diff --git a/episodes/c2_p011_e017/data.npz b/episodes/c2_p011_e017/data.npz new file mode 100644 index 0000000000000000000000000000000000000000..e93f98bec55158be679f69644f18721186c2a161 --- /dev/null +++ b/episodes/c2_p011_e017/data.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:4352305118fc7899012c47624e0b376de7ff42cb6628f5eb963555b3b6876b9d +size 189207 diff --git a/episodes/c2_p011_e017/device_events.jsonl b/episodes/c2_p011_e017/device_events.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..188faec1e40ae054f7024eee6c33fa1c13cd084f --- /dev/null +++ b/episodes/c2_p011_e017/device_events.jsonl @@ -0,0 +1,39 @@ +{"env_id": 3, "seq": 1, "step": 222, "t": 1.11, "topic": "conveyor_1.belt.station.pick.captured", "source": "conveyor_1.belt", "data": {"rider": "carrier_4"}, "cause": null} +{"env_id": 3, "seq": 2, "step": 222, "t": 1.11, "topic": "conveyor_1.belt.state.changed", "source": "conveyor_1.belt", "data": {"from": "running", "to": "at_station"}, "cause": null} +{"env_id": 3, "seq": 3, "step": 227, "t": 1.135, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_4"}, "cause": null} +{"env_id": 3, "seq": 4, "step": 717, "t": 3.585, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_4"}, "cause": null} +{"env_id": 3, "seq": 5, "step": 743, "t": 3.715, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_4"}, "cause": null} +{"env_id": 3, "seq": 6, "step": 756, "t": 3.78, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_4"}, "cause": null} +{"env_id": 3, "seq": 7, "step": 776, "t": 3.88, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_4"}, "cause": null} +{"env_id": 3, "seq": 8, "step": 5714, "t": 28.57, "topic": "a4s_sealer_1.plate_present.present", "source": "a4s_sealer_1.plate_present", "data": {"object": "plate_4"}, "cause": null} +{"env_id": 3, "seq": 9, "step": 6328, "t": 31.64, "topic": "a4s_sealer_1.command.started", "source": "a4s_sealer_1", "data": {"command_id": "task-3-1", "name": "seal", "source": "task"}, "cause": "task-3-1"} +{"env_id": 3, "seq": 10, "step": 6328, "t": 31.64, "topic": "a4s_sealer_1.seal.started", "source": "a4s_sealer_1", "data": {"dwell": 4.765737647298045}, "cause": "task-3-1"} +{"env_id": 3, "seq": 11, "step": 6328, "t": 31.64, "topic": "a4s_sealer_1.drawer.command.started", "source": "a4s_sealer_1.drawer", "data": {"command_id": "program-3-2", "name": "close", "source": "program:seal"}, "cause": "program-3-2"} +{"env_id": 3, "seq": 12, "step": 6328, "t": 31.64, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "at_out", "to": "moving"}, "cause": null} +{"env_id": 3, "seq": 13, "step": 6328, "t": 31.64, "topic": "a4s_sealer_1.drawer.moving", "source": "a4s_sealer_1.drawer", "data": {"target": 0.3, "goal": "in"}, "cause": "program-3-2"} +{"env_id": 3, "seq": 14, "step": 6747, "t": 33.735, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "moving", "to": "at_in"}, "cause": null} +{"env_id": 3, "seq": 15, "step": 6747, "t": 33.735, "topic": "a4s_sealer_1.drawer.reached", "source": "a4s_sealer_1.drawer", "data": {"position": "in", "q": 0.30000001192092896}, "cause": "program-3-2"} +{"env_id": 3, "seq": 16, "step": 6747, "t": 33.735, "topic": "a4s_sealer_1.drawer.at_in", "source": "a4s_sealer_1.drawer", "data": {"q": 0.30000001192092896}, "cause": "program-3-2"} +{"env_id": 3, "seq": 17, "step": 6747, "t": 33.735, "topic": "a4s_sealer_1.drawer.command.succeeded", "source": "a4s_sealer_1.drawer", "data": {"command_id": "program-3-2", "name": "close", "source": "program:seal", "result": {"position": "in"}}, "cause": "program-3-2"} +{"env_id": 3, "seq": 18, "step": 6747, "t": 33.735, "topic": "labware.plate_4.changed", "source": "labware.plate_4", "data": {"key": "sealed", "value": true}, "cause": "task-3-1"} +{"env_id": 3, "seq": 19, "step": 6747, "t": 33.735, "topic": "a4s_sealer_1.sealed", "source": "a4s_sealer_1", "data": {"plate": "plate_4"}, "cause": "task-3-1"} +{"env_id": 3, "seq": 20, "step": 6747, "t": 33.735, "topic": "a4s_sealer_1.heater.command.started", "source": "a4s_sealer_1.heater", "data": {"command_id": "program-3-3", "name": "run", "source": "program:seal"}, "cause": "program-3-3"} +{"env_id": 3, "seq": 21, "step": 6747, "t": 33.735, "topic": "a4s_sealer_1.heater.state.changed", "source": "a4s_sealer_1.heater", "data": {"from": "ready", "to": "running"}, "cause": null} +{"env_id": 3, "seq": 22, "step": 6747, "t": 33.735, "topic": "a4s_sealer_1.heater.started", "source": "a4s_sealer_1.heater", "data": {"duration": 4.765737647298045}, "cause": "program-3-3"} +{"env_id": 3, "seq": 23, "step": 7701, "t": 38.505, "topic": "a4s_sealer_1.heater.state.changed", "source": "a4s_sealer_1.heater", "data": {"from": "running", "to": "ready"}, "cause": null} +{"env_id": 3, "seq": 24, "step": 7701, "t": 38.505, "topic": "a4s_sealer_1.heater.finished", "source": "a4s_sealer_1.heater", "data": {"elapsed": 4.77000000000244}, "cause": "program-3-3"} +{"env_id": 3, "seq": 25, "step": 7701, "t": 38.505, "topic": "a4s_sealer_1.heater.command.succeeded", "source": "a4s_sealer_1.heater", "data": {"command_id": "program-3-3", "name": "run", "source": "program:seal", "result": {"elapsed": 4.77000000000244}}, "cause": "program-3-3"} +{"env_id": 3, "seq": 26, "step": 7701, "t": 38.505, "topic": "a4s_sealer_1.drawer.command.started", "source": "a4s_sealer_1.drawer", "data": {"command_id": "program-3-4", "name": "open", "source": "program:seal"}, "cause": "program-3-4"} +{"env_id": 3, "seq": 27, "step": 7701, "t": 38.505, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "at_in", "to": "moving"}, "cause": null} +{"env_id": 3, "seq": 28, "step": 7701, "t": 38.505, "topic": "a4s_sealer_1.drawer.moving", "source": "a4s_sealer_1.drawer", "data": {"target": 0.0, "goal": "out"}, "cause": "program-3-4"} +{"env_id": 3, "seq": 29, "step": 8121, "t": 40.605, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "moving", "to": "at_out"}, "cause": null} +{"env_id": 3, "seq": 30, "step": 8121, "t": 40.605, "topic": "a4s_sealer_1.drawer.reached", "source": "a4s_sealer_1.drawer", "data": {"position": "out", "q": 0.0}, "cause": "program-3-4"} +{"env_id": 3, "seq": 31, "step": 8121, "t": 40.605, "topic": "a4s_sealer_1.drawer.at_out", "source": "a4s_sealer_1.drawer", "data": {"q": 0.0}, "cause": "program-3-4"} +{"env_id": 3, "seq": 32, "step": 8121, "t": 40.605, "topic": "a4s_sealer_1.drawer.command.succeeded", "source": "a4s_sealer_1.drawer", "data": {"command_id": "program-3-4", "name": "open", "source": "program:seal", "result": {"position": "out"}}, "cause": "program-3-4"} +{"env_id": 3, "seq": 33, "step": 8121, "t": 40.605, "topic": "a4s_sealer_1.seal.finished", "source": "a4s_sealer_1", "data": {}, "cause": "task-3-1"} +{"env_id": 3, "seq": 34, "step": 8121, "t": 40.605, "topic": "a4s_sealer_1.command.succeeded", "source": "a4s_sealer_1", "data": {"command_id": "task-3-1", "name": "seal", "source": "task"}, "cause": "task-3-1"} +{"env_id": 3, "seq": 35, "step": 8704, "t": 43.52, "topic": "a4s_sealer_1.plate_present.absent", "source": "a4s_sealer_1.plate_present", "data": {"object": "plate_4"}, "cause": null} +{"env_id": 3, "seq": 36, "step": 10404, "t": 52.02, "topic": "conveyor_1.belt.command.started", "source": "conveyor_1.belt", "data": {"command_id": "task-3-5", "name": "release", "source": "task"}, "cause": "task-3-5"} +{"env_id": 3, "seq": 37, "step": 10404, "t": 52.02, "topic": "conveyor_1.belt.station.pick.released", "source": "conveyor_1.belt", "data": {"rider": "carrier_4"}, "cause": "task-3-5"} +{"env_id": 3, "seq": 38, "step": 10404, "t": 52.02, "topic": "conveyor_1.belt.state.changed", "source": "conveyor_1.belt", "data": {"from": "at_station", "to": "running"}, "cause": null} +{"env_id": 3, "seq": 39, "step": 10404, "t": 52.02, "topic": "conveyor_1.belt.command.succeeded", "source": "conveyor_1.belt", "data": {"command_id": "task-3-5", "name": "release", "source": "task", "result": {"state": "running"}}, "cause": "task-3-5"} diff --git a/episodes/c2_p011_e017/env.mp4 b/episodes/c2_p011_e017/env.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..11ef42f7996d6175ed930ceb54859c97feee6622 --- /dev/null +++ b/episodes/c2_p011_e017/env.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:25a24681a768d2899b477f710d0b8ae4acdb9d4fb0bccb47899870cdcdbf99a0 +size 1342570 diff --git a/episodes/c2_p011_e017/meta.json b/episodes/c2_p011_e017/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..790cae62429326c7c812d5dae472df1667935bd1 --- /dev/null +++ b/episodes/c2_p011_e017/meta.json @@ -0,0 +1,32 @@ +{ + "source": "raw/c2_p011/magicsim/17", + "fps": 25, + "frames": 1272, + "kept_ticks": "even", + "video_frames": { + "wrist": 1272, + "env": 1272 + }, + "joint_target_source": "joint_pos_target", + "fk_vs_recorded_eef_max_m": 0.0, + "curobo_joints": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "joint_order": [ + "shoulder_pan", + "shoulder_lift", + "elbow", + "wrist_1", + "wrist_2", + "wrist_3", + "finger_left", + "finger_right" + ], + "frames_note": "eef / actions in the robot base frame; camera_pose = local pose (wrist: in plate_gripper_base, env: env frame), pos + quat wxyz", + "dr_version": "v2" +} \ No newline at end of file diff --git a/episodes/c2_p011_e017/scene_snapshot.json b/episodes/c2_p011_e017/scene_snapshot.json new file mode 100644 index 0000000000000000000000000000000000000000..5ace2017cc728f3e343db0b46c235c2ac44d9129 --- /dev/null +++ b/episodes/c2_p011_e017/scene_snapshot.json @@ -0,0 +1,1558 @@ +{ + "trajectory_id": 17, + "env_id": 3, + "run_id": "c2_p011", + "task_type": "BioPlateCell", + "success": true, + "timing": { + "fps": 50.0, + "sim_dt": 0.005, + "decimation": 4 + }, + "restore_interface": { + "scene": "scene_manager.reset_to(snapshot['scene'], env_ids=[env_id])", + "robots": "robot_manager.set_state({'robots': snapshot['robots']}, env_ids=[env_id])" + }, + "snapshot": { + "env_id": 3, + "scene": { + "objects": [ + {}, + {}, + {}, + { + "rac_cell": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/rac_cell.usd", + "pose": { + "pos": [ + 0.0, + 0.0, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "physics_material": { + "static_friction": 0.6, + "dynamic_friction": 0.5, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "robot_mount": [ + { + "asset": "Cube", + "pose": { + "pos": [ + 0.0, + 0.0, + 0.9075 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": "color", + "value": [ + 0.55, + 0.56, + 0.58 + ], + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": { + "size": [ + 0.2, + 0.2, + 0.015 + ] + } + }, + "type_specific": {} + } + ], + "plate_rack": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/plate_hotel.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 0.9 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "physics_material": { + "static_friction": 0.6, + "dynamic_friction": 0.5, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "hotel_plate": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/deep_well_24_10ml/deep_well_24_10ml.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 0.9605 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_48_clear/plate_48_clear.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.0285 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_48_clear/plate_48_clear.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.0965 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_48_clear/plate_48_clear.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.1645 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/deep_well_24_10ml/deep_well_24_10ml.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.2325 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "a4s_sealer": [ + { + "asset": "$MAGICSIM_ASSETS/Articulated/A4SSealer/Object.usd", + "pose": { + "pos": [ + 0.48239707946777344, + 0.11338615417480469, + 0.8999999761581421 + ], + "ori": [ + -0.7005093097686768, + 0.0, + 0.0, + 0.7136432528495789 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "articulation", + "solver_position_iteration_count": 16.0, + "solver_velocity_iteration_count": 1.0, + "enabled_self_collisions": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "joint_position": [ + 5.382666534714531e-12 + ], + "joint_velocity": [ + 0.0 + ], + "linear_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "angular_velocity": [ + 0.0, + 0.0, + 0.0 + ] + } + } + ], + "conveyor": [ + { + "asset": "Cube", + "pose": { + "pos": [ + 0.15, + 0.45, + 0.9 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "conveyor", + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9 + }, + "ratio": 1.0 + }, + "primitive_params": { + "size": [ + 2.4, + 0.076, + 0.03 + ] + }, + "conveyor": { + "speed": 0.1911349624666368, + "direction": [ + 1.0, + 0.0, + 0.0 + ], + "enabled": true, + "drive": "surface_velocity", + "lines": null, + "station_line": null, + "riders": [ + "carrier" + ], + "stations": { + "pick": { + "position": -0.010446805907471157, + "slow_distance": 0.03, + "slow_speed": 0.03 + } + }, + "rails": { + "height": 0.01, + "thickness": 0.01, + "gap": 0.001, + "friction": 0.05 + }, + "legs": 0.87, + "loop": { + "radius": 0.35, + "side": "left", + "curve_extra_width": 0.0, + "segments": 18, + "curve_rails": "both" + }, + "snap_distance": 0.1, + "junction_snap": 0.02, + "collision_approximation": "auto", + "plate_mass": 1.0, + "lift_drop": 0.004, + "accel": 0.0, + "decel": 0.0, + "drive_damping": 1000000.0, + "drive_max_force": 1000000000.0 + } + }, + "type_specific": { + "controller": { + "state": "at_station", + "speed": 0.1911349624666368, + "holds": [], + "station": "pick", + "rider": "carrier_4", + "arrived": true, + "applied_speed": 0.0 + } + } + } + ], + "carrier": [ + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + -1.3598756790161133, + 0.9563617706298828, + 0.8999999761581421 + ], + "ori": [ + -0.5200430750846863, + 2.5755417354389465e-08, + 2.4941628762320533e-09, + 0.8541401624679565 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 2.2887869377541392e-10, + 4.4304698798569575e-10, + -3.725290298461914e-09 + ], + "angular_velocity": [ + -3.248906921271555e-08, + 9.655411759013077e-08, + -1.2219545375558027e-08 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + -0.11754608154296875, + 1.152543067932129, + 0.8999999761581421 + ], + "ori": [ + -0.011089658364653587, + -8.089785730192034e-09, + -1.0129038718886818e-09, + 0.9999386072158813 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -2.1127251059738228e-09, + -1.0716764142770785e-09, + 1.4901161193847656e-08 + ], + "angular_velocity": [ + 8.840689247335831e-08, + -2.060168640127813e-07, + -6.321800860575877e-09 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + 1.5867156982421875, + 1.054997444152832, + 0.8999999761581421 + ], + "ori": [ + 0.3712773323059082, + 3.810485083022286e-08, + 1.8426838721552485e-08, + 0.9285221099853516 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -7.532395263076808e-10, + -3.5558933575430274e-10, + 0.0 + ], + "angular_velocity": [ + -3.672436577062399e-09, + 1.7439163002563873e-08, + 2.206697757856091e-08 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + 0.1391592025756836, + 0.44728851318359375, + 0.8999999761581421 + ], + "ori": [ + 0.9999486207962036, + -1.3923066433108033e-07, + 2.621825068160888e-08, + 0.010141628794372082 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -5.95291851368529e-08, + -6.681252102680446e-07, + -1.862645149230957e-07 + ], + "angular_velocity": [ + 1.6325335309375077e-05, + 5.102346221974585e-06, + -9.329030945082195e-06 + ] + } + } + ], + "plate": [ + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_48_clear/Object.usd", + "pose": { + "pos": [ + -1.3596563339233398, + 0.957188606262207, + 0.9179999828338623 + ], + "ori": [ + -0.5486295819282532, + 2.504698670691141e-08, + 5.182695161920492e-09, + 0.8360655903816223 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 1.868686894113125e-08, + 1.4943761783570153e-08, + 4.470348358154297e-08 + ], + "angular_velocity": [ + -1.2400812465784838e-06, + 8.121656946968869e-08, + 1.2033713403525326e-07 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_384_white/Object.usd", + "pose": { + "pos": [ + -0.12376785278320312, + 1.1437606811523438, + 0.9180000424385071 + ], + "ori": [ + 0.07437358051538467, + -9.186231331170802e-09, + -1.0786079807090232e-09, + 0.9972304105758667 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 6.96424162782705e-09, + 3.5663565434163047e-09, + -4.67151403427124e-06 + ], + "angular_velocity": [ + -2.0458141989365686e-06, + 1.6084176195363398e-06, + 4.972875444764213e-10 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_96_clear/Object.usd", + "pose": { + "pos": [ + 1.5871639251708984, + 1.0431575775146484, + 0.9180000424385071 + ], + "ori": [ + 0.3112407624721527, + 3.484282729004917e-08, + 9.827779479110177e-09, + 0.9503311514854431 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 4.842007683691918e-08, + -3.367559315847757e-07, + -5.4426491260528564e-06 + ], + "angular_velocity": [ + -4.102083039470017e-06, + 5.020261596655473e-06, + 2.5182375793519896e-06 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/reservoir_12ch/Object.usd", + "pose": { + "pos": [ + 0.1436910629272461, + 0.45470237731933594, + 0.9179999828338623 + ], + "ori": [ + 0.9999719262123108, + -1.1138478157590725e-06, + 3.504496817186009e-07, + 0.007500712294131517 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -1.777591933205258e-06, + -8.31769921205705e-06, + -1.268833875656128e-05 + ], + "angular_velocity": [ + -9.961632895283401e-05, + -9.401550778420642e-05, + -5.287891690386459e-05 + ] + } + } + ], + "deco_hub_west": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/hub_e.usd", + "pose": { + "pos": [ + -3.36, + 0.0, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_hub_east": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/hub_d.usd", + "pose": { + "pos": [ + 3.36, + 0.0, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_hub_back": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/hub_a.usd", + "pose": { + "pos": [ + -3.0, + -2.1, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_bench_east": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/bench_c.usd", + "pose": { + "pos": [ + 2.6, + -2.5, + 0.0 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_bench_gap": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/bench_b.usd", + "pose": { + "pos": [ + -0.1, + -2.9, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ] + } + ], + "devices": { + "hub": [ + null, + null, + null, + { + "t": 1.359999999999993, + "step": 272, + "counter": 0, + "devices": { + "a4s_sealer_1": { + "mode": "auto", + "units": { + "drawer": { + "state": "at_out", + "active": null, + "target": 0.0, + "goal_name": "out", + "profile": null, + "q_start": null, + "reversing": false, + "blocked_for": 0.0, + "settled_for": 0.0, + "last_q": 5.382666534714531e-12 + }, + "heater": { + "state": "ready", + "active": null, + "duration": 0.0, + "t_start": null, + "elapsed": 0.0 + } + }, + "queues": {}, + "program": null, + "sensors": { + "plate_present": { + "occupants": [], + "pending": {} + } + }, + "interlocks": {} + }, + "conveyor_1": { + "mode": "auto", + "units": { + "belt": { + "state": "at_station", + "active": null, + "controller": { + "speed": 0.1911349624666368, + "holds": [], + "station": "pick", + "rider": "carrier_4", + "arrived": true, + "settle_count": 49, + "released": { + "pick": [] + }, + "last_pos": { + "carrier_1": [ + -1.5098756849765778, + 0.5063617825508118, + 0.0 + ], + "carrier_2": [ + -0.2675460875034332, + 0.7025430798530579, + 0.0 + ], + "carrier_3": [ + 1.436715692281723, + 0.604997456073761, + 0.0 + ], + "carrier_4": [ + -0.010840803384780884, + -0.002711474895477295, + 0.0 + ] + }, + "command": 0.0 + }, + "belt": { + "target_speed": 0.0, + "command_speed": 0.0 + }, + "seen": { + "state": "at_station", + "station": "pick", + "rider": "carrier_4", + "arrived": true + } + } + }, + "queues": {}, + "program": null, + "sensors": {}, + "interlocks": {} + } + }, + "zones": {}, + "labware": { + "plate_1": { + "sealed": false + }, + "plate_2": { + "sealed": false + }, + "plate_3": { + "sealed": false + }, + "plate_4": { + "sealed": false + } + }, + "rules": {}, + "records": [], + "bus": { + "seq": 3, + "queue": [] + } + } + ], + "drives": [ + null, + null, + null, + {} + ] + }, + "artifacts": [ + {}, + {}, + {}, + { + "ceiling": { + "type": "rect", + "pose": { + "pos": [ + 0.6569114830828809, + 0.4516477519417015, + 2.6064915757244096 + ], + "ori": [ + 8.598176281829382, + -9.794611760977716, + 0.2818590004410879 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "color_temperature": 4229.9158235377745, + "color": [ + 0.9581469941357326, + 0.9833084851110732, + 0.883120408605164 + ], + "intensity": 9489.990708656493, + "width": 1.8920374842399597, + "height": 1.3169356572281714 + } + }, + "key": { + "type": "disk", + "pose": { + "pos": [ + 1.1299722018271585, + 1.4806948717667596, + 2.1973937866389535 + ], + "ori": [ + -3.903372540150329, + 21.87352785395877, + 15.017667347652399 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "color_temperature": 5433.902128825862, + "color": [ + 0.957156356361877, + 0.9056779514475193, + 0.8473710214468148 + ], + "intensity": 3537.9567926130535, + "radius": 0.2657182197894013 + } + } + } + ], + "background": { + "type": "dome", + "pose": { + "pos": null, + "ori": null, + "scale": null + }, + "dr": { + "intensity": 736.0858191530792, + "texture": null, + "color": [ + 0.92, + 0.94, + 0.96 + ] + } + } + }, + "robots": { + "UR5e": { + "root_pose": [ + [ + 11.0, + -11.0, + 0.9150000214576721, + 1.0, + 0.0, + 0.0, + 0.0 + ], + [ + 11.0, + 11.0, + 0.9150000214576721, + 1.0, + 0.0, + 0.0, + 0.0 + ], + [ + -11.0, + -11.0, + 0.9150000214576721, + 1.0, + 0.0, + 0.0, + 0.0 + ], + [ + -11.0, + 11.0, + 0.9150000214576721, + 1.0, + 0.0, + 0.0, + 0.0 + ] + ], + "root_vel": [ + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + ], + "joint_pos": [ + [ + -0.18495048582553864, + -2.1307897567749023, + 2.307695150375366, + -1.7478243112564087, + -1.5717052221298218, + 4.531564235687256, + 0.017999999225139618, + 0.017999999225139618 + ], + [ + -0.23799735307693481, + -2.2717630863189697, + 2.442920446395874, + -1.741536259651184, + -1.570778727531433, + 4.470928192138672, + 0.007424294948577881, + 0.008148533292114735 + ], + [ + 1.1151835918426514, + -1.349852442741394, + 2.2850663661956787, + -2.5059711933135986, + -1.570796251296997, + 2.7499215602874756, + 0.018000051379203796, + 0.01799994707107544 + ], + [ + 0.9141027927398682, + -1.7193981409072876, + 2.0904994010925293, + -1.9419008493423462, + -1.5707999467849731, + 2.4849014282226562, + 0.017999999225139618, + 0.017999999225139618 + ] + ], + "joint_vel": [ + [ + -1.2772331956512062e-06, + -1.3623707673104946e-05, + -1.3623841368826106e-05, + -6.81194478602265e-06, + 6.811955699959071e-06, + -2.379653548864602e-13, + -1.064172946811659e-12, + 2.347029092342884e-13 + ], + [ + 8.088908361969516e-05, + -0.0004977518110536039, + -0.002412790432572365, + -2.9317154258023947e-05, + 0.001037065521813929, + -0.0024028033949434757, + -0.0005819792859256268, + -0.000897592690307647 + ], + [ + -0.0001313640968874097, + 0.02057681605219841, + 0.006560919806361198, + -0.025925569236278534, + -8.722326128918212e-06, + 2.66947754425928e-05, + -8.557027285860386e-06, + 8.558967238059267e-06 + ], + [ + -2.6538580649717265e-38, + 3.051255659585916e-38, + 1.8836792056064492e-38, + 6.199823313936158e-37, + -2.5385716708574437e-37, + -5.3868383738098266e-37, + 1.0485652964431313e-37, + -1.0449580178843278e-37 + ] + ] + } + }, + "cameras": { + "cameras": { + "camera0": [ + [ + 0.05274643748998642, + 0.00018535289564169943, + -0.02709261327981949, + -0.2730749249458313, + 0.648389458656311, + 0.6524641513824463, + -0.28162333369255066 + ], + [ + 0.04810836538672447, + 0.0007637955714017153, + -0.028132643550634384, + -0.2653714418411255, + 0.6564237475395203, + 0.6448704600334167, + -0.28779837489128113 + ], + [ + 0.04804683104157448, + 0.0008841002709232271, + -0.027359453961253166, + -0.2673886716365814, + 0.6505146622657776, + 0.6530812382698059, + -0.28074702620506287 + ], + [ + 0.04743638262152672, + 0.002132401103153825, + -0.034528087824583054, + -0.2683142423629761, + 0.6516755819320679, + 0.6560105085372925, + -0.27014195919036865 + ] + ], + "camera1": [ + [ + 0.027473226189613342, + 0.5719531774520874, + 1.9470069408416748, + 0.06036493927240372, + 0.023705193772912025, + 0.28409871459007263, + 0.956599235534668 + ], + [ + 0.034035421907901764, + 0.5813454985618591, + 1.9487049579620361, + 0.035297516733407974, + 0.026838358491659164, + 0.25794342160224915, + 0.9651419520378113 + ], + [ + 0.040961284190416336, + 0.5817121863365173, + 1.9672898054122925, + 0.05385686829686165, + 0.022192174568772316, + 0.26314207911491394, + 0.9629969596862793 + ], + [ + 0.031134963035583496, + 0.5789229273796082, + 1.9560350179672241, + 0.04061199724674225, + 0.0026054501067847013, + 0.27009227871894836, + 0.961974024772644 + ] + ] + } + } + } +} \ No newline at end of file diff --git a/episodes/c2_p011_e017/wrist.mp4 b/episodes/c2_p011_e017/wrist.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..8ee7a369e1c4df6d012fe55fe8f54bab751bca62 --- /dev/null +++ b/episodes/c2_p011_e017/wrist.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:e387b1d1adf069d5e2fe477e8ed65c59be756f23919dace938fc4272c99eb5ca +size 6524275 diff --git a/episodes/c2_p011_e018/data.npz b/episodes/c2_p011_e018/data.npz new file mode 100644 index 0000000000000000000000000000000000000000..3d816d22179af459462db32b229d0d48b20d28fc --- /dev/null +++ b/episodes/c2_p011_e018/data.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:527c3d021effc788fe75cf7e3e478be129c76f2f3d9a9c1e16797d63e427d49f +size 183476 diff --git a/episodes/c2_p011_e018/device_events.jsonl b/episodes/c2_p011_e018/device_events.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..d0f146912a1cadf4037328a8f6048bcfdca91feb --- /dev/null +++ b/episodes/c2_p011_e018/device_events.jsonl @@ -0,0 +1,35 @@ +{"env_id": 0, "seq": 1, "step": 118, "t": 0.59, "topic": "conveyor_1.belt.station.pick.captured", "source": "conveyor_1.belt", "data": {"rider": "carrier_3"}, "cause": null} +{"env_id": 0, "seq": 2, "step": 118, "t": 0.59, "topic": "conveyor_1.belt.state.changed", "source": "conveyor_1.belt", "data": {"from": "running", "to": "at_station"}, "cause": null} +{"env_id": 0, "seq": 3, "step": 123, "t": 0.615, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_3"}, "cause": null} +{"env_id": 0, "seq": 4, "step": 5330, "t": 26.65, "topic": "a4s_sealer_1.plate_present.present", "source": "a4s_sealer_1.plate_present", "data": {"object": "plate_3"}, "cause": null} +{"env_id": 0, "seq": 5, "step": 5944, "t": 29.72, "topic": "a4s_sealer_1.command.started", "source": "a4s_sealer_1", "data": {"command_id": "task-0-1", "name": "seal", "source": "task"}, "cause": "task-0-1"} +{"env_id": 0, "seq": 6, "step": 5944, "t": 29.72, "topic": "a4s_sealer_1.seal.started", "source": "a4s_sealer_1", "data": {"dwell": 2.2752150097289157}, "cause": "task-0-1"} +{"env_id": 0, "seq": 7, "step": 5944, "t": 29.72, "topic": "a4s_sealer_1.drawer.command.started", "source": "a4s_sealer_1.drawer", "data": {"command_id": "program-0-2", "name": "close", "source": "program:seal"}, "cause": "program-0-2"} +{"env_id": 0, "seq": 8, "step": 5944, "t": 29.72, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "at_out", "to": "moving"}, "cause": null} +{"env_id": 0, "seq": 9, "step": 5944, "t": 29.72, "topic": "a4s_sealer_1.drawer.moving", "source": "a4s_sealer_1.drawer", "data": {"target": 0.3, "goal": "in"}, "cause": "program-0-2"} +{"env_id": 0, "seq": 10, "step": 6363, "t": 31.815, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "moving", "to": "at_in"}, "cause": null} +{"env_id": 0, "seq": 11, "step": 6363, "t": 31.815, "topic": "a4s_sealer_1.drawer.reached", "source": "a4s_sealer_1.drawer", "data": {"position": "in", "q": 0.30000001192092896}, "cause": "program-0-2"} +{"env_id": 0, "seq": 12, "step": 6363, "t": 31.815, "topic": "a4s_sealer_1.drawer.at_in", "source": "a4s_sealer_1.drawer", "data": {"q": 0.30000001192092896}, "cause": "program-0-2"} +{"env_id": 0, "seq": 13, "step": 6363, "t": 31.815, "topic": "a4s_sealer_1.drawer.command.succeeded", "source": "a4s_sealer_1.drawer", "data": {"command_id": "program-0-2", "name": "close", "source": "program:seal", "result": {"position": "in"}}, "cause": "program-0-2"} +{"env_id": 0, "seq": 14, "step": 6363, "t": 31.815, "topic": "labware.plate_3.changed", "source": "labware.plate_3", "data": {"key": "sealed", "value": true}, "cause": "task-0-1"} +{"env_id": 0, "seq": 15, "step": 6363, "t": 31.815, "topic": "a4s_sealer_1.sealed", "source": "a4s_sealer_1", "data": {"plate": "plate_3"}, "cause": "task-0-1"} +{"env_id": 0, "seq": 16, "step": 6363, "t": 31.815, "topic": "a4s_sealer_1.heater.command.started", "source": "a4s_sealer_1.heater", "data": {"command_id": "program-0-3", "name": "run", "source": "program:seal"}, "cause": "program-0-3"} +{"env_id": 0, "seq": 17, "step": 6363, "t": 31.815, "topic": "a4s_sealer_1.heater.state.changed", "source": "a4s_sealer_1.heater", "data": {"from": "ready", "to": "running"}, "cause": null} +{"env_id": 0, "seq": 18, "step": 6363, "t": 31.815, "topic": "a4s_sealer_1.heater.started", "source": "a4s_sealer_1.heater", "data": {"duration": 2.2752150097289157}, "cause": "program-0-3"} +{"env_id": 0, "seq": 19, "step": 6819, "t": 34.095, "topic": "a4s_sealer_1.heater.state.changed", "source": "a4s_sealer_1.heater", "data": {"from": "running", "to": "ready"}, "cause": null} +{"env_id": 0, "seq": 20, "step": 6819, "t": 34.095, "topic": "a4s_sealer_1.heater.finished", "source": "a4s_sealer_1.heater", "data": {"elapsed": 2.280000000001035}, "cause": "program-0-3"} +{"env_id": 0, "seq": 21, "step": 6819, "t": 34.095, "topic": "a4s_sealer_1.heater.command.succeeded", "source": "a4s_sealer_1.heater", "data": {"command_id": "program-0-3", "name": "run", "source": "program:seal", "result": {"elapsed": 2.280000000001035}}, "cause": "program-0-3"} +{"env_id": 0, "seq": 22, "step": 6819, "t": 34.095, "topic": "a4s_sealer_1.drawer.command.started", "source": "a4s_sealer_1.drawer", "data": {"command_id": "program-0-4", "name": "open", "source": "program:seal"}, "cause": "program-0-4"} +{"env_id": 0, "seq": 23, "step": 6819, "t": 34.095, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "at_in", "to": "moving"}, "cause": null} +{"env_id": 0, "seq": 24, "step": 6819, "t": 34.095, "topic": "a4s_sealer_1.drawer.moving", "source": "a4s_sealer_1.drawer", "data": {"target": 0.0, "goal": "out"}, "cause": "program-0-4"} +{"env_id": 0, "seq": 25, "step": 7239, "t": 36.195, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "moving", "to": "at_out"}, "cause": null} +{"env_id": 0, "seq": 26, "step": 7239, "t": 36.195, "topic": "a4s_sealer_1.drawer.reached", "source": "a4s_sealer_1.drawer", "data": {"position": "out", "q": 1.9885451063572646e-09}, "cause": "program-0-4"} +{"env_id": 0, "seq": 27, "step": 7239, "t": 36.195, "topic": "a4s_sealer_1.drawer.at_out", "source": "a4s_sealer_1.drawer", "data": {"q": 1.9885451063572646e-09}, "cause": "program-0-4"} +{"env_id": 0, "seq": 28, "step": 7239, "t": 36.195, "topic": "a4s_sealer_1.drawer.command.succeeded", "source": "a4s_sealer_1.drawer", "data": {"command_id": "program-0-4", "name": "open", "source": "program:seal", "result": {"position": "out"}}, "cause": "program-0-4"} +{"env_id": 0, "seq": 29, "step": 7239, "t": 36.195, "topic": "a4s_sealer_1.seal.finished", "source": "a4s_sealer_1", "data": {}, "cause": "task-0-1"} +{"env_id": 0, "seq": 30, "step": 7239, "t": 36.195, "topic": "a4s_sealer_1.command.succeeded", "source": "a4s_sealer_1", "data": {"command_id": "task-0-1", "name": "seal", "source": "task"}, "cause": "task-0-1"} +{"env_id": 0, "seq": 31, "step": 7818, "t": 39.09, "topic": "a4s_sealer_1.plate_present.absent", "source": "a4s_sealer_1.plate_present", "data": {"object": "plate_3"}, "cause": null} +{"env_id": 0, "seq": 32, "step": 9520, "t": 47.6, "topic": "conveyor_1.belt.command.started", "source": "conveyor_1.belt", "data": {"command_id": "task-0-5", "name": "release", "source": "task"}, "cause": "task-0-5"} +{"env_id": 0, "seq": 33, "step": 9520, "t": 47.6, "topic": "conveyor_1.belt.station.pick.released", "source": "conveyor_1.belt", "data": {"rider": "carrier_3"}, "cause": "task-0-5"} +{"env_id": 0, "seq": 34, "step": 9520, "t": 47.6, "topic": "conveyor_1.belt.state.changed", "source": "conveyor_1.belt", "data": {"from": "at_station", "to": "running"}, "cause": null} +{"env_id": 0, "seq": 35, "step": 9520, "t": 47.6, "topic": "conveyor_1.belt.command.succeeded", "source": "conveyor_1.belt", "data": {"command_id": "task-0-5", "name": "release", "source": "task", "result": {"state": "running"}}, "cause": "task-0-5"} diff --git a/episodes/c2_p011_e018/env.mp4 b/episodes/c2_p011_e018/env.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..ca3b14ef549d4a297f85348498c3ee9fc5528465 --- /dev/null +++ b/episodes/c2_p011_e018/env.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:1c58a20def858b2816142fcb7a33459644486d87c0431490163586b4f3e7363f +size 1285505 diff --git a/episodes/c2_p011_e018/meta.json b/episodes/c2_p011_e018/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..35ba3aa28f1242566f6736c8c4236b3fc621fbf0 --- /dev/null +++ b/episodes/c2_p011_e018/meta.json @@ -0,0 +1,32 @@ +{ + "source": "raw/c2_p011/magicsim/18", + "fps": 25, + "frames": 1161, + "kept_ticks": "even", + "video_frames": { + "wrist": 1161, + "env": 1161 + }, + "joint_target_source": "joint_pos_target", + "fk_vs_recorded_eef_max_m": 0.0, + "curobo_joints": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "joint_order": [ + "shoulder_pan", + "shoulder_lift", + "elbow", + "wrist_1", + "wrist_2", + "wrist_3", + "finger_left", + "finger_right" + ], + "frames_note": "eef / actions in the robot base frame; camera_pose = local pose (wrist: in plate_gripper_base, env: env frame), pos + quat wxyz", + "dr_version": "v2" +} \ No newline at end of file diff --git a/episodes/c2_p011_e018/scene_snapshot.json b/episodes/c2_p011_e018/scene_snapshot.json new file mode 100644 index 0000000000000000000000000000000000000000..d135853a75b4aec9d398ac71025f1f8590c44776 --- /dev/null +++ b/episodes/c2_p011_e018/scene_snapshot.json @@ -0,0 +1,1558 @@ +{ + "trajectory_id": 18, + "env_id": 0, + "run_id": "c2_p011", + "task_type": "BioPlateCell", + "success": true, + "timing": { + "fps": 50.0, + "sim_dt": 0.005, + "decimation": 4 + }, + "restore_interface": { + "scene": "scene_manager.reset_to(snapshot['scene'], env_ids=[env_id])", + "robots": "robot_manager.set_state({'robots': snapshot['robots']}, env_ids=[env_id])" + }, + "snapshot": { + "env_id": 0, + "scene": { + "objects": [ + { + "rac_cell": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/rac_cell.usd", + "pose": { + "pos": [ + 0.0, + 0.0, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "physics_material": { + "static_friction": 0.6, + "dynamic_friction": 0.5, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "robot_mount": [ + { + "asset": "Cube", + "pose": { + "pos": [ + 0.0, + 0.0, + 0.9075 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": "color", + "value": [ + 0.55, + 0.56, + 0.58 + ], + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": { + "size": [ + 0.2, + 0.2, + 0.015 + ] + } + }, + "type_specific": {} + } + ], + "plate_rack": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/plate_hotel.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 0.9 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "physics_material": { + "static_friction": 0.6, + "dynamic_friction": 0.5, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "hotel_plate": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/deep_well_24_10ml/deep_well_24_10ml.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 0.9605 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_12_clear/plate_12_clear.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.0285 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/deep_well_24_10ml/deep_well_24_10ml.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.0965 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_48_clear/plate_48_clear.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.1645 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/deep_well_96_2ml/deep_well_96_2ml.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.2325 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "a4s_sealer": [ + { + "asset": "$MAGICSIM_ASSETS/Articulated/A4SSealer/Object.usd", + "pose": { + "pos": [ + 0.46334171295166016, + 0.11973381042480469, + 0.8999999761581421 + ], + "ori": [ + -0.6868569850921631, + 0.0, + 0.0, + 0.726792573928833 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "articulation", + "solver_position_iteration_count": 16.0, + "solver_velocity_iteration_count": 1.0, + "enabled_self_collisions": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "joint_position": [ + 0.0 + ], + "joint_velocity": [ + 0.0 + ], + "linear_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "angular_velocity": [ + 0.0, + 0.0, + 0.0 + ] + } + } + ], + "conveyor": [ + { + "asset": "Cube", + "pose": { + "pos": [ + 0.15, + 0.45, + 0.9 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "conveyor", + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9 + }, + "ratio": 1.0 + }, + "primitive_params": { + "size": [ + 2.4, + 0.076, + 0.03 + ] + }, + "conveyor": { + "speed": 0.2693424941035538, + "direction": [ + 1.0, + 0.0, + 0.0 + ], + "enabled": true, + "drive": "surface_velocity", + "lines": null, + "station_line": null, + "riders": [ + "carrier" + ], + "stations": { + "pick": { + "position": -0.007111462238126143, + "slow_distance": 0.03, + "slow_speed": 0.03 + } + }, + "rails": { + "height": 0.01, + "thickness": 0.01, + "gap": 0.001, + "friction": 0.05 + }, + "legs": 0.87, + "loop": { + "radius": 0.35, + "side": "left", + "curve_extra_width": 0.0, + "segments": 18, + "curve_rails": "both" + }, + "snap_distance": 0.1, + "junction_snap": 0.02, + "collision_approximation": "auto", + "plate_mass": 1.0, + "lift_drop": 0.004, + "accel": 0.0, + "decel": 0.0, + "drive_damping": 1000000.0, + "drive_max_force": 1000000000.0 + } + }, + "type_specific": { + "controller": { + "state": "at_station", + "speed": 0.2693424941035538, + "holds": [], + "station": "pick", + "rider": "carrier_3", + "arrived": true, + "applied_speed": 0.0 + } + } + } + ], + "carrier": [ + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + 0.03621673583984375, + 1.1499996185302734, + 0.8999999761581421 + ], + "ori": [ + -1.0650650438037701e-05, + -8.221695324550637e-09, + -3.6158200877878244e-09, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -4.767943817540754e-10, + -2.714861668806634e-11, + 0.0 + ], + "angular_velocity": [ + -4.298674838310035e-08, + -2.638032370327892e-08, + 1.6421795034915476e-09 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + 1.6085052490234375, + 1.0329780578613281, + 0.8999999761581421 + ], + "ori": [ + 0.41640782356262207, + 4.214338744645829e-08, + -3.01568832128396e-08, + 0.9091780185699463 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 4.718763157995909e-10, + 3.858320052341213e-10, + 0.0 + ], + "angular_velocity": [ + -2.2529945908900118e-08, + 2.7806065006075187e-08, + -3.023605588126088e-09 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + 0.1434650421142578, + 0.45000171661376953, + 0.8999999761581421 + ], + "ori": [ + 1.0, + -3.0106253046113807e-09, + 1.7732530999126084e-09, + -3.9068680052878335e-05 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 2.712272628713208e-10, + 8.197288403621883e-10, + 0.0 + ], + "angular_velocity": [ + -1.1167085034458069e-07, + 1.8576699289951648e-08, + -8.12752976031561e-09 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + -1.3906335830688477, + 0.8680696487426758, + 0.8999999761581421 + ], + "ori": [ + -0.626594066619873, + 1.3021548284086748e-08, + -6.052914613974281e-09, + 0.7793458700180054 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 2.573127062532876e-07, + 1.0883178447329556e-06, + -2.771615982055664e-06 + ], + "angular_velocity": [ + -9.327402949566022e-05, + 2.6761974368127994e-05, + -8.929977184379823e-07 + ] + } + } + ], + "plate": [ + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_6_clear/Object.usd", + "pose": { + "pos": [ + 0.0405426025390625, + 1.144993782043457, + 0.9179999828338623 + ], + "ori": [ + -0.0363471545279026, + -7.659780365543156e-09, + -1.678419403461362e-09, + 0.99933922290802 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 2.418100919499011e-08, + 5.856417129024294e-09, + 1.0058283805847168e-07 + ], + "angular_velocity": [ + -7.796559202688513e-07, + 1.5604936152158189e-06, + 1.0725622701102111e-07 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_96_black/Object.usd", + "pose": { + "pos": [ + 1.6162958145141602, + 1.026503562927246, + 0.9180000424385071 + ], + "ori": [ + 0.4547540545463562, + 4.251900875829051e-08, + -2.7843416461337256e-08, + 0.8906171917915344 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 4.021207367088664e-09, + 9.562722169675908e-09, + -5.8300793170928955e-06 + ], + "angular_velocity": [ + 3.6448184914661397e-07, + 6.412250854737067e-07, + -6.096264115740269e-08 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/pcr_96_blue/Object.usd", + "pose": { + "pos": [ + 0.1328411102294922, + 0.4587278366088867, + 0.9180000424385071 + ], + "ori": [ + 0.9999622702598572, + -2.789431796657027e-09, + 2.1010535533605434e-09, + -0.008692316710948944 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -2.0019214730382373e-08, + 7.048718941859988e-09, + -5.599111318588257e-06 + ], + "angular_velocity": [ + 1.4708925277773233e-07, + -1.527327299299941e-06, + 1.3160318701466167e-07 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/deep_well_96_2ml/Object.usd", + "pose": { + "pos": [ + -1.3897180557250977, + 0.8818655014038086, + 0.9179999828338623 + ], + "ori": [ + -0.5501593351364136, + -2.665970333382006e-09, + -1.4286795746443204e-08, + 0.835059642791748 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 8.472349009025493e-07, + 3.3841952244983986e-06, + -4.366040229797363e-06 + ], + "angular_velocity": [ + -9.793280332814902e-05, + 2.6458634238224477e-05, + -1.0483155392648769e-06 + ] + } + } + ], + "deco_hub_west": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/hub_d.usd", + "pose": { + "pos": [ + -3.36, + 0.0, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_hub_east": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/hub_e.usd", + "pose": { + "pos": [ + 3.36, + 0.0, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_hub_back": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/hub_b.usd", + "pose": { + "pos": [ + -3.0, + -2.1, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_bench_east": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/bench_a.usd", + "pose": { + "pos": [ + 2.6, + -2.5, + 0.0 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_bench_gap": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/bench_b.usd", + "pose": { + "pos": [ + -0.1, + -2.9, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ] + }, + {}, + {}, + {} + ], + "devices": { + "hub": [ + { + "t": 1.3399999999999934, + "step": 268, + "counter": 0, + "devices": { + "a4s_sealer_1": { + "mode": "auto", + "units": { + "drawer": { + "state": "at_out", + "active": null, + "target": 0.0, + "goal_name": "out", + "profile": null, + "q_start": null, + "reversing": false, + "blocked_for": 0.0, + "settled_for": 0.0, + "last_q": 0.0 + }, + "heater": { + "state": "ready", + "active": null, + "duration": 0.0, + "t_start": null, + "elapsed": 0.0 + } + }, + "queues": {}, + "program": null, + "sensors": { + "plate_present": { + "occupants": [], + "pending": {} + } + }, + "interlocks": {} + }, + "conveyor_1": { + "mode": "auto", + "units": { + "belt": { + "state": "at_station", + "active": null, + "controller": { + "speed": 0.2693424941035538, + "holds": [], + "station": "pick", + "rider": "carrier_3", + "arrived": true, + "settle_count": 149, + "released": { + "pick": [] + }, + "last_pos": { + "carrier_1": [ + -0.11378327012062073, + 0.6999996304512024, + 0.0 + ], + "carrier_2": [ + 1.458505243062973, + 0.5829780697822571, + 0.0 + ], + "carrier_3": [ + -0.006534963846206665, + 1.7285346984863281e-06, + 0.0 + ], + "carrier_4": [ + -1.5406335890293121, + 0.41806966066360474, + 0.0 + ] + }, + "command": 0.0 + }, + "belt": { + "target_speed": 0.0, + "command_speed": 0.0 + }, + "seen": { + "state": "at_station", + "station": "pick", + "rider": "carrier_3", + "arrived": true + } + } + }, + "queues": {}, + "program": null, + "sensors": {}, + "interlocks": {} + } + }, + "zones": {}, + "labware": { + "plate_1": { + "sealed": false + }, + "plate_2": { + "sealed": false + }, + "plate_3": { + "sealed": false + }, + "plate_4": { + "sealed": false + } + }, + "rules": {}, + "records": [], + "bus": { + "seq": 3, + "queue": [] + } + }, + null, + null, + null + ], + "drives": [ + {}, + null, + null, + null + ] + }, + "artifacts": [ + { + "ceiling": { + "type": "rect", + "pose": { + "pos": [ + 0.21639476142389313, + -0.4160347196261646, + 2.7099486974588234 + ], + "ori": [ + 12.964922920678362, + 3.2129446764206193, + -22.27071527667766 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "color_temperature": 5333.4154260450705, + "color": [ + 0.9824614916455273, + 0.8770835980118091, + 0.920029068483325 + ], + "intensity": 5000.055404272441, + "width": 2.2640193159456374, + "height": 1.8206426199858425 + } + }, + "key": { + "type": "sphere", + "pose": { + "pos": [ + 0.5489540628104397, + -0.5610251366225619, + 2.317911207354123 + ], + "ori": [ + 4.014105709132252, + -22.540310989637895, + -30.630686520800275 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "color_temperature": 5048.976023426902, + "color": [ + 0.8252614055241551, + 0.8720649185678989, + 0.8356389362281064 + ], + "intensity": 9798.13266567257, + "radius": 0.14204891110167361 + } + } + }, + {}, + {}, + {} + ], + "background": { + "type": "dome", + "pose": { + "pos": null, + "ori": null, + "scale": null + }, + "dr": { + "intensity": 720.2415330973049, + "texture": null, + "color": [ + 0.92, + 0.94, + 0.96 + ] + } + } + }, + "robots": { + "UR5e": { + "root_pose": [ + [ + 11.0, + -11.0, + 0.9150000214576721, + 1.0, + 0.0, + 0.0, + 0.0 + ], + [ + 11.0, + 11.0, + 0.9150000214576721, + 1.0, + 0.0, + 0.0, + 0.0 + ], + [ + -11.0, + -11.0, + 0.9150000214576721, + 1.0, + 0.0, + 0.0, + 0.0 + ], + [ + -11.0, + 11.0, + 0.9150000214576721, + 1.0, + 0.0, + 0.0, + 0.0 + ] + ], + "root_vel": [ + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + ], + "joint_pos": [ + [ + 0.9141013622283936, + -1.719398021697998, + 2.0904994010925293, + -1.9419007301330566, + -1.5707999467849731, + 2.4849002361297607, + 0.017999999225139618, + 0.017999999225139618 + ], + [ + 1.2228615283966064, + -1.3506245613098145, + 2.23935604095459, + -2.4594886302948, + -1.5707974433898926, + 2.674916982650757, + 0.018000055104494095, + 0.01799994334578514 + ], + [ + 2.691524028778076, + -1.8154075145721436, + 2.405066728591919, + -2.160421371459961, + -1.5707905292510986, + 4.2623372077941895, + 0.01799999736249447, + 0.018000001087784767 + ], + [ + 2.5315849781036377, + -2.2521626949310303, + 2.243668794631958, + -1.56229829788208, + -1.5716285705566406, + 4.102346897125244, + 0.01799999363720417, + 0.018000004813075066 + ] + ], + "joint_vel": [ + [ + 2.4120785884565083e-38, + -3.0397313810153084e-38, + 0.0, + -5.956530098767838e-37, + 7.1039872699159145e-37, + 2.4312496966949975e-36, + 0.0, + 1.006377468564537e-37 + ], + [ + -7.171297329477966e-05, + 0.019206997007131577, + 0.006998265162110329, + -0.024964865297079086, + -8.231580977735575e-06, + 5.394761319621466e-05, + -8.33915783005068e-06, + 8.341066859429702e-06 + ], + [ + 0.008314424194395542, + 0.020218024030327797, + -0.013842502608895302, + -0.006143619306385517, + 7.018365522526437e-06, + 0.008419864811003208, + 2.8513779852801235e-06, + -2.8512436074379366e-06 + ], + [ + 6.811903404013719e-06, + -2.1830091553876052e-11, + 6.811935691075632e-06, + 6.811951607232913e-06, + -5.382477775116301e-13, + -1.3623913218907546e-05, + 7.795824785716832e-08, + -7.796464274179016e-08 + ] + ] + } + }, + "cameras": { + "cameras": { + "camera0": [ + [ + 0.05016759783029556, + 0.0015229316195473075, + -0.030772455036640167, + -0.2675279378890991, + 0.6483712792396545, + 0.658650815486908, + -0.2724381983280182 + ], + [ + 0.04722322151064873, + -0.0022033285349607468, + -0.02919776737689972, + -0.28869208693504333, + 0.6452843546867371, + 0.6537414789199829, + -0.2699759602546692 + ], + [ + 0.04741295054554939, + -0.0009022518061101437, + -0.023764191195368767, + -0.267553448677063, + 0.6526989340782166, + 0.6478548049926758, + -0.28754717111587524 + ], + [ + 0.046873539686203, + 0.0029852716252207756, + -0.03361901640892029, + -0.26870647072792053, + 0.6513049006462097, + 0.6557605266571045, + -0.27125057578086853 + ] + ], + "camera1": [ + [ + 0.0364840142428875, + 0.5636189579963684, + 1.9692038297653198, + 0.03597528859972954, + 0.029463861137628555, + 0.2803593575954437, + 0.9587681293487549 + ], + [ + 0.04440973326563835, + 0.5605351328849792, + 1.9633474349975586, + 0.06053807586431503, + 0.022400101646780968, + 0.2614333927631378, + 0.963060736656189 + ], + [ + 0.040961284190416336, + 0.5817121863365173, + 1.9672898054122925, + 0.05385686829686165, + 0.022192174568772316, + 0.26314207911491394, + 0.9629969596862793 + ], + [ + 0.031134963035583496, + 0.5789229273796082, + 1.9560350179672241, + 0.04061199724674225, + 0.0026054501067847013, + 0.27009227871894836, + 0.961974024772644 + ] + ] + } + } + } +} \ No newline at end of file diff --git a/episodes/c2_p011_e018/wrist.mp4 b/episodes/c2_p011_e018/wrist.