel_plate": [
|
| 153 |
+
{
|
| 154 |
+
"asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_24_clear/plate_24_clear.usd",
|
| 155 |
+
"pose": {
|
| 156 |
+
"pos": [
|
| 157 |
+
-0.6,
|
| 158 |
+
0.02,
|
| 159 |
+
0.9605
|
| 160 |
+
],
|
| 161 |
+
"ori": [
|
| 162 |
+
1.0,
|
| 163 |
+
0.0,
|
| 164 |
+
0.0,
|
| 165 |
+
0.0
|
| 166 |
+
],
|
| 167 |
+
"scale": [
|
| 168 |
+
1.0,
|
| 169 |
+
1.0,
|
| 170 |
+
1.0
|
| 171 |
+
]
|
| 172 |
+
},
|
| 173 |
+
"dr": {
|
| 174 |
+
"visual": {
|
| 175 |
+
"kind": null,
|
| 176 |
+
"value": null,
|
| 177 |
+
"visible": true
|
| 178 |
+
},
|
| 179 |
+
"physics": {
|
| 180 |
+
"type": "geometry",
|
| 181 |
+
"collision": false,
|
| 182 |
+
"ratio": 1.0
|
| 183 |
+
},
|
| 184 |
+
"primitive_params": null
|
| 185 |
+
},
|
| 186 |
+
"type_specific": {}
|
| 187 |
+
},
|
| 188 |
+
{
|
| 189 |
+
"asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_96_white/plate_96_white.usd",
|
| 190 |
+
"pose": {
|
| 191 |
+
"pos": [
|
| 192 |
+
-0.6,
|
| 193 |
+
0.02,
|
| 194 |
+
1.0285
|
| 195 |
+
],
|
| 196 |
+
"ori": [
|
| 197 |
+
6.123234262925839e-17,
|
| 198 |
+
0.0,
|
| 199 |
+
0.0,
|
| 200 |
+
1.0
|
| 201 |
+
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episodes/c5_p006_e024/wrist.mp4
ADDED
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version https://git-lfs.github.com/spec/v1
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size 8533461
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episodes/c6_p007_e012/data.npz
ADDED
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version https://git-lfs.github.com/spec/v1
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episodes/c6_p007_e012/device_events.jsonl
ADDED
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@@ -0,0 +1,35 @@
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| 1 |
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{"env_id": 1, "seq": 1, "step": 55, "t": 0.275, "topic": "conveyor_1.belt.station.pick.captured", "source": "conveyor_1.belt", "data": {"rider": "carrier_2"}, "cause": null}
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| 2 |
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{"env_id": 1, "seq": 2, "step": 55, "t": 0.275, "topic": "conveyor_1.belt.state.changed", "source": "conveyor_1.belt", "data": {"from": "running", "to": "at_station"}, "cause": null}
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| 3 |
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{"env_id": 1, "seq": 3, "step": 60, "t": 0.3, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_2"}, "cause": null}
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| 4 |
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{"env_id": 1, "seq": 4, "step": 6503, "t": 32.515, "topic": "a4s_sealer_1.plate_present.present", "source": "a4s_sealer_1.plate_present", "data": {"object": "plate_2"}, "cause": null}
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| 5 |
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{"env_id": 1, "seq": 5, "step": 7120, "t": 35.6, "topic": "a4s_sealer_1.command.started", "source": "a4s_sealer_1", "data": {"command_id": "task-1-1", "name": "seal", "source": "task"}, "cause": "task-1-1"}
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| 6 |
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{"env_id": 1, "seq": 6, "step": 7120, "t": 35.6, "topic": "a4s_sealer_1.seal.started", "source": "a4s_sealer_1", "data": {"dwell": 4.757540899427407}, "cause": "task-1-1"}
|
| 7 |
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{"env_id": 1, "seq": 7, "step": 7120, "t": 35.6, "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"}
|
| 8 |
+
{"env_id": 1, "seq": 8, "step": 7120, "t": 35.6, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "at_out", "to": "moving"}, "cause": null}
|
| 9 |
+
{"env_id": 1, "seq": 9, "step": 7120, "t": 35.6, "topic": "a4s_sealer_1.drawer.moving", "source": "a4s_sealer_1.drawer", "data": {"target": 0.3, "goal": "in"}, "cause": "program-1-2"}
|
| 10 |
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{"env_id": 1, "seq": 10, "step": 7539, "t": 37.695, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "moving", "to": "at_in"}, "cause": null}
|
| 11 |
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{"env_id": 1, "seq": 11, "step": 7539, "t": 37.695, "topic": "a4s_sealer_1.drawer.reached", "source": "a4s_sealer_1.drawer", "data": {"position": "in", "q": 0.30000001192092896}, "cause": "program-1-2"}
|
| 12 |
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|
| 13 |
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{"env_id": 1, "seq": 13, "step": 7539, "t": 37.695, "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"}
|
| 14 |
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{"env_id": 1, "seq": 14, "step": 7539, "t": 37.695, "topic": "labware.plate_2.changed", "source": "labware.plate_2", "data": {"key": "sealed", "value": true}, "cause": "task-1-1"}
