diff --git a/episodes/c6_p010_e008/data.npz b/episodes/c6_p010_e008/data.npz new file mode 100644 index 0000000000000000000000000000000000000000..30c400827f2ccefc71aeed9a2e0b3280b8ed6bcc --- /dev/null +++ b/episodes/c6_p010_e008/data.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:69254f31792718a270f26367a36f7dd037858a045044947aea7cfae8eacd0caf +size 189149 diff --git a/episodes/c6_p010_e008/device_events.jsonl b/episodes/c6_p010_e008/device_events.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..c2d13c679e4afdd37e7ef403d288b7ae7fed8745 --- /dev/null +++ b/episodes/c6_p010_e008/device_events.jsonl @@ -0,0 +1,35 @@ +{"env_id": 2, "seq": 1, "step": 96, "t": 0.48, "topic": "conveyor_1.belt.station.pick.captured", "source": "conveyor_1.belt", "data": {"rider": "carrier_3"}, "cause": null} +{"env_id": 2, "seq": 2, "step": 96, "t": 0.48, "topic": "conveyor_1.belt.state.changed", "source": "conveyor_1.belt", "data": {"from": "running", "to": "at_station"}, "cause": null} +{"env_id": 2, "seq": 3, "step": 101, "t": 0.505, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_3"}, "cause": null} +{"env_id": 2, "seq": 4, "step": 6075, "t": 30.375, "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": 6688, "t": 33.44, "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": 6688, "t": 33.44, "topic": "a4s_sealer_1.seal.started", "source": "a4s_sealer_1", "data": {"dwell": 4.219463976738211}, "cause": "task-2-1"} +{"env_id": 2, "seq": 7, "step": 6688, "t": 33.44, "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": 6688, "t": 33.44, "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": 6688, "t": 33.44, "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": 7107, "t": 35.535, "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": 7107, "t": 35.535, "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": 7107, "t": 35.535, "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": 7107, "t": 35.535, "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": 7107, "t": 35.535, "topic": "labware.plate_3.changed", "source": "labware.plate_3", "data": {"key": "sealed", "value": true}, "cause": "task-2-1"} +{"env_id": 2, "seq": 15, "step": 7107, "t": 35.535, "topic": "a4s_sealer_1.sealed", "source": "a4s_sealer_1", "data": {"plate": "plate_3"}, "cause": "task-2-1"} +{"env_id": 2, "seq": 16, "step": 7107, "t": 35.535, "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": 7107, "t": 35.535, "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": 7107, "t": 35.535, "topic": "a4s_sealer_1.heater.started", "source": "a4s_sealer_1.heater", "data": {"duration": 4.219463976738211}, "cause": "program-2-3"} +{"env_id": 2, "seq": 19, "step": 7951, "t": 39.755, "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": 7951, "t": 39.755, "topic": "a4s_sealer_1.heater.finished", "source": "a4s_sealer_1.heater", "data": {"elapsed": 4.220000000002159}, "cause": "program-2-3"} +{"env_id": 2, "seq": 21, "step": 7951, "t": 39.755, "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": 4.220000000002159}}, "cause": "program-2-3"} +{"env_id": 2, "seq": 22, "step": 7951, "t": 39.755, "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": 7951, "t": 39.755, "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": 7951, "t": 39.755, "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": 8371, "t": 41.855, "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": 8371, "t": 41.855, "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": 8371, "t": 41.855, "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": 8371, "t": 41.855, "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": 8371, "t": 