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..02d2058c0e6166933449e80ea7b2458b7aa7f3a3 --- /dev/null +++ b/episodes/c2_p011_e018/wrist.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:be25acd1c833b9cbeb1358c979550579a739221b37e9f4d92d55f463f85b2ee5 +size 7268875 diff --git a/episodes/c2_p011_e019/data.npz b/episodes/c2_p011_e019/data.npz new file mode 100644 index 0000000000000000000000000000000000000000..757a74b2c0ef05570dc9aac51d7bb348fdad680a --- /dev/null +++ b/episodes/c2_p011_e019/data.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:56799f425f93c8f4411736c727748000589e53ffdf58439ad28b57e422648260 +size 193177 diff --git a/episodes/c2_p011_e019/device_events.jsonl b/episodes/c2_p011_e019/device_events.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..fa245fb158a97ca3cb39a0631b25449474040065 --- /dev/null +++ b/episodes/c2_p011_e019/device_events.jsonl @@ -0,0 +1,35 @@ +{"env_id": 1, "seq": 1, "step": 129, "t": 0.645, "topic": "conveyor_1.belt.station.pick.captured", "source": "conveyor_1.belt", "data": {"rider": "carrier_2"}, "cause": null} +{"env_id": 1, "seq": 2, "step": 129, "t": 0.645, "topic": "conveyor_1.belt.state.changed", "source": "conveyor_1.belt", "data": {"from": "running", "to": "at_station"}, "cause": null} +{"env_id": 1, "seq": 3, "step": 134, "t": 0.67, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_2"}, "cause": null} +{"env_id": 1, "seq": 4, "step": 6019, "t": 30.095, "topic": "a4s_sealer_1.plate_present.present", "source": "a4s_sealer_1.plate_present", "data": {"object": "plate_2"}, "cause": null} +{"env_id": 1, "seq": 5, "step": 6628, "t": 33.14, "topic": "a4s_sealer_1.command.started", "source": "a4s_sealer_1", "data": {"command_id": "task-1-1", "name": "seal", "source": "task"}, "cause": "task-1-1"} +{"env_id": 1, "seq": 6, "step": 6628, "t": 33.14, "topic": "a4s_sealer_1.seal.started", "source": "a4s_sealer_1", "data": {"dwell": 4.59387835058683}, "cause": "task-1-1"} +{"env_id": 1, "seq": 7, "step": 6628, "t": 33.14, "topic": "a4s_sealer_1.drawer.command.started", "source": "a4s_sealer_1.drawer", "data": {"command_id": "program-1-2", "name": "close", "source": "program:seal"}, "cause": "program-1-2"} +{"env_id": 1, "seq": 8, "step": 6628, "t": 33.14, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "at_out", "to": "moving"}, "cause": null} +{"env_id": 1, "seq": 9, "step": 6628, "t": 33.14, "topic": "a4s_sealer_1.drawer.moving", "source": "a4s_sealer_1.drawer", "data": {"target": 0.3, "goal": "in"}, "cause": "program-1-2"} +{"env_id": 1, "seq": 10, "step": 7047, "t": 35.235, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "moving", "to": "at_in"}, "cause": null} +{"env_id": 1, "seq": 11, "step": 7047, "t": 35.235, "topic": "a4s_sealer_1.drawer.reached", "source": "a4s_sealer_1.drawer", "data": {"position": "in", "q": 0.30000001192092896}, "cause": "program-1-2"} +{"env_id": 1, "seq": 12, "step": 7047, "t": 35.235, "topic": "a4s_sealer_1.drawer.at_in", "source": "a4s_sealer_1.drawer", "data": {"q": 0.30000001192092896}, "cause": "program-1-2"} +{"env_id": 1, "seq": 13, "step": 7047, "t": 35.235, "topic": "a4s_sealer_1.drawer.command.succeeded", "source": "a4s_sealer_1.drawer", "data": {"command_id": "program-1-2", "name": "close", "source": "program:seal", "result": {"position": "in"}}, "cause": "program-1-2"} +{"env_id": 1, "seq": 14, "step": 7047, "t": 35.235, "topic": "labware.plate_2.changed", "source": "labware.plate_2", "data": {"key": "sealed", "value": true}, "cause": "task-1-1"} +{"env_id": 1, "seq": 15, "step": 7047, "t": 35.235, "topic": "a4s_sealer_1.sealed", "source": "a4s_sealer_1", "data": {"plate": "plate_2"}, "cause": "task-1-1"} +{"env_id": 1, "seq": 16, "step": 7047, "t": 35.235, "topic": "a4s_sealer_1.heater.command.started", "source": "a4s_sealer_1.heater", "data": {"command_id": "program-1-3", "name": "run", "source": "program:seal"}, "cause": "program-1-3"} +{"env_id": 1, "seq": 17, "step": 7047, "t": 35.235, "topic": "a4s_sealer_1.heater.state.changed", "source": "a4s_sealer_1.heater", "data": {"from": "ready", "to": "running"}, "cause": null} +{"env_id": 1, "seq": 18, "step": 7047, "t": 35.235, "topic": "a4s_sealer_1.heater.started", "source": "a4s_sealer_1.heater", "data": {"duration": 4.59387835058683}, "cause": "program-1-3"} +{"env_id": 1, "seq": 19, "step": 7966, "t": 39.83, "topic": "a4s_sealer_1.heater.state.changed", "source": "a4s_sealer_1.heater", "data": {"from": "running", "to": "ready"}, "cause": null} +{"env_id": 1, "seq": 20, "step": 7966, "t": 39.83, "topic": "a4s_sealer_1.heater.finished", "source": "a4s_sealer_1.heater", "data": {"elapsed": 4.595000000002351}, "cause": "program-1-3"} +{"env_id": 1, "seq": 21, "step": 7966, "t": 39.83, "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": 4.595000000002351}}, "cause": "program-1-3"} +{"env_id": 1, "seq": 22, "step": 7966, "t": 39.83, "topic": "a4s_sealer_1.drawer.command.started", "source": "a4s_sealer_1.drawer", "data": {"command_id": "program-1-4", "name": "open", "source": "program:seal"}, "cause": "program-1-4"} +{"env_id": 1, "seq": 23, "step": 7966, "t": 39.83, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "at_in", "to": "moving"}, "cause": null} +{"env_id": 1, "seq": 24, "step": 7966, "t": 39.83, "topic": "a4s_sealer_1.drawer.moving", "source": "a4s_sealer_1.drawer", "data": {"target": 0.0, "goal": "out"}, "cause": "program-1-4"} +{"env_id": 1, "seq": 25, "step": 8386, "t": 41.93, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "moving", "to": "at_out"}, "cause": null} +{"env_id": 1, "seq": 26, "step": 8386, "t": 41.93, "topic": "a4s_sealer_1.drawer.reached", "source": "a4s_sealer_1.drawer", "data": {"position": "out", "q": 0.0}, "cause": "program-1-4"} +{"env_id": 1, "seq": 27, "step": 8386, "t": 41.93, "topic": "a4s_sealer_1.drawer.at_out", "source": "a4s_sealer_1.drawer", "data": {"q": 0.0}, "cause": "program-1-4"} +{"env_id": 1, "seq": 28, "step": 8386, "t": 41.93, "topic": "a4s_sealer_1.drawer.command.succeeded", "source": "a4s_sealer_1.drawer", "data": {"command_id": "program-1-4", "name": "open", "source": "program:seal", "result": {"position": "out"}}, "cause": "program-1-4"} +{"env_id": 1, "seq": 29, "step": 8386, "t": 41.93, "topic": "a4s_sealer_1.seal.finished", "source": "a4s_sealer_1", "data": {}, "cause": "task-1-1"} +{"env_id": 1, "seq": 30, "step": 8386, "t": 41.93, "topic": "a4s_sealer_1.command.succeeded", "source": "a4s_sealer_1", "data": {"command_id": "task-1-1", "name": "seal", "source": "task"}, "cause": "task-1-1"} +{"env_id": 1, "seq": 31, "step": 8967, "t": 44.835, "topic": "a4s_sealer_1.plate_present.absent", "source": "a4s_sealer_1.plate_present", "data": {"object": "plate_2"}, "cause": null} +{"env_id": 1, "seq": 32, "step": 10676, "t": 53.38, "topic": "conveyor_1.belt.command.started", "source": "conveyor_1.belt", "data": {"command_id": "task-1-5", "name": "release", "source": "task"}, "cause": "task-1-5"} +{"env_id": 1, "seq": 33, "step": 10676, "t": 53.38, "topic": "conveyor_1.belt.station.pick.released", "source": "conveyor_1.belt", "data": {"rider": "carrier_2"}, "cause": "task-1-5"} +{"env_id": 1, "seq": 34, "step": 10676, "t": 53.38, "topic": "conveyor_1.belt.state.changed", "source": "conveyor_1.belt", "data": {"from": "at_station", "to": "running"}, "cause": null} +{"env_id": 1, "seq": 35, "step": 10676, "t": 53.38, "topic": "conveyor_1.belt.command.succeeded", "source": "conveyor_1.belt", "data": {"command_id": "task-1-5", "name": "release", "source": "task", "result": {"state": "running"}}, "cause": "task-1-5"} diff --git a/episodes/c2_p011_e019/env.mp4 b/episodes/c2_p011_e019/env.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..a1f722668351a7272340108bcd346a661663f90b --- /dev/null +++ b/episodes/c2_p011_e019/env.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:d0f12c1db5c857f00a512167ff112333667a95c8144a00405b357b74a6259b14 +size 1277172 diff --git a/episodes/c2_p011_e019/meta.json b/episodes/c2_p011_e019/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..ffa893980c040b159598f760242486d01ae3edff --- /dev/null +++ b/episodes/c2_p011_e019/meta.json @@ -0,0 +1,32 @@ +{ + "source": "raw/c2_p011/magicsim/19", + "fps": 25, + "frames": 1257, + "kept_ticks": "even", + "video_frames": { + "wrist": 1257, + "env": 1257 + }, + "joint_target_source": "joint_pos_target", + "fk_vs_recorded_eef_max_m": 0.0, + "curobo_joints": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "joint_order": [ + "shoulder_pan", + "shoulder_lift", + "elbow", + "wrist_1", + "wrist_2", + "wrist_3", + "finger_left", + "finger_right" + ], + "frames_note": "eef / actions in the robot base frame; camera_pose = local pose (wrist: in plate_gripper_base, env: env frame), pos + quat wxyz", + "dr_version": "v2" +} \ No newline at end of file diff --git a/episodes/c2_p011_e019/scene_snapshot.json b/episodes/c2_p011_e019/scene_snapshot.json new file mode 100644 index 0000000000000000000000000000000000000000..d76662f684fbedc7709c675cde336321aa869b12 --- /dev/null +++ b/episodes/c2_p011_e019/scene_snapshot.json @@ -0,0 +1,1558 @@ +{ + "trajectory_id": 19, + "env_id": 1, + "run_id": "c2_p011", + "task_type": "BioPlateCell", + "success": true, + "timing": { + "fps": 50.0, + "sim_dt": 0.005, + "decimation": 4 + }, + "restore_interface": { + "scene": "scene_manager.reset_to(snapshot['scene'], env_ids=[env_id])", + "robots": "robot_manager.set_state({'robots': snapshot['robots']}, env_ids=[env_id])" + }, + "snapshot": { + "env_id": 1, + "scene": { + "objects": [ + {}, + { + "rac_cell": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/rac_cell.usd", + "pose": { + "pos": [ + 0.0, + 0.0, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "physics_material": { + "static_friction": 0.6, + "dynamic_friction": 0.5, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "robot_mount": [ + { + "asset": "Cube", + "pose": { + "pos": [ + 0.0, + 0.0, + 0.9075 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": "color", + "value": [ + 0.55, + 0.56, + 0.58 + ], + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": { + "size": [ + 0.2, + 0.2, + 0.015 + ] + } + }, + "type_specific": {} + } + ], + "plate_rack": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/plate_hotel.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 0.9 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "physics_material": { + "static_friction": 0.6, + "dynamic_friction": 0.5, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "hotel_plate": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/deep_well_96_2ml/deep_well_96_2ml.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 0.9605 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_12_clear/plate_12_clear.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.0285 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/pcr_384_red/pcr_384_red.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.0965 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_24_clear/plate_24_clear.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.1645 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/deep_well_96_2ml/deep_well_96_2ml.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.2325 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "a4s_sealer": [ + { + "asset": "$MAGICSIM_ASSETS/Articulated/A4SSealer/Object.usd", + "pose": { + "pos": [ + 0.4982614517211914, + 0.053275108337402344, + 0.8999999761581421 + ], + "ori": [ + 0.724157452583313, + 0.0, + 0.0, + -0.6896346807479858 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "articulation", + "solver_position_iteration_count": 16.0, + "solver_velocity_iteration_count": 1.0, + "enabled_self_collisions": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "joint_position": [ + 2.691333050516831e-12 + ], + "joint_velocity": [ + 0.0 + ], + "linear_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "angular_velocity": [ + 0.0, + 0.0, + 0.0 + ] + } + } + ], + "conveyor": [ + { + "asset": "Cube", + "pose": { + "pos": [ + 0.15, + 0.45, + 0.9 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "conveyor", + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9 + }, + "ratio": 1.0 + }, + "primitive_params": { + "size": [ + 2.4, + 0.076, + 0.03 + ] + }, + "conveyor": { + "speed": 0.28500621427426986, + "direction": [ + 1.0, + 0.0, + 0.0 + ], + "enabled": true, + "drive": "surface_velocity", + "lines": null, + "station_line": null, + "riders": [ + "carrier" + ], + "stations": { + "pick": { + "position": -0.26676222793245036, + "slow_distance": 0.03, + "slow_speed": 0.03 + } + }, + "rails": { + "height": 0.01, + "thickness": 0.01, + "gap": 0.001, + "friction": 0.05 + }, + "legs": 0.87, + "loop": { + "radius": 0.35, + "side": "left", + "curve_extra_width": 0.0, + "segments": 18, + "curve_rails": "both" + }, + "snap_distance": 0.1, + "junction_snap": 0.02, + "collision_approximation": "auto", + "plate_mass": 1.0, + "lift_drop": 0.004, + "accel": 0.0, + "decel": 0.0, + "drive_damping": 1000000.0, + "drive_max_force": 1000000000.0 + } + }, + "type_specific": { + "controller": { + "state": "at_station", + "speed": 0.28500621427426986, + "holds": [], + "station": "pick", + "rider": "carrier_2", + "arrived": true, + "applied_speed": 0.0 + } + } + } + ], + "carrier": [ + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + 0.3671140670776367, + 1.1526012420654297, + 0.8999999761581421 + ], + "ori": [ + -0.011293317191302776, + -6.105376826326392e-08, + -3.621644140139324e-08, + 0.9999362826347351 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 1.6042127626292313e-09, + 1.0763911539868332e-08, + 7.450580596923828e-09 + ], + "angular_velocity": [ + -4.559910848911386e-07, + 9.243477450127102e-08, + 2.706690338527551e-08 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + -0.11637020111083984, + 0.44745635986328125, + 0.8999999761581421 + ], + "ori": [ + 0.999962568283081, + 1.995047460567889e-09, + 1.472850730266373e-09, + 0.008653603494167328 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 1.3768450823903322e-09, + 3.0722770993918402e-09, + 7.450580596923828e-09 + ], + "angular_velocity": [ + -2.766504181295204e-08, + 1.3314613056536473e-07, + -1.6708170846868597e-08 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + 1.6969661712646484, + 0.7763147354125977, + 0.8999999761581421 + ], + "ori": [ + 0.7372837662696838, + -1.8831606496405584e-08, + 4.399105080210575e-09, + 0.6755832433700562 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -4.672188747001371e-10, + -4.917726226238983e-10, + 3.725290298461914e-09 + ], + "angular_velocity": [ + 4.5173976559453877e-08, + -1.816171391055832e-08, + 3.7187573020958098e-09 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + -1.2426042556762695, + 1.088409423828125, + 0.8999999761581421 + ], + "ori": [ + -0.2817598283290863, + 1.4026871042460698e-07, + 7.701167703544343e-08, + 0.9594850540161133 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 7.288954151363214e-08, + -1.0362911950778653e-07, + 1.2665987014770508e-07 + ], + "angular_velocity": [ + 1.541414007988351e-06, + 2.6952980078931432e-06, + 8.259503374574706e-07 + ] + } + } + ], + "plate": [ + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_12_clear/Object.usd", + "pose": { + "pos": [ + 0.3563051223754883, + 1.1497678756713867, + 0.9179999828338623 + ], + "ori": [ + 0.047903068363666534, + -5.940052361097514e-08, + -4.035246448097496e-08, + 0.998852014541626 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 3.4234815871059254e-08, + 1.0530546035170119e-07, + 1.2293457984924316e-07 + ], + "angular_velocity": [ + -1.9699418771779165e-06, + 2.4273069811897585e-06, + -1.0782108006424096e-07 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_96_white/Object.usd", + "pose": { + "pos": [ + -0.11460304260253906, + 0.4419870376586914, + 0.9180000424385071 + ], + "ori": [ + 0.9982354044914246, + 3.178340479692565e-09, + 2.3824089367963097e-09, + 0.05938192456960678 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 1.565138241232944e-09, + 3.167230389067299e-08, + -5.189329385757446e-06 + ], + "angular_velocity": [ + 2.957132210212876e-07, + -1.3587016383098671e-06, + -1.0805839778527115e-08 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/pcr_384_red/Object.usd", + "pose": { + "pos": [ + 1.6910619735717773, + 0.7865114212036133, + 0.9179999828338623 + ], + "ori": [ + 0.6936182975769043, + -1.775179114815728e-08, + 5.6853757257613324e-09, + 0.720342755317688 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 1.1055723447839227e-08, + -1.385683834342899e-08, + -5.863606929779053e-06 + ], + "angular_velocity": [ + 1.0093938271893421e-06, + 5.114864620736626e-07, + -4.738280523497451e-08 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/deep_well_96_1ml/Object.usd", + "pose": { + "pos": [ + -1.2577829360961914, + 1.088332176208496, + 0.9179999828338623 + ], + "ori": [ + -0.37163469195365906, + 1.0861752741675446e-07, + 3.7190423540778283e-07, + 0.9283791184425354 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 1.40933650527586e-06, + -1.4007854360897909e-06, + -8.940696716308594e-07 + ], + "angular_velocity": [ + 6.23817031737417e-05, + 3.317408118164167e-05, + 9.417322871740907e-06 + ] + } + } + ], + "deco_hub_west": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/hub_a.usd", + "pose": { + "pos": [ + -3.36, + 0.0, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_hub_east": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/hub_c.usd", + "pose": { + "pos": [ + 3.36, + 0.0, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_hub_back": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/hub_d.usd", + "pose": { + "pos": [ + -3.0, + -2.1, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_bench_east": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/bench_c.usd", + "pose": { + "pos": [ + 2.6, + -2.5, + 0.0 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_bench_gap": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/bench_b.usd", + "pose": { + "pos": [ + -0.1, + -2.9, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ] + }, + {}, + {} + ], + "devices": { + "hub": [ + null, + { + "t": 3.239999999999953, + "step": 648, + "counter": 0, + "devices": { + "a4s_sealer_1": { + "mode": "auto", + "units": { + "drawer": { + "state": "at_out", + "active": null, + "target": 0.0, + "goal_name": "out", + "profile": null, + "q_start": null, + "reversing": false, + "blocked_for": 0.0, + "settled_for": 0.0, + "last_q": 2.691333050516831e-12 + }, + "heater": { + "state": "ready", + "active": null, + "duration": 0.0, + "t_start": null, + "elapsed": 0.0 + } + }, + "queues": {}, + "program": null, + "sensors": { + "plate_present": { + "occupants": [], + "pending": {} + } + }, + "interlocks": {} + }, + "conveyor_1": { + "mode": "auto", + "units": { + "belt": { + "state": "at_station", + "active": null, + "controller": { + "speed": 0.28500621427426986, + "holds": [], + "station": "pick", + "rider": "carrier_2", + "arrived": true, + "settle_count": 518, + "released": { + "pick": [] + }, + "last_pos": { + "carrier_1": [ + 0.21711406111717224, + 0.7026012539863586, + 0.0 + ], + "carrier_2": [ + -0.2663702070713043, + -0.002543628215789795, + 0.0 + ], + "carrier_3": [ + 1.546966165304184, + 0.3263147473335266, + 0.0 + ], + "carrier_4": [ + -1.392604261636734, + 0.638409435749054, + 0.0 + ] + }, + "command": 0.0 + }, + "belt": { + "target_speed": 0.0, + "command_speed": 0.0 + }, + "seen": { + "state": "at_station", + "station": "pick", + "rider": "carrier_2", + "arrived": true + } + } + }, + "queues": {}, + "program": null, + "sensors": {}, + "interlocks": {} + } + }, + "zones": {}, + "labware": { + "plate_1": { + "sealed": false + }, + "plate_2": { + "sealed": false + }, + "plate_3": { + "sealed": false + }, + "plate_4": { + "sealed": false + } + }, + "rules": {}, + "records": [], + "bus": { + "seq": 3, + "queue": [] + } + }, + null, + null + ], + "drives": [ + null, + {}, + null, + null + ] + }, + "artifacts": [ + {}, + { + "ceiling": { + "type": "rect", + "pose": { + "pos": [ + -0.43960596496177784, + 0.13856347681655345, + 2.8371001124727155 + ], + "ori": [ + -5.644739693420336, + -10.983056886817046, + 26.158045770094773 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "color_temperature": 5438.676181365524, + "color": [ + 0.8238246841959062, + 0.9542969146819399, + 0.857782755410516 + ], + "intensity": 6984.649307204736, + "width": 2.1371520885408923, + "height": 1.0449251475506613 + } + }, + "key": { + "type": "disk", + "pose": { + "pos": [ + 1.7030692705395607, + 1.5482331618556942, + 2.6625797415615065 + ], + "ori": [ + 15.522779098351059, + 28.003403620700155, + -38.98596529196456 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "color_temperature": 5888.192957630632, + "color": [ + 0.8955202469652243, + 0.9886018077694039, + 0.9290398034065428 + ], + "intensity": 2215.6140866646992, + "radius": 0.4629714977915861 + } + } + }, + {}, + {} + ], + "background": { + "type": "dome", + "pose": { + "pos": null, + "ori": null, + "scale": null + }, + "dr": { + "intensity": 736.0858191530792, + "texture": null, + "color": [ + 0.92, + 0.94, + 0.96 + ] + } + } + }, + "robots": { + "UR5e": { + "root_pose": [ + [ + 11.0, + -11.0, + 0.9150000214576721, + 1.0, + 0.0, + 0.0, + 0.0 + ], + [ + 11.0, + 11.0, + 0.9150000214576721, + 1.0, + 0.0, + 0.0, + 0.0 + ], + [ + -11.0, + -11.0, + 0.9150000214576721, + 1.0, + 0.0, + 0.0, + 0.0 + ], + [ + -11.0, + 11.0, + 0.9150000214576721, + 1.0, + 0.0, + 0.0, + 0.0 + ] + ], + "root_vel": [ + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + ], + "joint_pos": [ + [ + 1.4532719850540161, + -1.5554215908050537, + 2.1195404529571533, + -2.135072708129883, + -1.5714738368988037, + 6.163897514343262, + 0.018000055104494095, + 0.01799994334578514 + ], + [ + 0.9141024947166443, + -1.7193981409072876, + 2.090498924255371, + -1.9419000148773193, + -1.5707999467849731, + 2.484900951385498, + 0.01799999736249447, + 0.018000001087784767 + ], + [ + 2.5282704830169678, + -2.1574201583862305, + 2.5685808658599854, + -1.9823312759399414, + -1.5705903768539429, + 4.099878311157227, + 0.01799999549984932, + 0.018000002950429916 + ], + [ + 2.6620230674743652, + -2.0362517833709717, + 2.1539981365203857, + -1.6884493827819824, + -1.571621060371399, + 4.232782363891602, + 0.01800001785159111, + 0.017999980598688126 + ] + ], + "joint_vel": [ + [ + -8.005169365787879e-05, + -0.013186253607273102, + -0.012240048497915268, + 0.0241499412804842, + 1.31494252855191e-05, + -0.00017752392159309238, + -4.99899670103332e-06, + 5.001334102416877e-06 + ], + [ + 0.0, + -2.454474593234963e-38, + -1.2499685997863728e-38, + -4.265927400769919e-37, + 2.7658317895163454e-37, + 7.673397726246167e-38, + 2.5990386731677972e-08, + -2.5990386731677972e-08 + ], + [ + 6.811910225223983e-06, + -2.0145409646010748e-11, + 6.811937510065036e-06, + 3.4059730751323514e-06, + 1.0184062794460491e-13, + -1.3623912309412844e-05, + 5.19868805781698e-08, + -5.197473740281566e-08 + ], + [ + -0.012068712152540684, + -0.024845657870173454, + 0.012291071936488152, + 0.011889560148119926, + -1.5666024410165846e-05, + -0.012152780778706074, + -2.828545120792114e-06, + 2.8286817723710556e-06 + ] + ] + } + }, + "cameras": { + "cameras": { + "camera0": [ + [ + 0.053251612931489944, + -0.003580172546207905, + -0.02866777405142784, + -0.27486419677734375, + 0.6466332077980042, + 0.6586180329322815, + -0.2693278193473816 + ], + [ + 0.05052465945482254, + -0.0005060939583927393, + -0.027758080512285233, + -0.28656697273254395, + 0.6489184498786926, + 0.6507696509361267, + -0.2707084119319916 + ], + [ + 0.04762094095349312, + 0.0023340058978646994, + -0.027552759274840355, + -0.2699991762638092, + 0.6457153558731079, + 0.6535995006561279, + -0.28802749514579773 + ], + [ + 0.04918331280350685, + 0.0017752571729943156, + -0.033743131905794144, + -0.26711398363113403, + 0.650878369808197, + 0.6551319360733032, + -0.275335431098938 + ] + ], + "camera1": [ + [ + 0.027473226189613342, + 0.5719531774520874, + 1.9470069408416748, + 0.06036493927240372, + 0.023705193772912025, + 0.28409871459007263, + 0.956599235534668 + ], + [ + 0.04440973326563835, + 0.5605351328849792, + 1.9633474349975586, + 0.06053807586431503, + 0.022400101646780968, + 0.2614333927631378, + 0.963060736656189 + ], + [ + 0.040961284190416336, + 0.5817121863365173, + 1.9672898054122925, + 0.05385686829686165, + 0.022192174568772316, + 0.26314207911491394, + 0.9629969596862793 + ], + [ + 0.031134963035583496, + 0.5789229273796082, + 1.9560350179672241, + 0.04061199724674225, + 0.0026054501067847013, + 0.27009227871894836, + 0.961974024772644 + ] + ] + } + } + } +} \ No newline at end of file diff --git a/episodes/c2_p011_e019/wrist.mp4 b/episodes/c2_p011_e019/wrist.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..ea31c4344f84577280ed78a9f0c95cedfce51589 --- /dev/null +++ b/episodes/c2_p011_e019/wrist.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:d02d87e0ad7fa3e2b27e0b3442e47fa5965fc3e609804a35aaf26d6afe934809 +size 7052181 diff --git a/episodes/c3_p009_e022/data.npz b/episodes/c3_p009_e022/data.npz new file mode 100644 index 0000000000000000000000000000000000000000..0f24c36dc82cf4b35be35ac991efe4d93915cd92 --- /dev/null +++ b/episodes/c3_p009_e022/data.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:1dbe5a346cf52b88c8d2d29ca8366b1cab266f164015def46172bafcd239792b +size 205629 diff --git a/episodes/c3_p009_e022/device_events.jsonl b/episodes/c3_p009_e022/device_events.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..5989223e2118fe8851b0fa242353e285e67efc60 --- /dev/null +++ b/episodes/c3_p009_e022/device_events.jsonl @@ -0,0 +1,35 @@ +{"env_id": 2, "seq": 1, "step": 115, "t": 0.575, "topic": "conveyor_1.belt.station.pick.captured", "source": "conveyor_1.belt", "data": {"rider": "carrier_1"}, "cause": null} +{"env_id": 2, "seq": 2, "step": 115, "t": 0.575, "topic": "conveyor_1.belt.state.changed", "source": "conveyor_1.belt", "data": {"from": "running", "to": "at_station"}, "cause": null} +{"env_id": 2, "seq": 3, "step": 120, "t": 0.6, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_1"}, "cause": null} +{"env_id": 2, "seq": 4, "step": 6687, "t": 33.435, "topic": "a4s_sealer_1.plate_present.present", "source": "a4s_sealer_1.plate_present", "data": {"object": "plate_1"}, "cause": null} +{"env_id": 2, "seq": 5, "step": 7300, "t": 36.5, "topic": "a4s_sealer_1.command.started", "source": "a4s_sealer_1", "data": {"command_id": "task-2-1", "name": "seal", "source": "task"}, "cause": "task-2-1"} +{"env_id": 2, "seq": 6, "step": 7300, "t": 36.5, "topic": "a4s_sealer_1.seal.started", "source": "a4s_sealer_1", "data": {"dwell": 3.71563154624908}, "cause": "task-2-1"} +{"env_id": 2, "seq": 7, "step": 7300, "t": 36.5, "topic": "a4s_sealer_1.drawer.command.started", "source": "a4s_sealer_1.drawer", "data": {"command_id": "program-2-2", "name": "close", "source": "program:seal"}, "cause": "program-2-2"} +{"env_id": 2, "seq": 8, "step": 7300, "t": 36.5, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "at_out", "to": "moving"}, "cause": null} +{"env_id": 2, "seq": 9, "step": 7300, "t": 36.5, "topic": "a4s_sealer_1.drawer.moving", "source": "a4s_sealer_1.drawer", "data": {"target": 0.3, "goal": "in"}, "cause": "program-2-2"} +{"env_id": 2, "seq": 10, "step": 7719, "t": 38.595, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "moving", "to": "at_in"}, "cause": null} +{"env_id": 2, "seq": 11, "step": 7719, "t": 38.595, "topic": "a4s_sealer_1.drawer.reached", "source": "a4s_sealer_1.drawer", "data": {"position": "in", "q": 0.30000001192092896}, "cause": "program-2-2"} +{"env_id": 2, "seq": 12, "step": 7719, "t": 38.595, "topic": "a4s_sealer_1.drawer.at_in", "source": "a4s_sealer_1.drawer", "data": {"q": 0.30000001192092896}, "cause": "program-2-2"} +{"env_id": 2, "seq": 13, "step": 7719, "t": 38.595, "topic": "a4s_sealer_1.drawer.command.succeeded", "source": "a4s_sealer_1.drawer", "data": {"command_id": "program-2-2", "name": "close", "source": "program:seal", "result": {"position": "in"}}, "cause": "program-2-2"} +{"env_id": 2, "seq": 14, "step": 7719, "t": 38.595, "topic": "labware.plate_1.changed", "source": "labware.plate_1", "data": {"key": "sealed", "value": true}, "cause": "task-2-1"} +{"env_id": 2, "seq": 15, "step": 7719, "t": 38.595, "topic": "a4s_sealer_1.sealed", "source": "a4s_sealer_1", "data": {"plate": "plate_1"}, "cause": "task-2-1"} +{"env_id": 2, "seq": 16, "step": 7719, "t": 38.595, "topic": "a4s_sealer_1.heater.command.started", "source": "a4s_sealer_1.heater", "data": {"command_id": "program-2-3", "name": "run", "source": "program:seal"}, "cause": "program-2-3"} +{"env_id": 2, "seq": 17, "step": 7719, "t": 38.595, "topic": "a4s_sealer_1.heater.state.changed", "source": "a4s_sealer_1.heater", "data": {"from": "ready", "to": "running"}, "cause": null} +{"env_id": 2, "seq": 18, "step": 7719, "t": 38.595, "topic": "a4s_sealer_1.heater.started", "source": "a4s_sealer_1.heater", "data": {"duration": 3.71563154624908}, "cause": "program-2-3"} +{"env_id": 2, "seq": 19, "step": 8463, "t": 42.315, "topic": "a4s_sealer_1.heater.state.changed", "source": "a4s_sealer_1.heater", "data": {"from": "running", "to": "ready"}, "cause": null} +{"env_id": 2, "seq": 20, "step": 8463, "t": 42.315, "topic": "a4s_sealer_1.heater.finished", "source": "a4s_sealer_1.heater", "data": {"elapsed": 3.720000000001903}, "cause": "program-2-3"} +{"env_id": 2, "seq": 21, "step": 8463, "t": 42.315, "topic": "a4s_sealer_1.heater.command.succeeded", "source": "a4s_sealer_1.heater", "data": {"command_id": "program-2-3", "name": "run", "source": "program:seal", "result": {"elapsed": 3.720000000001903}}, "cause": "program-2-3"} +{"env_id": 2, "seq": 22, "step": 8463, "t": 42.315, "topic": "a4s_sealer_1.drawer.command.started", "source": "a4s_sealer_1.drawer", "data": {"command_id": "program-2-4", "name": "open", "source": "program:seal"}, "cause": "program-2-4"} +{"env_id": 2, "seq": 23, "step": 8463, "t": 42.315, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "at_in", "to": "moving"}, "cause": null} +{"env_id": 2, "seq": 24, "step": 8463, "t": 42.315, "topic": "a4s_sealer_1.drawer.moving", "source": "a4s_sealer_1.drawer", "data": {"target": 0.0, "goal": "out"}, "cause": "program-2-4"} +{"env_id": 2, "seq": 25, "step": 8883, "t": 44.415, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "moving", "to": "at_out"}, "cause": null} +{"env_id": 2, "seq": 26, "step": 8883, "t": 44.415, "topic": "a4s_sealer_1.drawer.reached", "source": "a4s_sealer_1.drawer", "data": {"position": "out", "q": 5.534482594438117e-12}, "cause": "program-2-4"} +{"env_id": 2, "seq": 27, "step": 8883, "t": 44.415, "topic": "a4s_sealer_1.drawer.at_out", "source": "a4s_sealer_1.drawer", "data": {"q": 5.534482594438117e-12}, "cause": "program-2-4"} +{"env_id": 2, "seq": 28, "step": 8883, "t": 44.415, "topic": "a4s_sealer_1.drawer.command.succeeded", "source": "a4s_sealer_1.drawer", "data": {"command_id": "program-2-4", "name": "open", "source": "program:seal", "result": {"position": "out"}}, "cause": "program-2-4"} +{"env_id": 2, "seq": 29, "step": 8883, "t": 44.415, "topic": "a4s_sealer_1.seal.finished", "source": "a4s_sealer_1", "data": {}, "cause": "task-2-1"} +{"env_id": 2, "seq": 30, "step": 8883, "t": 44.415, "topic": "a4s_sealer_1.command.succeeded", "source": "a4s_sealer_1", "data": {"command_id": "task-2-1", "name": "seal", "source": "task"}, "cause": "task-2-1"} +{"env_id": 2, "seq": 31, "step": 9462, "t": 47.31, "topic": "a4s_sealer_1.plate_present.absent", "source": "a4s_sealer_1.plate_present", "data": {"object": "plate_1"}, "cause": null} +{"env_id": 2, "seq": 32, "step": 11720, "t": 58.6, "topic": "conveyor_1.belt.command.started", "source": "conveyor_1.belt", "data": {"command_id": "task-2-5", "name": "release", "source": "task"}, "cause": "task-2-5"} +{"env_id": 2, "seq": 33, "step": 11720, "t": 58.6, "topic": "conveyor_1.belt.station.pick.released", "source": "conveyor_1.belt", "data": {"rider": "carrier_1"}, "cause": "task-2-5"} +{"env_id": 2, "seq": 34, "step": 11720, "t": 58.6, "topic": "conveyor_1.belt.state.changed", "source": "conveyor_1.belt", "data": {"from": "at_station", "to": "running"}, "cause": null} +{"env_id": 2, "seq": 35, "step": 11720, "t": 58.6, "topic": "conveyor_1.belt.command.succeeded", "source": "conveyor_1.belt", "data": {"command_id": "task-2-5", "name": "release", "source": "task", "result": {"state": "running"}}, "cause": "task-2-5"} diff --git a/episodes/c3_p009_e022/env.mp4 b/episodes/c3_p009_e022/env.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..df958181a0f462f2d848a0de47f78aafe8f965c9 --- /dev/null +++ b/episodes/c3_p009_e022/env.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:1366a38b71e2288d31bf19b3ca23e1fcbc5537056c6b44aae760b4c168029f87 +size 1373449 diff --git a/episodes/c3_p009_e022/meta.json b/episodes/c3_p009_e022/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..d6dfaf4bf365286b413646883396ddd7a2822250 --- /dev/null +++ b/episodes/c3_p009_e022/meta.json @@ -0,0 +1,32 @@ +{ + "source": "raw/c3_p009/magicsim/22", + "fps": 25, + "frames": 1317, + "kept_ticks": "even", + "video_frames": { + "wrist": 1317, + "env": 1317 + }, + "joint_target_source": "joint_pos_target", + "fk_vs_recorded_eef_max_m": 0.0, + "curobo_joints": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "joint_order": [ + "shoulder_pan", + "shoulder_lift", + "elbow", + "wrist_1", + "wrist_2", + "wrist_3", + "finger_left", + "finger_right" + ], + "frames_note": "eef / actions in the robot base frame; camera_pose = local pose (wrist: in plate_gripper_base, env: env frame), pos + quat wxyz", + "dr_version": "v2" +} \ No newline at end of file diff --git a/episodes/c3_p009_e022/scene_snapshot.json b/episodes/c3_p009_e022/scene_snapshot.json new file mode 100644 index 0000000000000000000000000000000000000000..9fcea867709767de86048c9a448ad1fa4068fd4e --- /dev/null +++ b/episodes/c3_p009_e022/scene_snapshot.json @@ -0,0 +1,1558 @@ +{ + "trajectory_id": 22, + "env_id": 2, + "run_id": "c3_p009", + "task_type": "BioPlateCell", + "success": true, + "timing": { + "fps": 50.0, + "sim_dt": 0.005, + "decimation": 4 + }, + "restore_interface": { + "scene": "scene_manager.reset_to(snapshot['scene'], env_ids=[env_id])", + "robots": "robot_manager.set_state({'robots': snapshot['robots']}, env_ids=[env_id])" + }, + "snapshot": { + "env_id": 2, + "scene": { + "objects": [ + {}, + {}, + { + "rac_cell": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/rac_cell.usd", + "pose": { + "pos": [ + 0.0, + 0.0, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "physics_material": { + "static_friction": 0.6, + "dynamic_friction": 0.5, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "robot_mount": [ + { + "asset": "Cube", + "pose": { + "pos": [ + 0.0, + 0.0, + 0.9075 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": "color", + "value": [ + 0.55, + 0.56, + 0.58 + ], + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": { + "size": [ + 0.2, + 0.2, + 0.015 + ] + } + }, + "type_specific": {} + } + ], + "plate_rack": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/plate_hotel.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 0.9 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "physics_material": { + "static_friction": 0.6, + "dynamic_friction": 0.5, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "hotel_plate": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_6_clear/plate_6_clear.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 0.9605 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/pcr_384_red/pcr_384_red.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.0285 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/deep_well_96_2ml/deep_well_96_2ml.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.0965 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_24_clear/plate_24_clear.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.1645 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_12_clear/plate_12_clear.