|
| 15 |
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{"env_id": 1, "seq": 15, "step": 7539, "t": 37.695, "topic": "a4s_sealer_1.sealed", "source": "a4s_sealer_1", "data": {"plate": "plate_2"}, "cause": "task-1-1"}
|
| 16 |
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{"env_id": 1, "seq": 16, "step": 7539, "t": 37.695, "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"}
|
| 17 |
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{"env_id": 1, "seq": 17, "step": 7539, "t": 37.695, "topic": "a4s_sealer_1.heater.state.changed", "source": "a4s_sealer_1.heater", "data": {"from": "ready", "to": "running"}, "cause": null}
|
| 18 |
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{"env_id": 1, "seq": 18, "step": 7539, "t": 37.695, "topic": "a4s_sealer_1.heater.started", "source": "a4s_sealer_1.heater", "data": {"duration": 4.757540899427407}, "cause": "program-1-3"}
|
| 19 |
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{"env_id": 1, "seq": 19, "step": 8491, "t": 42.455, "topic": "a4s_sealer_1.heater.state.changed", "source": "a4s_sealer_1.heater", "data": {"from": "running", "to": "ready"}, "cause": null}
|
| 20 |
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{"env_id": 1, "seq": 20, "step": 8491, "t": 42.455, "topic": "a4s_sealer_1.heater.finished", "source": "a4s_sealer_1.heater", "data": {"elapsed": 4.760000000002435}, "cause": "program-1-3"}
|
| 21 |
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{"env_id": 1, "seq": 21, "step": 8491, "t": 42.455, "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": 4.760000000002435}}, "cause": "program-1-3"}
|
| 22 |
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{"env_id": 1, "seq": 22, "step": 8491, "t": 42.455, "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"}
|
| 23 |
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{"env_id": 1, "seq": 23, "step": 8491, "t": 42.455, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "at_in", "to": "moving"}, "cause": null}
|
| 24 |
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{"env_id": 1, "seq": 24, "step": 8491, "t": 42.455, "topic": "a4s_sealer_1.drawer.moving", "source": "a4s_sealer_1.drawer", "data": {"target": 0.0, "goal": "out"}, "cause": "program-1-4"}
|
| 25 |
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{"env_id": 1, "seq": 25, "step": 8911, "t": 44.555, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "moving", "to": "at_out"}, "cause": null}
|
| 26 |
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{"env_id": 1, "seq": 26, "step": 8911, "t": 44.555, "topic": "a4s_sealer_1.drawer.reached", "source": "a4s_sealer_1.drawer", "data": {"position": "out", "q": 3.962918881939004e-09}, "cause": "program-1-4"}
|
| 27 |
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{"env_id": 1, "seq": 27, "step": 8911, "t": 44.555, "topic": "a4s_sealer_1.drawer.at_out", "source": "a4s_sealer_1.drawer", "data": {"q": 3.962918881939004e-09}, "cause": "program-1-4"}
|
| 28 |
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{"env_id": 1, "seq": 28, "step": 8911, "t": 44.555, "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"}
|
| 29 |
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{"env_id": 1, "seq": 29, "step": 8911, "t": 44.555, "topic": "a4s_sealer_1.seal.finished", "source": "a4s_sealer_1", "data": {}, "cause": "task-1-1"}
|
| 30 |
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{"env_id": 1, "seq": 30, "step": 8911, "t": 44.555, "topic": "a4s_sealer_1.command.succeeded", "source": "a4s_sealer_1", "data": {"command_id": "task-1-1", "name": "seal", "source": "task"}, "cause": "task-1-1"}
|
| 31 |
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{"env_id": 1, "seq": 31, "step": 9491, "t": 47.455, "topic": "a4s_sealer_1.plate_present.absent", "source": "a4s_sealer_1.plate_present", "data": {"object": "plate_2"}, "cause": null}
|
| 32 |
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{"env_id": 1, "seq": 32, "step": 11216, "t": 56.08, "topic": "conveyor_1.belt.command.started", "source": "conveyor_1.belt", "data": {"command_id": "task-1-5", "name": "release", "source": "task"}, "cause": "task-1-5"}
|
| 33 |
+
{"env_id": 1, "seq": 33, "step": 11216, "t": 56.08, "topic": "conveyor_1.belt.station.pick.released", "source": "conveyor_1.belt", "data": {"rider": "carrier_2"}, "cause": "task-1-5"}
|
| 34 |
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{"env_id": 1, "seq": 34, "step": 11216, "t": 56.08, "topic": "conveyor_1.belt.state.changed", "source": "conveyor_1.belt", "data": {"from": "at_station", "to": "running"}, "cause": null}
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| 35 |
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{"env_id": 1, "seq": 35, "step": 11216, "t": 56.08, "topic": "conveyor_1.belt.command.succeeded", "source": "conveyor_1.belt", "data": {"command_id": "task-1-5", "name": "release", "source": "task", "result": {"state": "running"}}, "cause": "task-1-5"}