41.855, "topic": "a4s_sealer_1.seal.finished", "source": "a4s_sealer_1", "data": {}, "cause": "task-2-1"} +{"env_id": 2, "seq": 30, "step": 8371, "t": 41.855, "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": 8952, "t": 44.76, "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": 10764, "t": 53.82, "topic": "conveyor_1.belt.command.started", "source": "conveyor_1.belt", "data": {"command_id": "task-2-5", "name": "release", "source": "task"}, "cause": "task-2-5"} +{"env_id": 2, "seq": 33, "step": 10764, "t": 53.82, "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": 10764, "t": 53.82, "topic": "conveyor_1.belt.state.changed", "source": "conveyor_1.belt", "data": {"from": "at_station", "to": "running"}, "cause": null} +{"env_id": 2, "seq": 35, "step": 10764, "t": 53.82, "topic": "conveyor_1.belt.command.succeeded", "source": "conveyor_1.belt", "data": {"command_id": "task-2-5", "name": "release", "source": "task", "result": {"state": "running"}}, "cause": "task-2-5"} diff --git a/episodes/c6_p010_e008/env.mp4 b/episodes/c6_p010_e008/env.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..cd50e69303a1585da0461e18c4b0688c26267a16 --- /dev/null +++ b/episodes/c6_p010_e008/env.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:517cb3459c5d02973a0629db5e5dc3b95c6932732a77b197749cdadaa51c8296 +size 1295513 diff --git a/episodes/c6_p010_e008/meta.json b/episodes/c6_p010_e008/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..df6edd8d16cdd50d341faf1b3ce8ed888a3ffe76 --- /dev/null +++ b/episodes/c6_p010_e008/meta.json @@ -0,0 +1,32 @@ +{ + "source": "raw/c6_p010/magicsim/8", + "fps": 25, + "frames": 1243, + "kept_ticks": "even", + "video_frames": { + "wrist": 1243, + "env": 1243 + }, + "joint_target_source": "joint_pos_target", + "fk_vs_recorded_eef_max_m": 0.0, + "curobo_joints": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "joint_order": [ + "shoulder_pan", + "shoulder_lift", + "elbow", + "wrist_1", + "wrist_2", + "wrist_3", + "finger_left", + "finger_right" + ], + "frames_note": "eef / actions in the robot base frame; camera_pose = local pose (wrist: in plate_gripper_base, env: env frame), pos + quat wxyz", + "dr_version": "v2" +} \ No newline at end of file diff --git a/episodes/c6_p010_e008/scene_snapshot.json b/episodes/c6_p010_e008/scene_snapshot.json new file mode 100644 index 0000000000000000000000000000000000000000..a7e0c72cf3eced63cb6210e7ff38500dcecacbde --- /dev/null +++ b/episodes/c6_p010_e008/scene_snapshot.json @@ -0,0 +1,1558 @@ +{ + "trajectory_id": 8, + "env_id": 2, + "run_id": "c6_p010", + "task_type": "BioPlateCell", + "success": true, + "timing": { + "fps": 50.0, + "sim_dt": 0.005, + "decimation": 4 + }, + "restore_interface": { + "scene": "scene_manager.reset_to(snapshot['scene'], env_ids=[env_id])", + "robots": "robot_manager.set_state({'robots': snapshot['robots']}, env_ids=[env_id])" + }, + "snapshot": { + "env_id": 2, + "scene": { + "objects": [ + {}, + {}, + { + "rac_cell": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/rac_cell.usd", + "pose": { + "pos": [ + 0.0, + 0.0, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "physics_material": { + "static_friction": 0.6, + "dynamic_friction": 0.5, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "robot_mount": [ + { + "asset": "Cube", + "pose": { + "pos": [ + 0.0, + 0.0, + 0.9075 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": "color", + "value": [ + 0.55, + 0.56, + 0.58 + ], + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": { + "size": [ + 0.2, + 0.2, + 0.015 + ] + } + }, + "type_specific": {} + } + ], + "plate_rack": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/plate_hotel.