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.2325 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "a4s_sealer": [ + { + "asset": "$MAGICSIM_ASSETS/Articulated/A4SSealer/Object.usd", + "pose": { + "pos": [ + 0.5070743560791016, + 0.07066059112548828, + 0.8999999761581421 + ], + "ori": [ + 0.72294682264328, + 0.0, + 0.0, + -0.6909036636352539 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "articulation", + "solver_position_iteration_count": 16.0, + "solver_velocity_iteration_count": 1.0, + "enabled_self_collisions": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "joint_position": [ + 1.3456657663168947e-12 + ], + "joint_velocity": [ + 0.0 + ], + "linear_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "angular_velocity": [ + 0.0, + 0.0, + 0.0 + ] + } + } + ], + "conveyor": [ + { + "asset": "Cube", + "pose": { + "pos": [ + 0.15, + 0.45, + 0.9 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "conveyor", + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9 + }, + "ratio": 1.0 + }, + "primitive_params": { + "size": [ + 2.4, + 0.076, + 0.03 + ] + }, + "conveyor": { + "speed": 0.16829264397887778, + "direction": [ + 1.0, + 0.0, + 0.0 + ], + "enabled": true, + "drive": "surface_velocity", + "lines": null, + "station_line": null, + "riders": [ + "carrier" + ], + "stations": { + "pick": { + "position": -0.17299896573869047, + "slow_distance": 0.03, + "slow_speed": 0.03 + } + }, + "rails": { + "height": 0.01, + "thickness": 0.01, + "gap": 0.001, + "friction": 0.05 + }, + "legs": 0.87, + "loop": { + "radius": 0.35, + "side": "left", + "curve_extra_width": 0.0, + "segments": 18, + "curve_rails": "both" + }, + "snap_distance": 0.1, + "junction_snap": 0.02, + "collision_approximation": "auto", + "plate_mass": 1.0, + "lift_drop": 0.004, + "accel": 0.0, + "decel": 0.0, + "drive_damping": 1000000.0, + "drive_max_force": 1000000000.0 + } + }, + "type_specific": { + "controller": { + "state": "at_station", + "speed": 0.16829264397887778, + "holds": [], + "station": "pick", + "rider": "carrier_1", + "arrived": true, + "applied_speed": 0.0 + } + } + } + ], + "carrier": [ + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + -0.023244857788085938, + 0.45000743865966797, + 0.8999999761581421 + ], + "ori": [ + 1.0, + -8.668562534452917e-10, + -2.6361934857277447e-09, + -2.2170364900375716e-05 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -5.040967643310523e-12, + 7.552699576862665e-10, + 0.0 + ], + "angular_velocity": [ + -4.2703401703647614e-08, + -8.093568482081537e-09, + 2.401026044651644e-10 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + 1.6434202194213867, + 0.6141834259033203, + 0.8999999761581421 + ], + "ori": [ + 0.8775463104248047, + 2.6907006400733735e-08, + -4.841658451937292e-08, + 0.47949182987213135 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -9.646332621571219e-10, + -2.2011432676549703e-09, + 1.862645149230957e-08 + ], + "angular_velocity": [ + 1.264699278635817e-07, + -1.772481681427962e-07, + -2.4011166388504535e-08 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + -0.9892063140869141, + 1.150294303894043, + 0.8999999761581421 + ], + "ori": [ + 0.0020798728801310062, + 5.135125746846825e-08, + -3.2136386884928925e-09, + 0.9999979138374329 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -7.703420124016702e-10, + 2.793726139316277e-09, + 7.450580596923828e-09 + ], + "angular_velocity": [ + -1.790654096112121e-07, + 4.369212547317147e-08, + 1.137274807661015e-08 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + 0.5455522537231445, + 1.149998664855957, + 0.8999999761581421 + ], + "ori": [ + 2.624479020596482e-05, + -8.804667572803737e-08, + 2.066004256562337e-08, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 9.32452337565337e-09, + 1.9599493583655203e-08, + 2.60770320892334e-08 + ], + "angular_velocity": [ + -3.2220600587606896e-07, + 8.434307119387086e-07, + -8.874113888168722e-08 + ] + } + } + ], + "plate": [ + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_24_clear/Object.usd", + "pose": { + "pos": [ + -0.009075164794921875, + 0.45963478088378906, + 0.9179999828338623 + ], + "ori": [ + 0.9999353885650635, + -2.3974091600820202e-09, + -2.1751438428196934e-09, + -0.01137187797576189 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -2.8937513718574337e-08, + -1.1245218090039089e-08, + 8.940696716308594e-08 + ], + "angular_velocity": [ + 4.81774065974605e-07, + -1.6661355175529025e-06, + 1.12724805489961e-07 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_384_black/Object.usd", + "pose": { + "pos": [ + 1.634739875793457, + 0.6181488037109375, + 0.9180000424385071 + ], + "ori": [ + 0.8389347791671753, + 2.2815505928974744e-08, + -5.1344244411666295e-08, + 0.5442320704460144 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -1.519307168962314e-08, + -5.9518036721328826e-08, + -5.431473255157471e-06 + ], + "angular_velocity": [ + 4.714926944870967e-06, + 4.731342073682754e-07, + 6.421987563953735e-08 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_1536_black/Object.usd", + "pose": { + "pos": [ + -0.992487907409668, + 1.1520681381225586, + 0.9180000424385071 + ], + "ori": [ + 0.08517228066921234, + 5.393219737470645e-08, + -2.5068267461847427e-08, + 0.9963663220405579 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 4.2600504457368515e-08, + -3.1129715694078186e-08, + 2.086162567138672e-07 + ], + "angular_velocity": [ + 8.237566362367943e-08, + 3.6424025893211365e-06, + 5.313445967658481e-07 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/deep_well_24_10ml/Object.usd", + "pose": { + "pos": [ + 0.5554294586181641, + 1.147435188293457, + 0.9179999828338623 + ], + "ori": [ + 0.08159780502319336, + -8.892427416640203e-08, + 1.4548820814752617e-08, + 0.9966652989387512 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 1.9823299624022184e-07, + 1.386644328249531e-07, + -7.264316082000732e-07 + ], + "angular_velocity": [ + -2.634321390360128e-06, + 6.573913196916692e-06, + -1.6326464447047329e-07 + ] + } + } + ], + "deco_hub_west": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/hub_c.usd", + "pose": { + "pos": [ + -3.36, + 0.0, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_hub_east": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/hub_a.usd", + "pose": { + "pos": [ + 3.36, + 0.0, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_hub_back": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/hub_e.usd", + "pose": { + "pos": [ + -3.0, + -2.1, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_bench_east": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/bench_a.usd", + "pose": { + "pos": [ + 2.6, + -2.5, + 0.0 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_bench_gap": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/bench_b.usd", + "pose": { + "pos": [ + -0.1, + -2.9, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ] + }, + {} + ], + "devices": { + "hub": [ + null, + null, + { + "t": 6.19999999999989, + "step": 1240, + "counter": 0, + "devices": { + "a4s_sealer_1": { + "mode": "auto", + "units": { + "drawer": { + "state": "at_out", + "active": null, + "target": 0.0, + "goal_name": "out", + "profile": null, + "q_start": null, + "reversing": false, + "blocked_for": 0.0, + "settled_for": 0.0, + "last_q": 1.3456657663168947e-12 + }, + "heater": { + "state": "ready", + "active": null, + "duration": 0.0, + "t_start": null, + "elapsed": 0.0 + } + }, + "queues": {}, + "program": null, + "sensors": { + "plate_present": { + "occupants": [], + "pending": {} + } + }, + "interlocks": {} + }, + "conveyor_1": { + "mode": "auto", + "units": { + "belt": { + "state": "at_station", + "active": null, + "controller": { + "speed": 0.16829264397887778, + "holds": [], + "station": "pick", + "rider": "carrier_1", + "arrived": true, + "settle_count": 1124, + "released": { + "pick": [] + }, + "last_pos": { + "carrier_1": [ + -0.17324486374855042, + 7.450580596923828e-06, + 0.0 + ], + "carrier_2": [ + 1.4934202134609222, + 0.16418343782424927, + 0.0 + ], + "carrier_3": [ + -1.1392063200473785, + 0.7002943158149719, + 0.0 + ], + "carrier_4": [ + 0.39555224776268005, + 0.699998676776886, + 0.0 + ] + }, + "command": 0.0 + }, + "belt": { + "target_speed": 0.0, + "command_speed": 0.0 + }, + "seen": { + "state": "at_station", + "station": "pick", + "rider": "carrier_1", + "arrived": true + } + } + }, + "queues": {}, + "program": null, + "sensors": {}, + "interlocks": {} + } + }, + "zones": {}, + "labware": { + "plate_1": { + "sealed": false + }, + "plate_2": { + "sealed": false + }, + "plate_3": { + "sealed": false + }, + "plate_4": { + "sealed": false + } + }, + "rules": {}, + "records": [], + "bus": { + "seq": 3, + "queue": [] + } + }, + null + ], + "drives": [ + null, + null, + {}, + null + ] + }, + "artifacts": [ + {}, + {}, + { + "ceiling": { + "type": "rect", + "pose": { + "pos": [ + 0.8726159388632234, + 0.48056555834228465, + 3.1866299656526387 + ], + "ori": [ + 3.504280300016042, + -8.801417570801682, + -11.680106760345357 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "color_temperature": 5453.263242528903, + "color": [ + 0.9556075306226142, + 0.8186042015050733, + 0.7857334372643148 + ], + "intensity": 10048.462564706118, + "width": 2.1385767971653795, + "height": 1.591719296656847 + } + }, + "key": { + "type": "sphere", + "pose": { + "pos": [ + -0.5582507620060269, + 1.3335288937471537, + 2.422523432290275 + ], + "ori": [ + 28.252110302906686, + -8.72478720247626, + -10.498304087627297 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "color_temperature": 3944.810781207097, + "color": [ + 0.9543616661563107, + 0.8332834998709147, + 0.7915126590485071 + ], + "intensity": 2328.9030009257867, + "radius": 0.17884695079527274 + } + } + }, + {} + ], + "background": { + "type": "dome", + "pose": { + "pos": null, + "ori": null, + "scale": null + }, + "dr": { + "intensity": 1410.1021949679898, + "texture": null, + "color": [ + 0.92, + 0.94, + 0.96 + ] + } + } + }, + "robots": { + "UR5e": { + "root_pose": [ + [ + 11.0, + -11.0, + 0.9150000214576721, + 1.0, + 0.0, + 0.0, + 0.0 + ], + [ + 11.0, + 11.0, + 0.9150000214576721, + 1.0, + 0.0, + 0.0, + 0.0 + ], + [ + -11.0, + -11.0, + 0.9150000214576721, + 1.0, + 0.0, + 0.0, + 0.0 + ], + [ + -11.0, + 11.0, + 0.9150000214576721, + 1.0, + 0.0, + 0.0, + 0.0 + ] + ], + "root_vel": [ + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + ], + "joint_pos": [ + [ + 0.9140999913215637, + -1.7194000482559204, + 2.0905001163482666, + -1.9419000148773193, + -1.5707999467849731, + 2.4848999977111816, + 0.017999999225139618, + 0.017999999225139618 + ], + [ + 1.6121211051940918, + -1.8984688520431519, + 2.2864904403686523, + -1.9585589170455933, + -1.5709850788116455, + 3.2272212505340576, + 0.007208629045635462, + 0.006821381859481335 + ], + [ + 0.9141045212745667, + -1.7193957567214966, + 2.090498924255371, + -1.9419010877609253, + -1.5707999467849731, + 2.4849014282226562, + 0.01799999736249447, + 0.018000001087784767 + ], + [ + 2.5307579040527344, + -2.1572318077087402, + 2.568509101867676, + -1.9816206693649292, + -1.5701439380645752, + 4.102627754211426, + 0.01799999363720417, + 0.018000004813075066 + ] + ], + "joint_vel": [ + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + [ + 0.07189761102199554, + -0.06074327602982521, + 0.014863335527479649, + 0.03921383246779442, + -5.5694639740977436e-05, + 0.06477618962526321, + -0.007585225161164999, + -0.0009607526008039713 + ], + [ + 5.108947334520053e-06, + -3.4059571589750703e-06, + 6.8119511524855625e-06, + -1.4196129081295306e-12, + -3.4059776226058602e-06, + 1.744787691063121e-12, + 2.5990239294060302e-08, + -2.5989930207970247e-08 + ], + [ + 6.8119147726974916e-06, + -2.0142887358076678e-11, + 6.811937510065036e-06, + 3.4059726203850005e-06, + -5.259600263998743e-13, + 2.3330760066941902e-12, + 7.797246581731088e-08, + -7.796911916102545e-08 + ] + ] + } + }, + "cameras": { + "cameras": { + "camera0": [ + [ + 0.050316594541072845, + -0.0041835010051727295, + -0.03092929534614086, + -0.2872655987739563, + 0.6453792452812195, + 0.6506515145301819, + -0.27859774231910706 + ], + [ + 0.04813322797417641, + 0.0030000971164554358, + -0.03316359221935272, + -0.2770124673843384, + 0.6557559967041016, + 0.6436130404472351, + -0.2810879647731781 + ], + [ + 0.048054371029138565, + 0.0005722601781599224, + -0.02876749075949192, + -0.271645724773407, + 0.6510677337646484, + 0.6539404988288879, + -0.27327868342399597 + ], + [ + 0.05172925814986229, + 0.004925968591123819, + -0.02953651174902916, + -0.28030461072921753, + 0.647401750087738, + 0.6504431962966919, + -0.2814674973487854 + ] + ], + "camera1": [ + [ + 0.0343913808465004, + 0.5599756836891174, + 1.9309576749801636, + 0.036378201097249985, + -6.340775144053623e-05, + 0.2570304274559021, + 0.9657183885574341 + ], + [ + 0.04866352677345276, + 0.5904550552368164, + 1.9397295713424683, + 0.04587894678115845, + 0.018921108916401863, + 0.27092674374580383, + 0.9613198041915894 + ], + [ + 0.059970151633024216, + 0.5760278105735779, + 1.9266860485076904, + 0.06127651035785675, + 0.02410961501300335, + 0.2555040717124939, + 0.9645628929138184 + ], + [ + 0.05081608146429062, + 0.5861833691596985, + 1.9389123916625977, + 0.037689413875341415, + 0.005647370126098394, + 0.2827220559120178, + 0.9584444761276245 + ] + ] + } + } + } +} \ No newline at end of file diff --git a/episodes/c3_p009_e022/wrist.mp4 b/episodes/c3_p009_e022/wrist.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..e88c8c501be837121f329140aac62c0e36433c9d --- /dev/null +++ b/episodes/c3_p009_e022/wrist.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:70678465f2c3682457b2ff18effbd0b7cd25e32f460df5386dafe0c26eb0f5e8 +size 8025213 diff --git a/episodes/c3_p009_e023/data.npz b/episodes/c3_p009_e023/data.npz new file mode 100644 index 0000000000000000000000000000000000000000..3e97be23e449a95cacb8ad99462bb7f70b8fd3e8 --- /dev/null +++ b/episodes/c3_p009_e023/data.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:0c531ae66da22a0488f057a3934f14f4859a30947053fbcca49d2f93cb03a439 +size 189041 diff --git a/episodes/c3_p009_e023/device_events.jsonl b/episodes/c3_p009_e023/device_events.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..f5e0fd937c932b48cce133e4f95405794d1621c1 --- /dev/null +++ b/episodes/c3_p009_e023/device_events.jsonl @@ -0,0 +1,37 @@ +{"env_id": 0, "seq": 1, "step": 161, "t": 0.805, "topic": "conveyor_1.belt.station.pick.captured", "source": "conveyor_1.belt", "data": {"rider": "carrier_4"}, "cause": null} +{"env_id": 0, "seq": 2, "step": 161, "t": 0.805, "topic": "conveyor_1.belt.state.changed", "source": "conveyor_1.belt", "data": {"from": "running", "to": "at_station"}, "cause": null} +{"env_id": 0, "seq": 3, "step": 166, "t": 0.83, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_4"}, "cause": null} +{"env_id": 0, "seq": 4, "step": 1670, "t": 8.35, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_4"}, "cause": null} +{"env_id": 0, "seq": 5, "step": 1853, "t": 9.265, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_4"}, "cause": null} +{"env_id": 0, "seq": 6, "step": 6530, "t": 32.65, "topic": "a4s_sealer_1.plate_present.present", "source": "a4s_sealer_1.plate_present", "data": {"object": "plate_4"}, "cause": null} +{"env_id": 0, "seq": 7, "step": 7144, "t": 35.72, "topic": "a4s_sealer_1.command.started", "source": "a4s_sealer_1", "data": {"command_id": "task-0-1", "name": "seal", "source": "task"}, "cause": "task-0-1"} +{"env_id": 0, "seq": 8, "step": 7144, "t": 35.72, "topic": "a4s_sealer_1.seal.started", "source": "a4s_sealer_1", "data": {"dwell": 2.5154151094228094}, "cause": "task-0-1"} +{"env_id": 0, "seq": 9, "step": 7144, "t": 35.72, "topic": "a4s_sealer_1.drawer.command.started", "source": "a4s_sealer_1.drawer", "data": {"command_id": "program-0-2", "name": "close", "source": "program:seal"}, "cause": "program-0-2"} +{"env_id": 0, "seq": 10, "step": 7144, "t": 35.72, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "at_out", "to": "moving"}, "cause": null} +{"env_id": 0, "seq": 11, "step": 7144, "t": 35.72, "topic": "a4s_sealer_1.drawer.moving", "source": "a4s_sealer_1.drawer", "data": {"target": 0.3, "goal": "in"}, "cause": "program-0-2"} +{"env_id": 0, "seq": 12, "step": 7563, "t": 37.815, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "moving", "to": "at_in"}, "cause": null} +{"env_id": 0, "seq": 13, "step": 7563, "t": 37.815, "topic": "a4s_sealer_1.drawer.reached", "source": "a4s_sealer_1.drawer", "data": {"position": "in", "q": 0.30000001192092896}, "cause": "program-0-2"} +{"env_id": 0, "seq": 14, "step": 7563, "t": 37.815, "topic": "a4s_sealer_1.drawer.at_in", "source": "a4s_sealer_1.drawer", "data": {"q": 0.30000001192092896}, "cause": "program-0-2"} +{"env_id": 0, "seq": 15, "step": 7563, "t": 37.815, "topic": "a4s_sealer_1.drawer.command.succeeded", "source": "a4s_sealer_1.drawer", "data": {"command_id": "program-0-2", "name": "close", "source": "program:seal", "result": {"position": "in"}}, "cause": "program-0-2"} +{"env_id": 0, "seq": 16, "step": 7563, "t": 37.815, "topic": "labware.plate_4.changed", "source": "labware.plate_4", "data": {"key": "sealed", "value": true}, "cause": "task-0-1"} +{"env_id": 0, "seq": 17, "step": 7563, "t": 37.815, "topic": "a4s_sealer_1.sealed", "source": "a4s_sealer_1", "data": {"plate": "plate_4"}, "cause": "task-0-1"} +{"env_id": 0, "seq": 18, "step": 7563, "t": 37.815, "topic": "a4s_sealer_1.heater.command.started", "source": "a4s_sealer_1.heater", "data": {"command_id": "program-0-3", "name": "run", "source": "program:seal"}, "cause": "program-0-3"} +{"env_id": 0, "seq": 19, "step": 7563, "t": 37.815, "topic": "a4s_sealer_1.heater.state.changed", "source": "a4s_sealer_1.heater", "data": {"from": "ready", "to": "running"}, "cause": null} +{"env_id": 0, "seq": 20, "step": 7563, "t": 37.815, "topic": "a4s_sealer_1.heater.started", "source": "a4s_sealer_1.heater", "data": {"duration": 2.5154151094228094}, "cause": "program-0-3"} +{"env_id": 0, "seq": 21, "step": 8067, "t": 40.335, "topic": "a4s_sealer_1.heater.state.changed", "source": "a4s_sealer_1.heater", "data": {"from": "running", "to": "ready"}, "cause": null} +{"env_id": 0, "seq": 22, "step": 8067, "t": 40.335, "topic": "a4s_sealer_1.heater.finished", "source": "a4s_sealer_1.heater", "data": {"elapsed": 2.520000000001289}, "cause": "program-0-3"} +{"env_id": 0, "seq": 23, "step": 8067, "t": 40.335, "topic": "a4s_sealer_1.heater.command.succeeded", "source": "a4s_sealer_1.heater", "data": {"command_id": "program-0-3", "name": "run", "source": "program:seal", "result": {"elapsed": 2.520000000001289}}, "cause": "program-0-3"} +{"env_id": 0, "seq": 24, "step": 8067, "t": 40.335, "topic": "a4s_sealer_1.drawer.command.started", "source": "a4s_sealer_1.drawer", "data": {"command_id": "program-0-4", "name": "open", "source": "program:seal"}, "cause": "program-0-4"} +{"env_id": 0, "seq": 25, "step": 8067, "t": 40.335, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "at_in", "to": "moving"}, "cause": null} +{"env_id": 0, "seq": 26, "step": 8067, "t": 40.335, "topic": "a4s_sealer_1.drawer.moving", "source": "a4s_sealer_1.drawer", "data": {"target": 0.0, "goal": "out"}, "cause": "program-0-4"} +{"env_id": 0, "seq": 27, "step": 8487, "t": 42.435, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "moving", "to": "at_out"}, "cause": null} +{"env_id": 0, "seq": 28, "step": 8487, "t": 42.435, "topic": "a4s_sealer_1.drawer.reached", "source": "a4s_sealer_1.drawer", "data": {"position": "out", "q": 6.285453268972674e-10}, "cause": "program-0-4"} +{"env_id": 0, "seq": 29, "step": 8487, "t": 42.435, "topic": "a4s_sealer_1.drawer.at_out", "source": "a4s_sealer_1.drawer", "data": {"q": 6.285453268972674e-10}, "cause": "program-0-4"} +{"env_id": 0, "seq": 30, "step": 8487, "t": 42.435, "topic": "a4s_sealer_1.drawer.command.succeeded", "source": "a4s_sealer_1.drawer", "data": {"command_id": "program-0-4", "name": "open", "source": "program:seal", "result": {"position": "out"}}, "cause": "program-0-4"} +{"env_id": 0, "seq": 31, "step": 8487, "t": 42.435, "topic": "a4s_sealer_1.seal.finished", "source": "a4s_sealer_1", "data": {}, "cause": "task-0-1"} +{"env_id": 0, "seq": 32, "step": 8487, "t": 42.435, "topic": "a4s_sealer_1.command.succeeded", "source": "a4s_sealer_1", "data": {"command_id": "task-0-1", "name": "seal", "source": "task"}, "cause": "task-0-1"} +{"env_id": 0, "seq": 33, "step": 9065, "t": 45.325, "topic": "a4s_sealer_1.plate_present.absent", "source": "a4s_sealer_1.plate_present", "data": {"object": "plate_4"}, "cause": null} +{"env_id": 0, "seq": 34, "step": 10804, "t": 54.02, "topic": "conveyor_1.belt.command.started", "source": "conveyor_1.belt", "data": {"command_id": "task-0-5", "name": "release", "source": "task"}, "cause": "task-0-5"} +{"env_id": 0, "seq": 35, "step": 10804, "t": 54.02, "topic": "conveyor_1.belt.station.pick.released", "source": "conveyor_1.belt", "data": {"rider": "carrier_4"}, "cause": "task-0-5"} +{"env_id": 0, "seq": 36, "step": 10804, "t": 54.02, "topic": "conveyor_1.belt.state.changed", "source": "conveyor_1.belt", "data": {"from": "at_station", "to": "running"}, "cause": null} +{"env_id": 0, "seq": 37, "step": 10804, "t": 54.02, "topic": "conveyor_1.belt.command.succeeded", "source": "conveyor_1.belt", "data": {"command_id": "task-0-5", "name": "release", "source": "task", "result": {"state": "running"}}, "cause": "task-0-5"} diff --git a/episodes/c3_p009_e023/env.mp4 b/episodes/c3_p009_e023/env.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..d03cdc2cc38cc81db1d79f255e6d2ce26f234286 --- /dev/null +++ b/episodes/c3_p009_e023/env.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:c57d726dcfdb3eb29a590e9cfab8fce73ff49fcc8f2d26e24e3a568d166daefe +size 1257183 diff --git a/episodes/c3_p009_e023/meta.json b/episodes/c3_p009_e023/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..10fcb58a1318a2a3abbed0ac602d03c443020c01 --- /dev/null +++ b/episodes/c3_p009_e023/meta.json @@ -0,0 +1,32 @@ +{ + "source": "raw/c3_p009/magicsim/23", + "fps": 25, + "frames": 1204, + "kept_ticks": "even", + "video_frames": { + "wrist": 1204, + "env": 1204 + }, + "joint_target_source": "joint_pos_target", + "fk_vs_recorded_eef_max_m": 0.0, + "curobo_joints": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "joint_order": [ + "shoulder_pan", + "shoulder_lift", + "elbow", + "wrist_1", + "wrist_2", + "wrist_3", + "finger_left", + "finger_right" + ], + "frames_note": "eef / actions in the robot base frame; camera_pose = local pose (wrist: in plate_gripper_base, env: env frame), pos + quat wxyz", + "dr_version": "v2" +} \ No newline at end of file diff --git a/episodes/c3_p009_e023/scene_snapshot.json b/episodes/c3_p009_e023/scene_snapshot.json new file mode 100644 index 0000000000000000000000000000000000000000..55ff19275fd5d9158b0f1ade2082ad467197632f --- /dev/null +++ b/episodes/c3_p009_e023/scene_snapshot.json @@ -0,0 +1,1558 @@ +{ + "trajectory_id": 23, + "env_id": 0, + "run_id": "c3_p009", + "task_type": "BioPlateCell", + "success": true, + "timing": { + "fps": 50.0, + "sim_dt": 0.005, + "decimation": 4 + }, + "restore_interface": { + "scene": "scene_manager.reset_to(snapshot['scene'], env_ids=[env_id])", + "robots": "robot_manager.set_state({'robots': snapshot['robots']}, env_ids=[env_id])" + }, + "snapshot": { + "env_id": 0, + "scene": { + "objects": [ + { + "rac_cell": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/rac_cell.usd", + "pose": { + "pos": [ + 0.0, + 0.0, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "physics_material": { + "static_friction": 0.6, + "dynamic_friction": 0.5, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "robot_mount": [ + { + "asset": "Cube", + "pose": { + "pos": [ + 0.0, + 0.0, + 0.9075 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": "color", + "value": [ + 0.55, + 0.56, + 0.58 + ], + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": { + "size": [ + 0.2, + 0.2, + 0.015 + ] + } + }, + "type_specific": {} + } + ], + "plate_rack": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/plate_hotel.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 0.9 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "physics_material": { + "static_friction": 0.6, + "dynamic_friction": 0.5, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "hotel_plate": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/pcr_96_blue/pcr_96_blue.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 0.9605 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_96_black/plate_96_black.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.0285 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_48_clear/plate_48_clear.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.0965 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_96_clear/plate_96_clear.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.1645 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_6_clear/plate_6_clear.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.2325 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "a4s_sealer": [ + { + "asset": "$MAGICSIM_ASSETS/Articulated/A4SSealer/Object.usd", + "pose": { + "pos": [ + 0.46109962463378906, + 0.10063934326171875, + 0.8999999761581421 + ], + "ori": [ + -0.6942216753959656, + 0.0, + 0.0, + 0.7197612524032593 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "articulation", + "solver_position_iteration_count": 16.0, + "solver_velocity_iteration_count": 1.0, + "enabled_self_collisions": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "joint_position": [ + 3.0277494920960546e-12 + ], + "joint_velocity": [ + 0.0 + ], + "linear_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "angular_velocity": [ + 0.0, + 0.0, + 0.0 + ] + } + } + ], + "conveyor": [ + { + "asset": "Cube", + "pose": { + "pos": [ + 0.15, + 0.45, + 0.9 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "conveyor", + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9 + }, + "ratio": 1.0 + }, + "primitive_params": { + "size": [ + 2.4, + 0.076, + 0.03 + ] + }, + "conveyor": { + "speed": 0.17003967466337014, + "direction": [ + 1.0, + 0.0, + 0.0 + ], + "enabled": true, + "drive": "surface_velocity", + "lines": null, + "station_line": null, + "riders": [ + "carrier" + ], + "stations": { + "pick": { + "position": -0.27455382593709443, + "slow_distance": 0.03, + "slow_speed": 0.03 + } + }, + "rails": { + "height": 0.01, + "thickness": 0.01, + "gap": 0.001, + "friction": 0.05 + }, + "legs": 0.87, + "loop": { + "radius": 0.35, + "side": "left", + "curve_extra_width": 0.0, + "segments": 18, + "curve_rails": "both" + }, + "snap_distance": 0.1, + "junction_snap": 0.02, + "collision_approximation": "auto", + "plate_mass": 1.0, + "lift_drop": 0.004, + "accel": 0.0, + "decel": 0.0, + "drive_damping": 1000000.0, + "drive_max_force": 1000000000.0 + } + }, + "type_specific": { + "controller": { + "state": "at_station", + "speed": 0.17003967466337014, + "holds": [], + "station": "pick", + "rider": "carrier_4", + "arrived": true, + "applied_speed": 0.0 + } + } + } + ], + "carrier": [ + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + 0.3040285110473633, + 1.1499757766723633, + 0.8999999761581421 + ], + "ori": [ + 0.00030334730399772525, + -3.624164524040907e-09, + -3.6301198491628384e-08, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -2.995910364234078e-08, + 2.834481733771099e-07, + 1.2665987014770508e-07 + ], + "angular_velocity": [ + -8.835775588522665e-06, + -7.33462002244778e-07, + 1.2425697377693723e-06 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + -1.0334358215332031, + 1.1496858596801758, + 0.8999999761581421 + ], + "ori": [ + -0.0041379062458872795, + -2.6184292067910064e-08, + -4.499907291233285e-08, + 0.9999914169311523 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -1.3738654658368432e-08, + 9.132934764011225e-08, + 1.1175870895385742e-08 + ], + "angular_velocity": [ + -9.659198667577584e-07, + 6.383572781487601e-09, + 6.853960599073616e-07 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + 1.6269769668579102, + 0.5910253524780273, + 0.8999999761581421 + ], + "ori": [ + 0.89654541015625, + -4.51163906234342e-08, + 9.707510884027215e-08, + 0.44295185804367065 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 4.415975918270476e-10, + 8.659964412238708e-11, + 0.0 + ], + "angular_velocity": [ + 1.5179935530795774e-08, + 5.88768109821558e-08, + -8.842239829220944e-09 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + -0.1249542236328125, + 0.4463491439819336, + 0.8999999761581421 + ], + "ori": [ + 0.9999983906745911, + 3.1509452824707296e-09, + -4.800034858476465e-08, + 0.001810210756957531 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -1.1462324778221955e-07, + -2.4474667270624195e-07, + -2.7939677238464355e-07 + ], + "angular_velocity": [ + 9.733508932185941e-07, + 2.372695234953426e-06, + -3.857071078527952e-06 + ] + } + } + ], + "plate": [ + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_6_clear/Object.usd", + "pose": { + "pos": [ + 0.30086517333984375, + 1.1485071182250977, + 0.9179999828338623 + ], + "ori": [ + -0.04142586886882782, + 1.526152004771575e-08, + -4.5636363665835233e-07, + 0.9991416335105896 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -1.7208185454364866e-06, + 1.707271962914092e-06, + -9.942799806594849e-06 + ], + "angular_velocity": [ + 0.00012277066707611084, + 6.0961523558944464e-05, + -2.9865354008506984e-05 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_96_black/Object.usd", + "pose": { + "pos": [ + -1.0381698608398438, + 1.1511754989624023, + 0.9180000424385071 + ], + "ori": [ + 0.07491453737020493, + -1.9572855336491557e-08, + -1.677631047414252e-07, + 0.997189998626709 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -6.451243166338827e-07, + 1.930395683302777e-06, + -6.213784217834473e-06 + ], + "angular_velocity": [ + -2.3864267859607935e-06, + -1.0296771506546065e-06, + -1.5986011931090616e-05 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/pcr_96_blue/Object.usd", + "pose": { + "pos": [ + 1.6365966796875, + 0.5855302810668945, + 0.9180000424385071 + ], + "ori": [ + 0.9300647974014282, + -5.3763468343959175e-08, + 9.208281426253961e-08, + 0.3673956096172333 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -6.7786971591488054e-09, + -9.859970617753788e-09, + -5.804002285003662e-06 + ], + "angular_velocity": [ + 1.0914893664448755e-06, + -6.912808885317645e-07, + -1.804258786819446e-08 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/deep_well_96_2ml/Object.usd", + "pose": { + "pos": [ + -0.11432456970214844, + 0.43993282318115234, + 0.9179999828338623 + ], + "ori": [ + 0.9999157190322876, + 1.9267758943897206e-08, + 4.964950903740828e-07, + 0.012987494468688965 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -7.852894668758381e-06, + -4.223977157380432e-06, + -6.616115570068359e-06 + ], + "angular_velocity": [ + -9.223881352227181e-05, + -0.00017043683328665793, + -7.637262569915038e-06 + ] + } + } + ], + "deco_hub_west": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/hub_d.usd", + "pose": { + "pos": [ + -3.36, + 0.0, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_hub_east": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/hub_e.usd", + "pose": { + "pos": [ + 3.36, + 0.0, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_hub_back": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/hub_b.usd", + "pose": { + "pos": [ + -3.0, + -2.1, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_bench_east": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/bench_a.usd", + "pose": { + "pos": [ + 2.6, + -2.5, + 0.0 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_bench_gap": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/bench_b.usd", + "pose": { + "pos": [ + -0.1, + -2.9, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ] + }, + {}, + {}, + {} + ], + "devices": { + "hub": [ + { + "t": 6.119999999999892, + "step": 1224, + "counter": 0, + "devices": { + "a4s_sealer_1": { + "mode": "auto", + "units": { + "drawer": { + "state": "at_out", + "active": null, + "target": 0.0, + "goal_name": "out", + "profile": null, + "q_start": null, + "reversing": false, + "blocked_for": 0.0, + "settled_for": 0.0, + "last_q": 3.0277494920960546e-12 + }, + "heater": { + "state": "ready", + "active": null, + "duration": 0.0, + "t_start": null, + "elapsed": 0.0 + } + }, + "queues": {}, + "program": null, + "sensors": { + "plate_present": { + "occupants": [], + "pending": {} + } + }, + "interlocks": {} + }, + "conveyor_1": { + "mode": "auto", + "units": { + "belt": { + "state": "at_station", + "active": null, + "controller": { + "speed": 0.17003967466337014, + "holds": [], + "station": "pick", + "rider": "carrier_4", + "arrived": true, + "settle_count": 1062, + "released": { + "pick": [] + }, + "last_pos": { + "carrier_1": [ + 0.1540285050868988, + 0.6999757885932922, + 0.0 + ], + "carrier_2": [ + -1.1834358274936676, + 0.6996858716011047, + 0.0 + ], + "carrier_3": [ + 1.4769769608974457, + 0.1410253643989563, + 0.0 + ], + "carrier_4": [ + -0.274954229593277, + -0.003650844097137451, + 0.0 + ] + }, + "command": 0.0 + }, + "belt": { + "target_speed": 0.0, + "command_speed": 0.0 + }, + "seen": { + "state": "at_station", + "station": "pick", + "rider": "carrier_4", + "arrived": true + } + } + }, + "queues": {}, + "program": null, + "sensors": {}, + "interlocks": {} + } + }, + "zones": {}, + "labware": { + "plate_1": { + "sealed": false + }, + "plate_2": { + "sealed": false + }, + "plate_3": { + "sealed": false + }, + "plate_4": { + "sealed": false + } + }, + "rules": {}, + "records": [], + "bus": { + "seq": 3, + "queue": [] + } + }, + null, + null, + null + ], + "drives": [ + {}, + null, + null, + null + ] + }, + "artifacts": [ + { + "ceiling": { + "type": "rect", + "pose": { + "pos": [ + 0.823941107406334, + -0.49268745251595447, + 2.8503791619109156 + ], + "ori": [ + 5.338981219438889, + 7.492571393695961, + 3.5997441107569017 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "color_temperature": 5183.127248275681, + "color": [ + 0.849035199299697, + 0.8363698192737253, + 0.8381206634599497 + ], + "intensity": 5127.775649047246, + "width": 1.4240491454581283, + "height": 1.7497774048492518 + } + }, + "key": { + "type": "sphere", + "pose": { + "pos": [ + -0.43342193991409084, + -0.1084068569808061, + 1.829083799045743 + ], + "ori": [ + -7.474037902152702, + 35.307496177905605, + -7.941774685435767 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "color_temperature": 6030.359866908913, + "color": [ + 0.9274284415204194, + 0.832855623923955, + 0.951113074607025 + ], + "intensity": 9255.099902093873, + "radius": 0.09588415204805723 + } + } + }, + {}, + {}, + {} + ], + "background": { + "type": "dome", + "pose": { + "pos": null, + "ori": null, + "scale": null + }, + "dr": { + "intensity": 1410.1021949679898, + "texture": null, + "color": [ + 0.92, + 0.94, + 0.96 + ] + } + } + }, + "robots": { + "UR5e": { + "root_pose": [ + [ + 11.0, + -11.0, + 0.9150000214576721, + 1.0, + 0.0, + 0.0, + 0.0 + ], + [ + 11.0, + 11.0, + 0.9150000214576721, + 1.0, + 0.0, + 0.0, + 0.0 + ], + [ + -11.0, + -11.0, + 0.9150000214576721, + 1.0, + 0.0, + 0.0, + 0.0 + ], + [ + -11.0, + 11.0, + 0.9150000214576721, + 1.0, + 0.0, + 0.0, + 0.0 + ] + ], + "root_vel": [ + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + ], + "joint_pos": [ + [ + 0.9141026139259338, + -1.719398021697998, + 2.0904996395111084, + -1.9419012069702148, + -1.5707999467849731, + 2.484901189804077, + 0.01799999736249447, + 0.018000001087784767 + ], + [ + 2.704307794570923, + -1.9081926345825195, + 2.260593891143799, + -1.9231107234954834, + -1.5716840028762817, + 4.283657073974609, + 0.01800001785159111, + 0.017999980598688126 + ], + [ + 1.00698721408844, + -1.497312068939209, + 2.0920915603637695, + -2.1655521392822266, + -1.570804238319397, + 2.6005146503448486, + 0.0076433210633695126, + 0.007030786946415901 + ], + [ + 2.7830967903137207, + -1.5797607898712158, + 2.2086453437805176, + -2.1996076107025146, + -1.570791482925415, + 4.353610515594482, + 0.007767803501337767, + 0.007068785838782787 + ] + ], + "joint_vel": [ + [ + 2.206560091913084e-38, + -1.862744927588208e-38, + 0.0, + -5.784870364264785e-37, + 5.831716332446549e-37, + -2.9853379072008135e-36, + 2.5990372520823257e-08, + -2.5990386731677972e-08 + ], + [ + -0.009827685542404652, + -0.024838075041770935, + 0.015096995048224926, + 0.00925307534635067, + -1.1705084943969268e-05, + -0.009945770725607872, + -3.231525397495716e-06, + 3.231544951631804e-06 + ], + [ + 7.65767545090057e-05, + 1.288053044845583e-05, + -0.00034932620474137366, + -0.0004152870096731931, + 0.000481842493172735, + 0.001792124705389142, + -0.007862179540097713, + 0.0002338209596928209 + ], + [ + -0.006838916800916195, + -0.020991142839193344, + 0.02002185769379139, + 0.00010652923083398491, + -0.00014810424181632698, + -0.00680879782885313, + -0.008613960817456245, + 0.00039325995021499693 + ] + ] + } + }, + "cameras": { + "cameras": { + "camera0": [ + [ + 0.04712773486971855, + -0.00122186413500458, + -0.031574878841638565, + -0.282155841588974, + 0.6439390778541565, + 0.6529127955436707, + -0.2818429172039032 + ], + [ + 0.0487624928355217, + 0.0007309461361728609, + -0.03146892786026001, + -0.2765357792377472, + 0.6544791460037231, + 0.6445449590682983, + -0.2823948562145233 + ], + [ + 0.04868856817483902, + 0.00206000916659832, + -0.03119235299527645, + -0.26988813281059265, + 0.6514046788215637, + 0.6534464359283447, + -0.2753908634185791 + ], + [ + 0.05070970207452774, + 0.0051940190605819225, + -0.03006417118012905, + -0.28257665038108826, + 0.6406680941581726, + 0.6579554080963135, + -0.27710917592048645 + ] + ], + "camera1": [ + [ + 0.0343913808465004, + 0.5599756836891174, + 1.9309576749801636, + 0.036378201097249985, + -6.340775144053623e-05, + 0.2570304274559021, + 0.9657183885574341 + ], + [ + 0.04866352677345276, + 0.5904550552368164, + 1.9397295713424683, + 0.04587894678115845, + 0.018921108916401863, + 0.27092674374580383, + 0.9613198041915894 + ], + [ + 0.059970151633024216, + 0.5760278105735779, + 1.9266860485076904, + 0.06127651035785675, + 0.02410961501300335, + 0.2555040717124939, + 0.9645628929138184 + ], + [ + 0.05081608146429062, + 0.5861833691596985, + 1.9389123916625977, + 0.037689413875341415, + 0.005647370126098394, + 0.2827220559120178, + 0.9584444761276245 + ] + ] + } + } + } +} \ No newline at end of file diff --git a/episodes/c3_p009_e023/wrist.mp4 b/episodes/c3_p009_e023/wrist.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..f50e7c09ec7b4995dbd8f4d43d92919777f4fc20 --- /dev/null +++ b/episodes/c3_p009_e023/wrist.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:195dd1490e9ab4eaefdce030546cbd10b3ed4bf29b257a06f65cb037a491323f +size 6460221 diff --git a/episodes/c4_p009_e018/data.npz b/episodes/c4_p009_e018/data.npz new file mode 100644 index 0000000000000000000000000000000000000000..9ded60d5338416a7c3e830b061939684b30dbc01 --- /dev/null +++ b/episodes/c4_p009_e018/data.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:cc791e02cbdcc8474cde6b34dd2b91f301362fe44261cdccd53a4e0f11ca578a +size 189379 diff --git a/episodes/c4_p009_e018/device_events.jsonl b/episodes/c4_p009_e018/device_events.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..87d174e42c1d83c600aea703c4ea57c181dc7ca6 --- /dev/null +++ b/episodes/c4_p009_e018/device_events.jsonl @@ -0,0 +1,35 @@ +{"env_id": 3, "seq": 1, "step": 145, "t": 0.725, "topic": "conveyor_1.belt.station.pick.captured", "source": "conveyor_1.belt", "data": {"rider": "carrier_4"}, "cause": null} +{"env_id": 3, "seq": 2, "step": 145, "t": 0.725, "topic": "conveyor_1.belt.state.changed", "source": "conveyor_1.belt", "data": {"from": "running", "to": "at_station"}, "cause": null} +{"env_id": 3, "seq": 3, "step": 150, "t": 0.75, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_4"}, "cause": null} +{"env_id": 3, "seq": 4, "step": 6327, "t": 31.635, "topic": "a4s_sealer_1.plate_present.present", "source": "a4s_sealer_1.plate_present", "data": {"object": "plate_4"}, "cause": null} +{"env_id": 3, "seq": 5, "step": 6940, "t": 34.7, "topic": "a4s_sealer_1.command.started", "source": "a4s_sealer_1", "data": {"command_id": "task-3-1", "name": "seal", "source": "task"}, "cause": "task-3-1"} +{"env_id": 3, "seq": 6, "step": 6940, "t": 34.7, "topic": "a4s_sealer_1.seal.started", "source": "a4s_sealer_1", "data": {"dwell": 4.648859023620821}, "cause": "task-3-1"} +{"env_id": 3, "seq": 7, "step": 6940, "t": 34.7, "topic": "a4s_sealer_1.drawer.command.started", "source": "a4s_sealer_1.drawer", "data": {"command_id": "program-3-2", "name": "close", "source": "program:seal"}, "cause": "program-3-2"} +{"env_id": 3, "seq": 8, "step": 6940, "t": 34.7, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "at_out", "to": "moving"}, "cause": null} +{"env_id": 3, "seq": 9, "step": 6940, "t": 34.7, "topic": "a4s_sealer_1.drawer.moving", "source": "a4s_sealer_1.drawer", "data": {"target": 0.3, "goal": "in"}, "cause": "program-3-2"} +{"env_id": 3, "seq": 10, "step": 7359, "t": 36.795, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "moving", "to": "at_in"}, "cause": null} +{"env_id": 3, "seq": 11, "step": 7359, "t": 36.795, "topic": "a4s_sealer_1.drawer.reached", "source": "a4s_sealer_1.drawer", "data": {"position": "in", "q": 0.30000001192092896}, "cause": "program-3-2"} +{"env_id": 3, "seq": 12, "step": 7359, "t": 36.795, "topic": "a4s_sealer_1.drawer.at_in", "source": "a4s_sealer_1.drawer", "data": {"q": 0.30000001192092896}, "cause": "program-3-2"} +{"env_id": 3, "seq": 13, "step": 7359, "t": 36.795, "topic": "a4s_sealer_1.drawer.command.succeeded", "source": "a4s_sealer_1.drawer", "data": {"command_id": "program-3-2", "name": "close", "source": "program:seal", "result": {"position": "in"}}, "cause": "program-3-2"} +{"env_id": 3, "seq": 14, "step": 7359, "t": 36.795, "topic": "labware.plate_4.changed", "source": "labware.plate_4", "data": {"key": "sealed", "value": true}, "cause": "task-3-1"} +{"env_id": 3, "seq": 15, "step": 7359, "t": 36.795, "topic": "a4s_sealer_1.sealed", "source": "a4s_sealer_1", "data": {"plate": "plate_4"}, "cause": "task-3-1"} +{"env_id": 3, "seq": 16, "step": 7359, "t": 36.795, "topic": "a4s_sealer_1.heater.command.started", "source": "a4s_sealer_1.heater", "data": {"command_id": "program-3-3", "name": "run", "source": "program:seal"}, "cause": "program-3-3"} +{"env_id": 3, "seq": 17, "step": 7359, "t": 36.795, "topic": "a4s_sealer_1.heater.state.changed", "source": "a4s_sealer_1.heater", "data": {"from": "ready", "to": "running"}, "cause": null} +{"env_id": 3, "seq": 18, "step": 7359, "t": 36.795, "topic": "a4s_sealer_1.heater.started", "source": "a4s_sealer_1.heater", "data": {"duration": 4.648859023620821}, "cause": "program-3-3"} +{"env_id": 3, "seq": 19, "step": 8289, "t": 41.445, "topic": "a4s_sealer_1.heater.state.changed", "source": "a4s_sealer_1.heater", "data": {"from": "running", "to": "ready"}, "cause": null} +{"env_id": 3, "seq": 20, "step": 8289, "t": 41.445, "topic": "a4s_sealer_1.heater.finished", "source": "a4s_sealer_1.heater", "data": {"elapsed": 4.650000000002379}, "cause": "program-3-3"} +{"env_id": 3, "seq": 21, "step": 8289, "t": 41.445, "topic": "a4s_sealer_1.heater.command.succeeded", "source": "a4s_sealer_1.heater", "data": {"command_id": "program-3-3", "name": "run", "source": "program:seal", "result": {"elapsed": 4.650000000002379}}, "cause": "program-3-3"} +{"env_id": 3, "seq": 22, "step": 8289, "t": 41.445, "topic": "a4s_sealer_1.drawer.command.started", "source": "a4s_sealer_1.drawer", "data": {"command_id": "program-3-4", "name": "open", "source": "program:seal"}, "cause": "program-3-4"} +{"env_id": 3, "seq": 23, "step": 8289, "t": 41.445, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "at_in", "to": "moving"}, "cause": null} +{"env_id": 3, "seq": 24, "step": 8289, "t": 41.445, "topic": "a4s_sealer_1.drawer.moving", "source": "a4s_sealer_1.drawer", "data": {"target": 0.0, "goal": "out"}, "cause": "program-3-4"} +{"env_id": 3, "seq": 25, "step": 8709, "t": 43.545, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "moving", "to": "at_out"}, "cause": null} +{"env_id": 3, "seq": 26, "step": 8709, "t": 43.545, "topic": "a4s_sealer_1.drawer.reached", "source": "a4s_sealer_1.drawer", "data": {"position": "out", "q": 0.0}, "cause": "program-3-4"} +{"env_id": 3, "seq": 27, "step": 8709, "t": 43.545, "topic": "a4s_sealer_1.drawer.at_out", "source": "a4s_sealer_1.drawer", "data": {"q": 0.0}, "cause": "program-3-4"} +{"env_id": 3, "seq": 28, "step": 8709, "t": 43.545, "topic": "a4s_sealer_1.drawer.command.succeeded", "source": "a4s_sealer_1.drawer", "data": {"command_id": "program-3-4", "name": "open", "source": "program:seal", "result": {"position": "out"}}, "cause": "program-3-4"} +{"env_id": 3, "seq": 29, "step": 8709, "t": 43.545, "topic": "a4s_sealer_1.seal.finished", "source": "a4s_sealer_1", "data": {}, "cause": "task-3-1"} +{"env_id": 3, "seq": 30, "step": 8709, "t": 43.545, "topic": "a4s_sealer_1.command.succeeded", "source": "a4s_sealer_1", "data": {"command_id": "task-3-1", "name": "seal", "source": "task"}, "cause": "task-3-1"} +{"env_id": 3, "seq": 31, "step": 9290, "t": 46.45, "topic": "a4s_sealer_1.plate_present.absent", "source": "a4s_sealer_1.plate_present", "data": {"object": "plate_4"}, "cause": null} +{"env_id": 3, "seq": 32, "step": 11024, "t": 55.12, "topic": "conveyor_1.belt.command.started", "source": "conveyor_1.belt", "data": {"command_id": "task-3-5", "name": "release", "source": "task"}, "cause": "task-3-5"} +{"env_id": 3, "seq": 33, "step": 11024, "t": 55.12, "topic": "conveyor_1.belt.station.pick.released", "source": "conveyor_1.belt", "data": {"rider": "carrier_4"}, "cause": "task-3-5"} +{"env_id": 3, "seq": 34, "step": 11024, "t": 55.12, "topic": "conveyor_1.belt.state.changed", "source": "conveyor_1.belt", "data": {"from": "at_station", "to": "running"}, "cause": null} +{"env_id": 3, "seq": 35, "step": 11024, "t": 55.12, "topic": "conveyor_1.belt.command.succeeded", "source": "conveyor_1.belt", "data": {"command_id": "task-3-5", "name": "release", "source": "task", "result": {"state": "running"}}, "cause": "task-3-5"} diff --git a/episodes/c4_p009_e018/env.mp4 b/episodes/c4_p009_e018/env.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..1bae8eb42f91ed3130a8a85912612a349c663c06 --- /dev/null +++ b/episodes/c4_p009_e018/env.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:1e5c1f12cbd99461b1f59dce8188651be226b86c08f96931bdb4b952cea8a567 +size 1263863 diff --git a/episodes/c4_p009_e018/meta.json b/episodes/c4_p009_e018/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..cff68159ddaccf20676edaaec19350484bb15be1 --- /dev/null +++ b/episodes/c4_p009_e018/meta.json @@ -0,0 +1,32 @@ +{ + "source": "raw/c4_p009/magicsim/18", + "fps": 25, + "frames": 1237, + "kept_ticks": "even", + "video_frames": { + "wrist": 1237, + "env": 1237 + }, + "joint_target_source": "joint_pos_target", + "fk_vs_recorded_eef_max_m": 0.0, + "curobo_joints": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "joint_order": [ + "shoulder_pan", + "shoulder_lift", + "elbow", + "wrist_1", + "wrist_2", + "wrist_3", + "finger_left", + "finger_right" + ], + "frames_note": "eef / actions in the robot base frame; camera_pose = local pose (wrist: in plate_gripper_base, env: env frame), pos + quat wxyz", + "dr_version": "v2" +} \ No newline at end of file diff --git a/episodes/c4_p009_e018/scene_snapshot.json b/episodes/c4_p009_e018/scene_snapshot.json new file mode 100644 index 0000000000000000000000000000000000000000..011eefd57e91c3cc1bbb172d8ab5cd2d756bec36 --- /dev/null +++ b/episodes/c4_p009_e018/scene_snapshot.json @@ -0,0 +1,1558 @@ +{ + "trajectory_id": 18, + "env_id": 3, + "run_id": "c4_p009", + "task_type": "BioPlateCell", + "success": true, + "timing": { + "fps": 50.0, + "sim_dt": 0.005, + "decimation": 4 + }, + "restore_interface": { + "scene": "scene_manager.reset_to(snapshot['scene'], env_ids=[env_id])", + "robots": "robot_manager.set_state({'robots': snapshot['robots']}, env_ids=[env_id])" + }, + "snapshot": { + "env_id": 3, + "scene": { + "objects": [ + {}, + {}, + {}, + { + "rac_cell": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/rac_cell.usd", + "pose": { + "pos": [ + 0.0, + 0.0, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "physics_material": { + "static_friction": 0.6, + "dynamic_friction": 0.5, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "robot_mount": [ + { + "asset": "Cube", + "pose": { + "pos": [ + 0.0, + 0.0, + 0.9075 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": "color", + "value": [ + 0.55, + 0.56, + 0.58 + ], + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": { + "size": [ + 0.2, + 0.2, + 0.015 + ] + } + }, + "type_specific": {} + } + ], + "plate_rack": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/plate_hotel.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 0.9 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "physics_material": { + "static_friction": 0.6, + "dynamic_friction": 0.5, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "hotel_plate": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/deep_well_24_10ml/deep_well_24_10ml.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 0.9605 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_384_white/plate_384_white.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.0285 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_24_clear/plate_24_clear.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.0965 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_24_clear/plate_24_clear.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.1645 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_6_clear/plate_6_clear.