|
episodes/c6_p007_e012/env.mp4
ADDED
|
@@ -0,0 +1,3 @@
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| 1 |
+
version https://git-lfs.github.com/spec/v1
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| 2 |
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| 3 |
+
size 1288208
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episodes/c6_p007_e012/meta.json
ADDED
|
@@ -0,0 +1,32 @@
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|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"source": "raw/c6_p007/magicsim/12",
|
| 3 |
+
"fps": 25,
|
| 4 |
+
"frames": 1266,
|
| 5 |
+
"kept_ticks": "even",
|
| 6 |
+
"video_frames": {
|
| 7 |
+
"wrist": 1266,
|
| 8 |
+
"env": 1266
|
| 9 |
+
},
|
| 10 |
+
"joint_target_source": "joint_pos_target",
|
| 11 |
+
"fk_vs_recorded_eef_max_m": 0.0,
|
| 12 |
+
"curobo_joints": [
|
| 13 |
+
"shoulder_pan_joint",
|
| 14 |
+
"shoulder_lift_joint",
|
| 15 |
+
"elbow_joint",
|
| 16 |
+
"wrist_1_joint",
|
| 17 |
+
"wrist_2_joint",
|
| 18 |
+
"wrist_3_joint"
|
| 19 |
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],
|
| 20 |
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"joint_order": [
|
| 21 |
+
"shoulder_pan",
|
| 22 |
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"shoulder_lift",
|
| 23 |
+
"elbow",
|
| 24 |
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"wrist_1",
|
| 25 |
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"wrist_2",
|
| 26 |
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"wrist_3",
|
| 27 |
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"finger_left",
|
| 28 |
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"finger_right"
|
| 29 |
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],
|
| 30 |
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"frames_note": "eef / actions in the robot base frame; camera_pose = local pose (wrist: in plate_gripper_base, env: env frame), pos + quat wxyz",
|
| 31 |
+
"dr_version": "v2"
|
| 32 |
+
}
|
episodes/c6_p007_e012/scene_snapshot.json
ADDED
|
@@ -0,0 +1,1558 @@
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|
| 1 |
+
{
|
| 2 |
+
"trajectory_id": 12,
|
| 3 |
+
"env_id": 1,
|
| 4 |
+
"run_id": "c6_p007",
|
| 5 |
+
"task_type": "BioPlateCell",
|
| 6 |
+
"success": true,
|
| 7 |
+
"timing": {
|
| 8 |
+
"fps": 50.0,
|
| 9 |
+
"sim_dt": 0.005,
|
| 10 |
+
"decimation": 4
|
| 11 |
+
},
|
| 12 |
+
"restore_interface": {
|
| 13 |
+
"scene": "scene_manager.reset_to(snapshot['scene'], env_ids=[env_id])",
|
| 14 |
+
"robots": "robot_manager.set_state({'robots': snapshot['robots']}, env_ids=[env_id])"
|
| 15 |
+
},
|
| 16 |
+
"snapshot": {
|
| 17 |
+
"env_id": 1,
|
| 18 |
+
"scene": {
|
| 19 |
+
"objects": [
|
| 20 |
+
{},
|
| 21 |
+
{
|
| 22 |
+
"rac_cell": [
|
| 23 |
+
{
|
| 24 |
+
"asset": "$MAGICSIM_ASSETS/Bio/Lab/rac_cell.usd",
|
| 25 |
+
"pose": {
|
| 26 |
+
"pos": [
|
| 27 |
+
0.0,
|
| 28 |
+
0.0,
|
| 29 |
+
0.0
|
| 30 |
+
],
|
| 31 |
+
"ori": [
|
| 32 |
+
1.0,
|
| 33 |
+
0.0,
|
| 34 |
+
0.0,
|
| 35 |
+
0.0
|
| 36 |
+
],
|
| 37 |
+
"scale": [
|
| 38 |
+
1.0,
|
| 39 |
+
1.0,
|
| 40 |
+
1.0
|
| 41 |
+
]
|
| 42 |
+
},
|
| 43 |
+
"dr": {
|
| 44 |
+
"visual": {
|
| 45 |
+
"kind": null,
|
| 46 |
+
"value": null,
|
| 47 |
+
"visible": true
|
| 48 |
+
},
|
| 49 |
+
"physics": {
|
| 50 |
+
"type": "geometry",
|
| 51 |
+
"collision": false,
|
| 52 |
+
"physics_material": {
|
| 53 |
+
"static_friction": 0.6,
|
| 54 |
+
"dynamic_friction": 0.5,
|
| 55 |
+
"restitution": 0.0
|
| 56 |
+
},
|
| 57 |
+
"ratio": 1.0
|
| 58 |
+
},
|
| 59 |
+
"primitive_params": null
|
| 60 |
+
},
|
| 61 |
+
"type_specific": {}
|
| 62 |
+
}
|
| 63 |
+
],
|
| 64 |
+
"robot_mount": [
|
| 65 |
+
{
|
| 66 |
+
"asset": "Cube",
|
| 67 |
+
"pose": {
|
| 68 |
+
"pos": [
|
| 69 |
+
0.0,
|
| 70 |
+
0.0,
|
| 71 |
+
0.9075
|
| 72 |
+
],
|
| 73 |
+
"ori": [
|
| 74 |
+
1.0,
|
| 75 |
+
0.0,
|
| 76 |
+
0.0,
|
| 77 |
+
0.0
|
| 78 |
+
],
|
| 79 |
+
"scale": [
|
| 80 |
+
1.0,
|
| 81 |
+
1.0,
|
| 82 |
+
1.0
|
| 83 |
+
]
|
| 84 |
+
},
|
| 85 |
+
"dr": {
|
| 86 |
+
"visual": {
|
| 87 |
+
"kind": "color",
|
| 88 |
+
"value": [
|
| 89 |
+
0.55,
|
| 90 |
+
0.56,
|
| 91 |
+
0.58
|
| 92 |
+
],
|
| 93 |
+
"visible": true
|
| 94 |
+
},
|
| 95 |
+
"physics": {
|
| 96 |
+
"type": "geometry",
|
| 97 |
+
"collision": false,
|
| 98 |
+
"ratio": 1.0
|
| 99 |
+
},
|
| 100 |
+
"primitive_params": {
|
| 101 |
+
"size": [
|
| 102 |
+
0.2,
|
| 103 |
+
0.2,
|
| 104 |
+
0.015
|
| 105 |
+
]
|
| 106 |
+
}
|
| 107 |
+
},
|
| 108 |
+
"type_specific": {}
|
| 109 |
+
}
|
| 110 |
+
],
|
| 111 |
+
"plate_rack": [
|
| 112 |
+
{
|
| 113 |
+
"asset": "$MAGICSIM_ASSETS/Bio/Lab/plate_hotel.usd",
|
| 114 |
+
"pose": {
|
| 115 |
+
"pos": [
|
| 116 |
+
-0.6,
|
| 117 |
+
0.02,
|
| 118 |
+
0.9
|
| 119 |
+
],
|
| 120 |
+
"ori": [
|
| 121 |
+