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 0.9 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "physics_material": { + "static_friction": 0.6, + "dynamic_friction": 0.5, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "hotel_plate": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_96_white/plate_96_white.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 0.9605 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_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": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_384_white/plate_384_white.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.0965 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_6_clear/plate_6_clear.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.1645 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_384_white/plate_384_white.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.2325 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "a4s_sealer": [ + { + "asset": "$MAGICSIM_ASSETS/Articulated/A4SSealer/Object.usd", + "pose": { + "pos": [ + 0.5262136459350586, + 0.07812881469726562, + 0.8999999761581421 + ], + "ori": [ + 0.7247427105903625, + 0.0, + 0.0, + -0.6890196204185486 + ], + "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": [ + 2.3549155247354348e-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": 0.27651761570675626, + "direction": [ + 1.0, + 0.0, + 0.0 + ], + "enabled": true, + "drive": "surface_velocity", + "lines": null, + "station_line": null, + "riders": [ + "carrier" + ], + "stations": { + "pick": { + "position": -0.19252652194186384, + "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": 0.27651761570675626, + "holds": [], + "station": "pick", + "rider": "carrier_3", + "arrived": true, + "applied_speed": 0.0 + } + } + } + ], + "carrier": [ + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + 1.6256380081176758, + 0.5890731811523438, + 0.8999999761581421 + ], + "ori": [ + 0.9005982279777527, + -2.7066049401724968e-09, + 1.88740276740873e-08, + 0.4346524775028229 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -4.949836096557192e-10, + 5.467929442559694e-10, + 0.0 + ], + "angular_velocity": [ + -2.3237499036099507e-08, + -1.3128691023212014e-08, + 4.850462254069043e-09 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + -1.2920036315917969, + 1.0486536026000977, + 0.8999999761581421 + ], + "ori": [ + -0.3691117763519287, + -9.185113469811768e-08, + 4.871872505418651e-08, + 0.9293850660324097 + ], + "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": [ + -1.3093142570141936e-08, + 1.5446524059825606e-08, + 4.470348358154297e-08 + ], + "angular_velocity": [ + -1.4623929018853232e-06, + -1.2389828043524176e-06, + -5.3351186579675414e-08 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + -0.04243183135986328, + 0.4499998092651367, + 0.8999999761581421 + ], + "ori": [ + 1.0, + -3.867931308576544e-09, + 3.5059146696880816e-09, + 1.1391957741579972e-05 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 5.310925033086278e-10, + 1.5270366082731357e-09, + 0.0 + ], + "angular_velocity": [ + -1.0063986621844379e-07, + 3.395472703004998e-08, + -2.0485524387936493e-10 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + 0.4443340301513672, + 1.150045394897461, + 0.8999999761581421 + ], + "ori": [ + -0.00042772770393639803, + 3.115871727299435e-10, + 5.502766020626382e-10, + 0.9999999403953552 + ], + "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": [ + -6.673316121919015e-09, + -1.2910054358883372e-08, + 7.450580596923828e-08 + ], + "angular_velocity": [ + 2.8943139795956085e-07, + -7.166739237618458e-07, + -5.4546070771266386e-08 + ] + } + } + ], + "plate": [ + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_24_clear/Object.usd", + "pose": { + "pos": [ + 1.6269197463989258, + 0.5885953903198242, + 0.9179999828338623 + ], + "ori": [ + 0.9370760321617126, + -4.4016972289284695e-09, + 1.721917186614519e-08, + 0.3491255044937134 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -2.774930862869951e-08, + -1.7698432941415376e-08, + 7.078051567077637e-08 + ], + "angular_velocity": [ + 1.159549583462649e-06, + -1.0205416174358106e-06, + 8.146346885951061e-08 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_384_black/Object.usd", + "pose": { + "pos": [ + -1.2939739227294922, + 1.0495119094848633, + 0.9180000424385071 + ], + "ori": [ + -0.46031615138053894, + -6.765974802647179e-08, + -4.4795331888281e-09, + 0.8877550959587097 + ], + "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": [ + -1.9608523871283978e-07, + 1.7088854065150372e-07, + 1.341104507446289e-07 + ], + "angular_velocity": [ + -8.301702109747566e-06, + -4.564364644465968e-06, + -8.157962838595267e-07 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_1536_black/Object.usd", + "pose": { + "pos": [ + -0.050805091857910156, + 0.4549694061279297, + 0.9180000424385071 + ], + "ori": [ + 0.9973993897438049, + -2.0468784445171195e-09, + 3.3233418239575485e-09, + -0.07207377254962921 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -9.8374872692375e-09, + 1.2340892752149557e-08, + -5.21540641784668e-06 + ], + "angular_velocity": [ + 1.1330537574849586e-07, + -1.4155461940390524e-06, + 6.304241395582721e-08 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/deep_well_24_10ml/Object.usd", + "pose": { + "pos": [ + 0.439483642578125, + 1.1431264877319336, + 0.9179999828338623 + ], + "ori": [ + -0.0046963016502559185, + -3.7457204005164613e-10, + 7.820053493645673e-10, + 0.9999890327453613 + ], + "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": [ + 9.633240871664839e-09, + 1.5204514980382555e-08, + -9.015202522277832e-07 + ], + "angular_velocity": [ + -2.3078644062479725e-06, + 2.059252210528939e-06, + -1.3280202892929083e-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": 4.259999999999931, + "step": 852, + "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": 2.3549155247354348e-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": 0.27651761570675626, + "holds": [], + "station": "pick", + "rider": "carrier_3", + "arrived": true, + "settle_count": 755, + "released": { + "pick": [] + }, + "last_pos": { + "carrier_1": [ + 1.4756380021572113, + 0.1390731930732727, + 0.0 + ], + "carrier_2": [ + -1.4420036375522614, + 0.5986536145210266, + 0.0 + ], + "carrier_3": [ + -0.19243183732032776, + -1.7881393432617188e-07, + 0.0 + ], + "carrier_4": [ + 0.2943340241909027, + 0.7000454068183899, + 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": [ + 0.06175007967607049, + 0.024245188836123144, + 2.82113112568489 + ], + "ori": [ + 2.1356832680006512, + 9.662142739783999, + 5.388074605582489 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "color_temperature": 5214.052345735853, + "color": [ + 0.9607874296453189, + 0.8133949210188, + 0.8273948809631192 + ], + "intensity": 13748.669392184001, + "width": 2.012676436331054, + "height": 0.8861825324334646 + } + }, + "key": { + "type": "disk", + "pose": { + "pos": [ + 0.8013184288200716, + -0.2768214564667887, + 1.8671928550702164 + ], + "ori": [ + 38.361814360296094, + -12.822365007940508, + 29.61432820482304 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "color_temperature": 4441.447118020555, + "color": [ + 0.8054396607653886, + 0.9065626403780316, + 0.8606037523693149 + ], + "intensity": 4772.708332019891, + "radius": 0.2559480095739399 + } + } + }, + {} + ], + "background": { + "type": "dome", + "pose": { + "pos": null, + "ori": null, + "scale": null + }, + "dr": { + "intensity": 457.4758841845153, + "texture": null, + "color": [ + 0.92, + 0.94, + 0.96 + ] + } + } + }, + "robots": { + "UR5e": { + "root_pose": [ + [ + 11.0, + -11.0, + 0.9150000214576721, + 1.0, + 0.0, + 0.0, + 0.0 + ], + [ + 11.0, + 11.0, + 0.9150000214576721, + 1.0, + 0.0, + 0.0, + 0.0 + ], + [ + -11.0, + -11.0, + 0.9150000214576721, + 1.0, + 0.0, + 0.0, + 0.0 + ], + [ + -11.0, + 11.0, + 0.9150000214576721, + 1.0, + 0.0, + 0.0, + 0.0 + ] + ], + "root_vel": [ + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + ], + "joint_pos": [ + [ + 0.9141027927398682, + -1.719397783279419, + 2.090498447418213, + -1.9419000148773193, + -1.5707999467849731, + 2.4849014282226562, + 0.01799999736249447, + 0.018000001087784767 + ], + [ + 1.6806650161743164, + -1.2740654945373535, + 2.1746928691864014, + -2.4728035926818848, + -1.5712717771530151, + 0.10520164668560028, + 0.0076739005744457245, + 0.007081286516040564 + ], + [ + 0.9141027331352234, + -1.7193984985351562, + 2.0904998779296875, + -1.9419013261795044, + -1.5707999467849731, + 2.4849002361297607, + 0.01799999549984932, + 0.018000002950429916 + ], + [ + 0.9140999913215637, + -1.7194000482559204, + 2.0905001163482666, + -1.9419000148773193, + -1.5707999467849731, + 2.4848999977111816, + 0.017999999225139618, + 0.017999999225139618 + ] + ], + "joint_vel": [ + [ + 2.384099983058106e-38, + -2.303411255664433e-38, + -1.7355319701401795e-38, + -7.069845361507842e-37, + 2.4313519354309547e-37, + 8.018709056941402e-38, + 2.5990372520823257e-08, + -2.5990399166175848e-08 + ], + [ + -7.031722634565085e-05, + 0.01727434992790222, + 0.005921601317822933, + -0.022150203585624695, + -4.303073001210578e-05, + -0.0012453763047233224, + -0.0074254488572478294, + 0.0002756980829872191 + ], + [ + -2.656059224599488e-38, + 1.6472961294773458e-38, + 2.819379159318081e-38, + 5.2277584879845875e-37, + -3.985902677631454e-38, + 4.424637343800577e-37, + 5.1980798332351696e-08, + -5.198078412149698e-08 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + ] + } + }, + "cameras": { + "cameras": { + "camera0": [ + [ + 0.04848119243979454, + 0.00023452838649973273, + -0.02923836000263691, + -0.2778371572494507, + 0.6428091526031494, + 0.6550947427749634, + -0.2836436927318573 + ], + [ + 0.05357207730412483, + 0.002002693945541978, + -0.03248493745923042, + -0.27534475922584534, + 0.6530876755714417, + 0.6401078104972839, + -0.29651933908462524 + ], + [ + 0.04751411825418472, + -0.0008203501929529011, + -0.02843175269663334, + -0.285035103559494, + 0.6434733867645264, + 0.6549912095069885, + -0.27510637044906616 + ], + [ + 0.049673065543174744, + 0.0006312228506430984, + -0.03031260520219803, + -0.2763086259365082, + 0.6509667038917542, + 0.6457754969596863, + -0.2878713011741638 + ] + ], + "camera1": [ + [ + 0.05168056860566139, + 0.596659779548645, + 1.9476194381713867, + 0.04672624543309212, + 0.027022220194339752, + 0.27735796570777893, + 0.9592491984367371 + ], + [ + 0.037007737904787064, + 0.5954936146736145, + 1.9732493162155151, + 0.030013516545295715, + 0.027212440967559814, + 0.28658556938171387, + 0.9571976661682129 + ], + [ + 0.036625225096940994, + 0.5778366327285767, + 1.9349231719970703, + 0.057601943612098694, + 0.02280266582965851, + 0.25787147879600525, + 0.9641910195350647 + ], + [ + 0.04157958924770355, + 0.5579681396484375, + 1.9509466886520386, + 0.050953637808561325, + 0.011666228994727135, + 0.2575679123401642, + 0.9648452997207642 + ] + ] + } + } + } +} \ No newline at end of file diff --git a/episodes/c6_p010_e008/wrist.mp4 b/episodes/c6_p010_e008/wrist.