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.2325 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "a4s_sealer": [ + { + "asset": "$MAGICSIM_ASSETS/Articulated/A4SSealer/Object.usd", + "pose": { + "pos": [ + 0.5234966278076172, + 0.1207571029663086, + 0.8999999761581421 + ], + "ori": [ + -0.6758458018302917, + 0.0, + 0.0, + 0.737043023109436 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "articulation", + "solver_position_iteration_count": 16.0, + "solver_velocity_iteration_count": 1.0, + "enabled_self_collisions": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "joint_position": [ + 0.0 + ], + "joint_velocity": [ + 0.0 + ], + "linear_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "angular_velocity": [ + 0.0, + 0.0, + 0.0 + ] + } + } + ], + "conveyor": [ + { + "asset": "Cube", + "pose": { + "pos": [ + 0.15, + 0.45, + 0.9 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "conveyor", + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9 + }, + "ratio": 1.0 + }, + "primitive_params": { + "size": [ + 2.4, + 0.076, + 0.03 + ] + }, + "conveyor": { + "speed": 0.22840459352173267, + "direction": [ + 1.0, + 0.0, + 0.0 + ], + "enabled": true, + "drive": "surface_velocity", + "lines": null, + "station_line": null, + "riders": [ + "carrier" + ], + "stations": { + "pick": { + "position": -0.12277523362452128, + "slow_distance": 0.03, + "slow_speed": 0.03 + } + }, + "rails": { + "height": 0.01, + "thickness": 0.01, + "gap": 0.001, + "friction": 0.05 + }, + "legs": 0.87, + "loop": { + "radius": 0.35, + "side": "left", + "curve_extra_width": 0.0, + "segments": 18, + "curve_rails": "both" + }, + "snap_distance": 0.1, + "junction_snap": 0.02, + "collision_approximation": "auto", + "plate_mass": 1.0, + "lift_drop": 0.004, + "accel": 0.0, + "decel": 0.0, + "drive_damping": 1000000.0, + "drive_max_force": 1000000000.0 + } + }, + "type_specific": { + "controller": { + "state": "at_station", + "speed": 0.22840459352173267, + "holds": [], + "station": "pick", + "rider": "carrier_4", + "arrived": true, + "applied_speed": 0.0 + } + } + } + ], + "carrier": [ + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + 1.6201896667480469, + 1.0188474655151367, + 0.8999999761581421 + ], + "ori": [ + 0.43831783533096313, + 8.954006602834852e-08, + -7.672267798852772e-08, + 0.8988201022148132 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -8.110295768304354e-11, + 6.640812344471669e-10, + 0.0 + ], + "angular_velocity": [ + -1.7164925480983584e-08, + -1.853845787991304e-08, + -5.945058667577996e-09 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + -1.3954296112060547, + 0.8359174728393555, + 0.8999999761581421 + ], + "ori": [ + -0.6637770533561707, + 1.2810684779651638e-07, + -4.990332058696367e-08, + 0.7479305267333984 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 2.9413325819405145e-07, + 6.263409773055173e-07, + -3.986060619354248e-06 + ], + "angular_velocity": [ + -5.126126779941842e-05, + 2.9695278499275446e-05, + 5.613904363599431e-07 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + 0.1660928726196289, + 1.1501350402832031, + 0.8999999761581421 + ], + "ori": [ + -0.0012036720290780067, + 1.9194343892081633e-09, + -4.5004566739947904e-10, + 0.9999993443489075 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 9.342184803529108e-10, + -1.4586362118151897e-09, + 0.0 + ], + "angular_velocity": [ + 9.265234268696076e-08, + 7.51303588231167e-08, + 8.198151491001227e-09 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + 0.02703571319580078, + 0.44733238220214844, + 0.8999999761581421 + ], + "ori": [ + 0.9999514818191528, + 3.5466281023133206e-09, + -4.105098760920356e-10, + 0.009856881573796272 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -1.8331522966263947e-09, + -1.2497867185601308e-09, + -3.725290298461914e-09 + ], + "angular_velocity": [ + 8.753529812111083e-08, + -1.3233099593890074e-07, + 3.944196080851725e-10 + ] + } + } + ], + "plate": [ + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_48_clear/Object.usd", + "pose": { + "pos": [ + 1.6155567169189453, + 1.0308713912963867, + 0.9179999828338623 + ], + "ori": [ + 0.4596911072731018, + 9.228507735770108e-08, + -7.404792512488712e-08, + 0.8880789875984192 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 4.464761893530067e-09, + -2.795740527972157e-08, + 4.470348358154297e-08 + ], + "angular_velocity": [ + 7.318396910704905e-07, + 6.936879799468443e-07, + 1.251104606581066e-07 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_384_white/Object.usd", + "pose": { + "pos": [ + -1.4056720733642578, + 0.8372926712036133, + 0.9179999828338623 + ], + "ori": [ + -0.683598518371582, + 1.197068399960699e-07, + -4.955273880113964e-08, + 0.7298583388328552 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 6.614909580093808e-07, + 1.2514331046986626e-06, + -8.694827556610107e-06 + ], + "angular_velocity": [ + -5.1643775805132464e-05, + 2.7545214834390208e-05, + 8.196309408958768e-07 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_96_clear/Object.usd", + "pose": { + "pos": [ + 0.15631866455078125, + 1.1442317962646484, + 0.9180000424385071 + ], + "ori": [ + -0.007063929922878742, + 2.3420692052411596e-09, + 4.503888234586029e-11, + 0.9999751448631287 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 3.5927616437447796e-08, + 4.887249716034603e-09, + -6.139278411865234e-06 + ], + "angular_velocity": [ + -5.204332182984217e-07, + 1.942393964782241e-06, + 2.6255446528011817e-07 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/reservoir_12ch/Object.usd", + "pose": { + "pos": [ + 0.040495872497558594, + 0.4401893615722656, + 0.9179999828338623 + ], + "ori": [ + 0.9996016621589661, + 9.033046310946702e-09, + 2.3902937407171976e-09, + 0.02822333388030529 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -8.335867818232146e-08, + -2.8543974295303087e-08, + -3.6545097827911377e-06 + ], + "angular_velocity": [ + 1.2801652360394655e-07, + -2.293378884132835e-06, + 9.305369275125486e-08 + ] + } + } + ], + "deco_hub_west": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/hub_e.usd", + "pose": { + "pos": [ + -3.36, + 0.0, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_hub_east": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/hub_d.usd", + "pose": { + "pos": [ + 3.36, + 0.0, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_hub_back": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/hub_a.usd", + "pose": { + "pos": [ + -3.0, + -2.1, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_bench_east": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/bench_c.usd", + "pose": { + "pos": [ + 2.6, + -2.5, + 0.0 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_bench_gap": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/bench_b.usd", + "pose": { + "pos": [ + -0.1, + -2.9, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ] + } + ], + "devices": { + "hub": [ + null, + null, + null, + { + "t": 5.819999999999898, + "step": 1164, + "counter": 0, + "devices": { + "a4s_sealer_1": { + "mode": "auto", + "units": { + "drawer": { + "state": "at_out", + "active": null, + "target": 0.0, + "goal_name": "out", + "profile": null, + "q_start": null, + "reversing": false, + "blocked_for": 0.0, + "settled_for": 0.0, + "last_q": 0.0 + }, + "heater": { + "state": "ready", + "active": null, + "duration": 0.0, + "t_start": null, + "elapsed": 0.0 + } + }, + "queues": {}, + "program": null, + "sensors": { + "plate_present": { + "occupants": [], + "pending": {} + } + }, + "interlocks": {} + }, + "conveyor_1": { + "mode": "auto", + "units": { + "belt": { + "state": "at_station", + "active": null, + "controller": { + "speed": 0.22840459352173267, + "holds": [], + "station": "pick", + "rider": "carrier_4", + "arrived": true, + "settle_count": 1018, + "released": { + "pick": [] + }, + "last_pos": { + "carrier_1": [ + 1.4701896607875824, + 0.5688474774360657, + 0.0 + ], + "carrier_2": [ + -1.5454296171665192, + 0.3859174847602844, + 0.0 + ], + "carrier_3": [ + 0.01609286665916443, + 0.7001350522041321, + 0.0 + ], + "carrier_4": [ + -0.1229642927646637, + -0.0026676058769226074, + 0.0 + ] + }, + "command": 0.0 + }, + "belt": { + "target_speed": 0.0, + "command_speed": 0.0 + }, + "seen": { + "state": "at_station", + "station": "pick", + "rider": "carrier_4", + "arrived": true + } + } + }, + "queues": {}, + "program": null, + "sensors": {}, + "interlocks": {} + } + }, + "zones": {}, + "labware": { + "plate_1": { + "sealed": false + }, + "plate_2": { + "sealed": false + }, + "plate_3": { + "sealed": false + }, + "plate_4": { + "sealed": false + } + }, + "rules": {}, + "records": [], + "bus": { + "seq": 3, + "queue": [] + } + } + ], + "drives": [ + null, + null, + null, + {} + ] + }, + "artifacts": [ + {}, + {}, + {}, + { + "ceiling": { + "type": "rect", + "pose": { + "pos": [ + 0.03147052087796387, + 0.23071517495473737, + 2.844615772732688 + ], + "ori": [ + 2.4669791180777842, + -3.8680024825143846, + 4.278915595047607 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "color_temperature": 3209.763046958841, + "color": [ + 0.8217560579197909, + 0.9187777770640405, + 0.886509502988237 + ], + "intensity": 11322.031100018263, + "width": 2.0439288038936905, + "height": 1.4103540039567934 + } + }, + "key": { + "type": "disk", + "pose": { + "pos": [ + 0.20594247970041102, + -0.07589438747014654, + 2.1793980621882465 + ], + "ori": [ + 6.136281427986596, + 4.21682320073586, + -15.718682479546917 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "color_temperature": 5081.307746971792, + "color": [ + 0.9213357553847583, + 0.8352125153501528, + 0.9442127109652128 + ], + "intensity": 7849.234398461294, + "radius": 0.36327057792548945 + } + } + } + ], + "background": { + "type": "dome", + "pose": { + "pos": null, + "ori": null, + "scale": null + }, + "dr": { + "intensity": 1390.864978818175, + "texture": null, + "color": [ + 0.92, + 0.94, + 0.96 + ] + } + } + }, + "robots": { + "UR5e": { + "root_pose": [ + [ + 11.0, + -11.0, + 0.9150000214576721, + 1.0, + 0.0, + 0.0, + 0.0 + ], + [ + 11.0, + 11.0, + 0.9150000214576721, + 1.0, + 0.0, + 0.0, + 0.0 + ], + [ + -11.0, + -11.0, + 0.9150000214576721, + 1.0, + 0.0, + 0.0, + 0.0 + ], + [ + -11.0, + 11.0, + 0.9150000214576721, + 1.0, + 0.0, + 0.0, + 0.0 + ] + ], + "root_vel": [ + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + ], + "joint_pos": [ + [ + 2.5257716178894043, + -2.2524349689483643, + 2.2440226078033447, + -1.5626822710037231, + -1.5712292194366455, + 4.095048427581787, + 0.01799999363720417, + 0.018000004813075066 + ], + [ + 0.9141006469726562, + -1.7193981409072876, + 2.0904994010925293, + -1.9419004917144775, + -1.5707999467849731, + 2.4848999977111816, + 0.017999999225139618, + 0.017999999225139618 + ], + [ + 1.0743106603622437, + -1.4988563060760498, + 2.276280164718628, + -2.3482232093811035, + -1.5708093643188477, + 2.791598081588745, + 0.007691873237490654, + 0.007231608033180237 + ], + [ + 0.9141073226928711, + -1.7193963527679443, + 2.090498447418213, + -1.941901445388794, + -1.5707999467849731, + 2.48490309715271, + 0.01799999736249447, + 0.018000001087784767 + ] + ], + "joint_vel": [ + [ + 6.811907496739877e-06, + -2.0136645823010113e-11, + 6.811937964812387e-06, + 3.4059746667480795e-06, + 2.4243684859127923e-13, + 1.5845155049154513e-12, + 7.79732332034655e-08, + -7.796914047730752e-08 + ], + [ + 2.88169630332507e-38, + 0.0, + -1.2240224376806274e-38, + -6.656526437949748e-37, + 3.3488706020873577e-37, + 2.1489701161716178e-37, + -2.502413013699515e-38, + -4.496696146575736e-38 + ], + [ + 0.0002500527771189809, + -0.018791796639561653, + -0.010410024784505367, + 0.027151547372341156, + 0.0002672633854672313, + 0.0014598779380321503, + -0.005835292860865593, + 0.00015082272875588387 + ], + [ + 2.3383396007966542e-38, + 0.0, + -2.597888803008129e-38, + -5.142623664771366e-37, + 6.3120783071085365e-37, + 7.684239852724341e-38, + 2.5990402718889527e-08, + -2.599036363903906e-08 + ] + ] + } + }, + "cameras": { + "cameras": { + "camera0": [ + [ + 0.0524057038128376, + 0.0017002435633912683, + -0.029235905036330223, + -0.2796740233898163, + 0.6506134271621704, + 0.6429955959320068, + -0.29161837697029114 + ], + [ + 0.048510223627090454, + -0.002016728976741433, + -0.03117336519062519, + -0.2721189856529236, + 0.65886390209198, + 0.6371026039123535, + -0.29317206144332886 + ], + [ + 0.047824081033468246, + 0.0005096487002447248, + -0.027878597378730774, + -0.2721995711326599, + 0.6505556702613831, + 0.6468222737312317, + -0.29035431146621704 + ], + [ + 0.0494537279009819, + 0.0006149510154500604, + -0.0294047798961401, + -0.28078171610832214, + 0.6409282684326172, + 0.6660608053207397, + -0.25833237171173096 + ] + ], + "camera1": [ + [ + 0.058737613260746, + 0.5897232294082642, + 1.9374951124191284, + 0.024828655645251274, + 0.011524044908583164, + 0.2605649530887604, + 0.9650682210922241 + ], + [ + 0.053256262093782425, + 0.6020501255989075, + 1.9507133960723877, + 0.04038088768720627, + 0.017604446038603783, + 0.2725280821323395, + 0.9611388444900513 + ], + [ + 0.07392935454845428, + 0.5693371295928955, + 1.9579378366470337, + 0.049734506756067276, + -0.007629564963281155, + 0.2699394226074219, + 0.9615617394447327 + ], + [ + 0.06865084171295166, + 0.6003844738006592, + 1.9292572736740112, + 0.03181568160653114, + -0.0014647380448877811, + 0.27495816349983215, + 0.9609284996986389 + ] + ] + } + } + } +} \ No newline at end of file diff --git a/episodes/c4_p009_e018/wrist.mp4 b/episodes/c4_p009_e018/wrist.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..b6ad2c2ff124dd0b86de9d27cbb2999ef0cb8da4 --- /dev/null +++ b/episodes/c4_p009_e018/wrist.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:3bdfc764d0797d550bca95b5fec7ad1a2107a8dfe5ef6ed092e823e0de349086 +size 7261752 diff --git a/episodes/c4_p009_e019/data.npz b/episodes/c4_p009_e019/data.npz new file mode 100644 index 0000000000000000000000000000000000000000..21d0493e8ce1972c2c77b62d8563b6785a5d8ea4 --- /dev/null +++ b/episodes/c4_p009_e019/data.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:366be10915805c74f14f8c4f2ab06e45b7658a547f7dea5ce2055d8796b33fc7 +size 187452 diff --git a/episodes/c4_p009_e019/device_events.jsonl b/episodes/c4_p009_e019/device_events.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..31b56cd148270e70ed5f961b9dfbc648966bb527 --- /dev/null +++ b/episodes/c4_p009_e019/device_events.jsonl @@ -0,0 +1,36 @@ +{"env_id": 1, "seq": 1, "step": 59, "t": 0.295, "topic": "conveyor_1.belt.station.pick.captured", "source": "conveyor_1.belt", "data": {"rider": "carrier_3"}, "cause": null} +{"env_id": 1, "seq": 2, "step": 59, "t": 0.295, "topic": "conveyor_1.belt.state.changed", "source": "conveyor_1.belt", "data": {"from": "running", "to": "at_station"}, "cause": null} +{"env_id": 1, "seq": 3, "step": 64, "t": 0.32, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_3"}, "cause": null} +{"env_id": 1, "seq": 4, "step": 2275, "t": 11.375, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_3"}, "cause": null} +{"env_id": 1, "seq": 5, "step": 6846, "t": 34.23, "topic": "a4s_sealer_1.plate_present.present", "source": "a4s_sealer_1.plate_present", "data": {"object": "plate_3"}, "cause": null} +{"env_id": 1, "seq": 6, "step": 7460, "t": 37.3, "topic": "a4s_sealer_1.command.started", "source": "a4s_sealer_1", "data": {"command_id": "task-1-1", "name": "seal", "source": "task"}, "cause": "task-1-1"} +{"env_id": 1, "seq": 7, "step": 7460, "t": 37.3, "topic": "a4s_sealer_1.seal.started", "source": "a4s_sealer_1", "data": {"dwell": 4.277158381140924}, "cause": "task-1-1"} +{"env_id": 1, "seq": 8, "step": 7460, "t": 37.3, "topic": "a4s_sealer_1.drawer.command.started", "source": "a4s_sealer_1.drawer", "data": {"command_id": "program-1-2", "name": "close", "source": "program:seal"}, "cause": "program-1-2"} +{"env_id": 1, "seq": 9, "step": 7460, "t": 37.3, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "at_out", "to": "moving"}, "cause": null} +{"env_id": 1, "seq": 10, "step": 7460, "t": 37.3, "topic": "a4s_sealer_1.drawer.moving", "source": "a4s_sealer_1.drawer", "data": {"target": 0.3, "goal": "in"}, "cause": "program-1-2"} +{"env_id": 1, "seq": 11, "step": 7879, "t": 39.395, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "moving", "to": "at_in"}, "cause": null} +{"env_id": 1, "seq": 12, "step": 7879, "t": 39.395, "topic": "a4s_sealer_1.drawer.reached", "source": "a4s_sealer_1.drawer", "data": {"position": "in", "q": 0.30000001192092896}, "cause": "program-1-2"} +{"env_id": 1, "seq": 13, "step": 7879, "t": 39.395, "topic": "a4s_sealer_1.drawer.at_in", "source": "a4s_sealer_1.drawer", "data": {"q": 0.30000001192092896}, "cause": "program-1-2"} +{"env_id": 1, "seq": 14, "step": 7879, "t": 39.395, "topic": "a4s_sealer_1.drawer.command.succeeded", "source": "a4s_sealer_1.drawer", "data": {"command_id": "program-1-2", "name": "close", "source": "program:seal", "result": {"position": "in"}}, "cause": "program-1-2"} +{"env_id": 1, "seq": 15, "step": 7879, "t": 39.395, "topic": "labware.plate_3.changed", "source": "labware.plate_3", "data": {"key": "sealed", "value": true}, "cause": "task-1-1"} +{"env_id": 1, "seq": 16, "step": 7879, "t": 39.395, "topic": "a4s_sealer_1.sealed", "source": "a4s_sealer_1", "data": {"plate": "plate_3"}, "cause": "task-1-1"} +{"env_id": 1, "seq": 17, "step": 7879, "t": 39.395, "topic": "a4s_sealer_1.heater.command.started", "source": "a4s_sealer_1.heater", "data": {"command_id": "program-1-3", "name": "run", "source": "program:seal"}, "cause": "program-1-3"} +{"env_id": 1, "seq": 18, "step": 7879, "t": 39.395, "topic": "a4s_sealer_1.heater.state.changed", "source": "a4s_sealer_1.heater", "data": {"from": "ready", "to": "running"}, "cause": null} +{"env_id": 1, "seq": 19, "step": 7879, "t": 39.395, "topic": "a4s_sealer_1.heater.started", "source": "a4s_sealer_1.heater", "data": {"duration": 4.277158381140924}, "cause": "program-1-3"} +{"env_id": 1, "seq": 20, "step": 8735, "t": 43.675, "topic": "a4s_sealer_1.heater.state.changed", "source": "a4s_sealer_1.heater", "data": {"from": "running", "to": "ready"}, "cause": null} +{"env_id": 1, "seq": 21, "step": 8735, "t": 43.675, "topic": "a4s_sealer_1.heater.finished", "source": "a4s_sealer_1.heater", "data": {"elapsed": 4.28000000000219}, "cause": "program-1-3"} +{"env_id": 1, "seq": 22, "step": 8735, "t": 43.675, "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": 4.28000000000219}}, "cause": "program-1-3"} +{"env_id": 1, "seq": 23, "step": 8735, "t": 43.675, "topic": "a4s_sealer_1.drawer.command.started", "source": "a4s_sealer_1.drawer", "data": {"command_id": "program-1-4", "name": "open", "source": "program:seal"}, "cause": "program-1-4"} +{"env_id": 1, "seq": 24, "step": 8735, "t": 43.675, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "at_in", "to": "moving"}, "cause": null} +{"env_id": 1, "seq": 25, "step": 8735, "t": 43.675, "topic": "a4s_sealer_1.drawer.moving", "source": "a4s_sealer_1.drawer", "data": {"target": 0.0, "goal": "out"}, "cause": "program-1-4"} +{"env_id": 1, "seq": 26, "step": 9155, "t": 45.775, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "moving", "to": "at_out"}, "cause": null} +{"env_id": 1, "seq": 27, "step": 9155, "t": 45.775, "topic": "a4s_sealer_1.drawer.reached", "source": "a4s_sealer_1.drawer", "data": {"position": "out", "q": 4.5339948462341795e-10}, "cause": "program-1-4"} +{"env_id": 1, "seq": 28, "step": 9155, "t": 45.775, "topic": "a4s_sealer_1.drawer.at_out", "source": "a4s_sealer_1.drawer", "data": {"q": 4.5339948462341795e-10}, "cause": "program-1-4"} +{"env_id": 1, "seq": 29, "step": 9155, "t": 45.775, "topic": "a4s_sealer_1.drawer.command.succeeded", "source": "a4s_sealer_1.drawer", "data": {"command_id": "program-1-4", "name": "open", "source": "program:seal", "result": {"position": "out"}}, "cause": "program-1-4"} +{"env_id": 1, "seq": 30, "step": 9155, "t": 45.775, "topic": "a4s_sealer_1.seal.finished", "source": "a4s_sealer_1", "data": {}, "cause": "task-1-1"} +{"env_id": 1, "seq": 31, "step": 9155, "t": 45.775, "topic": "a4s_sealer_1.command.succeeded", "source": "a4s_sealer_1", "data": {"command_id": "task-1-1", "name": "seal", "source": "task"}, "cause": "task-1-1"} +{"env_id": 1, "seq": 32, "step": 9735, "t": 48.675, "topic": "a4s_sealer_1.plate_present.absent", "source": "a4s_sealer_1.plate_present", "data": {"object": "plate_3"}, "cause": null} +{"env_id": 1, "seq": 33, "step": 11444, "t": 57.22, "topic": "conveyor_1.belt.command.started", "source": "conveyor_1.belt", "data": {"command_id": "task-1-5", "name": "release", "source": "task"}, "cause": "task-1-5"} +{"env_id": 1, "seq": 34, "step": 11444, "t": 57.22, "topic": "conveyor_1.belt.station.pick.released", "source": "conveyor_1.belt", "data": {"rider": "carrier_3"}, "cause": "task-1-5"} +{"env_id": 1, "seq": 35, "step": 11444, "t": 57.22, "topic": "conveyor_1.belt.state.changed", "source": "conveyor_1.belt", "data": {"from": "at_station", "to": "running"}, "cause": null} +{"env_id": 1, "seq": 36, "step": 11444, "t": 57.22, "topic": "conveyor_1.belt.command.succeeded", "source": "conveyor_1.belt", "data": {"command_id": "task-1-5", "name": "release", "source": "task", "result": {"state": "running"}}, "cause": "task-1-5"} diff --git a/episodes/c4_p009_e019/env.mp4 b/episodes/c4_p009_e019/env.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..6cce5eaf17b33943c47a052e2239ed176cdd0f16 --- /dev/null +++ b/episodes/c4_p009_e019/env.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:3f07b3da2ab8cef9b7fb261a508b3dc38038459d077d935e9692e6da9c3157eb +size 1197155 diff --git a/episodes/c4_p009_e019/meta.json b/episodes/c4_p009_e019/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..a10411a12fdce13413479e0470033d7bec51674f --- /dev/null +++ b/episodes/c4_p009_e019/meta.json @@ -0,0 +1,32 @@ +{ + "source": "raw/c4_p009/magicsim/19", + "fps": 25, + "frames": 1209, + "kept_ticks": "even", + "video_frames": { + "wrist": 1209, + "env": 1209 + }, + "joint_target_source": "joint_pos_target", + "fk_vs_recorded_eef_max_m": 0.0, + "curobo_joints": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "joint_order": [ + "shoulder_pan", + "shoulder_lift", + "elbow", + "wrist_1", + "wrist_2", + "wrist_3", + "finger_left", + "finger_right" + ], + "frames_note": "eef / actions in the robot base frame; camera_pose = local pose (wrist: in plate_gripper_base, env: env frame), pos + quat wxyz", + "dr_version": "v2" +} \ No newline at end of file diff --git a/episodes/c4_p009_e019/scene_snapshot.json b/episodes/c4_p009_e019/scene_snapshot.json new file mode 100644 index 0000000000000000000000000000000000000000..d1ee13bb82df44d88212008e3313912d124eb70a --- /dev/null +++ b/episodes/c4_p009_e019/scene_snapshot.json @@ -0,0 +1,1558 @@ +{ + "trajectory_id": 19, + "env_id": 1, + "run_id": "c4_p009", + "task_type": "BioPlateCell", + "success": true, + "timing": { + "fps": 50.0, + "sim_dt": 0.005, + "decimation": 4 + }, + "restore_interface": { + "scene": "scene_manager.reset_to(snapshot['scene'], env_ids=[env_id])", + "robots": "robot_manager.set_state({'robots': snapshot['robots']}, env_ids=[env_id])" + }, + "snapshot": { + "env_id": 1, + "scene": { + "objects": [ + {}, + { + "rac_cell": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/rac_cell.usd", + "pose": { + "pos": [ + 0.0, + 0.0, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "physics_material": { + "static_friction": 0.6, + "dynamic_friction": 0.5, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "robot_mount": [ + { + "asset": "Cube", + "pose": { + "pos": [ + 0.0, + 0.0, + 0.9075 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": "color", + "value": [ + 0.55, + 0.56, + 0.58 + ], + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": { + "size": [ + 0.2, + 0.2, + 0.015 + ] + } + }, + "type_specific": {} + } + ], + "plate_rack": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/plate_hotel.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 0.9 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "physics_material": { + "static_friction": 0.6, + "dynamic_friction": 0.5, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "hotel_plate": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_96_white/plate_96_white.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 0.9605 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/deep_well_24_10ml/deep_well_24_10ml.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.0285 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_96_black/plate_96_black.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.0965 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_6_clear/plate_6_clear.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.1645 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/deep_well_24_10ml/deep_well_24_10ml.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.2325 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "a4s_sealer": [ + { + "asset": "$MAGICSIM_ASSETS/Articulated/A4SSealer/Object.usd", + "pose": { + "pos": [ + 0.4988422393798828, + 0.11703014373779297, + 0.8999999761581421 + ], + "ori": [ + 0.735316276550293, + 0.0, + 0.0, + -0.6777241230010986 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "articulation", + "solver_position_iteration_count": 16.0, + "solver_velocity_iteration_count": 1.0, + "enabled_self_collisions": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "joint_position": [ + 6.391916076292636e-12 + ], + "joint_velocity": [ + 0.0 + ], + "linear_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "angular_velocity": [ + 0.0, + 0.0, + 0.0 + ] + } + } + ], + "conveyor": [ + { + "asset": "Cube", + "pose": { + "pos": [ + 0.15, + 0.45, + 0.9 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "conveyor", + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9 + }, + "ratio": 1.0 + }, + "primitive_params": { + "size": [ + 2.4, + 0.076, + 0.03 + ] + }, + "conveyor": { + "speed": 0.2579137555522813, + "direction": [ + 1.0, + 0.0, + 0.0 + ], + "enabled": true, + "drive": "surface_velocity", + "lines": null, + "station_line": null, + "riders": [ + "carrier" + ], + "stations": { + "pick": { + "position": -0.044237985714841166, + "slow_distance": 0.03, + "slow_speed": 0.03 + } + }, + "rails": { + "height": 0.01, + "thickness": 0.01, + "gap": 0.001, + "friction": 0.05 + }, + "legs": 0.87, + "loop": { + "radius": 0.35, + "side": "left", + "curve_extra_width": 0.0, + "segments": 18, + "curve_rails": "both" + }, + "snap_distance": 0.1, + "junction_snap": 0.02, + "collision_approximation": "auto", + "plate_mass": 1.0, + "lift_drop": 0.004, + "accel": 0.0, + "decel": 0.0, + "drive_damping": 1000000.0, + "drive_max_force": 1000000000.0 + } + }, + "type_specific": { + "controller": { + "state": "at_station", + "speed": 0.2579137555522813, + "holds": [], + "station": "pick", + "rider": "carrier_3", + "arrived": true, + "applied_speed": 0.0 + } + } + } + ], + "carrier": [ + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + -0.2214183807373047, + 1.1500062942504883, + 0.8999999761581421 + ], + "ori": [ + 3.739524254342541e-05, + 5.0938281370704885e-11, + 1.7799336449186853e-09, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -1.812471728257492e-09, + -8.740263512940771e-10, + 1.1175870895385742e-08 + ], + "angular_velocity": [ + 4.515379359304461e-08, + -1.7072079572244547e-07, + -1.1759070162042917e-08 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + -1.3275461196899414, + 1.0071048736572266, + 0.8999999761581421 + ], + "ori": [ + -0.4384719431400299, + -4.0527073252860646e-08, + 1.195057297564972e-08, + 0.8987448811531067 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 4.480322779443213e-10, + -5.789791979182723e-10, + 0.0 + ], + "angular_velocity": [ + 3.4338384580223646e-08, + 3.926271574528073e-08, + -1.3069261228793039e-09 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + 0.10594367980957031, + 0.4499979019165039, + 0.8999999761581421 + ], + "ori": [ + 1.0, + 3.2750069323128628e-09, + -3.925513247793333e-09, + -6.346450049932173e-07 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 5.860454344031041e-10, + 5.54474133274141e-10, + 3.725290298461914e-09 + ], + "angular_velocity": [ + -3.087536271095814e-08, + 5.132470448643289e-08, + -5.7117297558306745e-09 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + 1.593186378479004, + 1.0483026504516602, + 0.8999999761581421 + ], + "ori": [ + 0.3888886272907257, + -1.4853408458748163e-07, + -8.07776814326644e-08, + 0.9212848544120789 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 6.137874208889116e-09, + 5.176620021529743e-09, + 3.725290298461914e-09 + ], + "angular_velocity": [ + -2.5308904127996357e-07, + 2.0238613274159434e-07, + 4.944175202581391e-08 + ] + } + } + ], + "plate": [ + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_12_clear/Object.usd", + "pose": { + "pos": [ + -0.224639892578125, + 1.1519098281860352, + 0.9179999828338623 + ], + "ori": [ + 0.07182004302740097, + 1.2262760806791562e-09, + 7.295770099169374e-10, + 0.9974176287651062 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 1.4705239692602845e-08, + -1.0562672514424776e-08, + 1.4901161193847656e-07 + ], + "angular_velocity": [ + 3.515876301207754e-08, + 1.810674575608573e-06, + -9.912145770840652e-09 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_96_white/Object.usd", + "pose": { + "pos": [ + -1.3154172897338867, + 1.0175848007202148, + 0.9180000424385071 + ], + "ori": [ + -0.3620951771736145, + -4.226107463978224e-08, + 9.00005581172536e-09, + 0.9321411848068237 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 9.624254282414313e-09, + 7.995378581426849e-09, + -4.760921001434326e-06 + ], + "angular_velocity": [ + -1.1613719834713265e-06, + 5.497902861861803e-07, + 1.1619574635801655e-08 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/pcr_384_red/Object.usd", + "pose": { + "pos": [ + 0.09866619110107422, + 0.4518289566040039, + 0.9179999828338623 + ], + "ori": [ + 0.9947956800460815, + 4.116892604599798e-09, + -3.5134060105690423e-09, + -0.10189078748226166 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -7.325046791351042e-09, + 1.3423010258861723e-08, + -5.621463060379028e-06 + ], + "angular_velocity": [ + 3.624609234975651e-08, + -1.7233804783245432e-06, + 2.523675846077822e-08 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/deep_well_96_1ml/Object.usd", + "pose": { + "pos": [ + 1.589299201965332, + 1.0492887496948242, + 0.9179999828338623 + ], + "ori": [ + 0.46963250637054443, + -4.007995642041351e-07, + -9.67956225395028e-07, + 0.8828620910644531 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 1.8228611224913038e-06, + 1.716082806524355e-06, + -1.3399869203567505e-05 + ], + "angular_velocity": [ + -0.00016982521628960967, + 0.00014862348325550556, + 2.9916191124357283e-06 + ] + } + } + ], + "deco_hub_west": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/hub_a.usd", + "pose": { + "pos": [ + -3.36, + 0.0, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_hub_east": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/hub_c.usd", + "pose": { + "pos": [ + 3.36, + 0.0, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_hub_back": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/hub_d.usd", + "pose": { + "pos": [ + -3.0, + -2.1, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_bench_east": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/bench_c.usd", + "pose": { + "pos": [ + 2.6, + -2.5, + 0.0 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_bench_gap": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/bench_b.usd", + "pose": { + "pos": [ + -0.1, + -2.9, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ] + }, + {}, + {} + ], + "devices": { + "hub": [ + null, + { + "t": 9.02000000000001, + "step": 1804, + "counter": 0, + "devices": { + "a4s_sealer_1": { + "mode": "auto", + "units": { + "drawer": { + "state": "at_out", + "active": null, + "target": 0.0, + "goal_name": "out", + "profile": null, + "q_start": null, + "reversing": false, + "blocked_for": 0.0, + "settled_for": 0.0, + "last_q": 6.391916076292636e-12 + }, + "heater": { + "state": "ready", + "active": null, + "duration": 0.0, + "t_start": null, + "elapsed": 0.0 + } + }, + "queues": {}, + "program": null, + "sensors": { + "plate_present": { + "occupants": [], + "pending": {} + } + }, + "interlocks": {} + }, + "conveyor_1": { + "mode": "auto", + "units": { + "belt": { + "state": "at_station", + "active": null, + "controller": { + "speed": 0.2579137555522813, + "holds": [], + "station": "pick", + "rider": "carrier_3", + "arrived": true, + "settle_count": 1744, + "released": { + "pick": [] + }, + "last_pos": { + "carrier_1": [ + -0.37141838669776917, + 0.7000063061714172, + 0.0 + ], + "carrier_2": [ + -1.4775461256504059, + 0.5571048855781555, + 0.0 + ], + "carrier_3": [ + -0.044056326150894165, + -2.086162567138672e-06, + 0.0 + ], + "carrier_4": [ + 1.4431863725185394, + 0.5983026623725891, + 0.0 + ] + }, + "command": 0.0 + }, + "belt": { + "target_speed": 0.0, + "command_speed": 0.0 + }, + "seen": { + "state": "at_station", + "station": "pick", + "rider": "carrier_3", + "arrived": true + } + } + }, + "queues": {}, + "program": null, + "sensors": {}, + "interlocks": {} + } + }, + "zones": {}, + "labware": { + "plate_1": { + "sealed": false + }, + "plate_2": { + "sealed": false + }, + "plate_3": { + "sealed": false + }, + "plate_4": { + "sealed": false + } + }, + "rules": {}, + "records": [], + "bus": { + "seq": 3, + "queue": [] + } + }, + null, + null + ], + "drives": [ + null, + {}, + null, + null + ] + }, + "artifacts": [ + {}, + { + "ceiling": { + "type": "rect", + "pose": { + "pos": [ + 0.5059160566734177, + 0.31544407725598, + 3.0580857174518727 + ], + "ori": [ + -13.394765506528163, + 8.420517297493916, + -16.288361736950733 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "color_temperature": 6457.947769074399, + "color": [ + 0.8296300032904815, + 0.9426624714153347, + 0.7955329314875418 + ], + "intensity": 11150.257642731067, + "width": 2.4406612078316225, + "height": 1.8030010274189452 + } + }, + "key": { + "type": "disk", + "pose": { + "pos": [ + 1.0708975184392422, + 0.12418176028549399, + 1.6120955269908268 + ], + "ori": [ + -20.156590973442327, + -19.607678845272662, + 25.37075841657834 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "color_temperature": 3111.4261022469645, + "color": [ + 0.9938039446899907, + 0.9108966046642826, + 0.8238751364793752 + ], + "intensity": 2851.2131414717546, + "radius": 0.2994773358558932 + } + } + }, + {}, + {} + ], + "background": { + "type": "dome", + "pose": { + "pos": null, + "ori": null, + "scale": null + }, + "dr": { + "intensity": 1390.864978818175, + "texture": null, + "color": [ + 0.92, + 0.94, + 0.96 + ] + } + } + }, + "robots": { + "UR5e": { + "root_pose": [ + [ + 11.0, + -11.0, + 0.9150000214576721, + 1.0, + 0.0, + 0.0, + 0.0 + ], + [ + 11.0, + 11.0, + 0.9150000214576721, + 1.0, + 0.0, + 0.0, + 0.0 + ], + [ + -11.0, + -11.0, + 0.9150000214576721, + 1.0, + 0.0, + 0.0, + 0.0 + ], + [ + -11.0, + 11.0, + 0.9150000214576721, + 1.0, + 0.0, + 0.0, + 0.0 + ] + ], + "root_vel": [ + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + ], + "joint_pos": [ + [ + 2.635772466659546, + -2.080502986907959, + 2.184492826461792, + -1.6747828722000122, + -1.5708340406417847, + 4.207752227783203, + 0.007713931612670422, + 0.0069383312948048115 + ], + [ + 0.914104163646698, + -1.7193952798843384, + 2.0904979705810547, + -1.9419000148773193, + -1.5707999467849731, + 2.484900951385498, + 0.01799999736249447, + 0.018000001087784767 + ], + [ + 2.5204532146453857, + -2.1644647121429443, + 2.5644915103912354, + -1.9718064069747925, + -1.571393370628357, + 4.093027591705322, + 0.007734948303550482, + 0.00718427961692214 + ], + [ + 0.9086765050888062, + -1.4783424139022827, + 2.071063995361328, + -2.163548707962036, + -1.5707306861877441, + 2.4232447147369385, + 0.0077142538502812386, + 0.0072531020268797874 + ] + ], + "joint_vel": [ + [ + -0.013514656573534012, + -0.02560563012957573, + 0.0114933792501688, + 0.013147273100912571, + 0.00030675300513394177, + -0.014448869042098522, + -0.009635684080421925, + 0.00039326748810708523 + ], + [ + 2.8265989292659753e-38, + -1.6420673243875642e-38, + 1.5538914592990037e-38, + -5.007408900728473e-37, + 4.235100628216808e-37, + -2.7271768032221296e-37, + 2.5990400942532688e-08, + -2.5990388508034812e-08 + ], + [ + 0.02261124737560749, + 0.04072659835219383, + -0.014402000233530998, + -0.026839636266231537, + -0.000588598195463419, + 0.02441895753145218, + -0.006907719653099775, + 0.0002137508854502812 + ], + [ + 9.978815069189295e-05, + -2.4741199013078585e-05, + 0.00014828311395831406, + 0.0010076601756736636, + -0.0014519290998578072, + -0.004654130898416042, + -0.005744484253227711, + 0.00018873087537940592 + ] + ] + } + }, + "cameras": { + "cameras": { + "camera0": [ + [ + 0.05151357874274254, + 0.0017029147129505873, + -0.03145762160420418, + -0.27843597531318665, + 0.6461806297302246, + 0.6455744504928589, + -0.29691359400749207 + ], + [ + 0.04969314858317375, + -0.0016508684493601322, + -0.03340978920459747, + -0.27534693479537964, + 0.653117299079895, + 0.6417809724807739, + -0.2928122878074646 + ], + [ + 0.04738873988389969, + 0.0007134272600524127, + -0.02662142738699913, + -0.2747144401073456, + 0.6528534889221191, + 0.6451523900032043, + -0.2865181565284729 + ], + [ + 0.050788912922143936, + 0.0028011398389935493, + -0.027872364968061447, + -0.2899397909641266, + 0.639708936214447, + 0.6634789705276489, + -0.2578819692134857 + ] + ], + "camera1": [ + [ + 0.058737613260746, + 0.5897232294082642, + 1.9374951124191284, + 0.024828655645251274, + 0.011524044908583164, + 0.2605649530887604, + 0.9650682210922241 + ], + [ + 0.053256262093782425, + 0.6020501255989075, + 1.9507133960723877, + 0.04038088768720627, + 0.017604446038603783, + 0.2725280821323395, + 0.9611388444900513 + ], + [ + 0.07392935454845428, + 0.5693371295928955, + 1.9579378366470337, + 0.049734506756067276, + -0.007629564963281155, + 0.2699394226074219, + 0.9615617394447327 + ], + [ + 0.06865084171295166, + 0.6003844738006592, + 1.9292572736740112, + 0.03181568160653114, + -0.0014647380448877811, + 0.27495816349983215, + 0.9609284996986389 + ] + ] + } + } + } +} \ No newline at end of file diff --git a/episodes/c4_p009_e019/wrist.mp4 b/episodes/c4_p009_e019/wrist.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..eddb1b2b147f96203758e39aa929366c918f6480 --- /dev/null +++ b/episodes/c4_p009_e019/wrist.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:0330fa6f92787acaae603817a9f54790ac02b876d0837f3363fec5140f660dc1 +size 7603393 diff --git a/episodes/c5_p009_e004/data.npz b/episodes/c5_p009_e004/data.npz new file mode 100644 index 0000000000000000000000000000000000000000..4733df9ffbf29a4352058858443dcc317e9cb6f3 --- /dev/null +++ b/episodes/c5_p009_e004/data.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:0f3819d04678a58a9df2cf7e7272767052f9a2e45f8485a5a662860721ae56e2 +size 186544 diff --git a/episodes/c5_p009_e004/device_events.jsonl b/episodes/c5_p009_e004/device_events.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..0fba290812b8bdd3330e24f534b7c838e29db496 --- /dev/null +++ b/episodes/c5_p009_e004/device_events.jsonl @@ -0,0 +1,35 @@ +{"env_id": 3, "seq": 1, "step": 204, "t": 1.02, "topic": "conveyor_1.belt.station.pick.captured", "source": "conveyor_1.belt", "data": {"rider": "carrier_1"}, "cause": null} +{"env_id": 3, "seq": 2, "step": 204, "t": 1.02, "topic": "conveyor_1.belt.state.changed", "source": "conveyor_1.belt", "data": {"from": "running", "to": "at_station"}, "cause": null} +{"env_id": 3, "seq": 3, "step": 209, "t": 1.045, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_1"}, "cause": null} +{"env_id": 3, "seq": 4, "step": 5998, "t": 29.99, "topic": "a4s_sealer_1.plate_present.present", "source": "a4s_sealer_1.plate_present", "data": {"object": "plate_1"}, "cause": null} +{"env_id": 3, "seq": 5, "step": 6612, "t": 33.06, "topic": "a4s_sealer_1.command.started", "source": "a4s_sealer_1", "data": {"command_id": "task-3-1", "name": "seal", "source": "task"}, "cause": "task-3-1"} +{"env_id": 3, "seq": 6, "step": 6612, "t": 33.06, "topic": "a4s_sealer_1.seal.started", "source": "a4s_sealer_1", "data": {"dwell": 1.9372915915030076}, "cause": "task-3-1"} +{"env_id": 3, "seq": 7, "step": 6612, "t": 33.06, "topic": "a4s_sealer_1.drawer.command.started", "source": "a4s_sealer_1.drawer", "data": {"command_id": "program-3-2", "name": "close", "source": "program:seal"}, "cause": "program-3-2"} +{"env_id": 3, "seq": 8, "step": 6612, "t": 33.06, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "at_out", "to": "moving"}, "cause": null} +{"env_id": 3, "seq": 9, "step": 6612, "t": 33.06, "topic": "a4s_sealer_1.drawer.moving", "source": "a4s_sealer_1.drawer", "data": {"target": 0.3, "goal": "in"}, "cause": "program-3-2"} +{"env_id": 3, "seq": 10, "step": 7031, "t": 35.155, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "moving", "to": "at_in"}, "cause": null} +{"env_id": 3, "seq": 11, "step": 7031, "t": 35.155, "topic": "a4s_sealer_1.drawer.reached", "source": "a4s_sealer_1.drawer", "data": {"position": "in", "q": 0.30000001192092896}, "cause": "program-3-2"} +{"env_id": 3, "seq": 12, "step": 7031, "t": 35.155, "topic": "a4s_sealer_1.drawer.at_in", "source": "a4s_sealer_1.drawer", "data": {"q": 0.30000001192092896}, "cause": "program-3-2"} +{"env_id": 3, "seq": 13, "step": 7031, "t": 35.155, "topic": "a4s_sealer_1.drawer.command.succeeded", "source": "a4s_sealer_1.drawer", "data": {"command_id": "program-3-2", "name": "close", "source": "program:seal", "result": {"position": "in"}}, "cause": "program-3-2"} +{"env_id": 3, "seq": 14, "step": 7031, "t": 35.155, "topic": "labware.plate_1.changed", "source": "labware.plate_1", "data": {"key": "sealed", "value": true}, "cause": "task-3-1"} +{"env_id": 3, "seq": 15, "step": 7031, "t": 35.155, "topic": "a4s_sealer_1.sealed", "source": "a4s_sealer_1", "data": {"plate": "plate_1"}, "cause": "task-3-1"} +{"env_id": 3, "seq": 16, "step": 7031, "t": 35.155, "topic": "a4s_sealer_1.heater.command.started", "source": "a4s_sealer_1.heater", "data": {"command_id": "program-3-3", "name": "run", "source": "program:seal"}, "cause": "program-3-3"} +{"env_id": 3, "seq": 17, "step": 7031, "t": 35.155, "topic": "a4s_sealer_1.heater.state.changed", "source": "a4s_sealer_1.heater", "data": {"from": "ready", "to": "running"}, "cause": null} +{"env_id": 3, "seq": 18, "step": 7031, "t": 35.155, "topic": "a4s_sealer_1.heater.started", "source": "a4s_sealer_1.heater", "data": {"duration": 1.9372915915030076}, "cause": "program-3-3"} +{"env_id": 3, "seq": 19, "step": 7419, "t": 37.095, "topic": "a4s_sealer_1.heater.state.changed", "source": "a4s_sealer_1.heater", "data": {"from": "running", "to": "ready"}, "cause": null} +{"env_id": 3, "seq": 20, "step": 7419, "t": 37.095, "topic": "a4s_sealer_1.heater.finished", "source": "a4s_sealer_1.heater", "data": {"elapsed": 1.9400000000009925}, "cause": "program-3-3"} +{"env_id": 3, "seq": 21, "step": 7419, "t": 37.095, "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": 1.9400000000009925}}, "cause": "program-3-3"} +{"env_id": 3, "seq": 22, "step": 7419, "t": 37.095, "topic": "a4s_sealer_1.drawer.command.started", "source": "a4s_sealer_1.drawer", "data": {"command_id": "program-3-4", "name": "open", "source": "program:seal"}, "cause": "program-3-4"} +{"env_id": 3, "seq": 23, "step": 7419, "t": 37.095, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "at_in", "to": "moving"}, "cause": null} +{"env_id": 3, "seq": 24, "step": 7419, "t": 37.095, "topic": "a4s_sealer_1.drawer.moving", "source": "a4s_sealer_1.drawer", "data": {"target": 0.0, "goal": "out"}, "cause": "program-3-4"} +{"env_id": 3, "seq": 25, "step": 7839, "t": 39.195, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "moving", "to": "at_out"}, "cause": null} +{"env_id": 3, "seq": 26, "step": 7839, "t": 39.195, "topic": "a4s_sealer_1.drawer.reached", "source": "a4s_sealer_1.drawer", "data": {"position": "out", "q": 6.396958483756432e-12}, "cause": "program-3-4"} +{"env_id": 3, "seq": 27, "step": 7839, "t": 39.195, "topic": "a4s_sealer_1.drawer.at_out", "source": "a4s_sealer_1.drawer", "data": {"q": 6.396958483756432e-12}, "cause": "program-3-4"} +{"env_id": 3, "seq": 28, "step": 7839, "t": 39.195, "topic": "a4s_sealer_1.drawer.command.succeeded", "source": "a4s_sealer_1.drawer", "data": {"command_id": "program-3-4", "name": "open", "source": "program:seal", "result": {"position": "out"}}, "cause": "program-3-4"} +{"env_id": 3, "seq": 29, "step": 7839, "t": 39.195, "topic": "a4s_sealer_1.seal.finished", "source": "a4s_sealer_1", "data": {}, "cause": "task-3-1"} +{"env_id": 3, "seq": 30, "step": 7839, "t": 39.195, "topic": "a4s_sealer_1.command.succeeded", "source": "a4s_sealer_1", "data": {"command_id": "task-3-1", "name": "seal", "source": "task"}, "cause": "task-3-1"} +{"env_id": 3, "seq": 31, "step": 8419, "t": 42.095, "topic": "a4s_sealer_1.plate_present.absent", "source": "a4s_sealer_1.plate_present", "data": {"object": "plate_1"}, "cause": null} +{"env_id": 3, "seq": 32, "step": 10144, "t": 50.72, "topic": "conveyor_1.belt.command.started", "source": "conveyor_1.belt", "data": {"command_id": "task-3-5", "name": "release", "source": "task"}, "cause": "task-3-5"} +{"env_id": 3, "seq": 33, "step": 10144, "t": 50.72, "topic": "conveyor_1.belt.station.pick.released", "source": "conveyor_1.belt", "data": {"rider": "carrier_1"}, "cause": "task-3-5"} +{"env_id": 3, "seq": 34, "step": 10144, "t": 50.72, "topic": "conveyor_1.belt.state.changed", "source": "conveyor_1.belt", "data": {"from": "at_station", "to": "running"}, "cause": null} +{"env_id": 3, "seq": 35, "step": 10144, "t": 50.72, "topic": "conveyor_1.belt.command.succeeded", "source": "conveyor_1.belt", "data": {"command_id": "task-3-5", "name": "release", "source": "task", "result": {"state": "running"}}, "cause": "task-3-5"} diff --git a/episodes/c5_p009_e004/env.mp4 b/episodes/c5_p009_e004/env.