6.123234262925839e-17,
|
| 122 |
+
0.0,
|
| 123 |
+
0.0,
|
| 124 |
+
1.0
|
| 125 |
+
],
|
| 126 |
+
"scale": [
|
| 127 |
+
1.0,
|
| 128 |
+
1.0,
|
| 129 |
+
1.0
|
| 130 |
+
]
|
| 131 |
+
},
|
| 132 |
+
"dr": {
|
| 133 |
+
"visual": {
|
| 134 |
+
"kind": null,
|
| 135 |
+
"value": null,
|
| 136 |
+
"visible": true
|
| 137 |
+
},
|
| 138 |
+
"physics": {
|
| 139 |
+
"type": "geometry",
|
| 140 |
+
"collision": false,
|
| 141 |
+
"physics_material": {
|
| 142 |
+
"static_friction": 0.6,
|
| 143 |
+
"dynamic_friction": 0.5,
|
| 144 |
+
"restitution": 0.0
|
| 145 |
+
},
|
| 146 |
+
"ratio": 1.0
|
| 147 |
+
},
|
| 148 |
+
"primitive_params": null
|
| 149 |
+
},
|
| 150 |
+
"type_specific": {}
|
| 151 |
+
}
|
| 152 |
+
],
|
| 153 |
+
"hotel_plate": [
|
| 154 |
+
{
|
| 155 |
+
"asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_6_clear/plate_6_clear.usd",
|
| 156 |
+
"pose": {
|
| 157 |
+
"pos": [
|
| 158 |
+
-0.6,
|
| 159 |
+
0.02,
|
| 160 |
+
0.9605
|
| 161 |
+
],
|
| 162 |
+
"ori": [
|
| 163 |
+
1.0,
|
| 164 |
+
0.0,
|
| 165 |
+
0.0,
|
| 166 |
+
0.0
|
| 167 |
+
],
|
| 168 |
+
"scale": [
|
| 169 |
+
1.0,
|
| 170 |
+
1.0,
|
| 171 |
+
1.0
|
| 172 |
+
]
|
| 173 |
+
},
|
| 174 |
+
"dr": {
|
| 175 |
+
"visual": {
|
| 176 |
+
"kind": null,
|
| 177 |
+
"value": null,
|
| 178 |
+
"visible": true
|
| 179 |
+
},
|
| 180 |
+
"physics": {
|
| 181 |
+
"type": "geometry",
|
| 182 |
+
"collision": false,
|
| 183 |
+
"ratio": 1.0
|
| 184 |
+
},
|
| 185 |
+
"primitive_params": null
|
| 186 |
+
},
|
| 187 |
+
"type_specific": {}
|
| 188 |
+
},
|
| 189 |
+
{
|
| 190 |
+
"asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_6_clear/plate_6_clear.usd",
|
| 191 |
+
"pose": {
|
| 192 |
+
"pos": [
|
| 193 |
+
-0.6,
|
| 194 |
+
0.02,
|
| 195 |
+
1.0285
|
| 196 |
+
],
|
| 197 |
+
"ori": [
|
| 198 |
+
6.123234262925839e-17,
|
| 199 |
+
0.0,
|
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episodes/c6_p007_e012/wrist.mp4
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episodes/c6_p007_e013/device_events.jsonl
ADDED
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{"env_id": 2, "seq": 1, "step": 49, "t": 0.245, "topic": "conveyor_1.belt.station.pick.captured", "source": "conveyor_1.belt", "data": {"rider": "carrier_1"}, "cause": null}
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| 2 |
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{"env_id": 2, "seq": 2, "step": 49, "t": 0.245, "topic": "conveyor_1.belt.state.changed", "source": "conveyor_1.belt", "data": {"from": "running", "to": "at_station"}, "cause": null}
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{"env_id": 2, "seq": 3, "step": 54, "t": 0.27, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_1"}, "cause": null}
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{"env_id": 2, "seq": 4, "step": 2153, "t": 10.765, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_1"}, "cause": null}
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| 5 |
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{"env_id": 2, "seq": 5, "step": 6714, "t": 33.57, "topic": "a4s_sealer_1.plate_present.present", "source": "a4s_sealer_1.plate_present", "data": {"object": "plate_1"}, "cause": null}
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| 6 |
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{"env_id": 2, "seq": 6, "step": 7328, "t": 36.64, "topic": "a4s_sealer_1.command.started", "source": "a4s_sealer_1", "data": {"command_id": "task-2-1", "name": "seal", "source": "task"}, "cause": "task-2-1"}
|
| 7 |
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{"env_id": 2, "seq": 7, "step": 7328, "t": 36.64, "topic": "a4s_sealer_1.seal.started", "source": "a4s_sealer_1", "data": {"dwell": 2.48046377345831}, "cause": "task-2-1"}
|
| 8 |
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{"env_id": 2, "seq": 8, "step": 7328, "t": 36.64, "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"}
|
| 9 |
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|
| 10 |
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|
| 11 |
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|
| 12 |
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| 13 |
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|
| 14 |
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| 15 |
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|
| 16 |
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{"env_id": 2, "seq": 16, "step": 7747, "t": 38.735, "topic": "a4s_sealer_1.sealed", "source": "a4s_sealer_1", "data": {"plate": "plate_1"}, "cause": "task-2-1"}
|
| 17 |
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{"env_id": 2, "seq": 17, "step": 7747, "t": 38.735, "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"}
|
| 18 |
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{"env_id": 2, "seq": 18, "step": 7747, "t": 38.735, "topic": "a4s_sealer_1.heater.state.changed", "source": "a4s_sealer_1.heater", "data": {"from": "ready", "to": "running"}, "cause": null}