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..272a2304b6e39bef992a8c99b4d41b50cd3b1bb4 --- /dev/null +++ b/episodes/c5_p009_e004/env.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:12919dc6ed6677f062a6764023e49bd2a8ec2d8429bff15ee03ce2357c0a8bfb +size 1295368 diff --git a/episodes/c5_p009_e004/meta.json b/episodes/c5_p009_e004/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..06335cd8746fc216560e7559acaf6e93a74e6344 --- /dev/null +++ b/episodes/c5_p009_e004/meta.json @@ -0,0 +1,32 @@ +{ + "source": "raw/c5_p009/magicsim/4", + "fps": 25, + "frames": 1194, + "kept_ticks": "even", + "video_frames": { + "wrist": 1194, + "env": 1194 + }, + "joint_target_source": "joint_pos_target", + "fk_vs_recorded_eef_max_m": 0.0, + "curobo_joints": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "joint_order": [ + "shoulder_pan", + "shoulder_lift", + "elbow", + "wrist_1", + "wrist_2", + "wrist_3", + "finger_left", + "finger_right" + ], + "frames_note": "eef / actions in the robot base frame; camera_pose = local pose (wrist: in plate_gripper_base, env: env frame), pos + quat wxyz", + "dr_version": "v2" +} \ No newline at end of file diff --git a/episodes/c5_p009_e004/scene_snapshot.json b/episodes/c5_p009_e004/scene_snapshot.json new file mode 100644 index 0000000000000000000000000000000000000000..2d536fa4bd94f35dd2b2203acfb26d28714382e3 --- /dev/null +++ b/episodes/c5_p009_e004/scene_snapshot.json @@ -0,0 +1,1558 @@ +{ + "trajectory_id": 4, + "env_id": 3, + "run_id": "c5_p009", + "task_type": "BioPlateCell", + "success": true, + "timing": { + "fps": 50.0, + "sim_dt": 0.005, + "decimation": 4 + }, + "restore_interface": { + "scene": "scene_manager.reset_to(snapshot['scene'], env_ids=[env_id])", + "robots": "robot_manager.set_state({'robots': snapshot['robots']}, env_ids=[env_id])" + }, + "snapshot": { + "env_id": 3, + "scene": { + "objects": [ + {}, + {}, + {}, + { + "rac_cell": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/rac_cell.usd", + "pose": { + "pos": [ + 0.0, + 0.0, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "physics_material": { + "static_friction": 0.6, + "dynamic_friction": 0.5, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "robot_mount": [ + { + "asset": "Cube", + "pose": { + "pos": [ + 0.0, + 0.0, + 0.9075 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": "color", + "value": [ + 0.55, + 0.56, + 0.58 + ], + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": { + "size": [ + 0.2, + 0.2, + 0.015 + ] + } + }, + "type_specific": {} + } + ], + "plate_rack": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/plate_hotel.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 0.9 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "physics_material": { + "static_friction": 0.6, + "dynamic_friction": 0.5, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "hotel_plate": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_24_clear/plate_24_clear.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 0.9605 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_24_clear/plate_24_clear.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.0285 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_6_clear/plate_6_clear.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.0965 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/deep_well_24_10ml/deep_well_24_10ml.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.1645 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/pcr_96_blue/pcr_96_blue.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.2325 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "a4s_sealer": [ + { + "asset": "$MAGICSIM_ASSETS/Articulated/A4SSealer/Object.usd", + "pose": { + "pos": [ + 0.4884967803955078, + 0.07336044311523438, + 0.8999999761581421 + ], + "ori": [ + -0.6936663389205933, + 0.0, + 0.0, + 0.7202965021133423 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "articulation", + "solver_position_iteration_count": 16.0, + "solver_velocity_iteration_count": 1.0, + "enabled_self_collisions": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "joint_position": [ + 4.7098310494708695e-12 + ], + "joint_velocity": [ + 0.0 + ], + "linear_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "angular_velocity": [ + 0.0, + 0.0, + 0.0 + ] + } + } + ], + "conveyor": [ + { + "asset": "Cube", + "pose": { + "pos": [ + 0.15, + 0.45, + 0.9 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "conveyor", + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9 + }, + "ratio": 1.0 + }, + "primitive_params": { + "size": [ + 2.4, + 0.076, + 0.03 + ] + }, + "conveyor": { + "speed": 0.21141494948982842, + "direction": [ + 1.0, + 0.0, + 0.0 + ], + "enabled": true, + "drive": "surface_velocity", + "lines": null, + "station_line": null, + "riders": [ + "carrier" + ], + "stations": { + "pick": { + "position": -0.23313220430010723, + "slow_distance": 0.03, + "slow_speed": 0.03 + } + }, + "rails": { + "height": 0.01, + "thickness": 0.01, + "gap": 0.001, + "friction": 0.05 + }, + "legs": 0.87, + "loop": { + "radius": 0.35, + "side": "left", + "curve_extra_width": 0.0, + "segments": 18, + "curve_rails": "both" + }, + "snap_distance": 0.1, + "junction_snap": 0.02, + "collision_approximation": "auto", + "plate_mass": 1.0, + "lift_drop": 0.004, + "accel": 0.0, + "decel": 0.0, + "drive_damping": 1000000.0, + "drive_max_force": 1000000000.0 + } + }, + "type_specific": { + "controller": { + "state": "at_station", + "speed": 0.21141494948982842, + "holds": [], + "station": "pick", + "rider": "carrier_1", + "arrived": true, + "applied_speed": 0.0 + } + } + } + ], + "carrier": [ + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + -0.08247566223144531, + 0.44745826721191406, + 0.8999999761581421 + ], + "ori": [ + -0.9999504685401917, + 7.477806707179013e-10, + 2.268016441320242e-09, + -0.009954900480806828 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -1.66608948859448e-10, + 4.335534153909748e-10, + 3.725290298461914e-09 + ], + "angular_velocity": [ + -5.211306586261344e-08, + -2.5362702160691697e-08, + -5.6460751629572314e-09 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + -0.9982748031616211, + 1.1500244140625, + 0.8999999761581421 + ], + "ori": [ + -4.5153363316785544e-05, + 1.3661633602168877e-08, + -8.8855067303939e-08, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -1.1519089326839094e-07, + 6.497870117527782e-07, + 1.043081283569336e-07 + ], + "angular_velocity": [ + -6.338912498904392e-06, + -1.3619329592984286e-06, + 5.192990101932082e-06 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + 0.30745601654052734, + 1.1525163650512695, + 0.8999999761581421 + ], + "ori": [ + -0.010311909951269627, + -9.606738515799407e-09, + 1.4406147386125667e-08, + 0.9999468922615051 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -1.4990883201448924e-08, + -6.725063173007584e-08, + 4.470348358154297e-08 + ], + "angular_velocity": [ + 2.639953436300857e-06, + -1.0130946748176939e-06, + -2.3141684835081833e-07 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + 1.616795539855957, + 0.5781879425048828, + 0.8999999761581421 + ], + "ori": [ + 0.90799880027771, + -3.6615148246710305e-08, + 1.798047222223431e-08, + 0.4189729392528534 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -7.676359103925279e-09, + -9.105029619149718e-09, + 1.0803341865539551e-07 + ], + "angular_velocity": [ + 4.5335798404266825e-07, + -1.1013835319317877e-06, + -1.6897990917641437e-07 + ] + } + } + ], + "plate": [ + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_48_clear/Object.usd", + "pose": { + "pos": [ + -0.0701904296875, + 0.45807743072509766, + 0.9179999828338623 + ], + "ori": [ + -0.9997333288192749, + -1.8180508210008384e-09, + 8.486054081657812e-10, + 0.023093247786164284 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -3.1545972944968526e-08, + -1.3240050833474015e-08, + 9.313225746154785e-08 + ], + "angular_velocity": [ + 5.891958494430583e-07, + -1.825489789553103e-06, + 9.858095495474117e-08 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_384_white/Object.usd", + "pose": { + "pos": [ + -0.9934215545654297, + 1.1429176330566406, + 0.9180000424385071 + ], + "ori": [ + -0.0973568931221962, + 4.7873307096324424e-08, + -8.776489721640246e-07, + 0.9952495098114014 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -6.299605502135819e-06, + 4.882505891146138e-06, + -5.710870027542114e-06 + ], + "angular_velocity": [ + 7.5924472184851766e-06, + -5.277343007037416e-07, + -6.577934982487932e-05 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_96_clear/Object.usd", + "pose": { + "pos": [ + 0.3147459030151367, + 1.1458234786987305, + 0.9180000424385071 + ], + "ori": [ + 0.03358986973762512, + 2.1590047083464015e-08, + 1.1587205506202736e-07, + 0.9994357228279114 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 5.18510830715968e-07, + -4.077038738614647e-06, + -4.41819429397583e-06 + ], + "angular_velocity": [ + 1.8687613192014396e-05, + 2.2108790290076286e-05, + 2.0635832697735168e-05 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/reservoir_12ch/Object.usd", + "pose": { + "pos": [ + 1.610666275024414, + 0.5763130187988281, + 0.9179999828338623 + ], + "ori": [ + 0.8625810146331787, + -8.250083283201093e-09, + -5.91188040743873e-08, + 0.5059189200401306 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 3.107061274931766e-06, + -3.193431439285632e-07, + -4.433095455169678e-06 + ], + "angular_velocity": [ + 2.364975807722658e-05, + 0.0001057922636391595, + -8.275586878880858e-06 + ] + } + } + ], + "deco_hub_west": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/hub_e.usd", + "pose": { + "pos": [ + -3.36, + 0.0, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_hub_east": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/hub_d.usd", + "pose": { + "pos": [ + 3.36, + 0.0, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_hub_back": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/hub_a.usd", + "pose": { + "pos": [ + -3.0, + -2.1, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_bench_east": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/bench_c.usd", + "pose": { + "pos": [ + 2.6, + -2.5, + 0.0 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_bench_gap": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/bench_b.usd", + "pose": { + "pos": [ + -0.1, + -2.9, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ] + } + ], + "devices": { + "hub": [ + null, + null, + null, + { + "t": 3.1799999999999544, + "step": 636, + "counter": 0, + "devices": { + "a4s_sealer_1": { + "mode": "auto", + "units": { + "drawer": { + "state": "at_out", + "active": null, + "target": 0.0, + "goal_name": "out", + "profile": null, + "q_start": null, + "reversing": false, + "blocked_for": 0.0, + "settled_for": 0.0, + "last_q": 4.7098310494708695e-12 + }, + "heater": { + "state": "ready", + "active": null, + "duration": 0.0, + "t_start": null, + "elapsed": 0.0 + } + }, + "queues": {}, + "program": null, + "sensors": { + "plate_present": { + "occupants": [], + "pending": {} + } + }, + "interlocks": {} + }, + "conveyor_1": { + "mode": "auto", + "units": { + "belt": { + "state": "at_station", + "active": null, + "controller": { + "speed": 0.21141494948982842, + "holds": [], + "station": "pick", + "rider": "carrier_1", + "arrived": true, + "settle_count": 431, + "released": { + "pick": [] + }, + "last_pos": { + "carrier_1": [ + -0.2324756681919098, + -0.0025417208671569824, + 0.0 + ], + "carrier_2": [ + -1.1482748091220856, + 0.700024425983429, + 0.0 + ], + "carrier_3": [ + 0.15745601058006287, + 0.7025163769721985, + 0.0 + ], + "carrier_4": [ + 1.4667955338954926, + 0.12818795442581177, + 0.0 + ] + }, + "command": 0.0 + }, + "belt": { + "target_speed": 0.0, + "command_speed": 0.0 + }, + "seen": { + "state": "at_station", + "station": "pick", + "rider": "carrier_1", + "arrived": true + } + } + }, + "queues": {}, + "program": null, + "sensors": {}, + "interlocks": {} + } + }, + "zones": {}, + "labware": { + "plate_1": { + "sealed": false + }, + "plate_2": { + "sealed": false + }, + "plate_3": { + "sealed": false + }, + "plate_4": { + "sealed": false + } + }, + "rules": {}, + "records": [], + "bus": { + "seq": 3, + "queue": [] + } + } + ], + "drives": [ + null, + null, + null, + {} + ] + }, + "artifacts": [ + {}, + {}, + {}, + { + "ceiling": { + "type": "rect", + "pose": { + "pos": [ + 0.2813287413797957, + 0.41797981396153794, + 2.881248076883355 + ], + "ori": [ + -5.227354358104037, + 11.634117733162373, + 15.73609192869538 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "color_temperature": 4140.388055674375, + "color": [ + 0.9676504382250943, + 0.9098821664838084, + 0.8338156104211953 + ], + "intensity": 6895.624802388271, + "width": 1.9886968764360478, + "height": 1.5886859348730942 + } + }, + "key": { + "type": "sphere", + "pose": { + "pos": [ + -0.7304420291103825, + 0.03543727404893615, + 2.4025969771509565 + ], + "ori": [ + 11.738611809835135, + -6.854743232127014, + -18.97338825643076 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "color_temperature": 3415.5155348500134, + "color": [ + 0.9356801553290207, + 0.9861082899424546, + 0.975767812352283 + ], + "intensity": 3658.5753550064883, + "radius": 0.12530453999676106 + } + } + } + ], + "background": { + "type": "dome", + "pose": { + "pos": null, + "ori": null, + "scale": null + }, + "dr": { + "intensity": 743.4049952099203, + "texture": null, + "color": [ + 0.92, + 0.94, + 0.96 + ] + } + } + }, + "robots": { + "UR5e": { + "root_pose": [ + [ + 11.0, + -11.0, + 0.9150000214576721, + 1.0, + 0.0, + 0.0, + 0.0 + ], + [ + 11.0, + 11.0, + 0.9150000214576721, + 1.0, + 0.0, + 0.0, + 0.0 + ], + [ + -11.0, + -11.0, + 0.9150000214576721, + 1.0, + 0.0, + 0.0, + 0.0 + ], + [ + -11.0, + 11.0, + 0.9150000214576721, + 1.0, + 0.0, + 0.0, + 0.0 + ] + ], + "root_vel": [ + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + ], + "joint_pos": [ + [ + 0.9141026735305786, + -1.7193981409072876, + 2.0904994010925293, + -1.9419013261795044, + -1.5707999467849731, + 2.484900712966919, + 0.01799999736249447, + 0.018000001087784767 + ], + [ + 0.9141035079956055, + -1.719396710395813, + 2.090498208999634, + -1.9419002532958984, + -1.5707999467849731, + 2.484900712966919, + 0.01799999736249447, + 0.018000001087784767 + ], + [ + 1.047135353088379, + -1.353251338005066, + 2.3220925331115723, + -2.5396087169647217, + -1.5707963705062866, + 2.7283895015716553, + 0.018000006675720215, + 0.01799999177455902 + ], + [ + 0.9140999913215637, + -1.7194000482559204, + 2.0905001163482666, + -1.9419000148773193, + -1.5707999467849731, + 2.4848999977111816, + 0.017999999225139618, + 0.017999999225139618 + ] + ], + "joint_vel": [ + [ + -2.424550705308385e-38, + 2.199683499959103e-38, + 1.8024520993427826e-38, + 5.931964551961084e-37, + -5.959138531781271e-37, + 2.6884651372076288e-36, + 2.5990400942532688e-08, + -2.599039206074849e-08 + ], + [ + 0.0, + -2.961388707510608e-38, + -2.8203166279907143e-38, + -4.372406353776228e-37, + 6.884672177238103e-37, + 1.1663871439468248e-37, + 2.5990388508034812e-08, + -2.5990386731677972e-08 + ], + [ + -9.067959763342515e-05, + 0.015122385695576668, + 0.004813425708562136, + -0.01911279372870922, + -9.453323400521185e-06, + 4.037404141854495e-05, + -6.959842721698806e-06, + 6.960924110899214e-06 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + ] + } + }, + "cameras": { + "cameras": { + "camera0": [ + [ + 0.046611059457063675, + -0.0025084635708481073, + -0.02832738310098648, + -0.28836268186569214, + 0.6457337141036987, + 0.647459089756012, + -0.28402748703956604 + ], + [ + 0.046686071902513504, + 0.0014054537750780582, + -0.029465151950716972, + -0.27671679854393005, + 0.6522365212440491, + 0.6538941264152527, + -0.26540127396583557 + ], + [ + 0.0462443046271801, + -0.0009999573230743408, + -0.028976788744330406, + -0.2770129442214966, + 0.646149218082428, + 0.6570136547088623, + -0.2721913158893585 + ], + [ + 0.04619785398244858, + 0.0034901134204119444, + -0.030330747365951538, + -0.27277007699012756, + 0.6474650502204895, + 0.6563693284988403, + -0.2748904824256897 + ] + ], + "camera1": [ + [ + 0.06324426084756851, + 0.5855386853218079, + 1.9664392471313477, + 0.028045056387782097, + 0.01331894937902689, + 0.28699877858161926, + 0.9574276804924011 + ], + [ + 0.06062878295779228, + 0.5680731534957886, + 1.930224061012268, + 0.042362913489341736, + 0.025594785809516907, + 0.26622822880744934, + 0.9626384973526001 + ], + [ + 0.05435710772871971, + 0.5757737755775452, + 1.9294145107269287, + 0.04368723928928375, + -0.004758764524012804, + 0.2674609422683716, + 0.962566077709198 + ], + [ + 0.04329090937972069, + 0.565920352935791, + 1.9372491836547852, + 0.05221475660800934, + -0.005838506389409304, + 0.28538477420806885, + 0.9569718241691589 + ] + ] + } + } + } +} \ No newline at end of file diff --git a/episodes/c5_p009_e004/wrist.mp4 b/episodes/c5_p009_e004/wrist.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..a6c830ab3d993c572b67837a6fff615787d70a17 --- /dev/null +++ b/episodes/c5_p009_e004/wrist.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:22822eac2d4cbe233ad6ed097cfc29793530134fe0b94ecf260f237cd77b437a +size 7105678 diff --git a/episodes/c5_p009_e005/data.npz b/episodes/c5_p009_e005/data.npz new file mode 100644 index 0000000000000000000000000000000000000000..65e6475f66fe63eff41995405b5b5bc60c5f12ca --- /dev/null +++ b/episodes/c5_p009_e005/data.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:e71af3f9a639a7bf22b230e838c6e6fbd7b3a415e6abe002e929fd07bf235ca1 +size 202250 diff --git a/episodes/c5_p009_e005/device_events.jsonl b/episodes/c5_p009_e005/device_events.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..376aa03beacdbcfbc5bfe01637cdd742f9a5c1b0 --- /dev/null +++ b/episodes/c5_p009_e005/device_events.jsonl @@ -0,0 +1,36 @@ +{"env_id": 2, "seq": 1, "step": 90, "t": 0.45, "topic": "conveyor_1.belt.station.pick.captured", "source": "conveyor_1.belt", "data": {"rider": "carrier_2"}, "cause": null} +{"env_id": 2, "seq": 2, "step": 90, "t": 0.45, "topic": "conveyor_1.belt.state.changed", "source": "conveyor_1.belt", "data": {"from": "running", "to": "at_station"}, "cause": null} +{"env_id": 2, "seq": 3, "step": 95, "t": 0.475, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_2"}, "cause": null} +{"env_id": 2, "seq": 4, "step": 1284, "t": 6.42, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_2"}, "cause": null} +{"env_id": 2, "seq": 5, "step": 6179, "t": 30.895, "topic": "a4s_sealer_1.plate_present.present", "source": "a4s_sealer_1.plate_present", "data": {"object": "plate_2"}, "cause": null} +{"env_id": 2, "seq": 6, "step": 6792, "t": 33.96, "topic": "a4s_sealer_1.command.started", "source": "a4s_sealer_1", "data": {"command_id": "task-2-1", "name": "seal", "source": "task"}, "cause": "task-2-1"} +{"env_id": 2, "seq": 7, "step": 6792, "t": 33.96, "topic": "a4s_sealer_1.seal.started", "source": "a4s_sealer_1", "data": {"dwell": 4.959148434142277}, "cause": "task-2-1"} +{"env_id": 2, "seq": 8, "step": 6792, "t": 33.96, "topic": "a4s_sealer_1.drawer.command.started", "source": "a4s_sealer_1.drawer", "data": {"command_id": "program-2-2", "name": "close", "source": "program:seal"}, "cause": "program-2-2"} +{"env_id": 2, "seq": 9, "step": 6792, "t": 33.96, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "at_out", "to": "moving"}, "cause": null} +{"env_id": 2, "seq": 10, "step": 6792, "t": 33.96, "topic": "a4s_sealer_1.drawer.moving", "source": "a4s_sealer_1.drawer", "data": {"target": 0.3, "goal": "in"}, "cause": "program-2-2"} +{"env_id": 2, "seq": 11, "step": 7211, "t": 36.055, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "moving", "to": "at_in"}, "cause": null} +{"env_id": 2, "seq": 12, "step": 7211, "t": 36.055, "topic": "a4s_sealer_1.drawer.reached", "source": "a4s_sealer_1.drawer", "data": {"position": "in", "q": 0.30000001192092896}, "cause": "program-2-2"} +{"env_id": 2, "seq": 13, "step": 7211, "t": 36.055, "topic": "a4s_sealer_1.drawer.at_in", "source": "a4s_sealer_1.drawer", "data": {"q": 0.30000001192092896}, "cause": "program-2-2"} +{"env_id": 2, "seq": 14, "step": 7211, "t": 36.055, "topic": "a4s_sealer_1.drawer.command.succeeded", "source": "a4s_sealer_1.drawer", "data": {"command_id": "program-2-2", "name": "close", "source": "program:seal", "result": {"position": "in"}}, "cause": "program-2-2"} +{"env_id": 2, "seq": 15, "step": 7211, "t": 36.055, "topic": "labware.plate_2.changed", "source": "labware.plate_2", "data": {"key": "sealed", "value": true}, "cause": "task-2-1"} +{"env_id": 2, "seq": 16, "step": 7211, "t": 36.055, "topic": "a4s_sealer_1.sealed", "source": "a4s_sealer_1", "data": {"plate": "plate_2"}, "cause": "task-2-1"} +{"env_id": 2, "seq": 17, "step": 7211, "t": 36.055, "topic": "a4s_sealer_1.heater.command.started", "source": "a4s_sealer_1.heater", "data": {"command_id": "program-2-3", "name": "run", "source": "program:seal"}, "cause": "program-2-3"} +{"env_id": 2, "seq": 18, "step": 7211, "t": 36.055, "topic": "a4s_sealer_1.heater.state.changed", "source": "a4s_sealer_1.heater", "data": {"from": "ready", "to": "running"}, "cause": null} +{"env_id": 2, "seq": 19, "step": 7211, "t": 36.055, "topic": "a4s_sealer_1.heater.started", "source": "a4s_sealer_1.heater", "data": {"duration": 4.959148434142277}, "cause": "program-2-3"} +{"env_id": 2, "seq": 20, "step": 8203, "t": 41.015, "topic": "a4s_sealer_1.heater.state.changed", "source": "a4s_sealer_1.heater", "data": {"from": "running", "to": "ready"}, "cause": null} +{"env_id": 2, "seq": 21, "step": 8203, "t": 41.015, "topic": "a4s_sealer_1.heater.finished", "source": "a4s_sealer_1.heater", "data": {"elapsed": 4.9600000000025375}, "cause": "program-2-3"} +{"env_id": 2, "seq": 22, "step": 8203, "t": 41.015, "topic": "a4s_sealer_1.heater.command.succeeded", "source": "a4s_sealer_1.heater", "data": {"command_id": "program-2-3", "name": "run", "source": "program:seal", "result": {"elapsed": 4.9600000000025375}}, "cause": "program-2-3"} +{"env_id": 2, "seq": 23, "step": 8203, "t": 41.015, "topic": "a4s_sealer_1.drawer.command.started", "source": "a4s_sealer_1.drawer", "data": {"command_id": "program-2-4", "name": "open", "source": "program:seal"}, "cause": "program-2-4"} +{"env_id": 2, "seq": 24, "step": 8203, "t": 41.015, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "at_in", "to": "moving"}, "cause": null} +{"env_id": 2, "seq": 25, "step": 8203, "t": 41.015, "topic": "a4s_sealer_1.drawer.moving", "source": "a4s_sealer_1.drawer", "data": {"target": 0.0, "goal": "out"}, "cause": "program-2-4"} +{"env_id": 2, "seq": 26, "step": 8623, "t": 43.115, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "moving", "to": "at_out"}, "cause": null} +{"env_id": 2, "seq": 27, "step": 8623, "t": 43.115, "topic": "a4s_sealer_1.drawer.reached", "source": "a4s_sealer_1.drawer", "data": {"position": "out", "q": 4.582319412804736e-09}, "cause": "program-2-4"} +{"env_id": 2, "seq": 28, "step": 8623, "t": 43.115, "topic": "a4s_sealer_1.drawer.at_out", "source": "a4s_sealer_1.drawer", "data": {"q": 4.582319412804736e-09}, "cause": "program-2-4"} +{"env_id": 2, "seq": 29, "step": 8623, "t": 43.115, "topic": "a4s_sealer_1.drawer.command.succeeded", "source": "a4s_sealer_1.drawer", "data": {"command_id": "program-2-4", "name": "open", "source": "program:seal", "result": {"position": "out"}}, "cause": "program-2-4"} +{"env_id": 2, "seq": 30, "step": 8623, "t": 43.115, "topic": "a4s_sealer_1.seal.finished", "source": "a4s_sealer_1", "data": {}, "cause": "task-2-1"} +{"env_id": 2, "seq": 31, "step": 8623, "t": 43.115, "topic": "a4s_sealer_1.command.succeeded", "source": "a4s_sealer_1", "data": {"command_id": "task-2-1", "name": "seal", "source": "task"}, "cause": "task-2-1"} +{"env_id": 2, "seq": 32, "step": 9202, "t": 46.01, "topic": "a4s_sealer_1.plate_present.absent", "source": "a4s_sealer_1.plate_present", "data": {"object": "plate_2"}, "cause": null} +{"env_id": 2, "seq": 33, "step": 11488, "t": 57.44, "topic": "conveyor_1.belt.command.started", "source": "conveyor_1.belt", "data": {"command_id": "task-2-5", "name": "release", "source": "task"}, "cause": "task-2-5"} +{"env_id": 2, "seq": 34, "step": 11488, "t": 57.44, "topic": "conveyor_1.belt.station.pick.released", "source": "conveyor_1.belt", "data": {"rider": "carrier_2"}, "cause": "task-2-5"} +{"env_id": 2, "seq": 35, "step": 11488, "t": 57.44, "topic": "conveyor_1.belt.state.changed", "source": "conveyor_1.belt", "data": {"from": "at_station", "to": "running"}, "cause": null} +{"env_id": 2, "seq": 36, "step": 11488, "t": 57.44, "topic": "conveyor_1.belt.command.succeeded", "source": "conveyor_1.belt", "data": {"command_id": "task-2-5", "name": "release", "source": "task", "result": {"state": "running"}}, "cause": "task-2-5"} diff --git a/episodes/c5_p009_e005/env.mp4 b/episodes/c5_p009_e005/env.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..fe38a0e28d42796362cab3e9a2fd4945524660f9 --- /dev/null +++ b/episodes/c5_p009_e005/env.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:20b086682b0fe448523a9d98ce4fb46be348a4c38523e3c5c6ddc928aab33cf4 +size 1405231 diff --git a/episodes/c5_p009_e005/meta.json b/episodes/c5_p009_e005/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..9422a5f06201d8d783f3d0e4701fb02fed6ef739 --- /dev/null +++ b/episodes/c5_p009_e005/meta.json @@ -0,0 +1,32 @@ +{ + "source": "raw/c5_p009/magicsim/5", + "fps": 25, + "frames": 1335, + "kept_ticks": "even", + "video_frames": { + "wrist": 1335, + "env": 1335 + }, + "joint_target_source": "joint_pos_target", + "fk_vs_recorded_eef_max_m": 0.0, + "curobo_joints": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "joint_order": [ + "shoulder_pan", + "shoulder_lift", + "elbow", + "wrist_1", + "wrist_2", + "wrist_3", + "finger_left", + "finger_right" + ], + "frames_note": "eef / actions in the robot base frame; camera_pose = local pose (wrist: in plate_gripper_base, env: env frame), pos + quat wxyz", + "dr_version": "v2" +} \ No newline at end of file diff --git a/episodes/c5_p009_e005/scene_snapshot.json b/episodes/c5_p009_e005/scene_snapshot.json new file mode 100644 index 0000000000000000000000000000000000000000..5f3cd75c6a7714615564e7bf62c2a91cb0466533 --- /dev/null +++ b/episodes/c5_p009_e005/scene_snapshot.json @@ -0,0 +1,1558 @@ +{ + "trajectory_id": 5, + "env_id": 2, + "run_id": "c5_p009", + "task_type": "BioPlateCell", + "success": true, + "timing": { + "fps": 50.0, + "sim_dt": 0.005, + "decimation": 4 + }, + "restore_interface": { + "scene": "scene_manager.reset_to(snapshot['scene'], env_ids=[env_id])", + "robots": "robot_manager.set_state({'robots': snapshot['robots']}, env_ids=[env_id])" + }, + "snapshot": { + "env_id": 2, + "scene": { + "objects": [ + {}, + {}, + { + "rac_cell": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/rac_cell.usd", + "pose": { + "pos": [ + 0.0, + 0.0, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "physics_material": { + "static_friction": 0.6, + "dynamic_friction": 0.5, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "robot_mount": [ + { + "asset": "Cube", + "pose": { + "pos": [ + 0.0, + 0.0, + 0.9075 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": "color", + "value": [ + 0.55, + 0.56, + 0.58 + ], + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": { + "size": [ + 0.2, + 0.2, + 0.015 + ] + } + }, + "type_specific": {} + } + ], + "plate_rack": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/plate_hotel.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 0.9 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "physics_material": { + "static_friction": 0.6, + "dynamic_friction": 0.5, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "hotel_plate": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_96_clear/plate_96_clear.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 0.9605 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/deep_well_24_10ml/deep_well_24_10ml.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.0285 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_96_clear/plate_96_clear.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.0965 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/deep_well_24_10ml/deep_well_24_10ml.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.1645 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_96_clear/plate_96_clear.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.2325 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "a4s_sealer": [ + { + "asset": "$MAGICSIM_ASSETS/Articulated/A4SSealer/Object.usd", + "pose": { + "pos": [ + 0.498779296875, + 0.07395744323730469, + 0.8999999761581421 + ], + "ori": [ + -0.6979566812515259, + 0.0, + 0.0, + 0.7161399722099304 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "articulation", + "solver_position_iteration_count": 16.0, + "solver_velocity_iteration_count": 1.0, + "enabled_self_collisions": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "joint_position": [ + 0.0 + ], + "joint_velocity": [ + 0.0 + ], + "linear_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "angular_velocity": [ + 0.0, + 0.0, + 0.0 + ] + } + } + ], + "conveyor": [ + { + "asset": "Cube", + "pose": { + "pos": [ + 0.15, + 0.45, + 0.9 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "conveyor", + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9 + }, + "ratio": 1.0 + }, + "primitive_params": { + "size": [ + 2.4, + 0.076, + 0.03 + ] + }, + "conveyor": { + "speed": 0.23225690026786722, + "direction": [ + 1.0, + 0.0, + 0.0 + ], + "enabled": true, + "drive": "surface_velocity", + "lines": null, + "station_line": null, + "riders": [ + "carrier" + ], + "stations": { + "pick": { + "position": -0.18661621009609347, + "slow_distance": 0.03, + "slow_speed": 0.03 + } + }, + "rails": { + "height": 0.01, + "thickness": 0.01, + "gap": 0.001, + "friction": 0.05 + }, + "legs": 0.87, + "loop": { + "radius": 0.35, + "side": "left", + "curve_extra_width": 0.0, + "segments": 18, + "curve_rails": "both" + }, + "snap_distance": 0.1, + "junction_snap": 0.02, + "collision_approximation": "auto", + "plate_mass": 1.0, + "lift_drop": 0.004, + "accel": 0.0, + "decel": 0.0, + "drive_damping": 1000000.0, + "drive_max_force": 1000000000.0 + } + }, + "type_specific": { + "controller": { + "state": "at_station", + "speed": 0.23225690026786722, + "holds": [], + "station": "pick", + "rider": "carrier_2", + "arrived": true, + "applied_speed": 0.0 + } + } + } + ], + "carrier": [ + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + -1.0376062393188477, + 1.1496305465698242, + 0.8999999761581421 + ], + "ori": [ + -0.011614123359322548, + -7.015567149437629e-08, + 5.805884661924665e-09, + 0.9999325275421143 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -3.6053043883654823e-10, + -2.249324504433048e-09, + 0.0 + ], + "angular_velocity": [ + 5.7561102551062504e-08, + -1.7429705678750906e-08, + -1.1629675888968904e-08 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + -0.03685188293457031, + 0.45000362396240234, + 0.8999999761581421 + ], + "ori": [ + 1.0, + 9.358073205234518e-10, + 3.8510536426450415e-10, + -3.3201005862792954e-05 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 1.431355478587193e-09, + 1.8848482774558306e-09, + 1.1175870895385742e-08 + ], + "angular_velocity": [ + -7.757391529139568e-08, + 1.216235574474922e-07, + -2.7469818419945113e-08 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + 0.18808746337890625, + 1.1499967575073242, + 0.8999999761581421 + ], + "ori": [ + -4.7320085286628455e-05, + 7.171908622538581e-10, + -3.8416683167952215e-09, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -2.1241697290008688e-10, + 6.500566196443458e-10, + 0.0 + ], + "angular_velocity": [ + -3.5452270452651646e-08, + -1.1096148000433459e-08, + -4.416552457087164e-09 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + 1.4386472702026367, + 0.46478748321533203, + 0.8999999761581421 + ], + "ori": [ + 0.9923602938652039, + -9.15848374916095e-09, + 1.9000330198082338e-08, + 0.12337382137775421 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -4.0736553019726784e-10, + 1.153362405581504e-09, + 0.0 + ], + "angular_velocity": [ + -3.476895571452587e-08, + -3.669265069561334e-08, + -4.292982858089545e-09 + ] + } + } + ], + "plate": [ + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_24_clear/Object.usd", + "pose": { + "pos": [ + -1.0470962524414062, + 1.1535701751708984, + 0.9179999828338623 + ], + "ori": [ + -0.06066792085766792, + -7.193406759142817e-08, + 7.029866466723433e-09, + 0.9981579780578613 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 3.3503049223782e-08, + 1.0696462382497884e-08, + 9.685754776000977e-08 + ], + "angular_velocity": [ + -5.77686535052635e-07, + 1.91166031981993e-06, + 2.88241821522206e-08 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_384_black/Object.usd", + "pose": { + "pos": [ + -0.04796791076660156, + 0.43993473052978516, + 0.9180000424385071 + ], + "ori": [ + 0.9984748363494873, + 2.066612714290983e-10, + -2.2223858864300894e-10, + -0.055210359394550323 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -4.313081003459729e-09, + 2.8727637157999197e-08, + -5.602836608886719e-06 + ], + "angular_velocity": [ + -5.771211704086454e-07, + -1.7742680711307912e-06, + -2.861116854546708e-08 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_1536_black/Object.usd", + "pose": { + "pos": [ + 0.18072891235351562, + 1.1389083862304688, + 0.9180000424385071 + ], + "ori": [ + 0.016820812597870827, + 8.689953756579882e-10, + -6.127069074324254e-09, + 0.9998586177825928 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 9.522824306884559e-09, + 8.53928483479649e-09, + -5.2265822887420654e-06 + ], + "angular_velocity": [ + -8.515624472238414e-07, + 1.404500039825507e-06, + 1.693367579491678e-08 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/deep_well_24_10ml/Object.usd", + "pose": { + "pos": [ + 1.442143440246582, + 0.4571409225463867, + 0.9179999828338623 + ], + "ori": [ + 0.992084264755249, + -1.0437145370190137e-08, + 1.892988876761592e-08, + 0.12557457387447357 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -1.0477905476591332e-07, + -1.78179000442924e-08, + -9.238719940185547e-07 + ], + "angular_velocity": [ + 1.2390937627060339e-06, + -2.9264069780765567e-06, + 1.858448683833558e-07 + ] + } + } + ], + "deco_hub_west": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/hub_c.usd", + "pose": { + "pos": [ + -3.36, + 0.0, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_hub_east": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/hub_a.usd", + "pose": { + "pos": [ + 3.36, + 0.0, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_hub_back": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/hub_e.usd", + "pose": { + "pos": [ + -3.0, + -2.1, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_bench_east": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/bench_a.usd", + "pose": { + "pos": [ + 2.6, + -2.5, + 0.0 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_bench_gap": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/bench_b.usd", + "pose": { + "pos": [ + -0.1, + -2.9, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ] + }, + {} + ], + "devices": { + "hub": [ + null, + null, + { + "t": 4.239999999999932, + "step": 848, + "counter": 0, + "devices": { + "a4s_sealer_1": { + "mode": "auto", + "units": { + "drawer": { + "state": "at_out", + "active": null, + "target": 0.0, + "goal_name": "out", + "profile": null, + "q_start": null, + "reversing": false, + "blocked_for": 0.0, + "settled_for": 0.0, + "last_q": 0.0 + }, + "heater": { + "state": "ready", + "active": null, + "duration": 0.0, + "t_start": null, + "elapsed": 0.0 + } + }, + "queues": {}, + "program": null, + "sensors": { + "plate_present": { + "occupants": [], + "pending": {} + } + }, + "interlocks": {} + }, + "conveyor_1": { + "mode": "auto", + "units": { + "belt": { + "state": "at_station", + "active": null, + "controller": { + "speed": 0.23225690026786722, + "holds": [], + "station": "pick", + "rider": "carrier_2", + "arrived": true, + "settle_count": 757, + "released": { + "pick": [] + }, + "last_pos": { + "carrier_1": [ + -1.1876062452793121, + 0.6996305584907532, + 0.0 + ], + "carrier_2": [ + -0.1868518888950348, + 3.635883331298828e-06, + 0.0 + ], + "carrier_3": [ + 0.03808745741844177, + 0.6999967694282532, + 0.0 + ], + "carrier_4": [ + 1.2886472642421722, + 0.014787495136260986, + 0.0 + ] + }, + "command": 0.0 + }, + "belt": { + "target_speed": 0.0, + "command_speed": 0.0 + }, + "seen": { + "state": "at_station", + "station": "pick", + "rider": "carrier_2", + "arrived": true + } + } + }, + "queues": {}, + "program": null, + "sensors": {}, + "interlocks": {} + } + }, + "zones": {}, + "labware": { + "plate_1": { + "sealed": false + }, + "plate_2": { + "sealed": false + }, + "plate_3": { + "sealed": false + }, + "plate_4": { + "sealed": false + } + }, + "rules": {}, + "records": [], + "bus": { + "seq": 3, + "queue": [] + } + }, + null + ], + "drives": [ + null, + null, + {}, + null + ] + }, + "artifacts": [ + {}, + {}, + { + "ceiling": { + "type": "rect", + "pose": { + "pos": [ + -0.3059733404578547, + -0.4287164066766601, + 2.8479613497609586 + ], + "ori": [ + -2.3343476285680467, + 9.71574697820904, + 29.13886293821342 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "color_temperature": 3461.9336107830636, + "color": [ + 0.9682747271457673, + 0.9215652717042179, + 0.8820790112377026 + ], + "intensity": 8527.961404289006, + "width": 2.6662004008878943, + "height": 1.3810581138414726 + } + }, + "key": { + "type": "sphere", + "pose": { + "pos": [ + -0.2164917032252942, + 1.2099966312056007, + 2.2186107310691106 + ], + "ori": [ + 4.916220802086578, + -14.908868175278762, + 38.1768244830115 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "color_temperature": 5883.078200281105, + "color": [ + 0.7984521966820286, + 0.8441318595991181, + 0.7634756033723 + ], + "intensity": 6157.6509185549485, + "radius": 0.092358626552819 + } + } + }, + {} + ], + "background": { + "type": "dome", + "pose": { + "pos": null, + "ori": null, + "scale": null + }, + "dr": { + "intensity": 743.4049952099203, + "texture": null, + "color": [ + 0.92, + 0.94, + 0.96 + ] + } + } + }, + "robots": { + "UR5e": { + "root_pose": [ + [ + 11.0, + -11.0, + 0.9150000214576721, + 1.0, + 0.0, + 0.0, + 0.0 + ], + [ + 11.0, + 11.0, + 0.9150000214576721, + 1.0, + 0.0, + 0.0, + 0.0 + ], + [ + -11.0, + -11.0, + 0.9150000214576721, + 1.0, + 0.0, + 0.0, + 0.0 + ], + [ + -11.0, + 11.0, + 0.9150000214576721, + 1.0, + 0.0, + 0.0, + 0.0 + ] + ], + "root_vel": [ + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + ], + "joint_pos": [ + [ + 0.9140999913215637, + -1.7194000482559204, + 2.0905001163482666, + -1.9419000148773193, + -1.5707999467849731, + 2.4848999977111816, + 0.017999999225139618, + 0.017999999225139618 + ], + [ + 0.9141019582748413, + -1.719398021697998, + 2.09049916267395, + -1.9419002532958984, + -1.5707999467849731, + 2.484900712966919, + 0.01799999736249447, + 0.018000001087784767 + ], + [ + 0.9141014218330383, + -1.719399094581604, + 2.0904998779296875, + -1.9419009685516357, + -1.5707999467849731, + 2.4848999977111816, + 0.017999999225139618, + 0.017999999225139618 + ], + [ + 0.9140999913215637, + -1.7194000482559204, + 2.0905001163482666, + -1.9419000148773193, + -1.5707999467849731, + 2.4848999977111816, + 0.017999999225139618, + 0.017999999225139618 + ] + ], + "joint_vel": [ + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + [ + 2.3790023395045853e-38, + -2.2829489349689764e-38, + -1.633145537324901e-38, + -6.863164375784383e-37, + 6.254274857559015e-37, + 8.192000351272438e-38, + 2.5990386731677972e-08, + -2.5990386731677972e-08 + ], + [ + -2.4799384284092876e-38, + 1.689200839014208e-38, + 0.0, + 3.5418704306439205e-37, + 6.713138895908471e-38, + 9.194073030954569e-37, + -3.354786996307614e-38, + 1.3836638518264907e-37 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + ] + } + }, + "cameras": { + "cameras": { + "camera0": [ + [ + 0.050212446600198746, + -0.004269634839147329, + -0.02966388687491417, + -0.2921842932701111, + 0.6453537344932556, + 0.6469513773918152, + -0.28213614225387573 + ], + [ + 0.047197580337524414, + 0.001740749808959663, + -0.02974778041243553, + -0.27784064412117004, + 0.6583715081214905, + 0.6475130319595337, + -0.2647233009338379 + ], + [ + 0.04682780057191849, + 0.0010042482754215598, + -0.02805127017199993, + -0.2826165556907654, + 0.6394220590591431, + 0.6619042158126831, + -0.27046287059783936 + ], + [ + 0.048479609191417694, + 0.002164115197956562, + -0.029791902750730515, + -0.2670721113681793, + 0.6449298858642578, + 0.6591950058937073, + -0.27964240312576294 + ] + ], + "camera1": [ + [ + 0.06324426084756851, + 0.5855386853218079, + 1.9664392471313477, + 0.028045056387782097, + 0.01331894937902689, + 0.28699877858161926, + 0.9574276804924011 + ], + [ + 0.06062878295779228, + 0.5680731534957886, + 1.930224061012268, + 0.042362913489341736, + 0.025594785809516907, + 0.26622822880744934, + 0.9626384973526001 + ], + [ + 0.05435710772871971, + 0.5757737755775452, + 1.9294145107269287, + 0.04368723928928375, + -0.004758764524012804, + 0.2674609422683716, + 0.962566077709198 + ], + [ + 0.04329090937972069, + 0.565920352935791, + 1.9372491836547852, + 0.05221475660800934, + -0.005838506389409304, + 0.28538477420806885, + 0.9569718241691589 + ] + ] + } + } + } +} \ No newline at end of file diff --git a/episodes/c5_p009_e005/wrist.mp4 b/episodes/c5_p009_e005/wrist.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..57d991c6842b56e87fe196381882fa344007434f --- /dev/null +++ b/episodes/c5_p009_e005/wrist.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:491444298ccf9840e97c9a7f95fb1c8134c9fb291689fb7319171342f9a3c5a7 +size 7592299 diff --git a/episodes/c5_p009_e006/data.npz b/episodes/c5_p009_e006/data.npz new file mode 100644 index 0000000000000000000000000000000000000000..8a93c8d9ab851fbf43e32f542d47a4ba109e7901 --- /dev/null +++ b/episodes/c5_p009_e006/data.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:b953c024e03f6dc0823a779657fbc6570ca5b3d84c86dae2faf762b42679b761 +size 190909 diff --git a/episodes/c5_p009_e006/device_events.jsonl b/episodes/c5_p009_e006/device_events.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..6108afb1fb53bf946e61ca2e59b1196291a9dbe6 --- /dev/null +++ b/episodes/c5_p009_e006/device_events.jsonl @@ -0,0 +1,35 @@ +{"env_id": 1, "seq": 1, "step": 130, "t": 0.65, "topic": "conveyor_1.belt.station.pick.captured", "source": "conveyor_1.belt", "data": {"rider": "carrier_4"}, "cause": null} +{"env_id": 1, "seq": 2, "step": 130, "t": 0.65, "topic": "conveyor_1.belt.state.changed", "source": "conveyor_1.belt", "data": {"from": "running", "to": "at_station"}, "cause": null} +{"env_id": 1, "seq": 3, "step": 135, "t": 0.675, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_4"}, "cause": null} +{"env_id": 1, "seq": 4, "step": 7115, "t": 35.575, "topic": "a4s_sealer_1.plate_present.present", "source": "a4s_sealer_1.plate_present", "data": {"object": "plate_4"}, "cause": null} +{"env_id": 1, "seq": 5, "step": 7728, "t": 38.64, "topic": "a4s_sealer_1.command.started", "source": "a4s_sealer_1", "data": {"command_id": "task-1-1", "name": "seal", "source": "task"}, "cause": "task-1-1"} +{"env_id": 1, "seq": 6, "step": 7728, "t": 38.64, "topic": "a4s_sealer_1.seal.started", "source": "a4s_sealer_1", "data": {"dwell": 2.1798258427133614}, "cause": "task-1-1"} +{"env_id": 1, "seq": 7, "step": 7728, "t": 38.64, "topic": "a4s_sealer_1.drawer.command.started", "source": "a4s_sealer_1.drawer", "data": {"command_id": "program-1-2", "name": "close", "source": "program:seal"}, "cause": "program-1-2"} +{"env_id": 1, "seq": 8, "step": 7728, "t": 38.64, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "at_out", "to": "moving"}, "cause": null} +{"env_id": 1, "seq": 9, "step": 7728, "t": 38.64, "topic": "a4s_sealer_1.drawer.moving", "source": "a4s_sealer_1.drawer", "data": {"target": 0.3, "goal": "in"}, "cause": "program-1-2"} +{"env_id": 1, "seq": 10, "step": 8147, "t": 40.735, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "moving", "to": "at_in"}, "cause": null} +{"env_id": 1, "seq": 11, "step": 8147, "t": 40.735, "topic": "a4s_sealer_1.drawer.reached", "source": "a4s_sealer_1.drawer", "data": {"position": "in", "q": 0.30000001192092896}, "cause": "program-1-2"} +{"env_id": 1, "seq": 12, "step": 8147, "t": 40.735, "topic": "a4s_sealer_1.drawer.at_in", "source": "a4s_sealer_1.drawer", "data": {"q": 0.30000001192092896}, "cause": "program-1-2"} +{"env_id": 1, "seq": 13, "step": 8147, "t": 40.735, "topic": "a4s_sealer_1.drawer.command.succeeded", "source": "a4s_sealer_1.drawer", "data": {"command_id": "program-1-2", "name": "close", "source": "program:seal", "result": {"position": "in"}}, "cause": "program-1-2"} +{"env_id": 1, "seq": 14, "step": 8147, "t": 40.735, "topic": "labware.plate_4.changed", "source": "labware.plate_4", "data": {"key": "sealed", "value": true}, "cause": "task-1-1"} +{"env_id": 1, "seq": 15, "step": 8147, "t": 40.735, "topic": "a4s_sealer_1.sealed", "source": "a4s_sealer_1", "data": {"plate": "plate_4"}, "cause": "task-1-1"} +{"env_id": 1, "seq": 16, "step": 8147, "t": 40.735, "topic": "a4s_sealer_1.heater.command.started", "source": "a4s_sealer_1.heater", "data": {"command_id": "program-1-3", "name": "run", "source": "program:seal"}, "cause": "program-1-3"} +{"env_id": 1, "seq": 17, "step": 8147, "t": 40.735, "topic": "a4s_sealer_1.heater.state.changed", "source": "a4s_sealer_1.heater", "data": {"from": "ready", "to": "running"}, "cause": null} +{"env_id": 1, "seq": 18, "step": 8147, "t": 40.735, "topic": "a4s_sealer_1.heater.started", "source": "a4s_sealer_1.heater", "data": {"duration": 2.1798258427133614}, "cause": "program-1-3"} +{"env_id": 1, "seq": 19, "step": 8583, "t": 42.915, "topic": "a4s_sealer_1.heater.state.changed", "source": "a4s_sealer_1.heater", "data": {"from": "running", "to": "ready"}, "cause": null} +{"env_id": 1, "seq": 20, "step": 8583, "t": 42.915, "topic": "a4s_sealer_1.heater.finished", "source": "a4s_sealer_1.heater", "data": {"elapsed": 2.1800000000011153}, "cause": "program-1-3"} +{"env_id": 1, "seq": 21, "step": 8583, "t": 42.915, "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": 2.1800000000011153}}, "cause": "program-1-3"} +{"env_id": 1, "seq": 22, "step": 8583, "t": 42.915, "topic": "a4s_sealer_1.drawer.command.started", "source": "a4s_sealer_1.drawer", "data": {"command_id": "program-1-4", "name": "open", "source": "program:seal"}, "cause": "program-1-4"} +{"env_id": 1, "seq": 23, "step": 8583, "t": 42.915, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "at_in", "to": "moving"}, "cause": null} +{"env_id": 1, "seq": 24, "step": 8583, "t": 42.915, "topic": "a4s_sealer_1.drawer.moving", "source": "a4s_sealer_1.drawer", "data": {"target": 0.0, "goal": "out"}, "cause": "program-1-4"} +{"env_id": 1, "seq": 25, "step": 9003, "t": 45.015, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "moving", "to": "at_out"}, "cause": null} +{"env_id": 1, "seq": 26, "step": 9003, "t": 45.015, "topic": "a4s_sealer_1.drawer.reached", "source": "a4s_sealer_1.drawer", "data": {"position": "out", "q": 2.7764391480333828e-11}, "cause": "program-1-4"} +{"env_id": 1, "seq": 27, "step": 9003, "t": 45.015, "topic": "a4s_sealer_1.drawer.at_out", "source": "a4s_sealer_1.drawer", "data": {"q": 2.7764391480333828e-11}, "cause": "program-1-4"} +{"env_id": 1, "seq": 28, "step": 9003, "t": 45.015, "topic": "a4s_sealer_1.drawer.command.succeeded", "source": "a4s_sealer_1.drawer", "data": {"command_id": "program-1-4", "name": "open", "source": "program:seal", "result": {"position": "out"}}, "cause": "program-1-4"} +{"env_id": 1, "seq": 29, "step": 9003, "t": 45.015, "topic": "a4s_sealer_1.seal.finished", "source": "a4s_sealer_1", "data": {}, "cause": "task-1-1"} +{"env_id": 1, "seq": 30, "step": 9003, "t": 45.015, "topic": "a4s_sealer_1.command.succeeded", "source": "a4s_sealer_1", "data": {"command_id": "task-1-1", "name": "seal", "source": "task"}, "cause": "task-1-1"} +{"env_id": 1, "seq": 31, "step": 9583, "t": 47.915, "topic": "a4s_sealer_1.plate_present.absent", "source": "a4s_sealer_1.plate_present", "data": {"object": "plate_4"}, "cause": null} +{"env_id": 1, "seq": 32, "step": 11292, "t": 56.46, "topic": "conveyor_1.belt.command.started", "source": "conveyor_1.belt", "data": {"command_id": "task-1-5", "name": "release", "source": "task"}, "cause": "task-1-5"} +{"env_id": 1, "seq": 33, "step": 11292, "t": 56.46, "topic": "conveyor_1.belt.station.pick.released", "source": "conveyor_1.belt", "data": {"rider": "carrier_4"}, "cause": "task-1-5"} +{"env_id": 1, "seq": 34, "step": 11292, "t": 56.46, "topic": "conveyor_1.belt.state.changed", "source": "conveyor_1.belt", "data": {"from": "at_station", "to": "running"}, "cause": null} +{"env_id": 1, "seq": 35, "step": 11292, "t": 56.46, "topic": "conveyor_1.belt.command.succeeded", "source": "conveyor_1.belt", "data": {"command_id": "task-1-5", "name": "release", "source": "task", "result": {"state": "running"}}, "cause": "task-1-5"} diff --git a/episodes/c5_p009_e006/env.mp4 b/episodes/c5_p009_e006/env.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..8f2ad0975634fa03d80ba8daaba1fc4e6ee7ff02 --- /dev/null +++ b/episodes/c5_p009_e006/env.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:be7e6260e0df655dd9c8cc7c27c8a215e3166e561dc77161bb94413a8074ca1a +size 1305173 diff --git a/episodes/c5_p009_e006/meta.json b/episodes/c5_p009_e006/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..296fb10b54fc170a4d8a0a9cba1743cda050c896 --- /dev/null +++ b/episodes/c5_p009_e006/meta.json @@ -0,0 +1,32 @@ +{ + "source": "raw/c5_p009/magicsim/6", + "fps": 25, + "frames": 1187, + "kept_ticks": "even", + "video_frames": { + "wrist": 1187, + "env": 1187 + }, + "joint_target_source": "joint_pos_target", + "fk_vs_recorded_eef_max_m": 0.0, + "curobo_joints": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "joint_order": [ + "shoulder_pan", + "shoulder_lift", + "elbow", + "wrist_1", + "wrist_2", + "wrist_3", + "finger_left", + "finger_right" + ], + "frames_note": "eef / actions in the robot base frame; camera_pose = local pose (wrist: in plate_gripper_base, env: env frame), pos + quat wxyz", + "dr_version": "v2" +} \ No newline at end of file diff --git a/episodes/c5_p009_e006/scene_snapshot.json b/episodes/c5_p009_e006/scene_snapshot.json new file mode 100644 index 0000000000000000000000000000000000000000..0147114354a81a8e19871ae3256039a74a3245b0 --- /dev/null +++ b/episodes/c5_p009_e006/scene_snapshot.json @@ -0,0 +1,1558 @@ +{ + "trajectory_id": 6, + "env_id": 1, + "run_id": "c5_p009", + "task_type": "BioPlateCell", + "success": true, + "timing": { + "fps": 50.0, + "sim_dt": 0.005, + "decimation": 4 + }, + "restore_interface": { + "scene": "scene_manager.reset_to(snapshot['scene'], env_ids=[env_id])", + "robots": "robot_manager.set_state({'robots': snapshot['robots']}, env_ids=[env_id])" + }, + "snapshot": { + "env_id": 1, + "scene": { + "objects": [ + {}, + { + "rac_cell": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/rac_cell.usd", + "pose": { + "pos": [ + 0.0, + 0.0, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "physics_material": { + "static_friction": 0.6, + "dynamic_friction": 0.5, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "robot_mount": [ + { + "asset": "Cube", + "pose": { + "pos": [ + 0.0, + 0.0, + 0.9075 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": "color", + "value": [ + 0.55, + 0.56, + 0.58 + ], + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": { + "size": [ + 0.2, + 0.2, + 0.015 + ] + } + }, + "type_specific": {} + } + ], + "plate_rack": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/plate_hotel.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 0.9 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "physics_material": { + "static_friction": 0.6, + "dynamic_friction": 0.5, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "hotel_plate": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_24_clear/plate_24_clear.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 0.9605 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_384_white/plate_384_white.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.0285 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_24_clear/plate_24_clear.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.0965 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_48_clear/plate_48_clear.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.1645 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/pcr_384_red/pcr_384_red.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.2325 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "a4s_sealer": [ + { + "asset": "$MAGICSIM_ASSETS/Articulated/A4SSealer/Object.usd", + "pose": { + "pos": [ + 0.5075807571411133, + 0.07066726684570312, + 0.8999999761581421 + ], + "ori": [ + 0.7249040007591248, + 0.0, + 0.0, + -0.688849925994873 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "articulation", + "solver_position_iteration_count": 16.0, + "solver_velocity_iteration_count": 1.0, + "enabled_self_collisions": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "joint_position": [ + 0.0 + ], + "joint_velocity": [ + 0.0 + ], + "linear_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "angular_velocity": [ + 0.0, + 0.0, + 0.0 + ] + } + } + ], + "conveyor": [ + { + "asset": "Cube", + "pose": { + "pos": [ + 0.15, + 0.45, + 0.9 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "conveyor", + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9 + }, + "ratio": 1.0 + }, + "primitive_params": { + "size": [ + 2.4, + 0.076, + 0.03 + ] + }, + "conveyor": { + "speed": 0.18363042958517384, + "direction": [ + 1.0, + 0.0, + 0.0 + ], + "enabled": true, + "drive": "surface_velocity", + "lines": null, + "station_line": null, + "riders": [ + "carrier" + ], + "stations": { + "pick": { + "position": -0.26693548019193, + "slow_distance": 0.03, + "slow_speed": 0.03 + } + }, + "rails": { + "height": 0.01, + "thickness": 0.01, + "gap": 0.001, + "friction": 0.05 + }, + "legs": 0.87, + "loop": { + "radius": 0.35, + "side": "left", + "curve_extra_width": 0.0, + "segments": 18, + "curve_rails": "both" + }, + "snap_distance": 0.1, + "junction_snap": 0.02, + "collision_approximation": "auto", + "plate_mass": 1.0, + "lift_drop": 0.004, + "accel": 0.0, + "decel": 0.0, + "drive_damping": 1000000.0, + "drive_max_force": 1000000000.0 + } + }, + "type_specific": { + "controller": { + "state": "at_station", + "speed": 0.18363042958517384, + "holds": [], + "station": "pick", + "rider": "carrier_4", + "arrived": true, + "applied_speed": 0.0 + } + } + } + ], + "carrier": [ + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + 0.37142276763916016, + 1.1499967575073242, + 0.8999999761581421 + ], + "ori": [ + 4.374517084215768e-05, + 7.047515349078992e-12, + 1.4465864062174205e-09, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 3.899600642398582e-10, + -1.171612917794107e-09, + 3.725290298461914e-09 + ], + "angular_velocity": [ + 1.1726897497510436e-07, + 4.4506151652967674e-08, + -5.860432139570548e-09 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + -1.03924560546875, + 1.1491479873657227, + 0.8999999761581421 + ], + "ori": [ + -0.00842119101434946, + 3.830886541322798e-08, + -5.196569397014628e-09, + 0.9999645352363586 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -4.172542311664529e-10, + 2.487070327461538e-09, + 1.1175870895385742e-08 + ], + "angular_velocity": [ + -1.322983393947652e-07, + 6.266446916924906e-08, + 6.516454043037356e-09 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + 1.6873207092285156, + 0.7175045013427734, + 0.8999999761581421 + ], + "ori": [ + 0.7900928258895874, + -1.1941253319491807e-07, + 1.922425667544303e-07, + 0.612987220287323 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 5.929268809268251e-07, + 1.248315356860985e-06, + -3.7960708141326904e-06 + ], + "angular_velocity": [ + -0.00010669155744835734, + 4.570011151372455e-05, + -7.417544907184492e-07 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + -0.11657524108886719, + 0.45000267028808594, + 0.8999999761581421 + ], + "ori": [ + 1.0, + 1.5050460877574778e-09, + -1.874707611371207e-10, + 3.007362647622358e-05 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -6.662850271510479e-10, + 3.885677113402153e-09, + 7.450580596923828e-09 + ], + "angular_velocity": [ + -2.4092295802802255e-07, + -7.944404245563419e-08, + 1.0029234109865115e-09 + ] + } + } + ], + "plate": [ + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_12_clear/Object.usd", + "pose": { + "pos": [ + 0.36445045471191406, + 1.142552375793457, + 0.9179999828338623 + ], + "ori": [ + 0.0333922803401947, + -5.307213557514956e-10, + -6.648077643944816e-10, + 0.9994423985481262 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 3.1852138704380195e-08, + 1.0039419962026841e-08, + 9.685754776000977e-08 + ], + "angular_velocity": [ + -4.183249302514014e-07, + 1.8864972162191407e-06, + 8.773896098546174e-08 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_96_white/Object.usd", + "pose": { + "pos": [ + -1.0274620056152344, + 1.1492958068847656, + 0.9180000424385071 + ], + "ori": [ + -0.07648508250713348, + 3.9023593245701704e-08, + -7.38091232577176e-09, + 0.9970707893371582 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 2.2258049625634158e-08, + 3.205257215199708e-08, + -5.632638931274414e-06 + ], + "angular_velocity": [ + -1.4529856571243727e-06, + 1.9818787677650107e-06, + 9.040214621336418e-08 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/pcr_384_red/Object.usd", + "pose": { + "pos": [ + 1.6826648712158203, + 0.7260932922363281, + 0.9179999232292175 + ], + "ori": [ + 0.8332411050796509, + -1.383882874961273e-07, + 1.7865745860490279e-07, + 0.552909791469574 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 1.1044705843232805e-06, + 2.3277561922441237e-06, + -9.924173355102539e-06 + ], + "angular_velocity": [ + -0.00010605843999655917, + 4.526166958385147e-05, + -1.0494338766875444e-06 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/deep_well_96_1ml/Object.usd", + "pose": { + "pos": [ + -0.11492729187011719, + 0.44017505645751953, + 0.9179999828338623 + ], + "ori": [ + 0.9958884716033936, + 3.431311457191555e-09, + -1.1166073621282635e-09, + 0.09058807045221329 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -6.580435751857294e-08, + 3.433101980476749e-08, + 1.7136335372924805e-07 + ], + "angular_velocity": [ + -7.966930866132316e-07, + -2.5573760922270594e-06, + 2.3761037937219953e-07 + ] + } + } + ], + "deco_hub_west": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/hub_a.usd", + "pose": { + "pos": [ + -3.36, + 0.0, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_hub_east": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/hub_c.usd", + "pose": { + "pos": [ + 3.36, + 0.0, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_hub_back": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/hub_d.usd", + "pose": { + "pos": [ + -3.0, + -2.1, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_bench_east": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/bench_c.usd", + "pose": { + "pos": [ + 2.6, + -2.5, + 0.0 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_bench_gap": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/bench_b.usd", + "pose": { + "pos": [ + -0.1, + -2.9, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ] + }, + {}, + {} + ], + "devices": { + "hub": [ + null, + { + "t": 9.200000000000038, + "step": 1840, + "counter": 0, + "devices": { + "a4s_sealer_1": { + "mode": "auto", + "units": { + "drawer": { + "state": "at_out", + "active": null, + "target": 0.0, + "goal_name": "out", + "profile": null, + "q_start": null, + "reversing": false, + "blocked_for": 0.0, + "settled_for": 0.0, + "last_q": 0.0 + }, + "heater": { + "state": "ready", + "active": null, + "duration": 0.0, + "t_start": null, + "elapsed": 0.0 + } + }, + "queues": {}, + "program": null, + "sensors": { + "plate_present": { + "occupants": [], + "pending": {} + } + }, + "interlocks": {} + }, + "conveyor_1": { + "mode": "auto", + "units": { + "belt": { + "state": "at_station", + "active": null, + "controller": { + "speed": 0.18363042958517384, + "holds": [], + "station": "pick", + "rider": "carrier_4", + "arrived": true, + "settle_count": 1709, + "released": { + "pick": [] + }, + "last_pos": { + "carrier_1": [ + 0.22142276167869568, + 0.6999967694282532, + 0.0 + ], + "carrier_2": [ + -1.1892456114292145, + 0.6991479992866516, + 0.0 + ], + "carrier_3": [ + 1.5373207032680511, + 0.2675045132637024, + 0.0 + ], + "carrier_4": [ + -0.26657524704933167, + 2.682209014892578e-06, + 0.0 + ] + }, + "command": 0.0 + }, + "belt": { + "target_speed": 0.0, + "command_speed": 0.0 + }, + "seen": { + "state": "at_station", + "station": "pick", + "rider": "carrier_4", + "arrived": true + } + } + }, + "queues": {}, + "program": null, + "sensors": {}, + "interlocks": {} + } + }, + "zones": {}, + "labware": { + "plate_1": { + "sealed": false + }, + "plate_2": { + "sealed": false + }, + "plate_3": { + "sealed": false + }, + "plate_4": { + "sealed": false + } + }, + "rules": {}, + "records": [], + "bus": { + "seq": 3, + "queue": [] + } + }, + null, + null + ], + "drives": [ + null, + {}, + null, + null + ] + }, + "artifacts": [ + {}, + { + "ceiling": { + "type": "rect", + "pose": { + "pos": [ + -0.3353080402532322, + 0.2445803779225345, + 3.0227847091259 + ], + "ori": [ + -8.927070670228845, + -9.966575615926384, + -8.423421314203857 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "color_temperature": 3673.5579012133267, + "color": [ + 0.87163906851997, + 0.8061846039863552, + 0.8563458099134341 + ], + "intensity": 7029.621257674289, + "width": 2.224842201716575, + "height": 1.636849232490139 + } + }, + "key": { + "type": "disk", + "pose": { + "pos": [ + -1.0066034176970455, + 0.17763632311497024, + 1.9227596523911439 + ], + "ori": [ + 37.239611575818444, + 4.2051273125160975, + 32.06247795879656 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "color_temperature": 7218.108488089514, + "color": [ + 0.7860966597490895, + 0.816612230385811, + 0.8484971596026056 + ], + "intensity": 4995.478159848137, + "radius": 0.2092425967490689 + } + } + }, + {}, + {} + ], + "background": { + "type": "dome", + "pose": { + "pos": null, + "ori": null, + "scale": null + }, + "dr": { + "intensity": 743.4049952099203, + "texture": null, + "color": [ + 0.92, + 0.94, + 0.96 + ] + } + } + }, + "robots": { + "UR5e": { + "root_pose": [ + [ + 11.0, + -11.0, + 0.9150000214576721, + 1.0, + 0.0, + 0.0, + 0.0 + ], + [ + 11.0, + 11.0, + 0.9150000214576721, + 1.0, + 0.0, + 0.0, + 0.0 + ], + [ + -11.0, + -11.0, + 0.9150000214576721, + 1.0, + 0.0, + 0.0, + 0.0 + ], + [ + -11.0, + 11.0, + 0.9150000214576721, + 1.0, + 0.0, + 0.0, + 0.0 + ] + ], + "root_vel": [ + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + ], + "joint_pos": [ + [ + 0.7553760409355164, + -1.198900818824768, + 2.1181223392486572, + -2.4899611473083496, + -1.5708578824996948, + 2.3539698123931885, + 0.00770348496735096, + 0.007001224439591169 + ], + [ + 0.9141067266464233, + -1.719397783279419, + 2.0905003547668457, + -1.9419007301330566, + -1.5707999467849731, + 2.484901189804077, + 0.017999999225139618, + 0.017999999225139618 + ], + [ + 1.1830015182495117, + -1.6782039403915405, + 2.259707450866699, + -2.152228593826294, + -1.5707125663757324, + 2.852597951889038, + 0.008335663937032223, + 0.006666078697890043 + ], + [ + 1.1219499111175537, + -1.5395920276641846, + 2.1377170085906982, + -2.1682639122009277, + -1.570832371711731, + 2.7381577491760254, + 0.008446046151220798, + 0.006849379278719425 + ] + ], + "joint_vel": [ + [ + 6.322519038803875e-05, + 6.188140105223283e-05, + -0.0003201733634341508, + -0.0014370630960911512, + 0.0023196206893771887, + 0.00709459139034152, + -0.00938054732978344, + 0.00030799792148172855 + ], + [ + -2.2126012297226348e-38, + 1.5321959959549412e-38, + 0.0, + 5.250803009386225e-37, + -4.148605760766051e-38, + 2.746821214029929e-37, + 0.0, + -2.3246622271356118e-38 + ], + [ + 0.04364558681845665, + -0.02733757719397545, + 0.018852598965168, + 0.007065694313496351, + -0.0006975802825763822, + 0.03315332159399986, + -0.005256201606243849, + 0.00035106015275232494 + ], + [ + -0.0007673396612517536, + -0.0005855291383340955, + -0.0029401101637631655, + -0.005276750773191452, + 0.0033082650043070316, + 0.016436664387583733, + -0.0033064743038266897, + 0.0003537950397003442 + ] + ] + } + }, + "cameras": { + "cameras": { + "camera0": [ + [ + 0.048626236617565155, + -0.0046250890009105206, + -0.029376568272709846, + -0.2934350073337555, + 0.6423377394676208, + 0.6479050517082214, + -0.28551214933395386 + ], + [ + 0.046269528567790985, + 0.002515748143196106, + -0.029987376183271408, + -0.2779981791973114, + 0.6544596552848816, + 0.6498834490776062, + -0.26842328906059265 + ], + [ + 0.048052337020635605, + 0.004437722265720367, + -0.026184409856796265, + -0.28041693568229675, + 0.6444204449653625, + 0.656906247138977, + -0.2730620205402374 + ], + [ + 0.04669635742902756, + 0.0030335355550050735, + -0.0300096794962883, + -0.2675238847732544, + 0.6477717161178589, + 0.6588190197944641, + -0.2734598219394684 + ] + ], + "camera1": [ + [ + 0.06324426084756851, + 0.5855386853218079, + 1.9664392471313477, + 0.028045056387782097, + 0.01331894937902689, + 0.28699877858161926, + 0.9574276804924011 + ], + [ + 0.06062878295779228, + 0.5680731534957886, + 1.930224061012268, + 0.042362913489341736, + 0.025594785809516907, + 0.26622822880744934, + 0.9626384973526001 + ], + [ + 0.05435710772871971, + 0.5757737755775452, + 1.9294145107269287, + 0.04368723928928375, + -0.004758764524012804, + 0.2674609422683716, + 0.962566077709198 + ], + [ + 0.04329090937972069, + 0.565920352935791, + 1.9372491836547852, + 0.05221475660800934, + -0.005838506389409304, + 0.28538477420806885, + 0.9569718241691589 + ] + ] + } + } + } +} \ No newline at end of file diff --git a/episodes/c5_p009_e006/wrist.mp4 b/episodes/c5_p009_e006/wrist.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..56b486551c5a397444538bb1e7a267789199e7ad --- /dev/null +++ b/episodes/c5_p009_e006/wrist.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:64b8f4719b3279c3beca78a22447eb2101f43a44e96f3f40912b3852e6eb2614 +size 6833315 diff --git a/episodes/c5_p009_e007/data.npz b/episodes/c5_p009_e007/data.npz new file mode 100644 index 0000000000000000000000000000000000000000..7e5c8db44cf343dfd1bf2134cdf82dcfc6bc4b8d --- /dev/null +++ b/episodes/c5_p009_e007/data.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:aeb1f289fa38b533ee2b6030ed34aa39c041c95698c5a5658f3f5e700c42d835 +size 192603 diff --git a/episodes/c5_p009_e007/device_events.jsonl b/episodes/c5_p009_e007/device_events.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..62806c1f3aeadc5defc8bf84a1a1721f20d218ab --- /dev/null +++ b/episodes/c5_p009_e007/device_events.jsonl @@ -0,0 +1,35 @@ +{"env_id": 0, "seq": 1, "step": 202, "t": 1.01, "topic": "conveyor_1.belt.station.pick.captured", "source": "conveyor_1.belt", "data": {"rider": "carrier_2"}, "cause": null} +{"env_id": 0, "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} +{"env_id": 0, "seq": 3, "step": 207, "t": 1.035, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_2"}, "cause": null} +{"env_id": 0, "seq": 4, "step": 6751, "t": 33.755, "topic": "a4s_sealer_1.plate_present.present", "source": "a4s_sealer_1.plate_present", "data": {"object": "plate_2"}, "cause": null} +{"env_id": 0, "seq": 5, "step": 7364, "t": 36.82, "topic": "a4s_sealer_1.command.started", "source": "a4s_sealer_1", "data": {"command_id": "task-0-1", "name": "seal", "source": "task"}, "cause": "task-0-1"} +{"env_id": 0, "seq": 6, "step": 7364, "t": 36.82, "topic": "a4s_sealer_1.seal.started", "source": "a4s_sealer_1", "data": {"dwell": 3.9620861002128773}, "cause": "task-0-1"} +{"env_id": 0, "seq": 7, "step": 7364, "t": 36.82, "topic": "a4s_sealer_1.drawer.command.started", "source": "a4s_sealer_1.drawer", "data": {"command_id": "program-0-2", "name": "close", "source": "program:seal"}, "cause": "program-0-2"} +{"env_id": 0, "seq": 8, "step": 7364, "t": 36.82, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "at_out", "to": "moving"}, "cause": null} +{"env_id": 0, "seq": 9, "step": 7364, "t": 36.82, "topic": "a4s_sealer_1.drawer.moving", "source": "a4s_sealer_1.drawer", "data": {"target": 0.3, "goal": "in"}, "cause": "program-0-2"} +{"env_id": 0, "seq": 10, "step": 7783, "t": 38.915, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "moving", "to": "at_in"}, "cause": null} +{"env_id": 0, "seq": 11, "step": 7783, "t": 38.915, "topic": "a4s_sealer_1.drawer.reached", "source": "a4s_sealer_1.drawer", "data": {"position": "in", "q": 0.30000001192092896}, "cause": "program-0-2"} +{"env_id": 0, "seq": 12, "step": 7783, "t": 38.915, "topic": "a4s_sealer_1.drawer.at_in", "source": "a4s_sealer_1.drawer", "data": {"q": 0.30000001192092896}, "cause": "program-0-2"} +{"env_id": 0, "seq": 13, "step": 7783, "t": 38.915, "topic": "a4s_sealer_1.drawer.command.succeeded", "source": "a4s_sealer_1.drawer", "data": {"command_id": "program-0-2", "name": "close", "source": "program:seal", "result": {"position": "in"}}, "cause": "program-0-2"} +{"env_id": 0, "seq": 14, "step": 7783, "t": 38.915, "topic": "labware.plate_2.changed", "source": "labware.plate_2", "data": {"key": "sealed", "value": true}, "cause": "task-0-1"} +{"env_id": 0, "seq": 15, "step": 7783, "t": 38.915, "topic": "a4s_sealer_1.sealed", "source": "a4s_sealer_1", "data": {"plate": "plate_2"}, "cause": "task-0-1"} +{"env_id": 0, "seq": 16, "step": 7783, "t": 38.915, "topic": "a4s_sealer_1.heater.command.started", "source": "a4s_sealer_1.heater", "data": {"command_id": "program-0-3", "name": "run", "source": "program:seal"}, "cause": "program-0-3"} +{"env_id": 0, "seq": 17, "step": 7783, "t": 38.915, "topic": "a4s_sealer_1.heater.state.changed", "source": "a4s_sealer_1.heater", "data": {"from": "ready", "to": "running"}, "cause": null} +{"env_id": 0, "seq": 18, "step": 7783, "t": 38.915, "topic": "a4s_sealer_1.heater.started", "source": "a4s_sealer_1.heater", "data": {"duration": 3.9620861002128773}, "cause": "program-0-3"} +{"env_id": 0, "seq": 19, "step": 8576, "t": 42.88, "topic": "a4s_sealer_1.heater.state.changed", "source": "a4s_sealer_1.heater", "data": {"from": "running", "to": "ready"}, "cause": null} +{"env_id": 0, "seq": 20, "step": 8576, "t": 42.88, "topic": "a4s_sealer_1.heater.finished", "source": "a4s_sealer_1.heater", "data": {"elapsed": 3.9650000000020285}, "cause": "program-0-3"} +{"env_id": 0, "seq": 21, "step": 8576, "t": 42.88, "topic": "a4s_sealer_1.heater.command.succeeded", "source": "a4s_sealer_1.heater", "data": {"command_id": "program-0-3", "name": "run", "source": "program:seal", "result": {"elapsed": 3.9650000000020285}}, "cause": "program-0-3"} +{"env_id": 0, "seq": 22, "step": 8576, "t": 42.88, "topic": "a4s_sealer_1.drawer.command.started", "source": "a4s_sealer_1.drawer", "data": {"command_id": "program-0-4", "name": "open", "source": "program:seal"}, "cause": "program-0-4"} +{"env_id": 0, "seq": 23, "step": 8576, "t": 42.88, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "at_in", "to": "moving"}, "cause": null} +{"env_id": 0, "seq": 24, "step": 8576, "t": 42.88, "topic": "a4s_sealer_1.drawer.moving", "source": "a4s_sealer_1.drawer", "data": {"target": 0.0, "goal": "out"}, "cause": "program-0-4"} +{"env_id": 0, "seq": 25, "step": 8996, "t": 44.98, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "moving", "to": "at_out"}, "cause": null} +{"env_id": 0, "seq": 26, "step": 8996, "t": 44.98, "topic": "a4s_sealer_1.drawer.reached", "source": "a4s_sealer_1.drawer", "data": {"position": "out", "q": 2.8133648188877203e-11}, "cause": "program-0-4"} +{"env_id": 0, "seq": 27, "step": 8996, "t": 44.98, "topic": "a4s_sealer_1.drawer.at_out", "source": "a4s_sealer_1.drawer", "data": {"q": 2.8133648188877203e-11}, "cause": "program-0-4"} +{"env_id": 0, "seq": 28, "step": 8996, "t": 44.98, "topic": "a4s_sealer_1.drawer.command.succeeded", "source": "a4s_sealer_1.drawer", "data": {"command_id": "program-0-4", "name": "open", "source": "program:seal", "result": {"position": "out"}}, "cause": "program-0-4"} +{"env_id": 0, "seq": 29, "step": 8996, "t": 44.98, "topic": "a4s_sealer_1.seal.finished", "source": "a4s_sealer_1", "data": {}, "cause": "task-0-1"} +{"env_id": 0, "seq": 30, "step": 8996, "t": 44.98, "topic": "a4s_sealer_1.command.succeeded", "source": "a4s_sealer_1", "data": {"command_id": "task-0-1", "name": "seal", "source": "task"}, "cause": "task-0-1"} +{"env_id": 0, "seq": 31, "step": 9575, "t": 47.875, "topic": "a4s_sealer_1.plate_present.absent", "source": "a4s_sealer_1.plate_present", "data": {"object": "plate_2"}, "cause": null} +{"env_id": 0, "seq": 32, "step": 11300, "t": 56.5, "topic": "conveyor_1.belt.command.started", "source": "conveyor_1.belt", "data": {"command_id": "task-0-5", "name": "release", "source": "task"}, "cause": "task-0-5"} +{"env_id": 0, "seq": 33, "step": 11300, "t": 56.5, "topic": "conveyor_1.belt.station.pick.released", "source": "conveyor_1.belt", "data": {"rider": "carrier_2"}, "cause": "task-0-5"} +{"env_id": 0, "seq": 34, "step": 11300, "t": 56.5, "topic": "conveyor_1.belt.state.changed", "source": "conveyor_1.belt", "data": {"from": "at_station", "to": "running"}, "cause": null} +{"env_id": 0, "seq": 35, "step": 11300, "t": 56.5, "topic": "conveyor_1.belt.command.succeeded", "source": "conveyor_1.belt", "data": {"command_id": "task-0-5", "name": "release", "source": "task", "result": {"state": "running"}}, "cause": "task-0-5"} diff --git a/episodes/c5_p009_e007/env.mp4 b/episodes/c5_p009_e007/env.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..5b6500baaa9a2b7482cb58a6598c92816e70e679 --- /dev/null +++ b/episodes/c5_p009_e007/env.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:c7501734f593fec0a04b5a73a34be903fe1094646505b66491bb0ac4ff53411e +size 1315417 diff --git a/episodes/c5_p009_e007/meta.json b/episodes/c5_p009_e007/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..20e9942fdd95caf5ba8dcf86c4dee1c7408a5779 --- /dev/null +++ b/episodes/c5_p009_e007/meta.json @@ -0,0 +1,32 @@ +{ + "source": "raw/c5_p009/magicsim/7", + "fps": 25, + "frames": 1267, + "kept_ticks": "even", + "video_frames": { + "wrist": 1267, + "env": 1267 + }, + "joint_target_source": "joint_pos_target", + "fk_vs_recorded_eef_max_m": 0.0, + "curobo_joints": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "joint_order": [ + "shoulder_pan", + "shoulder_lift", + "elbow", + "wrist_1", + "wrist_2", + "wrist_3", + "finger_left", + "finger_right" + ], + "frames_note": "eef / actions in the robot base frame; camera_pose = local pose (wrist: in plate_gripper_base, env: env frame), pos + quat wxyz", + "dr_version": "v2" +} \ No newline at end of file diff --git a/episodes/c5_p009_e007/scene_snapshot.json b/episodes/c5_p009_e007/scene_snapshot.json new file mode 100644 index 0000000000000000000000000000000000000000..0ab7d8f176c6d27360f48317e156d900c69a85a9 --- /dev/null +++ b/episodes/c5_p009_e007/scene_snapshot.json @@ -0,0 +1,1558 @@ +{ + "trajectory_id": 7, + "env_id": 0, + "run_id": "c5_p009", + "task_type": "BioPlateCell", + "success": true, + "timing": { + "fps": 50.0, + "sim_dt": 0.005, + "decimation": 4 + }, + "restore_interface": { + "scene": "scene_manager.reset_to(snapshot['scene'], env_ids=[env_id])", + "robots": "robot_manager.set_state({'robots': snapshot['robots']}, env_ids=[env_id])" + }, + "snapshot": { + "env_id": 0, + "scene": { + "objects": [ + { + "rac_cell": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/rac_cell.usd", + "pose": { + "pos": [ + 0.0, + 0.0, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "physics_material": { + "static_friction": 0.6, + "dynamic_friction": 0.5, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "robot_mount": [ + { + "asset": "Cube", + "pose": { + "pos": [ + 0.0, + 0.0, + 0.9075 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": "color", + "value": [ + 0.55, + 0.56, + 0.58 + ], + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": { + "size": [ + 0.2, + 0.2, + 0.015 + ] + } + }, + "type_specific": {} + } + ], + "plate_rack": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/plate_hotel.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 0.9 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "physics_material": { + "static_friction": 0.6, + "dynamic_friction": 0.5, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "hotel_plate": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/pcr_384_red/pcr_384_red.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 0.9605 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/pcr_96_blue/pcr_96_blue.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.0285 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/pcr_96_blue/pcr_96_blue.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.0965 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_24_clear/plate_24_clear.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.1645 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/pcr_96_blue/pcr_96_blue.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.2325 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "a4s_sealer": [ + { + "asset": "$MAGICSIM_ASSETS/Articulated/A4SSealer/Object.usd", + "pose": { + "pos": [ + 0.46075916290283203, + 0.06093311309814453, + 0.8999999761581421 + ], + "ori": [ + 0.7153714895248413, + 0.0, + 0.0, + -0.6987442970275879 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "articulation", + "solver_position_iteration_count": 16.0, + "solver_velocity_iteration_count": 1.0, + "enabled_self_collisions": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "joint_position": [ + 6.728332626292077e-13 + ], + "joint_velocity": [ + 0.0 + ], + "linear_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "angular_velocity": [ + 0.0, + 0.0, + 0.0 + ] + } + } + ], + "conveyor": [ + { + "asset": "Cube", + "pose": { + "pos": [ + 0.15, + 0.45, + 0.9 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "conveyor", + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9 + }, + "ratio": 1.0 + }, + "primitive_params": { + "size": [ + 2.4, + 0.076, + 0.03 + ] + }, + "conveyor": { + "speed": 0.2124351217052562, + "direction": [ + 1.0, + 0.0, + 0.0 + ], + "enabled": true, + "drive": "surface_velocity", + "lines": null, + "station_line": null, + "riders": [ + "carrier" + ], + "stations": { + "pick": { + "position": -0.01875176124835598, + "slow_distance": 0.03, + "slow_speed": 0.03 + } + }, + "rails": { + "height": 0.01, + "thickness": 0.01, + "gap": 0.001, + "friction": 0.05 + }, + "legs": 0.87, + "loop": { + "radius": 0.35, + "side": "left", + "curve_extra_width": 0.0, + "segments": 18, + "curve_rails": "both" + }, + "snap_distance": 0.1, + "junction_snap": 0.02, + "collision_approximation": "auto", + "plate_mass": 1.0, + "lift_drop": 0.004, + "accel": 0.0, + "decel": 0.0, + "drive_damping": 1000000.0, + "drive_max_force": 1000000000.0 + } + }, + "type_specific": { + "controller": { + "state": "at_station", + "speed": 0.2124351217052562, + "holds": [], + "station": "pick", + "rider": "carrier_2", + "arrived": true, + "applied_speed": 0.0 + } + } + } + ], + "carrier": [ + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + -1.2609167098999023, + 1.0753974914550781, + 0.8999999761581421 + ], + "ori": [ + -0.3149726688861847, + 1.217305793943524e-07, + 1.1033492341994133e-08, + 0.9491007924079895 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 8.688756452102098e-07, + 5.617910687760741e-07, + -2.5331974029541016e-06 + ], + "angular_velocity": [ + -4.7687324695289135e-05, + 6.973362906137481e-05, + -8.659336572236498e-07 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + 0.13097476959228516, + 0.44742488861083984, + 0.8999999761581421 + ], + "ori": [ + 0.9999319314956665, + -1.221606038548373e-09, + -1.1544990519141152e-09, + 0.011672340333461761 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -4.3485243184093747e-10, + 5.937617064688538e-10, + 3.725290298461914e-09 + ], + "angular_velocity": [ + -6.523503515154516e-08, + -4.743439774301805e-08, + -6.136300356729407e-09 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + 1.6434555053710938, + 0.9863824844360352, + 0.8999999761581421 + ], + "ori": [ + 0.489077091217041, + 9.358915775692367e-08, + -1.7922317852026026e-08, + 0.8722405433654785 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 2.4481419114152914e-09, + -4.660557717528491e-09, + 4.0978193283081055e-08 + ], + "angular_velocity": [ + 4.625696590210282e-07, + 1.9046247246023995e-07, + -9.977565440522085e-09 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + -0.02593231201171875, + 1.1526832580566406, + 0.8999999761581421 + ], + "ori": [ + -0.010095334611833096, + 8.623675107344297e-10, + -6.198741520080375e-11, + 0.9999490976333618 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -1.3829959399913605e-09, + 4.666960595756109e-09, + 2.2351741790771484e-08 + ], + "angular_velocity": [ + -1.5273259634795977e-07, + -1.9179833543603308e-07, + 3.660798597593384e-08 + ] + } + } + ], + "plate": [ + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_6_clear/Object.usd", + "pose": { + "pos": [ + -1.2523832321166992, + 1.0835676193237305, + 0.9179999828338623 + ], + "ori": [ + -0.2432001829147339, + 1.111231142658653e-07, + 1.5063299940720754e-08, + 0.9699761271476746 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 1.8674140846997034e-06, + 1.2658738341997378e-06, + -3.509223461151123e-06 + ], + "angular_velocity": [ + -4.8594076361041516e-05, + 6.972916889935732e-05, + -9.672307896835264e-07 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_96_black/Object.usd", + "pose": { + "pos": [ + 0.12684345245361328, + 0.4382495880126953, + 0.9180000424385071 + ], + "ori": [ + 0.9999021291732788, + -3.0734301215140647e-10, + -6.7495314892696e-10, + -0.013992570340633392 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -1.7600214619051258e-08, + 1.6020948123696144e-08, + -5.323439836502075e-06 + ], + "angular_velocity": [ + -3.4362960832368117e-07, + -1.3004092807022971e-06, + 1.052668139323032e-07 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/pcr_96_blue/Object.usd", + "pose": { + "pos": [ + 1.6497068405151367, + 0.9931268692016602, + 0.9180000424385071 + ], + "ori": [ + 0.5742071270942688, + 9.496472586079108e-08, + -7.2495867087241095e-09, + 0.8187101483345032 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 7.395148049482714e-09, + -6.580428646429937e-08, + -5.509704351425171e-06 + ], + "angular_velocity": [ + 2.6589482331473846e-06, + 1.4203768614606815e-06, + 2.0172635117887694e-07 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/deep_well_96_2ml/Object.usd", + "pose": { + "pos": [ + -0.023476600646972656, + 1.1608266830444336, + 0.9179999828338623 + ], + "ori": [ + 0.044579967856407166, + 2.3074995247895913e-09, + 8.704899023825874e-10, + 0.9990057945251465 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 4.620083515760598e-08, + 4.198096092977721e-09, + -1.5385448932647705e-06 + ], + "angular_velocity": [ + 3.361345761732082e-07, + 2.4276537260448094e-06, + 8.537288209709004e-08 + ] + } + } + ], + "deco_hub_west": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/hub_d.usd", + "pose": { + "pos": [ + -3.36, + 0.0, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_hub_east": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/hub_e.usd", + "pose": { + "pos": [ + 3.36, + 0.0, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_hub_back": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/hub_b.usd", + "pose": { + "pos": [ + -3.0, + -2.1, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_bench_east": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/bench_a.usd", + "pose": { + "pos": [ + 2.6, + -2.5, + 0.0 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_bench_gap": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/bench_b.usd", + "pose": { + "pos": [ + -0.1, + -2.9, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ] + }, + {}, + {}, + {} + ], + "devices": { + "hub": [ + { + "t": 6.019999999999894, + "step": 1204, + "counter": 0, + "devices": { + "a4s_sealer_1": { + "mode": "auto", + "units": { + "drawer": { + "state": "at_out", + "active": null, + "target": 0.0, + "goal_name": "out", + "profile": null, + "q_start": null, + "reversing": false, + "blocked_for": 0.0, + "settled_for": 0.0, + "last_q": 6.728332626292077e-13 + }, + "heater": { + "state": "ready", + "active": null, + "duration": 0.0, + "t_start": null, + "elapsed": 0.0 + } + }, + "queues": {}, + "program": null, + "sensors": { + "plate_present": { + "occupants": [], + "pending": {} + } + }, + "interlocks": {} + }, + "conveyor_1": { + "mode": "auto", + "units": { + "belt": { + "state": "at_station", + "active": null, + "controller": { + "speed": 0.2124351217052562, + "holds": [], + "station": "pick", + "rider": "carrier_2", + "arrived": true, + "settle_count": 1001, + "released": { + "pick": [] + }, + "last_pos": { + "carrier_1": [ + -1.4109167158603668, + 0.6253975033760071, + 0.0 + ], + "carrier_2": [ + -0.01902523636817932, + -0.002575099468231201, + 0.0 + ], + "carrier_3": [ + 1.4934554994106293, + 0.5363824963569641, + 0.0 + ], + "carrier_4": [ + -0.17593231797218323, + 0.7026832699775696, + 0.0 + ] + }, + "command": 0.0 + }, + "belt": { + "target_speed": 0.0, + "command_speed": 0.0 + }, + "seen": { + "state": "at_station", + "station": "pick", + "rider": "carrier_2", + "arrived": true + } + } + }, + "queues": {}, + "program": null, + "sensors": {}, + "interlocks": {} + } + }, + "zones": {}, + "labware": { + "plate_1": { + "sealed": false + }, + "plate_2": { + "sealed": false + }, + "plate_3": { + "sealed": false + }, + "plate_4": { + "sealed": false + } + }, + "rules": {}, + "records": [], + "bus": { + "seq": 3, + "queue": [] + } + }, + null, + null, + null + ], + "drives": [ + {}, + null, + null, + null + ] + }, + "artifacts": [ + { + "ceiling": { + "type": "rect", + "pose": { + "pos": [ + 0.14326214179513141, + -0.2253735824288874, + 2.6899572169485255 + ], + "ori": [ + -11.1874515703804, + -12.446252451118244, + 2.410885736993656 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "color_temperature": 5368.367873645482, + "color": [ + 0.8786009268775905, + 0.9238653458923998, + 0.8056958709584663 + ], + "intensity": 5159.142487882497, + "width": 1.8663708229322298, + "height": 0.925287355744584 + } + }, + "key": { + "type": "sphere", + "pose": { + "pos": [ + 1.1139754495337222, + 0.7589356428763989, + 2.290003540672007 + ], + "ori": [ + -6.490253115324158, + -24.456539647587945, + -8.8430045233671 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "color_temperature": 3139.310084464427, + "color": [ + 0.9056641347720126, + 0.7797318302275599, + 0.9561965321019521 + ], + "intensity": 7823.476129394866, + "radius": 0.1785505920845032 + } + } + }, + {}, + {}, + {} + ], + "background": { + "type": "dome", + "pose": { + "pos": null, + "ori": null, + "scale": null + }, + "dr": { + "intensity": 743.4049952099203, + "texture": null, + "color": [ + 0.92, + 0.94, + 0.96 + ] + } + } + }, + "robots": { + "UR5e": { + "root_pose": [ + [ + 11.0, + -11.0, + 0.9150000214576721, + 1.0, + 0.0, + 0.0, + 0.0 + ], + [ + 11.0, + 11.0, + 0.9150000214576721, + 1.0, + 0.0, + 0.0, + 0.0 + ], + [ + -11.0, + -11.0, + 0.9150000214576721, + 1.0, + 0.0, + 0.0, + 0.0 + ], + [ + -11.0, + 11.0, + 0.9150000214576721, + 1.0, + 0.0, + 0.0, + 0.0 + ] + ], + "root_vel": [ + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + ], + "joint_pos": [ + [ + 0.9141026735305786, + -1.7193981409072876, + 2.0904994010925293, + -1.9419013261795044, + -1.5707999467849731, + 2.484900712966919, + 0.01799999736249447, + 0.018000001087784767 + ], + [ + 0.9141048192977905, + -1.7193970680236816, + 2.0904994010925293, + -1.941900610923767, + -1.5707999467849731, + 2.484900712966919, + 0.017999999225139618, + 0.017999999225139618 + ], + [ + 1.0471237897872925, + -1.5786281824111938, + 2.2073216438293457, + -2.199540615081787, + -1.5707662105560303, + 2.7285056114196777, + 0.007706811185926199, + 0.0071439980529248714 + ], + [ + 1.1217445135116577, + -1.2917853593826294, + 2.266042947769165, + -2.5450024604797363, + -1.570830225944519, + 2.7385222911834717, + 0.007631843443959951, + 0.00706080486997962 + ] + ], + "joint_vel": [ + [ + -2.424550705308385e-38, + 2.199683499959103e-38, + 1.8024520993427826e-38, + 5.931964551961084e-37, + -5.959138531781271e-37, + 2.6884651372076288e-36, + 2.5990400942532688e-08, + -2.599039206074849e-08 + ], + [ + 2.8912940767669235e-38, + -1.8145556746985417e-38, + -1.4386111187940868e-38, + -4.355960266583403e-37, + 5.658443198943611e-38, + -2.8194573517723903e-38, + 5.07673393835555e-38, + 6.830163012222394e-38 + ], + [ + 0.0002798446803353727, + -0.012170943431556225, + -0.009626396000385284, + 0.021099749952554703, + -0.00026177370455116034, + -0.00138440344016999, + -0.007004525978118181, + 0.0002705689403228462 + ], + [ + -0.0003451582451816648, + -2.407507781754248e-05, + -0.00014404748799279332, + -0.001958997454494238, + 0.0012103571789339185, + 0.006790062412619591, + -0.007701922208070755, + 0.00029630959033966064 + ] + ] + } + }, + "cameras": { + "cameras": { + "camera0": [ + [ + 0.04836033657193184, + -0.0028154447209089994, + -0.028153324499726295, + -0.29100051522254944, + 0.6434685587882996, + 0.651546061038971, + -0.277046263217926 + ], + [ + 0.045198678970336914, + 0.0020025591365993023, + -0.027609828859567642, + -0.27837300300598145, + 0.6535685062408447, + 0.6500411629676819, + -0.26982057094573975 + ], + [ + 0.0470614917576313, + 0.0006882112356834114, + -0.0252047311514616, + -0.2744733691215515, + 0.6432818174362183, + 0.6612998843193054, + -0.27117398381233215 + ], + [ + 0.04767123609781265, + 0.003260576631873846, + -0.031138138845562935, + -0.2696339786052704, + 0.6471741199493408, + 0.6565453410148621, + -0.2782289981842041 + ] + ], + "camera1": [ + [ + 0.06324426084756851, + 0.5855386853218079, + 1.9664392471313477, + 0.028045056387782097, + 0.01331894937902689, + 0.28699877858161926, + 0.9574276804924011 + ], + [ + 0.06062878295779228, + 0.5680731534957886, + 1.930224061012268, + 0.042362913489341736, + 0.025594785809516907, + 0.26622822880744934, + 0.9626384973526001 + ], + [ + 0.05435710772871971, + 0.5757737755775452, + 1.9294145107269287, + 0.04368723928928375, + -0.004758764524012804, + 0.2674609422683716, + 0.962566077709198 + ], + [ + 0.04329090937972069, + 0.565920352935791, + 1.9372491836547852, + 0.05221475660800934, + -0.005838506389409304, + 0.28538477420806885, + 0.9569718241691589 + ] + ] + } + } + } +} \ No newline at end of file diff --git a/episodes/c5_p009_e007/wrist.mp4 b/episodes/c5_p009_e007/wrist.