|
| 19 |
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{"env_id": 2, "seq": 19, "step": 7747, "t": 38.735, "topic": "a4s_sealer_1.heater.started", "source": "a4s_sealer_1.heater", "data": {"duration": 2.48046377345831}, "cause": "program-2-3"}
|
| 20 |
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|
| 21 |
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{"env_id": 2, "seq": 21, "step": 8244, "t": 41.22, "topic": "a4s_sealer_1.heater.finished", "source": "a4s_sealer_1.heater", "data": {"elapsed": 2.4850000000012713}, "cause": "program-2-3"}
|
| 22 |
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{"env_id": 2, "seq": 22, "step": 8244, "t": 41.22, "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": 2.4850000000012713}}, "cause": "program-2-3"}
|
| 23 |
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{"env_id": 2, "seq": 23, "step": 8244, "t": 41.22, "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"}
|
| 24 |
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{"env_id": 2, "seq": 24, "step": 8244, "t": 41.22, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "at_in", "to": "moving"}, "cause": null}
|
| 25 |
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{"env_id": 2, "seq": 25, "step": 8244, "t": 41.22, "topic": "a4s_sealer_1.drawer.moving", "source": "a4s_sealer_1.drawer", "data": {"target": 0.0, "goal": "out"}, "cause": "program-2-4"}
|
| 26 |
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{"env_id": 2, "seq": 26, "step": 8664, "t": 43.32, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "moving", "to": "at_out"}, "cause": null}
|
| 27 |
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{"env_id": 2, "seq": 27, "step": 8664, "t": 43.32, "topic": "a4s_sealer_1.drawer.reached", "source": "a4s_sealer_1.drawer", "data": {"position": "out", "q": 3.0943831941243616e-09}, "cause": "program-2-4"}
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| 28 |
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{"env_id": 2, "seq": 28, "step": 8664, "t": 43.32, "topic": "a4s_sealer_1.drawer.at_out", "source": "a4s_sealer_1.drawer", "data": {"q": 3.0943831941243616e-09}, "cause": "program-2-4"}
|
| 29 |
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{"env_id": 2, "seq": 29, "step": 8664, "t": 43.32, "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"}
|
| 30 |
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{"env_id": 2, "seq": 30, "step": 8664, "t": 43.32, "topic": "a4s_sealer_1.seal.finished", "source": "a4s_sealer_1", "data": {}, "cause": "task-2-1"}
|
| 31 |
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|
| 32 |
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|
| 33 |
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{"env_id": 2, "seq": 33, "step": 11508, "t": 57.54, "topic": "conveyor_1.belt.command.started", "source": "conveyor_1.belt", "data": {"command_id": "task-2-5", "name": "release", "source": "task"}, "cause": "task-2-5"}
|
| 34 |
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{"env_id": 2, "seq": 34, "step": 11508, "t": 57.54, "topic": "conveyor_1.belt.station.pick.released", "source": "conveyor_1.belt", "data": {"rider": "carrier_1"}, "cause": "task-2-5"}
|
| 35 |
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{"env_id": 2, "seq": 35, "step": 11508, "t": 57.54, "topic": "conveyor_1.belt.state.changed", "source": "conveyor_1.belt", "data": {"from": "at_station", "to": "running"}, "cause": null}
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| 36 |
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{"env_id": 2, "seq": 36, "step": 11508, "t": 57.54, "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"}
|
episodes/c6_p007_e013/env.mp4
ADDED
|
@@ -0,0 +1,3 @@
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| 1 |
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version https://git-lfs.github.com/spec/v1
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| 3 |
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size 1358724
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episodes/c6_p007_e013/meta.json
ADDED
|
@@ -0,0 +1,32 @@
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|
|
| 1 |
+
{
|
| 2 |
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"source": "raw/c6_p007/magicsim/13",
|
| 3 |
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"fps": 25,
|
| 4 |
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"frames": 1229,
|
| 5 |
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"kept_ticks": "even",
|
| 6 |
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|
| 7 |
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"wrist": 1229,
|
| 8 |
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"env": 1229
|
| 9 |
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},
|
| 10 |