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..0dd376add405ef324903a64affb5c2fe5e95b928 --- /dev/null +++ b/episodes/c5_p009_e007/wrist.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:791bcf0630bdfb387900e3a5e7a777477c61d5279a2fc4b9184ac73daae4c47e +size 6583820 diff --git a/episodes/c6_p009_e023/data.npz b/episodes/c6_p009_e023/data.npz new file mode 100644 index 0000000000000000000000000000000000000000..6141051547135336261431c96179aecae3b454c1 --- /dev/null +++ b/episodes/c6_p009_e023/data.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:9130c9429cb5f02197db03841182677b2e3ccee5869a9f7ad62700d1eb3b6cc0 +size 206320 diff --git a/episodes/c6_p009_e023/device_events.jsonl b/episodes/c6_p009_e023/device_events.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..3172070af15ad951f4f396b888c757e917c5c53e --- /dev/null +++ b/episodes/c6_p009_e023/device_events.jsonl @@ -0,0 +1,35 @@ +{"env_id": 2, "seq": 1, "step": 62, "t": 0.31, "topic": "conveyor_1.belt.station.pick.captured", "source": "conveyor_1.belt", "data": {"rider": "carrier_3"}, "cause": null} +{"env_id": 2, "seq": 2, "step": 62, "t": 0.31, "topic": "conveyor_1.belt.state.changed", "source": "conveyor_1.belt", "data": {"from": "running", "to": "at_station"}, "cause": null} +{"env_id": 2, "seq": 3, "step": 67, "t": 0.335, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_3"}, "cause": null} +{"env_id": 2, "seq": 4, "step": 7203, "t": 36.015, "topic": "a4s_sealer_1.plate_present.present", "source": "a4s_sealer_1.plate_present", "data": {"object": "plate_3"}, "cause": null} +{"env_id": 2, "seq": 5, "step": 7816, "t": 39.08, "topic": "a4s_sealer_1.command.started", "source": "a4s_sealer_1", "data": {"command_id": "task-2-1", "name": "seal", "source": "task"}, "cause": "task-2-1"} +{"env_id": 2, "seq": 6, "step": 7816, "t": 39.08, "topic": "a4s_sealer_1.seal.started", "source": "a4s_sealer_1", "data": {"dwell": 4.22206989818708}, "cause": "task-2-1"} +{"env_id": 2, "seq": 7, "step": 7816, "t": 39.08, "topic": "a4s_sealer_1.drawer.command.started", "source": "a4s_sealer_1.drawer", "data": {"command_id": "program-2-2", "name": "close", "source": "program:seal"}, "cause": "program-2-2"} +{"env_id": 2, "seq": 8, "step": 7816, "t": 39.08, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "at_out", "to": "moving"}, "cause": null} +{"env_id": 2, "seq": 9, "step": 7816, "t": 39.08, "topic": "a4s_sealer_1.drawer.moving", "source": "a4s_sealer_1.drawer", "data": {"target": 0.3, "goal": "in"}, "cause": "program-2-2"} +{"env_id": 2, "seq": 10, "step": 8235, "t": 41.175, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "moving", "to": "at_in"}, "cause": null} +{"env_id": 2, "seq": 11, "step": 8235, "t": 41.175, "topic": "a4s_sealer_1.drawer.reached", "source": "a4s_sealer_1.drawer", "data": {"position": "in", "q": 0.30000001192092896}, "cause": "program-2-2"} +{"env_id": 2, "seq": 12, "step": 8235, "t": 41.175, "topic": "a4s_sealer_1.drawer.at_in", "source": "a4s_sealer_1.drawer", "data": {"q": 0.30000001192092896}, "cause": "program-2-2"} +{"env_id": 2, "seq": 13, "step": 8235, "t": 41.175, "topic": "a4s_sealer_1.drawer.command.succeeded", "source": "a4s_sealer_1.drawer", "data": {"command_id": "program-2-2", "name": "close", "source": "program:seal", "result": {"position": "in"}}, "cause": "program-2-2"} +{"env_id": 2, "seq": 14, "step": 8235, "t": 41.175, "topic": "labware.plate_3.changed", "source": "labware.plate_3", "data": {"key": "sealed", "value": true}, "cause": "task-2-1"} +{"env_id": 2, "seq": 15, "step": 8235, "t": 41.175, "topic": "a4s_sealer_1.sealed", "source": "a4s_sealer_1", "data": {"plate": "plate_3"}, "cause": "task-2-1"} +{"env_id": 2, "seq": 16, "step": 8235, "t": 41.175, "topic": "a4s_sealer_1.heater.command.started", "source": "a4s_sealer_1.heater", "data": {"command_id": "program-2-3", "name": "run", "source": "program:seal"}, "cause": "program-2-3"} +{"env_id": 2, "seq": 17, "step": 8235, "t": 41.175, "topic": "a4s_sealer_1.heater.state.changed", "source": "a4s_sealer_1.heater", "data": {"from": "ready", "to": "running"}, "cause": null} +{"env_id": 2, "seq": 18, "step": 8235, "t": 41.175, "topic": "a4s_sealer_1.heater.started", "source": "a4s_sealer_1.heater", "data": {"duration": 4.22206989818708}, "cause": "program-2-3"} +{"env_id": 2, "seq": 19, "step": 9080, "t": 45.4, "topic": "a4s_sealer_1.heater.state.changed", "source": "a4s_sealer_1.heater", "data": {"from": "running", "to": "ready"}, "cause": null} +{"env_id": 2, "seq": 20, "step": 9080, "t": 45.4, "topic": "a4s_sealer_1.heater.finished", "source": "a4s_sealer_1.heater", "data": {"elapsed": 4.2250000000021615}, "cause": "program-2-3"} +{"env_id": 2, "seq": 21, "step": 9080, "t": 45.4, "topic": "a4s_sealer_1.heater.command.succeeded", "source": "a4s_sealer_1.heater", "data": {"command_id": "program-2-3", "name": "run", "source": "program:seal", "result": {"elapsed": 4.2250000000021615}}, "cause": "program-2-3"} +{"env_id": 2, "seq": 22, "step": 9080, "t": 45.4, "topic": "a4s_sealer_1.drawer.command.started", "source": "a4s_sealer_1.drawer", "data": {"command_id": "program-2-4", "name": "open", "source": "program:seal"}, "cause": "program-2-4"} +{"env_id": 2, "seq": 23, "step": 9080, "t": 45.4, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "at_in", "to": "moving"}, "cause": null} +{"env_id": 2, "seq": 24, "step": 9080, "t": 45.4, "topic": "a4s_sealer_1.drawer.moving", "source": "a4s_sealer_1.drawer", "data": {"target": 0.0, "goal": "out"}, "cause": "program-2-4"} +{"env_id": 2, "seq": 25, "step": 9500, "t": 47.5, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "moving", "to": "at_out"}, "cause": null} +{"env_id": 2, "seq": 26, "step": 9500, "t": 47.5, "topic": "a4s_sealer_1.drawer.reached", "source": "a4s_sealer_1.drawer", "data": {"position": "out", "q": 0.0}, "cause": "program-2-4"} +{"env_id": 2, "seq": 27, "step": 9500, "t": 47.5, "topic": "a4s_sealer_1.drawer.at_out", "source": "a4s_sealer_1.drawer", "data": {"q": 0.0}, "cause": "program-2-4"} +{"env_id": 2, "seq": 28, "step": 9500, "t": 47.5, "topic": "a4s_sealer_1.drawer.command.succeeded", "source": "a4s_sealer_1.drawer", "data": {"command_id": "program-2-4", "name": "open", "source": "program:seal", "result": {"position": "out"}}, "cause": "program-2-4"} +{"env_id": 2, "seq": 29, "step": 9500, "t": 47.5, "topic": "a4s_sealer_1.seal.finished", "source": "a4s_sealer_1", "data": {}, "cause": "task-2-1"} +{"env_id": 2, "seq": 30, "step": 9500, "t": 47.5, "topic": "a4s_sealer_1.command.succeeded", "source": "a4s_sealer_1", "data": {"command_id": "task-2-1", "name": "seal", "source": "task"}, "cause": "task-2-1"} +{"env_id": 2, "seq": 31, "step": 10077, "t": 50.385, "topic": "a4s_sealer_1.plate_present.absent", "source": "a4s_sealer_1.plate_present", "data": {"object": "plate_3"}, "cause": null} +{"env_id": 2, "seq": 32, "step": 12372, "t": 61.86, "topic": "conveyor_1.belt.command.started", "source": "conveyor_1.belt", "data": {"command_id": "task-2-5", "name": "release", "source": "task"}, "cause": "task-2-5"} +{"env_id": 2, "seq": 33, "step": 12372, "t": 61.86, "topic": "conveyor_1.belt.station.pick.released", "source": "conveyor_1.belt", "data": {"rider": "carrier_3"}, "cause": "task-2-5"} +{"env_id": 2, "seq": 34, "step": 12372, "t": 61.86, "topic": "conveyor_1.belt.state.changed", "source": "conveyor_1.belt", "data": {"from": "at_station", "to": "running"}, "cause": null} +{"env_id": 2, "seq": 35, "step": 12372, "t": 61.86, "topic": "conveyor_1.belt.command.succeeded", "source": "conveyor_1.belt", "data": {"command_id": "task-2-5", "name": "release", "source": "task", "result": {"state": "running"}}, "cause": "task-2-5"} diff --git a/episodes/c6_p009_e023/env.mp4 b/episodes/c6_p009_e023/env.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..bd939d23060f7e1805658598e77494d65af31fe3 --- /dev/null +++ b/episodes/c6_p009_e023/env.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:48c04d14455c0c81daf2b505b49479c6519c400806e1686b7470c7cec8b45b17 +size 1352369 diff --git a/episodes/c6_p009_e023/meta.json b/episodes/c6_p009_e023/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..187b72105cc7d7cfe1e93d0c7f4a59c3e01a3455 --- /dev/null +++ b/episodes/c6_p009_e023/meta.json @@ -0,0 +1,32 @@ +{ + "source": "raw/c6_p009/magicsim/23", + "fps": 25, + "frames": 1328, + "kept_ticks": "even", + "video_frames": { + "wrist": 1328, + "env": 1328 + }, + "joint_target_source": "joint_pos_target", + "fk_vs_recorded_eef_max_m": 0.0, + "curobo_joints": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "joint_order": [ + "shoulder_pan", + "shoulder_lift", + "elbow", + "wrist_1", + "wrist_2", + "wrist_3", + "finger_left", + "finger_right" + ], + "frames_note": "eef / actions in the robot base frame; camera_pose = local pose (wrist: in plate_gripper_base, env: env frame), pos + quat wxyz", + "dr_version": "v2" +} \ No newline at end of file diff --git a/episodes/c6_p009_e023/scene_snapshot.json b/episodes/c6_p009_e023/scene_snapshot.json new file mode 100644 index 0000000000000000000000000000000000000000..07e741922e495a5233e1352bf782cb51e1f5a053 --- /dev/null +++ b/episodes/c6_p009_e023/scene_snapshot.json @@ -0,0 +1,1558 @@ +{ + "trajectory_id": 23, + "env_id": 2, + "run_id": "c6_p009", + "task_type": "BioPlateCell", + "success": true, + "timing": { + "fps": 50.0, + "sim_dt": 0.005, + "decimation": 4 + }, + "restore_interface": { + "scene": "scene_manager.reset_to(snapshot['scene'], env_ids=[env_id])", + "robots": "robot_manager.set_state({'robots': snapshot['robots']}, env_ids=[env_id])" + }, + "snapshot": { + "env_id": 2, + "scene": { + "objects": [ + {}, + {}, + { + "rac_cell": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/rac_cell.usd", + "pose": { + "pos": [ + 0.0, + 0.0, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "physics_material": { + "static_friction": 0.6, + "dynamic_friction": 0.5, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "robot_mount": [ + { + "asset": "Cube", + "pose": { + "pos": [ + 0.0, + 0.0, + 0.9075 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": "color", + "value": [ + 0.55, + 0.56, + 0.58 + ], + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": { + "size": [ + 0.2, + 0.2, + 0.015 + ] + } + }, + "type_specific": {} + } + ], + "plate_rack": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/plate_hotel.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 0.9 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "physics_material": { + "static_friction": 0.6, + "dynamic_friction": 0.5, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "hotel_plate": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/deep_well_96_2ml/deep_well_96_2ml.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 0.9605 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/pcr_384_red/pcr_384_red.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.0285 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_24_clear/plate_24_clear.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.0965 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_384_white/plate_384_white.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.1645 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_24_clear/plate_24_clear.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.2325 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "a4s_sealer": [ + { + "asset": "$MAGICSIM_ASSETS/Articulated/A4SSealer/Object.usd", + "pose": { + "pos": [ + 0.5131692886352539, + 0.06496334075927734, + 0.8999999761581421 + ], + "ori": [ + 0.7123034596443176, + 0.0, + 0.0, + -0.7018716335296631 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "articulation", + "solver_position_iteration_count": 16.0, + "solver_velocity_iteration_count": 1.0, + "enabled_self_collisions": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "joint_position": [ + 3.700581074211895e-12 + ], + "joint_velocity": [ + 0.0 + ], + "linear_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "angular_velocity": [ + 0.0, + 0.0, + 0.0 + ] + } + } + ], + "conveyor": [ + { + "asset": "Cube", + "pose": { + "pos": [ + 0.15, + 0.45, + 0.9 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "conveyor", + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9 + }, + "ratio": 1.0 + }, + "primitive_params": { + "size": [ + 2.4, + 0.076, + 0.03 + ] + }, + "conveyor": { + "speed": 0.2659397730394608, + "direction": [ + 1.0, + 0.0, + 0.0 + ], + "enabled": true, + "drive": "surface_velocity", + "lines": null, + "station_line": null, + "riders": [ + "carrier" + ], + "stations": { + "pick": { + "position": -0.17410806016480448, + "slow_distance": 0.03, + "slow_speed": 0.03 + } + }, + "rails": { + "height": 0.01, + "thickness": 0.01, + "gap": 0.001, + "friction": 0.05 + }, + "legs": 0.87, + "loop": { + "radius": 0.35, + "side": "left", + "curve_extra_width": 0.0, + "segments": 18, + "curve_rails": "both" + }, + "snap_distance": 0.1, + "junction_snap": 0.02, + "collision_approximation": "auto", + "plate_mass": 1.0, + "lift_drop": 0.004, + "accel": 0.0, + "decel": 0.0, + "drive_damping": 1000000.0, + "drive_max_force": 1000000000.0 + } + }, + "type_specific": { + "controller": { + "state": "at_station", + "speed": 0.2659397730394608, + "holds": [], + "station": "pick", + "rider": "carrier_3", + "arrived": true, + "applied_speed": 0.0 + } + } + } + ], + "carrier": [ + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + 1.697164535522461, + 0.7652978897094727, + 0.8999999761581421 + ], + "ori": [ + 0.7421489953994751, + -5.3322693815971434e-08, + -1.227030708150778e-07, + 0.6702349781990051 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -2.0575328107952373e-09, + 2.583943059519811e-10, + 3.725290298461914e-09 + ], + "angular_velocity": [ + -2.431906231947778e-08, + -1.6822239956582052e-07, + -1.0886404971932606e-10 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + 0.45905113220214844, + 1.1499929428100586, + 0.8999999761581421 + ], + "ori": [ + 6.490539817605168e-05, + 1.3403052279148397e-10, + 8.217345137673249e-10, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -2.5555706439917003e-09, + -7.482655606239064e-10, + 1.4901161193847656e-08 + ], + "angular_velocity": [ + 3.452145236337856e-08, + -2.3606406784892897e-07, + -1.1857348880539575e-08 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + -0.024028778076171875, + 0.4500007629394531, + 0.8999999761581421 + ], + "ori": [ + 1.0, + -1.7687186160131319e-09, + 3.943635640268894e-09, + 1.1810999239969533e-05 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -7.273459612378019e-11, + 5.199783936760127e-10, + 3.725290298461914e-09 + ], + "angular_velocity": [ + 6.287320886144698e-09, + -1.4770986211942727e-08, + 3.099301260078846e-09 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + -1.3891534805297852, + 0.7227554321289062, + 0.8999999761581421 + ], + "ori": [ + -0.7744807004928589, + 3.69963743196422e-07, + -2.1819971607328625e-07, + 0.6325975656509399 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -8.086758498393465e-07, + -7.89102728049329e-07, + -4.686415195465088e-06 + ], + "angular_velocity": [ + 4.934152093483135e-05, + -4.658829129766673e-05, + 3.8054458855185658e-06 + ] + } + } + ], + "plate": [ + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_24_clear/Object.usd", + "pose": { + "pos": [ + 1.6943778991699219, + 0.7629776000976562, + 0.9179999828338623 + ], + "ori": [ + 0.7869584560394287, + -1.1979093983427447e-07, + -1.7387743866947858e-07, + 0.6170061230659485 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -1.994196026089412e-07, + 5.172461570168707e-08, + 3.725290298461914e-09 + ], + "angular_velocity": [ + -3.5620359994936734e-08, + -2.435106807752163e-06, + 1.1013028142770054e-06 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_384_black/Object.usd", + "pose": { + "pos": [ + 0.4591503143310547, + 1.1498947143554688, + 0.9180000424385071 + ], + "ori": [ + -0.0692487433552742, + 1.23935628426608e-09, + 3.032321616025513e-10, + 0.9975994229316711 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 2.0654282728571616e-09, + -6.2070606432484965e-09, + -5.248934030532837e-06 + ], + "angular_velocity": [ + -9.665507150202757e-07, + 1.7451536677981494e-06, + -7.540813840023475e-08 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_1536_black/Object.usd", + "pose": { + "pos": [ + -0.010628700256347656, + 0.4557504653930664, + 0.9180000424385071 + ], + "ori": [ + 0.9984205961227417, + -1.3434058310224373e-09, + 5.2882382917118775e-09, + 0.05618082359433174 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -1.7994587153680186e-08, + 5.638186806322665e-09, + -5.681067705154419e-06 + ], + "angular_velocity": [ + 5.686074473487679e-07, + -1.6012807009246899e-06, + 9.412432433464346e-08 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/deep_well_24_10ml/Object.usd", + "pose": { + "pos": [ + -1.3895397186279297, + 0.7085046768188477, + 0.9179999232292175 + ], + "ori": [ + -0.8153232932090759, + 3.0831679396214895e-06, + -2.1197156456764787e-06, + 0.5790059566497803 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -2.827375465130899e-05, + -7.833069503249135e-06, + -2.8654932975769043e-05 + ], + "angular_velocity": [ + 0.0003599862684495747, + -0.000999332289211452, + -8.144522143993527e-05 + ] + } + } + ], + "deco_hub_west": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/hub_c.usd", + "pose": { + "pos": [ + -3.36, + 0.0, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_hub_east": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/hub_a.usd", + "pose": { + "pos": [ + 3.36, + 0.0, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_hub_back": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/hub_e.usd", + "pose": { + "pos": [ + -3.0, + -2.1, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_bench_east": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/bench_a.usd", + "pose": { + "pos": [ + 2.6, + -2.5, + 0.0 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_bench_gap": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/bench_b.usd", + "pose": { + "pos": [ + -0.1, + -2.9, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ] + }, + {} + ], + "devices": { + "hub": [ + null, + null, + { + "t": 8.899999999999991, + "step": 1780, + "counter": 0, + "devices": { + "a4s_sealer_1": { + "mode": "auto", + "units": { + "drawer": { + "state": "at_out", + "active": null, + "target": 0.0, + "goal_name": "out", + "profile": null, + "q_start": null, + "reversing": false, + "blocked_for": 0.0, + "settled_for": 0.0, + "last_q": 3.700581074211895e-12 + }, + "heater": { + "state": "ready", + "active": null, + "duration": 0.0, + "t_start": null, + "elapsed": 0.0 + } + }, + "queues": {}, + "program": null, + "sensors": { + "plate_present": { + "occupants": [], + "pending": {} + } + }, + "interlocks": {} + }, + "conveyor_1": { + "mode": "auto", + "units": { + "belt": { + "state": "at_station", + "active": null, + "controller": { + "speed": 0.2659397730394608, + "holds": [], + "station": "pick", + "rider": "carrier_3", + "arrived": true, + "settle_count": 1717, + "released": { + "pick": [] + }, + "last_pos": { + "carrier_1": [ + 1.5471645295619965, + 0.3152979016304016, + 0.0 + ], + "carrier_2": [ + 0.30905112624168396, + 0.6999929547309875, + 0.0 + ], + "carrier_3": [ + -0.17402878403663635, + 7.748603820800781e-07, + 0.0 + ], + "carrier_4": [ + -1.5391534864902496, + 0.2727554440498352, + 0.0 + ] + }, + "command": 0.0 + }, + "belt": { + "target_speed": 0.0, + "command_speed": 0.0 + }, + "seen": { + "state": "at_station", + "station": "pick", + "rider": "carrier_3", + "arrived": true + } + } + }, + "queues": {}, + "program": null, + "sensors": {}, + "interlocks": {} + } + }, + "zones": {}, + "labware": { + "plate_1": { + "sealed": false + }, + "plate_2": { + "sealed": false + }, + "plate_3": { + "sealed": false + }, + "plate_4": { + "sealed": false + } + }, + "rules": {}, + "records": [], + "bus": { + "seq": 3, + "queue": [] + } + }, + null + ], + "drives": [ + null, + null, + {}, + null + ] + }, + "artifacts": [ + {}, + {}, + { + "ceiling": { + "type": "rect", + "pose": { + "pos": [ + -0.04456561339716314, + -0.38909891227148447, + 2.948385238502506 + ], + "ori": [ + -4.241031318200065, + -10.804873600719773, + -12.4321887875624 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "color_temperature": 6018.779511087618, + "color": [ + 0.9829744087019664, + 0.9501714098722385, + 0.8733731597105612 + ], + "intensity": 15134.794422269257, + "width": 2.5572706290649787, + "height": 0.8147905848452128 + } + }, + "key": { + "type": "disk", + "pose": { + "pos": [ + 0.010782573082541713, + 0.6359276234680273, + 2.2232029624524317 + ], + "ori": [ + -2.7911249520312538, + -9.05395405570033, + -6.821560679659548 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "color_temperature": 4192.327930556836, + "color": [ + 0.7905152460222316, + 0.877439238874576, + 0.9404038419607879 + ], + "intensity": 2549.968601747516, + "radius": 0.4012929401308517 + } + } + }, + {} + ], + "background": { + "type": "dome", + "pose": { + "pos": null, + "ori": null, + "scale": null + }, + "dr": { + "intensity": 1359.811369360992, + "texture": null, + "color": [ + 0.92, + 0.94, + 0.96 + ] + } + } + }, + "robots": { + "UR5e": { + "root_pose": [ + [ + 11.0, + -11.0, + 0.9150000214576721, + 1.0, + 0.0, + 0.0, + 0.0 + ], + [ + 11.0, + 11.0, + 0.9150000214576721, + 1.0, + 0.0, + 0.0, + 0.0 + ], + [ + -11.0, + -11.0, + 0.9150000214576721, + 1.0, + 0.0, + 0.0, + 0.0 + ], + [ + -11.0, + 11.0, + 0.9150000214576721, + 1.0, + 0.0, + 0.0, + 0.0 + ] + ], + "root_vel": [ + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + ], + "joint_pos": [ + [ + 0.9141013026237488, + -1.7193983793258667, + 2.0904994010925293, + -1.9419007301330566, + -1.5707999467849731, + 2.4849002361297607, + 0.018000001087784767, + 0.01799999736249447 + ], + [ + 1.2815289497375488, + -1.4980055093765259, + 2.285295009613037, + -2.3580470085144043, + -1.5707963705062866, + 3.0223729610443115, + 0.01800004579126835, + 0.017999954521656036 + ], + [ + 0.914100706577301, + -1.7193981409072876, + 2.090498924255371, + -1.9419000148773193, + -1.5707999467849731, + 2.4848999977111816, + 0.017999999225139618, + 0.017999999225139618 + ], + [ + 2.719587802886963, + -1.851448655128479, + 2.2327919006347656, + -1.952066421508789, + -1.5708186626434326, + 4.291103839874268, + 0.007751913741230965, + 0.00714237242937088 + ] + ], + "joint_vel": [ + [ + 0.0, + -2.4543316607916016e-38, + -1.691813980390481e-38, + -3.6030300460674385e-37, + 5.968113568185578e-37, + -2.6938640599309794e-36, + -2.5990372520823257e-08, + 2.5990388508034812e-08 + ], + [ + -0.00012179017357993871, + 0.017901170998811722, + 0.009387302212417126, + -0.026117447763681412, + -8.838828762236517e-06, + 2.677874726941809e-05, + -7.302487574634142e-06, + 7.2788793659128714e-06 + ], + [ + 2.1748459050684848e-38, + -2.1523431536791247e-38, + -1.8302561029525299e-38, + -3.3283017827086123e-37, + 5.753322987989379e-37, + 3.3372021579307407e-37, + 3.079939678631259e-38, + -3.447786130710381e-38 + ], + [ + -0.008938786573708057, + -0.023819010704755783, + 0.015266286209225655, + 0.00708581181243062, + -1.418160172761418e-05, + -0.009410331025719643, + -0.007474924437701702, + 0.0003088642260991037 + ] + ] + } + }, + "cameras": { + "cameras": { + "camera0": [ + [ + 0.04792323708534241, + 0.00022333006199914962, + -0.03171616047620773, + -0.2806999385356903, + 0.6502330899238586, + 0.6459216475486755, + -0.28493815660476685 + ], + [ + 0.05352584272623062, + -0.0017060973914340138, + -0.027279052883386612, + -0.2802917957305908, + 0.6531634330749512, + 0.6510010957717896, + -0.2664799690246582 + ], + [ + 0.04981464520096779, + -0.0023598033003509045, + -0.03195864334702492, + -0.27875301241874695, + 0.6523760557174683, + 0.6406392455101013, + -0.2937406003475189 + ], + [ + 0.04848393052816391, + -0.003380328183993697, + -0.031246542930603027, + -0.2658741772174835, + 0.6543936133384705, + 0.6498951315879822, + -0.2805640697479248 + ] + ], + "camera1": [ + [ + 0.025584567338228226, + 0.5578783750534058, + 1.9592537879943848, + 0.04629286751151085, + -0.003199309576302767, + 0.28399142622947693, + 0.9577032923698425 + ], + [ + 0.033055249601602554, + 0.5821366906166077, + 1.9485734701156616, + 0.02471058815717697, + 0.014382618479430676, + 0.27842941880226135, + 0.9600310325622559 + ], + [ + 0.04612799361348152, + 0.5666975378990173, + 1.9465833902359009, + 0.032604459673166275, + 0.004364173859357834, + 0.26545917987823486, + 0.9635607600212097 + ], + [ + 0.027450978755950928, + 0.580207347869873, + 1.9694318771362305, + 0.054897110909223557, + 0.005740094464272261, + 0.28507956862449646, + 0.9569132924079895 + ] + ] + } + } + } +} \ No newline at end of file diff --git a/episodes/c6_p009_e023/wrist.mp4 b/episodes/c6_p009_e023/wrist.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..37db7af66ec38add4036266681913edc18f29761 --- /dev/null +++ b/episodes/c6_p009_e023/wrist.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:accc7300f4a516d72d30c70846bba2582596f550a500f2ec9eec40a25404779c +size 7787826 diff --git a/episodes/c7_p010_e004/data.npz b/episodes/c7_p010_e004/data.npz new file mode 100644 index 0000000000000000000000000000000000000000..1889d769032a8a33babca4a61a25fa33bf7e57f3 --- /dev/null +++ b/episodes/c7_p010_e004/data.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:d1f471101be200d5dc2b305b62f87cbfb973a948b89237f6106c7cfd718552e9 +size 185721 diff --git a/episodes/c7_p010_e004/device_events.jsonl b/episodes/c7_p010_e004/device_events.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..6a58e53f799c267605c0def89190fe87b5b59d67 --- /dev/null +++ b/episodes/c7_p010_e004/device_events.jsonl @@ -0,0 +1,35 @@ +{"env_id": 1, "seq": 1, "step": 110, "t": 0.55, "topic": "conveyor_1.belt.station.pick.captured", "source": "conveyor_1.belt", "data": {"rider": "carrier_1"}, "cause": null} +{"env_id": 1, "seq": 2, "step": 110, "t": 0.55, "topic": "conveyor_1.belt.state.changed", "source": "conveyor_1.belt", "data": {"from": "running", "to": "at_station"}, "cause": null} +{"env_id": 1, "seq": 3, "step": 115, "t": 0.575, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_1"}, "cause": null} +{"env_id": 1, "seq": 4, "step": 6015, "t": 30.075, "topic": "a4s_sealer_1.plate_present.present", "source": "a4s_sealer_1.plate_present", "data": {"object": "plate_1"}, "cause": null} +{"env_id": 1, "seq": 5, "step": 6628, "t": 33.14, "topic": "a4s_sealer_1.command.started", "source": "a4s_sealer_1", "data": {"command_id": "task-1-1", "name": "seal", "source": "task"}, "cause": "task-1-1"} +{"env_id": 1, "seq": 6, "step": 6628, "t": 33.14, "topic": "a4s_sealer_1.seal.started", "source": "a4s_sealer_1", "data": {"dwell": 1.6619392391674785}, "cause": "task-1-1"} +{"env_id": 1, "seq": 7, "step": 6628, "t": 33.14, "topic": "a4s_sealer_1.drawer.command.started", "source": "a4s_sealer_1.drawer", "data": {"command_id": "program-1-2", "name": "close", "source": "program:seal"}, "cause": "program-1-2"} +{"env_id": 1, "seq": 8, "step": 6628, "t": 33.14, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "at_out", "to": "moving"}, "cause": null} +{"env_id": 1, "seq": 9, "step": 6628, "t": 33.14, "topic": "a4s_sealer_1.drawer.moving", "source": "a4s_sealer_1.drawer", "data": {"target": 0.3, "goal": "in"}, "cause": "program-1-2"} +{"env_id": 1, "seq": 10, "step": 7047, "t": 35.235, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "moving", "to": "at_in"}, "cause": null} +{"env_id": 1, "seq": 11, "step": 7047, "t": 35.235, "topic": "a4s_sealer_1.drawer.reached", "source": "a4s_sealer_1.drawer", "data": {"position": "in", "q": 0.30000001192092896}, "cause": "program-1-2"} +{"env_id": 1, "seq": 12, "step": 7047, "t": 35.235, "topic": "a4s_sealer_1.drawer.at_in", "source": "a4s_sealer_1.drawer", "data": {"q": 0.30000001192092896}, "cause": "program-1-2"} +{"env_id": 1, "seq": 13, "step": 7047, "t": 35.235, "topic": "a4s_sealer_1.drawer.command.succeeded", "source": "a4s_sealer_1.drawer", "data": {"command_id": "program-1-2", "name": "close", "source": "program:seal", "result": {"position": "in"}}, "cause": "program-1-2"} +{"env_id": 1, "seq": 14, "step": 7047, "t": 35.235, "topic": "labware.plate_1.changed", "source": "labware.plate_1", "data": {"key": "sealed", "value": true}, "cause": "task-1-1"} +{"env_id": 1, "seq": 15, "step": 7047, "t": 35.235, "topic": "a4s_sealer_1.sealed", "source": "a4s_sealer_1", "data": {"plate": "plate_1"}, "cause": "task-1-1"} +{"env_id": 1, "seq": 16, "step": 7047, "t": 35.235, "topic": "a4s_sealer_1.heater.command.started", "source": "a4s_sealer_1.heater", "data": {"command_id": "program-1-3", "name": "run", "source": "program:seal"}, "cause": "program-1-3"} +{"env_id": 1, "seq": 17, "step": 7047, "t": 35.235, "topic": "a4s_sealer_1.heater.state.changed", "source": "a4s_sealer_1.heater", "data": {"from": "ready", "to": "running"}, "cause": null} +{"env_id": 1, "seq": 18, "step": 7047, "t": 35.235, "topic": "a4s_sealer_1.heater.started", "source": "a4s_sealer_1.heater", "data": {"duration": 1.6619392391674785}, "cause": "program-1-3"} +{"env_id": 1, "seq": 19, "step": 7380, "t": 36.9, "topic": "a4s_sealer_1.heater.state.changed", "source": "a4s_sealer_1.heater", "data": {"from": "running", "to": "ready"}, "cause": null} +{"env_id": 1, "seq": 20, "step": 7380, "t": 36.9, "topic": "a4s_sealer_1.heater.finished", "source": "a4s_sealer_1.heater", "data": {"elapsed": 1.6650000000008518}, "cause": "program-1-3"} +{"env_id": 1, "seq": 21, "step": 7380, "t": 36.9, "topic": "a4s_sealer_1.heater.command.succeeded", "source": "a4s_sealer_1.heater", "data": {"command_id": "program-1-3", "name": "run", "source": "program:seal", "result": {"elapsed": 1.6650000000008518}}, "cause": "program-1-3"} +{"env_id": 1, "seq": 22, "step": 7380, "t": 36.9, "topic": "a4s_sealer_1.drawer.command.started", "source": "a4s_sealer_1.drawer", "data": {"command_id": "program-1-4", "name": "open", "source": "program:seal"}, "cause": "program-1-4"} +{"env_id": 1, "seq": 23, "step": 7380, "t": 36.9, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "at_in", "to": "moving"}, "cause": null} +{"env_id": 1, "seq": 24, "step": 7380, "t": 36.9, "topic": "a4s_sealer_1.drawer.moving", "source": "a4s_sealer_1.drawer", "data": {"target": 0.0, "goal": "out"}, "cause": "program-1-4"} +{"env_id": 1, "seq": 25, "step": 7800, "t": 39.0, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "moving", "to": "at_out"}, "cause": null} +{"env_id": 1, "seq": 26, "step": 7800, "t": 39.0, "topic": "a4s_sealer_1.drawer.reached", "source": "a4s_sealer_1.drawer", "data": {"position": "out", "q": 5.157794746857292e-10}, "cause": "program-1-4"} +{"env_id": 1, "seq": 27, "step": 7800, "t": 39.0, "topic": "a4s_sealer_1.drawer.at_out", "source": "a4s_sealer_1.drawer", "data": {"q": 5.157794746857292e-10}, "cause": "program-1-4"} +{"env_id": 1, "seq": 28, "step": 7800, "t": 39.0, "topic": "a4s_sealer_1.drawer.command.succeeded", "source": "a4s_sealer_1.drawer", "data": {"command_id": "program-1-4", "name": "open", "source": "program:seal", "result": {"position": "out"}}, "cause": "program-1-4"} +{"env_id": 1, "seq": 29, "step": 7800, "t": 39.0, "topic": "a4s_sealer_1.seal.finished", "source": "a4s_sealer_1", "data": {}, "cause": "task-1-1"} +{"env_id": 1, "seq": 30, "step": 7800, "t": 39.0, "topic": "a4s_sealer_1.command.succeeded", "source": "a4s_sealer_1", "data": {"command_id": "task-1-1", "name": "seal", "source": "task"}, "cause": "task-1-1"} +{"env_id": 1, "seq": 31, "step": 8378, "t": 41.89, "topic": "a4s_sealer_1.plate_present.absent", "source": "a4s_sealer_1.plate_present", "data": {"object": "plate_1"}, "cause": null} +{"env_id": 1, "seq": 32, "step": 10088, "t": 50.44, "topic": "conveyor_1.belt.command.started", "source": "conveyor_1.belt", "data": {"command_id": "task-1-5", "name": "release", "source": "task"}, "cause": "task-1-5"} +{"env_id": 1, "seq": 33, "step": 10088, "t": 50.44, "topic": "conveyor_1.belt.station.pick.released", "source": "conveyor_1.belt", "data": {"rider": "carrier_1"}, "cause": "task-1-5"} +{"env_id": 1, "seq": 34, "step": 10088, "t": 50.44, "topic": "conveyor_1.belt.state.changed", "source": "conveyor_1.belt", "data": {"from": "at_station", "to": "running"}, "cause": null} +{"env_id": 1, "seq": 35, "step": 10088, "t": 50.44, "topic": "conveyor_1.belt.command.succeeded", "source": "conveyor_1.belt", "data": {"command_id": "task-1-5", "name": "release", "source": "task", "result": {"state": "running"}}, "cause": "task-1-5"} diff --git a/episodes/c7_p010_e004/env.mp4 b/episodes/c7_p010_e004/env.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..21ffadf5ff2b904bb471971393cd0cc26ac69156 --- /dev/null +++ b/episodes/c7_p010_e004/env.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:9fe306498e292898f80cef8748445ae1070096c39b7dfdefa5eb135b0e25c516 +size 1302875 diff --git a/episodes/c7_p010_e004/meta.json b/episodes/c7_p010_e004/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..1f266a6df0d0adfb623736d63648bf238f352d54 --- /dev/null +++ b/episodes/c7_p010_e004/meta.json @@ -0,0 +1,32 @@ +{ + "source": "raw/c7_p010/magicsim/4", + "fps": 25, + "frames": 1186, + "kept_ticks": "even", + "video_frames": { + "wrist": 1186, + "env": 1186 + }, + "joint_target_source": "joint_pos_target", + "fk_vs_recorded_eef_max_m": 0.0, + "curobo_joints": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "joint_order": [ + "shoulder_pan", + "shoulder_lift", + "elbow", + "wrist_1", + "wrist_2", + "wrist_3", + "finger_left", + "finger_right" + ], + "frames_note": "eef / actions in the robot base frame; camera_pose = local pose (wrist: in plate_gripper_base, env: env frame), pos + quat wxyz", + "dr_version": "v2" +} \ No newline at end of file diff --git a/episodes/c7_p010_e004/scene_snapshot.json b/episodes/c7_p010_e004/scene_snapshot.json new file mode 100644 index 0000000000000000000000000000000000000000..3f06e5524e4bf537e72b09bde1c2d0338ff45088 --- /dev/null +++ b/episodes/c7_p010_e004/scene_snapshot.json @@ -0,0 +1,1558 @@ +{ + "trajectory_id": 4, + "env_id": 1, + "run_id": "c7_p010", + "task_type": "BioPlateCell", + "success": true, + "timing": { + "fps": 50.0, + "sim_dt": 0.005, + "decimation": 4 + }, + "restore_interface": { + "scene": "scene_manager.reset_to(snapshot['scene'], env_ids=[env_id])", + "robots": "robot_manager.set_state({'robots': snapshot['robots']}, env_ids=[env_id])" + }, + "snapshot": { + "env_id": 1, + "scene": { + "objects": [ + {}, + { + "rac_cell": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/rac_cell.usd", + "pose": { + "pos": [ + 0.0, + 0.0, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "physics_material": { + "static_friction": 0.6, + "dynamic_friction": 0.5, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "robot_mount": [ + { + "asset": "Cube", + "pose": { + "pos": [ + 0.0, + 0.0, + 0.9075 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": "color", + "value": [ + 0.55, + 0.56, + 0.58 + ], + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": { + "size": [ + 0.2, + 0.2, + 0.015 + ] + } + }, + "type_specific": {} + } + ], + "plate_rack": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/plate_hotel.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 0.9 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "physics_material": { + "static_friction": 0.6, + "dynamic_friction": 0.5, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "hotel_plate": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/deep_well_24_10ml/deep_well_24_10ml.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 0.9605 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_24_clear/plate_24_clear.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.0285 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_96_black/plate_96_black.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.0965 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_96_white/plate_96_white.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.1645 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_6_clear/plate_6_clear.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.2325 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "a4s_sealer": [ + { + "asset": "$MAGICSIM_ASSETS/Articulated/A4SSealer/Object.usd", + "pose": { + "pos": [ + 0.4943122863769531, + 0.12484455108642578, + 0.8999999761581421 + ], + "ori": [ + -0.6890893578529358, + 0.0, + 0.0, + 0.7246763706207275 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "articulation", + "solver_position_iteration_count": 16.0, + "solver_velocity_iteration_count": 1.0, + "enabled_self_collisions": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "joint_position": [ + 2.3549163920971727e-12 + ], + "joint_velocity": [ + 0.0 + ], + "linear_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "angular_velocity": [ + 0.0, + 0.0, + 0.0 + ] + } + } + ], + "conveyor": [ + { + "asset": "Cube", + "pose": { + "pos": [ + 0.15, + 0.45, + 0.9 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "conveyor", + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9 + }, + "ratio": 1.0 + }, + "primitive_params": { + "size": [ + 2.4, + 0.076, + 0.03 + ] + }, + "conveyor": { + "speed": 0.2634338924917254, + "direction": [ + 1.0, + 0.0, + 0.0 + ], + "enabled": true, + "drive": "surface_velocity", + "lines": null, + "station_line": null, + "riders": [ + "carrier" + ], + "stations": { + "pick": { + "position": -0.09995848489895279, + "slow_distance": 0.03, + "slow_speed": 0.03 + } + }, + "rails": { + "height": 0.01, + "thickness": 0.01, + "gap": 0.001, + "friction": 0.05 + }, + "legs": 0.87, + "loop": { + "radius": 0.35, + "side": "left", + "curve_extra_width": 0.0, + "segments": 18, + "curve_rails": "both" + }, + "snap_distance": 0.1, + "junction_snap": 0.02, + "collision_approximation": "auto", + "plate_mass": 1.0, + "lift_drop": 0.004, + "accel": 0.0, + "decel": 0.0, + "drive_damping": 1000000.0, + "drive_max_force": 1000000000.0 + } + }, + "type_specific": { + "controller": { + "state": "at_station", + "speed": 0.2634338924917254, + "holds": [], + "station": "pick", + "rider": "carrier_1", + "arrived": true, + "applied_speed": 0.0 + } + } + } + ], + "carrier": [ + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + 0.050223350524902344, + 0.4499988555908203, + 0.8999999761581421 + ], + "ori": [ + 1.0, + -2.3794235470830927e-09, + 2.7686315462460698e-09, + 3.883904753365641e-07 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 1.1660792331724679e-09, + 1.1256372500767498e-09, + 0.0 + ], + "angular_velocity": [ + -9.181690074910875e-08, + 8.922206973238644e-08, + -4.285981791696258e-09 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + -1.3217458724975586, + 1.0158958435058594, + 0.8999999761581421 + ], + "ori": [ + -0.4270268380641937, + 1.139405156891371e-07, + 3.809347504102334e-08, + 0.9042389988899231 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -1.340367816737853e-10, + -2.277147359563969e-10, + -3.725290298461914e-09 + ], + "angular_velocity": [ + 3.5368429962545633e-08, + 4.6966306399554014e-09, + -7.763333087495994e-09 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + -0.0125579833984375, + 1.1499967575073242, + 0.8999999761581421 + ], + "ori": [ + -1.6271855201921426e-05, + -1.337390864719623e-09, + -1.7856098821766864e-09, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -6.057510049117809e-10, + 3.49630879803442e-11, + 3.725290298461914e-09 + ], + "angular_velocity": [ + -3.516505131528902e-08, + -5.516212553402511e-08, + -1.0824171781109726e-08 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + 1.6832275390625, + 0.8998022079467773, + 0.8999999761581421 + ], + "ori": [ + 0.6039444804191589, + -6.975123056918164e-08, + 6.130771623702458e-08, + 0.7970263361930847 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -1.7879483493743464e-07, + -7.03976965610309e-09, + 1.7508864402770996e-07 + ], + "angular_velocity": [ + -1.24055895867059e-06, + -8.576402251492254e-06, + -1.1578845260373782e-06 + ] + } + } + ], + "plate": [ + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_12_clear/Object.usd", + "pose": { + "pos": [ + 0.04701805114746094, + 0.4497842788696289, + 0.9179999828338623 + ], + "ori": [ + 0.9990442395210266, + 9.154062508009986e-10, + 1.4826704308745775e-09, + 0.043711014091968536 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -2.577587210339516e-08, + 2.4850068669479697e-09, + 9.313225746154785e-08 + ], + "angular_velocity": [ + 2.420332521069213e-07, + -1.4734243904968025e-06, + 1.1475102468239129e-07 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_96_white/Object.usd", + "pose": { + "pos": [ + -1.3301210403442383, + 1.022141456604004, + 0.9180000424385071 + ], + "ori": [ + -0.37308767437934875, + 1.1337415628531744e-07, + 4.520696350596154e-08, + 0.9277961850166321 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 4.091236860404024e-08, + 8.473421075905208e-09, + 4.842877388000488e-08 + ], + "angular_velocity": [ + -5.451656761579216e-07, + 8.336792234331369e-07, + 2.2287849787971936e-07 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/pcr_384_red/Object.usd", + "pose": { + "pos": [ + -0.02335357666015625, + 1.1401824951171875, + 0.9179999828338623 + ], + "ori": [ + -0.057169172912836075, + -1.4558341199233382e-09, + -9.678569057314235e-10, + 0.9983645081520081 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 4.573120104822692e-09, + -9.171940540397827e-09, + -5.669891834259033e-06 + ], + "angular_velocity": [ + -7.196022124844603e-07, + 1.5014364862508955e-06, + -8.373177706744173e-10 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/deep_well_96_1ml/Object.usd", + "pose": { + "pos": [ + 1.6834468841552734, + 0.9106340408325195, + 0.9179999828338623 + ], + "ori": [ + 0.6069316864013672, + 6.051422474229184e-07, + 1.6593310192547506e-07, + 0.7947540283203125 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -1.2406143241605605e-06, + 1.0611796824377961e-05, + -3.296881914138794e-06 + ], + "angular_velocity": [ + -0.00011894643830601126, + -0.00012114003038732335, + -5.44989961781539e-05 + ] + } + } + ], + "deco_hub_west": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/hub_a.usd", + "pose": { + "pos": [ + -3.36, + 0.0, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_hub_east": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/hub_c.usd", + "pose": { + "pos": [ + 3.36, + 0.0, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_hub_back": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/hub_d.usd", + "pose": { + "pos": [ + -3.0, + -2.1, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_bench_east": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/bench_c.usd", + "pose": { + "pos": [ + 2.6, + -2.5, + 0.0 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_bench_gap": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/bench_b.usd", + "pose": { + "pos": [ + -0.1, + -2.9, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ] + }, + {}, + {} + ], + "devices": { + "hub": [ + null, + { + "t": 3.1799999999999544, + "step": 636, + "counter": 0, + "devices": { + "a4s_sealer_1": { + "mode": "auto", + "units": { + "drawer": { + "state": "at_out", + "active": null, + "target": 0.0, + "goal_name": "out", + "profile": null, + "q_start": null, + "reversing": false, + "blocked_for": 0.0, + "settled_for": 0.0, + "last_q": 2.3549163920971727e-12 + }, + "heater": { + "state": "ready", + "active": null, + "duration": 0.0, + "t_start": null, + "elapsed": 0.0 + } + }, + "queues": {}, + "program": null, + "sensors": { + "plate_present": { + "occupants": [], + "pending": {} + } + }, + "interlocks": {} + }, + "conveyor_1": { + "mode": "auto", + "units": { + "belt": { + "state": "at_station", + "active": null, + "controller": { + "speed": 0.2634338924917254, + "holds": [], + "station": "pick", + "rider": "carrier_1", + "arrived": true, + "settle_count": 525, + "released": { + "pick": [] + }, + "last_pos": { + "carrier_1": [ + -0.09977665543556213, + -1.1324882507324219e-06, + 0.0 + ], + "carrier_2": [ + -1.471745878458023, + 0.5658958554267883, + 0.0 + ], + "carrier_3": [ + -0.16255798935890198, + 0.6999967694282532, + 0.0 + ], + "carrier_4": [ + 1.5332275331020355, + 0.4498022198677063, + 0.0 + ] + }, + "command": 0.0 + }, + "belt": { + "target_speed": 0.0, + "command_speed": 0.0 + }, + "seen": { + "state": "at_station", + "station": "pick", + "rider": "carrier_1", + "arrived": true + } + } + }, + "queues": {}, + "program": null, + "sensors": {}, + "interlocks": {} + } + }, + "zones": {}, + "labware": { + "plate_1": { + "sealed": false + }, + "plate_2": { + "sealed": false + }, + "plate_3": { + "sealed": false + }, + "plate_4": { + "sealed": false + } + }, + "rules": {}, + "records": [], + "bus": { + "seq": 3, + "queue": [] + } + }, + null, + null + ], + "drives": [ + null, + {}, + null, + null + ] + }, + "artifacts": [ + {}, + { + "ceiling": { + "type": "rect", + "pose": { + "pos": [ + 0.5036542494703892, + -0.005954906536465521, + 2.8669103322695255 + ], + "ori": [ + 7.2159016595636345, + 4.784300535914419, + -20.384707791542148 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "color_temperature": 3650.541533767712, + "color": [ + 0.9868788976994203, + 0.8849089145330215, + 0.927406939065248 + ], + "intensity": 4472.394959659214, + "width": 2.1695854907429903, + "height": 1.762029171740937 + } + }, + "key": { + "type": "disk", + "pose": { + "pos": [ + -0.05703182254050487, + -0.7353183284024507, + 2.646851711233269 + ], + "ori": [ + -15.488862455010526, + -34.720208530519024, + 15.077482676007733 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "color_temperature": 4505.387279230685, + "color": [ + 0.9177200413334168, + 0.9166665982763657, + 0.8168243685082557 + ], + "intensity": 4622.783922477765, + "radius": 0.37790706211431146 + } + } + }, + {}, + {} + ], + "background": { + "type": "dome", + "pose": { + "pos": null, + "ori": null, + "scale": null + }, + "dr": { + "intensity": 467.9637629217489, + "texture": null, + "color": [ + 0.92, + 0.94, + 0.96 + ] + } + } + }, + "robots": { + "UR5e": { + "root_pose": [ + [ + 11.0, + -11.0, + 0.9150000214576721, + 1.0, + 0.0, + 0.0, + 0.0 + ], + [ + 11.0, + 11.0, + 0.9150000214576721, + 1.0, + 0.0, + 0.0, + 0.0 + ], + [ + -11.0, + -11.0, + 0.9150000214576721, + 1.0, + 0.0, + 0.0, + 0.0 + ], + [ + -11.0, + 11.0, + 0.9150000214576721, + 1.0, + 0.0, + 0.0, + 0.0 + ] + ], + "root_vel": [ + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + ], + "joint_pos": [ + [ + 0.9140999913215637, + -1.7194000482559204, + 2.0905001163482666, + -1.9419000148773193, + -1.5707999467849731, + 2.4848999977111816, + 0.017999999225139618, + 0.017999999225139618 + ], + [ + 0.9141019582748413, + -1.7193982601165771, + 2.0904994010925293, + -1.9419001340866089, + -1.5707999467849731, + 2.484900712966919, + 0.017999999225139618, + 0.017999999225139618 + ], + [ + 1.1136173009872437, + -1.3077622652053833, + 2.269921064376831, + -2.535172939300537, + -1.572062611579895, + 2.668198347091675, + 0.007737373933196068, + 0.007120662834495306 + ], + [ + 0.9140999913215637, + -1.7194000482559204, + 2.0905001163482666, + -1.9419000148773193, + -1.5707999467849731, + 2.4848999977111816, + 0.017999999225139618, + 0.017999999225139618 + ] + ], + "joint_vel": [ + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + [ + 2.1906682462888692e-38, + -2.0833866575481648e-38, + 1.4530842898530193e-38, + -6.575198213988896e-37, + 4.686451913135448e-37, + 2.84223035758358e-37, + -2.3225031064617801e-38, + 0.0 + ], + [ + 6.356756057357416e-05, + 0.006681534461677074, + 0.0019670838955789804, + -0.009302030317485332, + 0.0005595036200247705, + 0.0027469955384731293, + -0.007701652590185404, + 0.0002883558627218008 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + ] + } + }, + "cameras": { + "cameras": { + "camera0": [ + [ + 0.046741388738155365, + 0.003219427540898323, + -0.03225124254822731, + -0.297018826007843, + 0.6416015625, + 0.6500443816184998, + -0.2785130739212036 + ], + [ + 0.05356593802571297, + 0.00033970148069784045, + -0.027909008786082268, + -0.28088805079460144, + 0.6530712842941284, + 0.6469047665596008, + -0.275887668132782 + ], + [ + 0.049160100519657135, + 0.0008740905905142426, + -0.02788766287267208, + -0.2796374261379242, + 0.6465738415718079, + 0.6560109853744507, + -0.27091464400291443 + ], + [ + 0.05129736289381981, + 0.004963223356753588, + -0.02775508351624012, + -0.27969488501548767, + 0.649707555770874, + 0.6499415040016174, + -0.2778972387313843 + ] + ], + "camera1": [ + [ + 0.026567628607153893, + 0.5840389728546143, + 1.948609709739685, + 0.04556357488036156, + -0.00036762075615115464, + 0.2875005900859833, + 0.9566959738731384 + ], + [ + 0.07476349920034409, + 0.5694386959075928, + 1.9526737928390503, + 0.0387016199529171, + 0.024685293436050415, + 0.2616857588291168, + 0.96406090259552 + ], + [ + 0.0393747054040432, + 0.569907009601593, + 1.9290940761566162, + 0.055712804198265076, + 0.0030745435506105423, + 0.26614755392074585, + 0.9623160362243652 + ], + [ + 0.04664687439799309, + 0.56461101770401, + 1.9672191143035889, + 0.04545336961746216, + 0.013016829267144203, + 0.26596859097480774, + 0.9628214836120605 + ] + ] + } + } + } +} \ No newline at end of file diff --git a/episodes/c7_p010_e004/wrist.mp4 b/episodes/c7_p010_e004/wrist.