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"joint_target_source": "joint_pos_target",
|
| 11 |
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|
| 12 |
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"curobo_joints": [
|
| 13 |
+
"shoulder_pan_joint",
|
| 14 |
+
"shoulder_lift_joint",
|
| 15 |
+
"elbow_joint",
|
| 16 |
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"wrist_1_joint",
|
| 17 |
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"wrist_2_joint",
|
| 18 |
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"wrist_3_joint"
|
| 19 |
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],
|
| 20 |
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"joint_order": [
|
| 21 |
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"shoulder_pan",
|
| 22 |
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|
| 23 |
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"elbow",
|
| 24 |
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|
| 25 |
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|
| 26 |
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"wrist_3",
|
| 27 |
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"finger_left",
|
| 28 |
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"finger_right"
|
| 29 |
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],
|
| 30 |
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"frames_note": "eef / actions in the robot base frame; camera_pose = local pose (wrist: in plate_gripper_base, env: env frame), pos + quat wxyz",
|
| 31 |
+
"dr_version": "v2"
|
| 32 |
+
}
|
episodes/c6_p007_e013/scene_snapshot.json
ADDED
|
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|
| 1 |
+
{
|
| 2 |
+
"trajectory_id": 13,
|
| 3 |
+
"env_id": 2,
|
| 4 |
+
"run_id": "c6_p007",
|
| 5 |
+
"task_type": "BioPlateCell",
|
| 6 |
+
"success": true,
|
| 7 |
+
"timing": {
|
| 8 |
+
"fps": 50.0,
|
| 9 |
+
"sim_dt": 0.005,
|
| 10 |
+
"decimation": 4
|
| 11 |
+
},
|
| 12 |
+
"restore_interface": {
|
| 13 |
+
"scene": "scene_manager.reset_to(snapshot['scene'], env_ids=[env_id])",
|
| 14 |
+
"robots": "robot_manager.set_state({'robots': snapshot['robots']}, env_ids=[env_id])"
|
| 15 |
+
},
|
| 16 |
+
"snapshot": {
|
| 17 |
+
"env_id": 2,
|
| 18 |
+
"scene": {
|
| 19 |
+
"objects": [
|
| 20 |
+
{},
|
| 21 |
+
{},
|
| 22 |
+
{
|
| 23 |
+
"rac_cell": [
|
| 24 |
+
{
|
| 25 |
+
"asset": "$MAGICSIM_ASSETS/Bio/Lab/rac_cell.usd",
|
| 26 |
+
"pose": {
|
| 27 |
+
"pos": [
|
| 28 |
+
0.0,
|
| 29 |
+
0.0,
|
| 30 |
+
0.0
|
| 31 |
+
],
|
| 32 |
+
"ori": [
|
| 33 |
+
1.0,
|
| 34 |
+
0.0,
|
| 35 |
+
0.0,
|
| 36 |
+
0.0
|
| 37 |
+
],
|
| 38 |
+
"scale": [
|
| 39 |
+
1.0,
|
| 40 |
+
1.0,
|
| 41 |
+
1.0
|
| 42 |
+
]
|
| 43 |
+
},
|
| 44 |
+
"dr": {
|
| 45 |
+
"visual": {
|
| 46 |
+
"kind": null,
|
| 47 |
+
"value": null,
|
| 48 |
+
"visible": true
|
| 49 |
+
},
|
| 50 |
+
"physics": {
|
| 51 |
+
"type": "geometry",
|
| 52 |
+
"collision": false,
|
| 53 |
+
"physics_material": {
|
| 54 |
+
"static_friction": 0.6,
|
| 55 |
+
"dynamic_friction": 0.5,
|
| 56 |
+
"restitution": 0.0
|
| 57 |
+
},
|
| 58 |
+
"ratio": 1.0
|
| 59 |
+
},
|
| 60 |
+
"primitive_params": null
|
| 61 |
+
},
|
| 62 |
+
"type_specific": {}
|
| 63 |
+
}
|
| 64 |
+
],
|
| 65 |
+
"robot_mount": [
|
| 66 |
+
{
|
| 67 |
+
"asset": "Cube",
|
| 68 |
+
"pose": {
|
| 69 |
+
"pos": [
|
| 70 |
+
0.0,
|
| 71 |
+
0.0,
|
| 72 |
+
0.9075
|
| 73 |
+
],
|
| 74 |
+
"ori": [
|
| 75 |
+
1.0,
|
| 76 |
+
0.0,
|
| 77 |
+
0.0,
|
| 78 |
+
0.0
|
| 79 |
+
],
|
| 80 |
+
"scale": [
|
| 81 |
+
1.0,
|
| 82 |
+
1.0,
|
| 83 |
+
1.0
|
| 84 |
+
]
|
| 85 |
+
},
|
| 86 |
+
"dr": {
|
| 87 |
+
"visual": {
|
| 88 |
+
"kind": "color",
|
| 89 |
+
"value": [
|
| 90 |
+
0.55,
|
| 91 |
+
0.56,
|
| 92 |
+
0.58
|
| 93 |
+
],
|
| 94 |
+
"visible": true
|
| 95 |
+
},
|
| 96 |
+
"physics": {
|
| 97 |
+
"type": "geometry",
|
| 98 |
+
"collision": false,
|
| 99 |
+
"ratio": 1.0
|
| 100 |
+
},
|
| 101 |
+
"primitive_params": {
|
| 102 |
+
"size": [
|
| 103 |
+
0.2,
|
| 104 |
+
0.2,
|
| 105 |
+
0.015
|
| 106 |
+
]
|
| 107 |
+
}
|
| 108 |
+
},
|
| 109 |
+
"type_specific": {}
|
| 110 |
+
}
|
| 111 |
+
],
|
| 112 |
+
"plate_rack": [
|
| 113 |
+
{
|
| 114 |
+
"asset": "$MAGICSIM_ASSETS/Bio/Lab/plate_hotel.usd",
|
| 115 |
+
"pose": {
|
| 116 |
+
"pos": [
|
| 117 |
+
-0.6,
|
| 118 |
+
0.02,
|
| 119 |
+
0.9
|
| 120 |
+
],
|
| 121 |
+
"ori": [
|
| 122 |
+
6.123234262925839e-17,
|
| 123 |
+
0.0,
|
| 124 |
+
0.0,
|
| 125 |
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1.0
|
| 126 |
+
],
|
| 127 |
+
"scale": [
|
| 128 |
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1.0,
|
| 129 |
+
1.0,
|
| 130 |
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1.0
|
| 131 |
+
]
|
| 132 |
+
},
|
| 133 |
+
"dr": {
|
| 134 |
+
"visual": {
|
| 135 |
+
"kind": null,
|
| 136 |
+
"value": null,
|
| 137 |
+
"visible": true
|
| 138 |
+
},
|
| 139 |
+
"physics": {
|
| 140 |
+
"type": "geometry",
|
| 141 |
+
"collision": false,
|
| 142 |
+
"physics_material": {
|
| 143 |
+
"static_friction": 0.6,
|
| 144 |
+
"dynamic_friction": 0.5,
|
| 145 |
+
"restitution": 0.0
|
| 146 |
+
},
|
| 147 |
+
"ratio": 1.0
|
| 148 |
+
},
|
| 149 |
+
"primitive_params": null
|
| 150 |
+
},
|
| 151 |
+
"type_specific": {}
|
| 152 |
+
}
|
| 153 |
+
],
|
| 154 |
+
"hotel_plate": [
|
| 155 |
+
{
|
| 156 |
+
"asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/pcr_384_red/pcr_384_red.usd",
|
| 157 |
+
"pose": {
|
| 158 |
+
"pos": [
|
| 159 |
+
-0.6,
|
| 160 |
+
0.02,
|
| 161 |
+
0.9605
|
| 162 |
+
],
|
| 163 |
+
"ori": [
|
| 164 |
+
1.0,
|
| 165 |
+
0.0,
|
| 166 |
+
0.0,
|
| 167 |
+
0.0
|
| 168 |
+
],
|
| 169 |
+
"scale": [
|
| 170 |
+
1.0,
|
| 171 |
+
1.0,
|
| 172 |
+
1.0
|
| 173 |
+
]
|
| 174 |
+
},
|
| 175 |
+
"dr": {
|
| 176 |
+
"visual": {
|
| 177 |
+
"kind": null,
|
| 178 |
+
"value": null,
|
| 179 |
+
"visible": true
|
| 180 |
+
},
|
| 181 |
+
"physics": {
|
| 182 |
+
"type": "geometry",
|
| 183 |
+
"collision": false,
|
| 184 |
+
"ratio": 1.0
|
| 185 |
+
},
|
| 186 |
+
"primitive_params": null
|
| 187 |
+
},
|
| 188 |
+
"type_specific": {}
|
| 189 |
+
},
|
| 190 |
+
{
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episodes/c6_p007_e013/wrist.mp4
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ADDED
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{"env_id": 0, "seq": 2, "step": 65, "t": 0.325, "topic": "conveyor_1.belt.state.changed", "source": "conveyor_1.belt", "data": {"from": "running", "to": "at_station"}, "cause": null}
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{"env_id": 0, "seq": 3, "step": 70, "t": 0.35, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_4"}, "cause": null}
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{"env_id": 0, "seq": 4, "step": 6323, "t": 31.615, "topic": "a4s_sealer_1.plate_present.present", "source": "a4s_sealer_1.plate_present", "data": {"object": "plate_4"}, "cause": null}
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|
| 9 |
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|
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|
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|
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|
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|
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|
| 20 |
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|
| 21 |
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|
| 23 |
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| 24 |
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|
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| 33 |
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episodes/c6_p007_e014/env.mp4
ADDED
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@@ -0,0 +1,3 @@
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version https://git-lfs.github.com/spec/v1
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size 1212471
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episodes/c6_p007_e014/meta.json
ADDED
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|
| 1 |
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{
|
| 2 |
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|
| 3 |
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|
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|
| 5 |
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|
| 6 |
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| 7 |
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|
| 8 |
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|
| 9 |
+
},
|
| 10 |
+
"joint_target_source": "joint_pos_target",
|
| 11 |
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|
| 12 |
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|
| 13 |
+
"shoulder_pan_joint",
|
| 14 |
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|
| 15 |
+
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|
| 16 |
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|
| 17 |
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|
| 18 |
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|
| 19 |
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|
| 20 |
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|
| 21 |
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| 22 |
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|
| 23 |
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| 25 |
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|
| 26 |
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|
| 27 |
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|
| 28 |
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|
| 29 |
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|
| 30 |