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..b8ad2b3b70dfbe710820450a23db948f5e1126fc --- /dev/null +++ b/episodes/c7_p010_e004/wrist.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:eea1b1dbec651cebe22b476d6c5fe225c65173501be827b59155d1b002895fd8 +size 6543265 diff --git a/episodes/c9_p011_e019/data.npz b/episodes/c9_p011_e019/data.npz new file mode 100644 index 0000000000000000000000000000000000000000..f24700780e8a239b841756acb1f69276cbac68c9 --- /dev/null +++ b/episodes/c9_p011_e019/data.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:9535ed31844003444a4943785a6efaab7f7a4d80102ef146d04d2df3eca7ad6a +size 190022 diff --git a/episodes/c9_p011_e019/device_events.jsonl b/episodes/c9_p011_e019/device_events.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..e8a135385064dea8df78238ceb044f74c7066c77 --- /dev/null +++ b/episodes/c9_p011_e019/device_events.jsonl @@ -0,0 +1,35 @@ +{"env_id": 2, "seq": 1, "step": 108, "t": 0.54, "topic": "conveyor_1.belt.station.pick.captured", "source": "conveyor_1.belt", "data": {"rider": "carrier_2"}, "cause": null} +{"env_id": 2, "seq": 2, "step": 108, "t": 0.54, "topic": "conveyor_1.belt.state.changed", "source": "conveyor_1.belt", "data": {"from": "running", "to": "at_station"}, "cause": null} +{"env_id": 2, "seq": 3, "step": 113, "t": 0.565, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_2"}, "cause": null} +{"env_id": 2, "seq": 4, "step": 7002, "t": 35.01, "topic": "a4s_sealer_1.plate_present.present", "source": "a4s_sealer_1.plate_present", "data": {"object": "plate_2"}, "cause": null} +{"env_id": 2, "seq": 5, "step": 7616, "t": 38.08, "topic": "a4s_sealer_1.command.started", "source": "a4s_sealer_1", "data": {"command_id": "task-2-1", "name": "seal", "source": "task"}, "cause": "task-2-1"} +{"env_id": 2, "seq": 6, "step": 7616, "t": 38.08, "topic": "a4s_sealer_1.seal.started", "source": "a4s_sealer_1", "data": {"dwell": 2.495443747379294}, "cause": "task-2-1"} +{"env_id": 2, "seq": 7, "step": 7616, "t": 38.08, "topic": "a4s_sealer_1.drawer.command.started", "source": "a4s_sealer_1.drawer", "data": {"command_id": "program-2-2", "name": "close", "source": "program:seal"}, "cause": "program-2-2"} +{"env_id": 2, "seq": 8, "step": 7616, "t": 38.08, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "at_out", "to": "moving"}, "cause": null} +{"env_id": 2, "seq": 9, "step": 7616, "t": 38.08, "topic": "a4s_sealer_1.drawer.moving", "source": "a4s_sealer_1.drawer", "data": {"target": 0.3, "goal": "in"}, "cause": "program-2-2"} +{"env_id": 2, "seq": 10, "step": 8035, "t": 40.175, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "moving", "to": "at_in"}, "cause": null} +{"env_id": 2, "seq": 11, "step": 8035, "t": 40.175, "topic": "a4s_sealer_1.drawer.reached", "source": "a4s_sealer_1.drawer", "data": {"position": "in", "q": 0.30000001192092896}, "cause": "program-2-2"} +{"env_id": 2, "seq": 12, "step": 8035, "t": 40.175, "topic": "a4s_sealer_1.drawer.at_in", "source": "a4s_sealer_1.drawer", "data": {"q": 0.30000001192092896}, "cause": "program-2-2"} +{"env_id": 2, "seq": 13, "step": 8035, "t": 40.175, "topic": "a4s_sealer_1.drawer.command.succeeded", "source": "a4s_sealer_1.drawer", "data": {"command_id": "program-2-2", "name": "close", "source": "program:seal", "result": {"position": "in"}}, "cause": "program-2-2"} +{"env_id": 2, "seq": 14, "step": 8035, "t": 40.175, "topic": "labware.plate_2.changed", "source": "labware.plate_2", "data": {"key": "sealed", "value": true}, "cause": "task-2-1"} +{"env_id": 2, "seq": 15, "step": 8035, "t": 40.175, "topic": "a4s_sealer_1.sealed", "source": "a4s_sealer_1", "data": {"plate": "plate_2"}, "cause": "task-2-1"} +{"env_id": 2, "seq": 16, "step": 8035, "t": 40.175, "topic": "a4s_sealer_1.heater.command.started", "source": "a4s_sealer_1.heater", "data": {"command_id": "program-2-3", "name": "run", "source": "program:seal"}, "cause": "program-2-3"} +{"env_id": 2, "seq": 17, "step": 8035, "t": 40.175, "topic": "a4s_sealer_1.heater.state.changed", "source": "a4s_sealer_1.heater", "data": {"from": "ready", "to": "running"}, "cause": null} +{"env_id": 2, "seq": 18, "step": 8035, "t": 40.175, "topic": "a4s_sealer_1.heater.started", "source": "a4s_sealer_1.heater", "data": {"duration": 2.495443747379294}, "cause": "program-2-3"} +{"env_id": 2, "seq": 19, "step": 8535, "t": 42.675, "topic": "a4s_sealer_1.heater.state.changed", "source": "a4s_sealer_1.heater", "data": {"from": "running", "to": "ready"}, "cause": null} +{"env_id": 2, "seq": 20, "step": 8535, "t": 42.675, "topic": "a4s_sealer_1.heater.finished", "source": "a4s_sealer_1.heater", "data": {"elapsed": 2.500000000001279}, "cause": "program-2-3"} +{"env_id": 2, "seq": 21, "step": 8535, "t": 42.675, "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": 2.500000000001279}}, "cause": "program-2-3"} +{"env_id": 2, "seq": 22, "step": 8535, "t": 42.675, "topic": "a4s_sealer_1.drawer.command.started", "source": "a4s_sealer_1.drawer", "data": {"command_id": "program-2-4", "name": "open", "source": "program:seal"}, "cause": "program-2-4"} +{"env_id": 2, "seq": 23, "step": 8535, "t": 42.675, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "at_in", "to": "moving"}, "cause": null} +{"env_id": 2, "seq": 24, "step": 8535, "t": 42.675, "topic": "a4s_sealer_1.drawer.moving", "source": "a4s_sealer_1.drawer", "data": {"target": 0.0, "goal": "out"}, "cause": "program-2-4"} +{"env_id": 2, "seq": 25, "step": 8955, "t": 44.775, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "moving", "to": "at_out"}, "cause": null} +{"env_id": 2, "seq": 26, "step": 8955, "t": 44.775, "topic": "a4s_sealer_1.drawer.reached", "source": "a4s_sealer_1.drawer", "data": {"position": "out", "q": 0.0}, "cause": "program-2-4"} +{"env_id": 2, "seq": 27, "step": 8955, "t": 44.775, "topic": "a4s_sealer_1.drawer.at_out", "source": "a4s_sealer_1.drawer", "data": {"q": 0.0}, "cause": "program-2-4"} +{"env_id": 2, "seq": 28, "step": 8955, "t": 44.775, "topic": "a4s_sealer_1.drawer.command.succeeded", "source": "a4s_sealer_1.drawer", "data": {"command_id": "program-2-4", "name": "open", "source": "program:seal", "result": {"position": "out"}}, "cause": "program-2-4"} +{"env_id": 2, "seq": 29, "step": 8955, "t": 44.775, "topic": "a4s_sealer_1.seal.finished", "source": "a4s_sealer_1", "data": {}, "cause": "task-2-1"} +{"env_id": 2, "seq": 30, "step": 8955, "t": 44.775, "topic": "a4s_sealer_1.command.succeeded", "source": "a4s_sealer_1", "data": {"command_id": "task-2-1", "name": "seal", "source": "task"}, "cause": "task-2-1"} +{"env_id": 2, "seq": 31, "step": 9536, "t": 47.68, "topic": "a4s_sealer_1.plate_present.absent", "source": "a4s_sealer_1.plate_present", "data": {"object": "plate_2"}, "cause": null} +{"env_id": 2, "seq": 32, "step": 11296, "t": 56.48, "topic": "conveyor_1.belt.command.started", "source": "conveyor_1.belt", "data": {"command_id": "task-2-5", "name": "release", "source": "task"}, "cause": "task-2-5"} +{"env_id": 2, "seq": 33, "step": 11296, "t": 56.48, "topic": "conveyor_1.belt.station.pick.released", "source": "conveyor_1.belt", "data": {"rider": "carrier_2"}, "cause": "task-2-5"} +{"env_id": 2, "seq": 34, "step": 11296, "t": 56.48, "topic": "conveyor_1.belt.state.changed", "source": "conveyor_1.belt", "data": {"from": "at_station", "to": "running"}, "cause": null} +{"env_id": 2, "seq": 35, "step": 11296, "t": 56.48, "topic": "conveyor_1.belt.command.succeeded", "source": "conveyor_1.belt", "data": {"command_id": "task-2-5", "name": "release", "source": "task", "result": {"state": "running"}}, "cause": "task-2-5"} diff --git a/episodes/c9_p011_e019/env.mp4 b/episodes/c9_p011_e019/env.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..c70ed557b7f23960b10ff597dfb0b16c78d9b90b --- /dev/null +++ b/episodes/c9_p011_e019/env.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:0cd4b9137763d59d6c7ba54f9c9d29ef243fae1e8e2f4d53553fb350b06a6313 +size 1307001 diff --git a/episodes/c9_p011_e019/meta.json b/episodes/c9_p011_e019/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..88467a0c3356d9bbfe231cc8e09d3fa8fe66832f --- /dev/null +++ b/episodes/c9_p011_e019/meta.json @@ -0,0 +1,32 @@ +{ + "source": "raw/c9_p011/magicsim/19", + "fps": 25, + "frames": 1237, + "kept_ticks": "even", + "video_frames": { + "wrist": 1237, + "env": 1237 + }, + "joint_target_source": "joint_pos_target", + "fk_vs_recorded_eef_max_m": 0.0, + "curobo_joints": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "joint_order": [ + "shoulder_pan", + "shoulder_lift", + "elbow", + "wrist_1", + "wrist_2", + "wrist_3", + "finger_left", + "finger_right" + ], + "frames_note": "eef / actions in the robot base frame; camera_pose = local pose (wrist: in plate_gripper_base, env: env frame), pos + quat wxyz", + "dr_version": "v2" +} \ No newline at end of file diff --git a/episodes/c9_p011_e019/scene_snapshot.json b/episodes/c9_p011_e019/scene_snapshot.json new file mode 100644 index 0000000000000000000000000000000000000000..037d3893b88b627c7dd5bf58bb45b229816d1c7f --- /dev/null +++ b/episodes/c9_p011_e019/scene_snapshot.json @@ -0,0 +1,1558 @@ +{ + "trajectory_id": 19, + "env_id": 2, + "run_id": "c9_p011", + "task_type": "BioPlateCell", + "success": true, + "timing": { + "fps": 50.0, + "sim_dt": 0.005, + "decimation": 4 + }, + "restore_interface": { + "scene": "scene_manager.reset_to(snapshot['scene'], env_ids=[env_id])", + "robots": "robot_manager.set_state({'robots': snapshot['robots']}, env_ids=[env_id])" + }, + "snapshot": { + "env_id": 2, + "scene": { + "objects": [ + {}, + {}, + { + "rac_cell": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/rac_cell.usd", + "pose": { + "pos": [ + 0.0, + 0.0, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "physics_material": { + "static_friction": 0.6, + "dynamic_friction": 0.5, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "robot_mount": [ + { + "asset": "Cube", + "pose": { + "pos": [ + 0.0, + 0.0, + 0.9075 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": "color", + "value": [ + 0.55, + 0.56, + 0.58 + ], + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": { + "size": [ + 0.2, + 0.2, + 0.015 + ] + } + }, + "type_specific": {} + } + ], + "plate_rack": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/plate_hotel.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 0.9 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "physics_material": { + "static_friction": 0.6, + "dynamic_friction": 0.5, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "hotel_plate": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_24_clear/plate_24_clear.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 0.9605 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/pcr_96_blue/pcr_96_blue.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.0285 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_384_white/plate_384_white.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.0965 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_384_white/plate_384_white.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.1645 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_6_clear/plate_6_clear.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.2325 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "a4s_sealer": [ + { + "asset": "$MAGICSIM_ASSETS/Articulated/A4SSealer/Object.usd", + "pose": { + "pos": [ + 0.5055665969848633, + 0.09293270111083984, + 0.8999999761581421 + ], + "ori": [ + 0.7367668747901917, + 0.0, + 0.0, + -0.6761468648910522 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "articulation", + "solver_position_iteration_count": 16.0, + "solver_velocity_iteration_count": 1.0, + "enabled_self_collisions": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "joint_position": [ + 0.0 + ], + "joint_velocity": [ + 0.0 + ], + "linear_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "angular_velocity": [ + 0.0, + 0.0, + 0.0 + ] + } + } + ], + "conveyor": [ + { + "asset": "Cube", + "pose": { + "pos": [ + 0.15, + 0.45, + 0.9 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "conveyor", + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9 + }, + "ratio": 1.0 + }, + "primitive_params": { + "size": [ + 2.4, + 0.076, + 0.03 + ] + }, + "conveyor": { + "speed": 0.2898920622725491, + "direction": [ + 1.0, + 0.0, + 0.0 + ], + "enabled": true, + "drive": "surface_velocity", + "lines": null, + "station_line": null, + "riders": [ + "carrier" + ], + "stations": { + "pick": { + "position": -0.09593813464858594, + "slow_distance": 0.03, + "slow_speed": 0.03 + } + }, + "rails": { + "height": 0.01, + "thickness": 0.01, + "gap": 0.001, + "friction": 0.05 + }, + "legs": 0.87, + "loop": { + "radius": 0.35, + "side": "left", + "curve_extra_width": 0.0, + "segments": 18, + "curve_rails": "both" + }, + "snap_distance": 0.1, + "junction_snap": 0.02, + "collision_approximation": "auto", + "plate_mass": 1.0, + "lift_drop": 0.004, + "accel": 0.0, + "decel": 0.0, + "drive_damping": 1000000.0, + "drive_max_force": 1000000000.0 + } + }, + "type_specific": { + "controller": { + "state": "at_station", + "speed": 0.2898920622725491, + "holds": [], + "station": "pick", + "rider": "carrier_2", + "arrived": true, + "applied_speed": 0.0 + } + } + } + ], + "carrier": [ + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + 0.4071388244628906, + 1.1524829864501953, + 0.8999999761581421 + ], + "ori": [ + -0.010203504003584385, + -2.4392705633147216e-09, + 2.8789905570647534e-08, + 0.9999479651451111 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -2.4099193751681014e-08, + -3.4175226204524733e-08, + -4.0978193283081055e-08 + ], + "angular_velocity": [ + 4.178831659373827e-06, + -1.556771962896164e-06, + -4.593582616507774e-07 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + 0.05399036407470703, + 0.4485321044921875, + 0.8999999761581421 + ], + "ori": [ + 0.9998384714126587, + -1.3901468864929711e-09, + -4.913406126405562e-09, + 0.017974965274333954 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -3.686784211254235e-11, + 2.1810517836229337e-09, + 3.725290298461914e-09 + ], + "angular_velocity": [ + -7.553948933036736e-08, + -4.3931525084417444e-09, + 9.54068113401263e-09 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + -1.3831558227539062, + 0.6998968124389648, + 0.8999999761581421 + ], + "ori": [ + -0.7972143292427063, + 5.946627723574238e-08, + 9.597233230351776e-08, + 0.603696346282959 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -5.535667924050358e-08, + -1.0095334346260643e-08, + 8.195638656616211e-08 + ], + "angular_velocity": [ + 8.966308087110519e-07, + -3.934782398573589e-06, + 1.857185907283565e-07 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + 1.4573698043823242, + 0.4703798294067383, + 0.8999999761581421 + ], + "ori": [ + 0.9891653656959534, + -8.217681823907697e-08, + 7.816313285502474e-08, + 0.14680573344230652 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -1.7625421122602347e-09, + -3.802558712351356e-09, + 1.1175870895385742e-08 + ], + "angular_velocity": [ + 2.567524575169955e-07, + -2.5684906290734943e-07, + 2.447329006116661e-09 + ] + } + } + ], + "plate": [ + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_24_clear/Object.usd", + "pose": { + "pos": [ + 0.4038724899291992, + 1.1524972915649414, + 0.9179999828338623 + ], + "ori": [ + -0.0788915753364563, + 1.3252170560917875e-07, + 7.902850995833433e-08, + 0.9968832731246948 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -9.426848919247277e-07, + -4.903003173239995e-06, + -8.087605237960815e-06 + ], + "angular_velocity": [ + 1.4422395906876773e-05, + 2.763574229902588e-05, + 6.421711077564396e-06 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_384_black/Object.usd", + "pose": { + "pos": [ + 0.05847644805908203, + 0.43810176849365234, + 0.9180000424385071 + ], + "ori": [ + 0.9978857636451721, + -5.324882201840353e-10, + -4.928652153068924e-09, + -0.06499312818050385 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -2.146779287670597e-08, + 3.1356744756294574e-08, + -5.09992241859436e-06 + ], + "angular_velocity": [ + -1.0614133998387842e-06, + -1.7114089132519439e-06, + 1.287379518544185e-07 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_1536_black/Object.usd", + "pose": { + "pos": [ + -1.3808937072753906, + 0.7036647796630859, + 0.9180000424385071 + ], + "ori": [ + -0.8431031107902527, + 6.905529659206877e-08, + 9.208437745655829e-08, + 0.5377520322799683 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -1.7962310039365548e-07, + -5.180481821298599e-09, + 3.5762786865234375e-07 + ], + "angular_velocity": [ + -9.600553312338889e-07, + -8.889624041330535e-06, + 7.990092854015529e-08 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/deep_well_24_10ml/Object.usd", + "pose": { + "pos": [ + 1.4513359069824219, + 0.4676828384399414, + 0.9179999828338623 + ], + "ori": [ + 0.9981594681739807, + -8.841613663435055e-08, + 7.054628525793305e-08, + 0.06064360588788986 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -1.1144329903345351e-07, + -1.1681741796110146e-07, + -9.834766387939453e-07 + ], + "angular_velocity": [ + 3.283938667664188e-06, + -3.2577968340774532e-06, + 8.043600274731944e-08 + ] + } + } + ], + "deco_hub_west": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/hub_c.usd", + "pose": { + "pos": [ + -3.36, + 0.0, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_hub_east": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/hub_a.usd", + "pose": { + "pos": [ + 3.36, + 0.0, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_hub_back": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/hub_e.usd", + "pose": { + "pos": [ + -3.0, + -2.1, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_bench_east": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/bench_a.usd", + "pose": { + "pos": [ + 2.6, + -2.5, + 0.0 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_bench_gap": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/bench_b.usd", + "pose": { + "pos": [ + -0.1, + -2.9, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ] + }, + {} + ], + "devices": { + "hub": [ + null, + null, + { + "t": 7.15999999999987, + "step": 1432, + "counter": 0, + "devices": { + "a4s_sealer_1": { + "mode": "auto", + "units": { + "drawer": { + "state": "at_out", + "active": null, + "target": 0.0, + "goal_name": "out", + "profile": null, + "q_start": null, + "reversing": false, + "blocked_for": 0.0, + "settled_for": 0.0, + "last_q": 0.0 + }, + "heater": { + "state": "ready", + "active": null, + "duration": 0.0, + "t_start": null, + "elapsed": 0.0 + } + }, + "queues": {}, + "program": null, + "sensors": { + "plate_present": { + "occupants": [], + "pending": {} + } + }, + "interlocks": {} + }, + "conveyor_1": { + "mode": "auto", + "units": { + "belt": { + "state": "at_station", + "active": null, + "controller": { + "speed": 0.2898920622725491, + "holds": [], + "station": "pick", + "rider": "carrier_2", + "arrived": true, + "settle_count": 1323, + "released": { + "pick": [] + }, + "last_pos": { + "carrier_1": [ + 0.25713881850242615, + 0.7024829983711243, + 0.0 + ], + "carrier_2": [ + -0.09600964188575745, + -0.001467883586883545, + 0.0 + ], + "carrier_3": [ + -1.5331558287143707, + 0.2498968243598938, + 0.0 + ], + "carrier_4": [ + 1.3073697984218597, + 0.020379841327667236, + 0.0 + ] + }, + "command": 0.0 + }, + "belt": { + "target_speed": 0.0, + "command_speed": 0.0 + }, + "seen": { + "state": "at_station", + "station": "pick", + "rider": "carrier_2", + "arrived": true + } + } + }, + "queues": {}, + "program": null, + "sensors": {}, + "interlocks": {} + } + }, + "zones": {}, + "labware": { + "plate_1": { + "sealed": false + }, + "plate_2": { + "sealed": false + }, + "plate_3": { + "sealed": false + }, + "plate_4": { + "sealed": false + } + }, + "rules": {}, + "records": [], + "bus": { + "seq": 3, + "queue": [] + } + }, + null + ], + "drives": [ + null, + null, + {}, + null + ] + }, + "artifacts": [ + {}, + {}, + { + "ceiling": { + "type": "rect", + "pose": { + "pos": [ + -0.3662158527553808, + 0.30648079375360326, + 3.1783207822905304 + ], + "ori": [ + -10.314524136683865, + 4.173243166808334, + 26.500809834432907 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "color_temperature": 3743.385413775497, + "color": [ + 0.8733327333137578, + 0.8427737007284987, + 0.8858912616362047 + ], + "intensity": 8811.613506646849, + "width": 2.764533559585647, + "height": 1.8618891417445647 + } + }, + "key": { + "type": "disk", + "pose": { + "pos": [ + 0.3386434559466247, + -1.0779238085690215, + 2.7694139114437224 + ], + "ori": [ + 12.815287895420575, + 32.13522187620879, + 5.604229639888672 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "color_temperature": 5614.09446292042, + "color": [ + 0.990969885102537, + 0.800799951084138, + 0.964727916954779 + ], + "intensity": 10153.748974301496, + "radius": 0.49946384917898623 + } + } + }, + {} + ], + "background": { + "type": "dome", + "pose": { + "pos": null, + "ori": null, + "scale": null + }, + "dr": { + "intensity": 912.7237325880448, + "texture": null, + "color": [ + 0.92, + 0.94, + 0.96 + ] + } + } + }, + "robots": { + "UR5e": { + "root_pose": [ + [ + 11.0, + -11.0, + 0.9150000214576721, + 1.0, + 0.0, + 0.0, + 0.0 + ], + [ + 11.0, + 11.0, + 0.9150000214576721, + 1.0, + 0.0, + 0.0, + 0.0 + ], + [ + -11.0, + -11.0, + 0.9150000214576721, + 1.0, + 0.0, + 0.0, + 0.0 + ], + [ + -11.0, + 11.0, + 0.9150000214576721, + 1.0, + 0.0, + 0.0, + 0.0 + ] + ], + "root_vel": [ + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + ], + "joint_pos": [ + [ + 2.546555519104004, + -2.180802345275879, + 2.394753932952881, + -1.7848557233810425, + -1.5635676383972168, + 4.115939140319824, + 0.007188406307250261, + 0.006591363810002804 + ], + [ + 0.8690149188041687, + -1.5051201581954956, + 2.1006052494049072, + -2.1662797927856445, + -1.570789098739624, + 2.644106388092041, + 0.007623184472322464, + 0.007037509698420763 + ], + [ + 0.9141137599945068, + -1.719393014907837, + 2.090496301651001, + -1.9419001340866089, + -1.5707999467849731, + 2.4849071502685547, + 0.017999999225139618, + 0.017999999225139618 + ], + [ + 2.583061933517456, + -2.055964946746826, + 2.5229833126068115, + -2.0384366512298584, + -1.5709984302520752, + 4.155990123748779, + 0.007691333070397377, + 0.0070124720223248005 + ] + ], + "joint_vel": [ + [ + 0.020105808973312378, + 0.033626019954681396, + -0.01233123429119587, + -0.021042732521891594, + 0.00039068079786375165, + 0.019394470378756523, + -0.010914048179984093, + -0.0010686987079679966 + ], + [ + 6.095724165788852e-05, + -2.0327230231487192e-05, + -0.0002208964724559337, + 9.491961827734485e-05, + -8.718367098481394e-06, + -0.00020365181262604892, + -0.007486492861062288, + 0.00025539734633639455 + ], + [ + 5.108947789267404e-06, + -5.4447938535205284e-14, + -4.5860383090894075e-14, + -4.502562873324317e-14, + -3.4059783047268866e-06, + 6.242907666514919e-13, + -4.1348402566449005e-13, + -1.7133583234910793e-13 + ], + [ + 0.019304674118757248, + 0.03781646862626076, + -0.016341352835297585, + -0.02158351056277752, + -2.1822885173605755e-05, + 0.019473806023597717, + -0.008595497347414494, + 0.00026183060253970325 + ] + ] + } + }, + "cameras": { + "cameras": { + "camera0": [ + [ + 0.0478692390024662, + 0.0023182150907814503, + -0.030829565599560738, + -0.2715164124965668, + 0.6575359106063843, + 0.6413920521736145, + -0.2873005270957947 + ], + [ + 0.05023372918367386, + 0.001176321879029274, + -0.027991699054837227, + -0.27702295780181885, + 0.6455821990966797, + 0.6519471406936646, + -0.28538891673088074 + ], + [ + 0.049536384642124176, + -0.001811573514714837, + -0.031227651983499527, + -0.2762353718280792, + 0.6603187918663025, + 0.6343199014663696, + -0.2920810580253601 + ], + [ + 0.049315016716718674, + 0.0004512309096753597, + -0.029227936640381813, + -0.28202909231185913, + 0.6524791717529297, + 0.6489826440811157, + -0.2712049186229706 + ] + ], + "camera1": [ + [ + 0.05066018924117088, + 0.5643107295036316, + 1.9597214460372925, + 0.037674274295568466, + 0.03016209788620472, + 0.28174397349357605, + 0.9582751393318176 + ], + [ + 0.034115370362997055, + 0.5943688154220581, + 1.959274172782898, + 0.03591306135058403, + 0.007676141336560249, + 0.27608686685562134, + 0.9604308009147644 + ], + [ + 0.029403584077954292, + 0.5673705339431763, + 1.9323331117630005, + 0.04910002276301384, + 0.021335644647479057, + 0.2814851403236389, + 0.9580710530281067 + ], + [ + 0.06850150972604752, + 0.5805220603942871, + 1.9497365951538086, + 0.044997088611125946, + -0.0030439221300184727, + 0.25482091307640076, + 0.9659359455108643 + ] + ] + } + } + } +} \ No newline at end of file diff --git a/episodes/c9_p011_e019/wrist.mp4 b/episodes/c9_p011_e019/wrist.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..f4563f32fa07c37e0473cbb54cf51f5c02c4d6ba --- /dev/null +++ b/episodes/c9_p011_e019/wrist.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:324b9e7dfa5969e38c91dc9ac9bdd11d3bb2300f8c41e3770c7d16525d25f626 +size 7001429 diff --git a/index/episodes.csv b/index/episodes.csv index d4eb50266731cbb888610573bfc939f42c4e3548..4ddf45222f11b0d61694cc5afc096586b42f3087 100644 --- a/index/episodes.csv +++ b/index/episodes.csv @@ -2963,3 +2963,17 @@ c6_p009_e022,0,True,0.08482170104980469,0.4472179412841797,-0.003157311782871541 c9_p011_e016,0,True,0.1407461166381836,0.45000171661376953,-0.011727971367973506,-0.009816546534408433,-11.286979921823757,pcr_96_blue,0.4791736602783203,0.06023120880126953,-88.05324592295906,0.2944157719652424,912.7237325880448,rect,-0.011827648033047589,-0.1378137327029274,3.080970362541374,13739.566880074186,6815.813366456891,disk,1.032499570943331,-0.44991322317083116,2.0902484745394068,3741.138292966756,7029.182163986924,0.04859907925128937,0.0012737601064145565,-0.03253098577260971,-0.2744300365447998,0.6543502807617188,0.644023597240448,-0.2859150469303131,0.05066018924117088,0.5643107295036316,1.9597214460372925,0.037674274295568466,0.03016209788620472,0.28174397349357605,0.9582751393318176,1192,1,,2.042844772338867,0.24474822725454973,0.0,0.006768046412616968,0.5310402684563759,12,release,0.04208385944366455,"Pre-grasping the small plate, moving the arm toward it; the ",v2,True,False c9_p011_e017,3,True,-0.08280181884765625,0.4474515914916992,0.007259546024501118,0.004632925720070091,11.412301108697704,plate_48_clear,0.5216436386108398,0.11292362213134766,-87.43239555807246,0.28349642514533063,912.7237325880448,rect,0.321243210759526,-0.05191935257328212,3.0083163189671343,5823.5313629050925,6765.655965113365,sphere,-0.6398169326862413,-1.1215538879454907,2.161580833241094,3263.342943532416,2878.5372847831645,0.04667215421795845,0.0014048856683075428,-0.032309096306562424,-0.2808993458747864,0.6519822478294373,0.6485118269920349,-0.27467644214630127,0.06850150972604752,0.5805220603942871,1.9497365951538086,0.044997088611125946,-0.0030439221300184727,0.25482091307640076,0.9659359455108643,1226,1,,2.0552923679351807,0.2728579282256844,0.0,0.007288877386599779,0.5244698205546493,12,release,0.04220247268676758,"Pre-grasping the small plate, moving the arm toward it; the ",v2,True,False c9_p011_e018,1,True,0.06121063232421875,0.45000362396240234,-0.008116270420386144,0.009855810694058022,-11.69940587797214,plate_96_white,0.5227231979370117,0.11492919921875,-88.80199811353675,0.19701198954816174,912.7237325880448,rect,0.766397386420728,0.33050441755045734,3.104560130027935,11499.040464893922,6158.320880065414,disk,-0.22284305497951573,-0.9894733997186489,2.5179203318330483,10891.39250736603,6116.4437976246,0.049167681485414505,0.00013584962289314717,-0.029489954933524132,-0.27683010697364807,0.6491979956626892,0.6476041674613953,-0.2872558534145355,0.034115370362997055,0.5943688154220581,1.959274172782898,0.03591306135058403,0.007676141336560249,0.27608686685562134,0.9604308009147644,1225,1,,2.16428542137146,0.2810577652592148,0.0,0.007257069461047649,0.5289795918367347,12,release,0.04222249984741211,"Pre-grasping the small plate, moving the arm toward it; the ",v2,True,False +c2_p011_e017,3,True,0.1391592025756836,0.44728851318359375,0.004681297713641993,0.007320422896633683,-0.3026386092147675,reservoir_12ch,0.48239707946777344,0.11338615417480469,-91.06423776343438,0.1911349624666368,736.0858191530792,rect,0.6569114830828809,0.4516477519417015,2.6064915757244096,9489.990708656493,4229.9158235377745,disk,1.1299722018271585,1.4806948717667596,2.1973937866389535,3537.9567926130535,5433.902128825862,0.04743638262152672,0.002132401103153825,-0.034528087824583054,-0.2683142423629761,0.6516755819320679,0.6560105085372925,-0.27014195919036865,0.031134963035583496,0.5789229273796082,1.9560350179672241,0.04061199724674225,0.0026054501067847013,0.27009227871894836,0.961974024772644,1272,1,,2.103179693222046,0.3215268115334701,0.0,0.007391037419438362,0.5039308176100629,12,release,0.042420029640197754,"Pre-grasping the small plate, moving the arm toward it; the ",v2,True,False +c2_p011_e018,0,True,0.1434650421142578,0.45000171661376953,-0.010624613688314083,0.008725289842487337,-0.9916017750700803,pcr_96_blue,0.46334171295166016,0.11973381042480469,-93.2363477926365,0.2693424941035538,720.2415330973049,rect,0.21639476142389313,-0.4160347196261646,2.7099486974588234,5000.055404272441,5333.4154260450705,sphere,0.5489540628104397,-0.5610251366225619,2.317911207354123,9798.13266567257,5048.976023426902,0.05016759783029556,0.0015229316195473075,-0.030772455036640167,-0.2675279378890991,0.6483712792396545,0.658650815486908,-0.2724381983280182,0.0364840142428875,0.5636189579963684,1.9692038297653198,0.03597528859972954,0.029463861137628555,0.2803593575954437,0.9587681293487549,1161,1,,2.1486923694610596,0.3044200624293003,0.0,0.006887723691761494,0.5503875968992248,12,release,0.042138099670410156,"Pre-grasping the small plate, moving the arm toward it; the ",v2,True,False +c2_p011_e019,1,True,-0.11637020111083984,0.44745635986328125,0.0016722386932398992,-0.005499086499038787,5.817030946965957,plate_96_white,0.4982614517211914,0.053275108337402344,-87.2023952995098,0.28500621427426986,736.0858191530792,rect,-0.43960596496177784,0.13856347681655345,2.8371001124727155,6984.649307204736,5438.676181365524,disk,1.7030692705395607,1.5482331618556942,2.6625797415615065,2215.6140866646992,5888.192957630632,0.05052465945482254,-0.0005060939583927393,-0.027758080512285233,-0.28656697273254395,0.6489184498786926,0.6507696509361267,-0.2707084119319916,0.04440973326563835,0.5605351328849792,1.9633474349975586,0.06053807586431503,0.022400101646780968,0.2614333927631378,0.963060736656189,1257,1,,2.0580759048461914,0.2975239219795098,0.0,0.00731595978140831,0.5059665871121718,12,release,0.0421220064163208,"Pre-grasping the small plate, moving the arm toward it; the ",v2,True,False +c3_p009_e022,2,True,-0.023244857788085938,0.45000743865966797,0.014169266095854284,0.009627970509185303,-1.300608843513146,plate_24_clear,0.5070743560791016,0.07066059112548828,-87.40336856740679,0.16829264397887778,1410.1021949679898,rect,0.8726159388632234,0.48056555834228465,3.1866299656526387,10048.462564706118,5453.263242528903,sphere,-0.5582507620060269,1.3335288937471537,2.422523432290275,2328.9030009257867,3944.810781207097,0.048054371029138565,0.0005722601781599224,-0.02876749075949192,-0.271645724773407,0.6510677337646484,0.6539404988288879,-0.27327868342399597,0.059970151633024216,0.5760278105735779,1.9266860485076904,0.06127651035785675,0.02410961501300335,0.2555040717124939,0.9645628929138184,1317,1,,2.143984079360962,0.31386495207980275,0.0,0.0073356484062969685,0.5330296127562643,12,release,0.04241633415222168,"Pre-grasping the small plate, moving the arm toward it; the ",v2,True,False +c3_p009_e023,0,True,-0.1249542236328125,0.4463491439819336,0.010606354518337965,-0.006454762515813572,1.2808641780974597,deep_well_96_2ml,0.46109962463378906,0.10063934326171875,-92.06954503385543,0.17003967466337014,1410.1021949679898,rect,0.823941107406334,-0.49268745251595447,2.8503791619109156,5127.775649047246,5183.127248275681,sphere,-0.43342193991409084,-0.1084068569808061,1.829083799045743,9255.099902093873,6030.359866908913,0.04712773486971855,-0.00122186413500458,-0.031574878841638565,-0.282155841588974,0.6439390778541565,0.6529127955436707,-0.2818429172039032,0.0343913808465004,0.5599756836891174,1.9309576749801636,0.036378201097249985,-6.340775144053623e-05,0.2570304274559021,0.9657183885574341,1204,1,,2.031456708908081,0.3036730925192471,0.0,0.0074918074533343315,0.5240863787375415,12,release,0.042845964431762695,"Pre-grasping the small plate, moving the arm toward it; the ",v2,True,False +c4_p009_e018,3,True,0.02703571319580078,0.44733238220214844,0.013316734789314574,-0.007406970142959112,2.105051625004336,reservoir_12ch,0.5234966278076172,0.1207571029663086,-94.96026412449318,0.22840459352173267,1390.864978818175,rect,0.03147052087796387,0.23071517495473737,2.844615772732688,11322.031100018263,3209.763046958841,disk,0.20594247970041102,-0.07589438747014654,2.1793980621882465,7849.234398461294,5081.307746971792,0.0494537279009819,0.0006149510154500604,-0.0294047798961401,-0.28078171610832214,0.6409282684326172,0.6660608053207397,-0.25833237171173096,0.06865084171295166,0.6003844738006592,1.9292572736740112,0.03181568160653114,-0.0014647380448877811,0.27495816349983215,0.9609284996986389,1237,1,,2.0965709686279297,0.2719376089124713,0.0,0.007392163388431072,0.5181891673403395,12,release,0.04242110252380371,"Pre-grasping the small plate, moving the arm toward it; the ",v2,True,False +c4_p009_e019,1,True,0.10594367980957031,0.4499979019165039,-0.007277491032629654,0.0018310454502548095,-11.696050000329677,pcr_384_red,0.4988422393798828,0.11703014373779297,-85.3321059681004,0.2579137555522813,1390.864978818175,rect,0.5059160566734177,0.31544407725598,3.0580857174518727,11150.257642731067,6457.947769074399,disk,1.0708975184392422,0.12418176028549399,1.6120955269908268,2851.2131414717546,3111.4261022469645,0.04969314858317375,-0.0016508684493601322,-0.03340978920459747,-0.27534693479537964,0.653117299079895,0.6417809724807739,-0.2928122878074646,0.053256262093782425,0.6020501255989075,1.9507133960723877,0.04038088768720627,0.017604446038603783,0.2725280821323395,0.9611388444900513,1209,1,,2.133493661880493,0.2799692681895523,0.0,0.006833354942500591,0.5277088502894954,12,release,0.04208928346633911,"Pre-grasping the small plate, moving the arm toward it; the ",v2,True,False +c5_p009_e004,3,True,-0.08247566223144531,0.44745826721191406,0.012494212569402276,0.01037247437447463,-3.787292999910875,plate_48_clear,0.4884967803955078,0.07336044311523438,-92.15793116524267,0.21141494948982842,743.4049952099203,rect,0.2813287413797957,0.41797981396153794,2.881248076883355,6895.624802388271,4140.388055674375,sphere,-0.7304420291103825,0.03543727404893615,2.4025969771509565,3658.5753550064883,3415.5155348500134,0.04619785398244858,0.0034901134204119444,-0.030330747365951538,-0.27277007699012756,0.6474650502204895,0.6563693284988403,-0.2748904824256897,0.04329090937972069,0.565920352935791,1.9372491836547852,0.05221475660800934,-0.005838506389409304,0.28538477420806885,0.9569718241691589,1194,1,,2.122553825378418,0.2782597679886589,0.0,0.007344724610447884,0.5326633165829145,12,release,0.042136311531066895,"Pre-grasping the small plate, moving the arm toward it; the ",v2,True,False +c5_p009_e005,2,True,-0.03685188293457031,0.45000362396240234,-0.011115359212744928,-0.010069631537029613,-6.326055721669064,plate_384_black,0.498779296875,0.07395744323730469,-91.47340417708187,0.23225690026786722,743.4049952099203,rect,-0.3059733404578547,-0.4287164066766601,2.8479613497609586,8527.961404289006,3461.9336107830636,sphere,-0.2164917032252942,1.2099966312056007,2.2186107310691106,6157.6509185549485,5883.078200281105,0.04682780057191849,0.0010042482754215598,-0.02805127017199993,-0.2826165556907654,0.6394220590591431,0.6619042158126831,-0.27046287059783936,0.05435710772871971,0.5757737755775452,1.9294145107269287,0.04368723928928375,-0.004758764524012804,0.2674609422683716,0.962566077709198,1335,1,,2.0608911514282227,0.3200819465966443,0.0,0.00741699431091547,0.5258426966292135,12,release,0.04232001304626465,"Pre-grasping the small plate, moving the arm toward it; the ",v2,True,False +c5_p009_e006,1,True,-0.11657524108886719,0.45000267028808594,0.0016473581117941276,-0.009827712932408278,10.391432545157784,deep_well_96_1ml,0.5075807571411133,0.07066726684570312,-87.07827879819806,0.18363042958517384,743.4049952099203,rect,-0.3353080402532322,0.2445803779225345,3.0227847091259,7029.621257674289,3673.5579012133267,disk,-1.0066034176970455,0.17763632311497024,1.9227596523911439,4995.478159848137,7218.108488089514,0.046269528567790985,0.002515748143196106,-0.029987376183271408,-0.2779981791973114,0.6544596552848816,0.6498834490776062,-0.26842328906059265,0.06062878295779228,0.5680731534957886,1.930224061012268,0.042362913489341736,0.025594785809516907,0.26622822880744934,0.9626384973526001,1187,1,,2.101529121398926,0.23575119164073832,0.0,0.007433678023517132,0.5366470092670598,12,release,0.04211101680994034,"Pre-grasping the small plate, moving the arm toward it; the ",v2,True,False +c5_p009_e007,0,True,0.13097476959228516,0.44742488861083984,-0.004344371290678686,-0.009076362732687701,-2.9410649505307163,plate_96_black,0.46075916290283203,0.06093311309814453,-88.65269073566743,0.2124351217052562,743.4049952099203,rect,0.14326214179513141,-0.2253735824288874,2.6899572169485255,5159.142487882497,5368.367873645482,sphere,1.1139754495337222,0.7589356428763989,2.290003540672007,7823.476129394866,3139.310084464427,0.04836033657193184,-0.0028154447209089994,-0.028153324499726295,-0.29100051522254944,0.6434685587882996,0.651546061038971,-0.277046263217926,0.06324426084756851,0.5855386853218079,1.9664392471313477,0.028045056387782097,0.01331894937902689,0.28699877858161926,0.9574276804924011,1267,1,,2.093421459197998,0.30659553603595036,0.0,0.007291601970791817,0.5090765588003157,12,release,0.042244136333465576,"Pre-grasping the small plate, moving the arm toward it; the ",v2,True,False +c6_p009_e023,2,True,-0.024028778076171875,0.4500007629394531,0.013400213635548225,0.005749385915391227,6.439886064600415,plate_1536_black,0.5131692886352539,0.06496334075927734,-89.15471793599049,0.2659397730394608,1359.811369360992,rect,-0.04456561339716314,-0.38909891227148447,2.948385238502506,15134.794422269257,6018.779511087618,disk,0.010782573082541713,0.6359276234680273,2.2232029624524317,2549.968601747516,4192.327930556836,0.04981464520096779,-0.0023598033003509045,-0.03195864334702492,-0.27875301241874695,0.6523760557174683,0.6406392455101013,-0.2937406003475189,0.04612799361348152,0.5666975378990173,1.9465833902359009,0.032604459673166275,0.004364173859357834,0.26545917987823486,0.9635607600212097,1328,1,,2.0832278728485107,0.24556882857336568,0.0,0.0073920609429478645,0.5301204819277109,12,release,0.0429842472076416,"Pre-grasping the small plate, moving the arm toward it; the ",v2,True,False +c7_p010_e004,1,True,0.050223350524902344,0.4499988555908203,-0.003205299544119549,-0.00021457423137584398,5.010465280159565,plate_12_clear,0.4943122863769531,0.12484455108642578,-92.88386472532007,0.2634338924917254,467.9637629217489,rect,0.5036542494703892,-0.005954906536465521,2.8669103322695255,4472.394959659214,3650.541533767712,disk,-0.05703182254050487,-0.7353183284024507,2.646851711233269,4622.783922477765,4505.387279230685,0.05356593802571297,0.00033970148069784045,-0.027909008786082268,-0.28088805079460144,0.6530712842941284,0.6469047665596008,-0.275887668132782,0.07476349920034409,0.5694386959075928,1.9526737928390503,0.0387016199529171,0.024685293436050415,0.2616857588291168,0.96406090259552,1186,1,,2.105496406555176,0.30308772870379885,0.0,0.007354848552495241,0.5370994940978078,12,release,0.042260587215423584,"Pre-grasping the small plate, moving the arm toward it; the ",v2,True,False +c9_p011_e019,2,True,0.05399036407470703,0.4485321044921875,0.004108275795920446,-0.010584844285196569,-9.512807848214408,plate_384_black,0.5055665969848633,0.09293270111083984,-85.08654863577858,0.2898920622725491,912.7237325880448,rect,-0.3662158527553808,0.30648079375360326,3.1783207822905304,8811.613506646849,3743.385413775497,disk,0.3386434559466247,-1.0779238085690215,2.7694139114437224,10153.748974301496,5614.09446292042,0.049536384642124176,-0.001811573514714837,-0.031227651983499527,-0.2762353718280792,0.6603187918663025,0.6343199014663696,-0.2920810580253601,0.029403584077954292,0.5673705339431763,1.9323331117630005,0.04910002276301384,0.021335644647479057,0.2814851403236389,0.9580710530281067,1237,1,,2.0876753330230713,0.3173139321481618,0.0,0.00737698283046484,0.5254648342764754,12,release,0.042026638984680176,"Pre-grasping the small plate, moving the arm toward it; the ",v2,True,False