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"frames_note": "eef / actions in the robot base frame; camera_pose = local pose (wrist: in plate_gripper_base, env: env frame), pos + quat wxyz",
|
| 31 |
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"dr_version": "v2"
|
| 32 |
+
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|
episodes/c6_p007_e014/scene_snapshot.json
ADDED
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|
| 1 |
+
{
|
| 2 |
+
"trajectory_id": 14,
|
| 3 |
+
"env_id": 0,
|
| 4 |
+
"run_id": "c6_p007",
|
| 5 |
+
"task_type": "BioPlateCell",
|
| 6 |
+
"success": true,
|
| 7 |
+
"timing": {
|
| 8 |
+
"fps": 50.0,
|
| 9 |
+
"sim_dt": 0.005,
|
| 10 |
+
"decimation": 4
|
| 11 |
+
},
|
| 12 |
+
"restore_interface": {
|
| 13 |
+
"scene": "scene_manager.reset_to(snapshot['scene'], env_ids=[env_id])",
|
| 14 |
+
"robots": "robot_manager.set_state({'robots': snapshot['robots']}, env_ids=[env_id])"
|
| 15 |
+
},
|
| 16 |
+
"snapshot": {
|
| 17 |
+
"env_id": 0,
|
| 18 |
+
"scene": {
|
| 19 |
+
"objects": [
|
| 20 |
+
{
|
| 21 |
+
"rac_cell": [
|
| 22 |
+
{
|
| 23 |
+
"asset": "$MAGICSIM_ASSETS/Bio/Lab/rac_cell.usd",
|
| 24 |
+
"pose": {
|
| 25 |
+
"pos": [
|
| 26 |
+
0.0,
|
| 27 |
+
0.0,
|
| 28 |
+
0.0
|
| 29 |
+
],
|
| 30 |
+
"ori": [
|
| 31 |
+
1.0,
|
| 32 |
+
0.0,
|
| 33 |
+
0.0,
|
| 34 |
+
0.0
|
| 35 |
+
],
|
| 36 |
+
"scale": [
|
| 37 |
+
1.0,
|
| 38 |
+
1.0,
|
| 39 |
+
1.0
|
| 40 |
+
]
|
| 41 |
+
},
|
| 42 |
+
"dr": {
|
| 43 |
+
"visual": {
|
| 44 |
+
"kind": null,
|
| 45 |
+
"value": null,
|
| 46 |
+
"visible": true
|
| 47 |
+
},
|
| 48 |
+
"physics": {
|
| 49 |
+
"type": "geometry",
|
| 50 |
+
"collision": false,
|
| 51 |
+
"physics_material": {
|
| 52 |
+
"static_friction": 0.6,
|
| 53 |
+
"dynamic_friction": 0.5,
|
| 54 |
+
"restitution": 0.0
|
| 55 |
+
},
|
| 56 |
+
"ratio": 1.0
|
| 57 |
+
},
|
| 58 |
+
"primitive_params": null
|
| 59 |
+
},
|
| 60 |
+
"type_specific": {}
|
| 61 |
+
}
|
| 62 |
+
],
|
| 63 |
+
"robot_mount": [
|
| 64 |
+
{
|
| 65 |
+
"asset": "Cube",
|
| 66 |
+
"pose": {
|
| 67 |
+
"pos": [
|
| 68 |
+
0.0,
|
| 69 |
+
0.0,
|
| 70 |
+
0.9075
|
| 71 |
+
],
|
| 72 |
+
"ori": [
|
| 73 |
+
1.0,
|
| 74 |
+
0.0,
|
| 75 |
+
0.0,
|
| 76 |
+
0.0
|
| 77 |
+
],
|
| 78 |
+
"scale": [
|
| 79 |
+
1.0,
|
| 80 |
+
1.0,
|
| 81 |
+
1.0
|
| 82 |
+
]
|
| 83 |
+
},
|
| 84 |
+
"dr": {
|
| 85 |
+
"visual": {
|
| 86 |
+
"kind": "color",
|
| 87 |
+
"value": [
|
| 88 |
+
0.55,
|
| 89 |
+
0.56,
|
| 90 |
+
0.58
|
| 91 |
+
],
|
| 92 |
+
"visible": true
|
| 93 |
+
},
|
| 94 |
+
"physics": {
|
| 95 |
+
"type": "geometry",
|
| 96 |
+
"collision": false,
|
| 97 |
+
"ratio": 1.0
|
| 98 |
+
},
|
| 99 |
+
"primitive_params": {
|
| 100 |
+
"size": [
|
| 101 |
+
0.2,
|
| 102 |
+
0.2,
|
| 103 |
+
0.015
|
| 104 |
+
]
|
| 105 |
+
}
|
| 106 |
+
},
|
| 107 |
+
"type_specific": {}
|
| 108 |
+
}
|
| 109 |
+
],
|
| 110 |
+
"plate_rack": [
|
| 111 |
+
{
|
| 112 |
+
"asset": "$MAGICSIM_ASSETS/Bio/Lab/plate_hotel.usd",
|
| 113 |
+
"pose": {
|
| 114 |
+
"pos": [
|
| 115 |
+
-0.6,
|
| 116 |
+
0.02,
|
| 117 |
+
0.9
|
| 118 |
+
],
|
| 119 |
+
"ori": [
|
| 120 |
+
6.123234262925839e-17,
|
| 121 |
+
0.0,
|
| 122 |
+
0.0,
|
| 123 |
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1.0
|
| 124 |
+
],
|
| 125 |
+
"scale": [
|
| 126 |
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1.0,
|
| 127 |
+
1.0,
|
| 128 |
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1.0
|
| 129 |
+
]
|
| 130 |
+
},
|
| 131 |
+
"dr": {
|
| 132 |
+
"visual": {
|
| 133 |
+
"kind": null,
|
| 134 |
+
"value": null,
|
| 135 |
+
"visible": true
|
| 136 |
+
},
|
| 137 |
+
"physics": {
|
| 138 |
+
"type": "geometry",
|
| 139 |
+
"collision": false,
|
| 140 |
+
"physics_material": {
|
| 141 |
+
"static_friction": 0.6,
|
| 142 |
+
"dynamic_friction": 0.5,
|
| 143 |
+
"restitution": 0.0
|
| 144 |
+
},
|
| 145 |
+
"ratio": 1.0
|
| 146 |
+
},
|
| 147 |
+
"primitive_params": null
|
| 148 |
+
},
|
| 149 |
+
"type_specific": {}
|
| 150 |
+
}
|
| 151 |
+
],
|
| 152 |
+
"hotel_plate": [
|
| 153 |
+
{
|
| 154 |
+
"asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_96_white/plate_96_white.usd",
|
| 155 |
+
"pose": {
|
| 156 |
+
"pos": [
|
| 157 |
+
-0.6,
|
| 158 |
+
0.02,
|
| 159 |
+
0.9605
|
| 160 |
+
],
|
| 161 |
+
"ori": [
|
| 162 |
+
1.0,
|
| 163 |
+
0.0,
|
| 164 |
+
0.0,
|
| 165 |
+
0.0
|
| 166 |
+
],
|
| 167 |
+
"scale": [
|
| 168 |
+
1.0,
|
| 169 |
+
1.0,
|
| 170 |
+
1.0
|
| 171 |
+
]
|
| 172 |
+
},
|
| 173 |
+
"dr": {
|
| 174 |
+
"visual": {
|
| 175 |
+
"kind": null,
|
| 176 |
+
"value": null,
|
| 177 |
+
"visible": true
|
| 178 |
+
},
|
| 179 |
+
"physics": {
|
| 180 |
+
"type": "geometry",
|
| 181 |
+
"collision": false,
|
| 182 |
+
"ratio": 1.0
|
| 183 |
+
},
|
| 184 |
+
"primitive_params": null
|
| 185 |
+
},
|
| 186 |
+
"type_specific": {}
|
| 187 |
+
},
|
| 188 |
+
{
|
| 189 |
+
"asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_96_black/plate_96_black.usd",
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