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..c40b4c4fda0304c9c0f205a3d663e169ab0fd523 --- /dev/null +++ b/episodes/c6_p010_e008/wrist.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:e555a3dce46dd3becaf2fe694b9b9b1230f9a923be2e9d868d04a08bc78fd6d7 +size 6554745 diff --git a/episodes/c6_p010_e009/data.npz b/episodes/c6_p010_e009/data.npz new file mode 100644 index 0000000000000000000000000000000000000000..f1d3c40402a1c8de3f1ebf28090d78061a0b73dc --- /dev/null +++ b/episodes/c6_p010_e009/data.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:5a51de0af408b1a10f18c646a261eb32483878e8c9119d3c913df313bfd0e1f4 +size 192545 diff --git a/episodes/c6_p010_e009/device_events.jsonl b/episodes/c6_p010_e009/device_events.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..f98b8fd64034ff2cb189c39e5faf105ef1a5b68e --- /dev/null +++ b/episodes/c6_p010_e009/device_events.jsonl @@ -0,0 +1,36 @@ +{"env_id": 0, "seq": 1, "step": 189, "t": 0.945, "topic": "conveyor_1.belt.station.pick.captured", "source": "conveyor_1.belt", "data": {"rider": "carrier_1"}, "cause": null} +{"env_id": 0, "seq": 2, "step": 189, "t": 0.945, "topic": "conveyor_1.belt.state.changed", "source": "conveyor_1.belt", "data": {"from": "running", "to": "at_station"}, "cause": null} +{"env_id": 0, "seq": 3, "step": 194, "t": 0.97, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_1"}, "cause": null} +{"env_id": 0, "seq": 4, "step": 2201, "t": 11.005, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_1"}, "cause": null} +{"env_id": 0, "seq": 5, "step": 7182, "t": 35.91, "topic": "a4s_sealer_1.plate_present.present", "source": "a4s_sealer_1.plate_present", "data": {"object": "plate_1"}, "cause": null} +{"env_id": 0, "seq": 6, "step": 7796, "t": 38.98, "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": 7, "step": 7796, "t": 38.98, "topic": "a4s_sealer_1.seal.started", "source": "a4s_sealer_1", "data": {"dwell": 2.0992051839710064}, "cause": "task-0-1"} +{"env_id": 0, "seq": 8, "step": 7796, "t": 38.98, "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": 9, "step": 7796, "t": 38.98, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "at_out", "to": "moving"}, "cause": null} +{"env_id": 0, "seq": 10, "step": 7796, "t": 38.98, "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": 11, "step": 8215, "t": 41.075, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "moving", "to": "at_in"}, "cause": null} +{"env_id": 0, "seq": 12, "step": 8215, "t": 41.075, "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": 13, "step": 8215, "t": 41.075, "topic": "a4s_sealer_1.drawer.at_in", "source": "a4s_sealer_1.drawer", "data": {"q": 0.30000001192092896}, "cause": "program-0-2"} +{"env_id": 0, "seq": 14, "step": 8215, "t": 41.075, "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": 15, "step": 8215, "t": 41.075, "topic": "labware.plate_1.changed", "source": "labware.plate_1", "data": {"key": "sealed", "value": true}, "cause": "task-0-1"} +{"env_id": 0, "seq": 16, "step": 8215, "t": 41.075, "topic": "a4s_sealer_1.sealed", "source": "a4s_sealer_1", "data": {"plate": "plate_1"}, "cause": "task-0-1"} +{"env_id": 0, "seq": 17, "step": 8215, "t": 41.075, "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": 18, "step": 8215, "t": 41.075, "topic": "a4s_sealer_1.heater.state.changed", "source": "a4s_sealer_1.heater", "data": {"from": "ready", "to": "running"}, "cause": null} +{"env_id": 0, "seq": 19, "step": 8215, "t": 41.075, "topic": "a4s_sealer_1.heater.started", "source": "a4s_sealer_1.heater", "data": {"duration": 2.0992051839710064}, "cause": "program-0-3"} +{"env_id": 0, "seq": 20, "step": 8635, "t": 43.175, "topic": "a4s_sealer_1.heater.state.changed", "source": "a4s_sealer_1.heater", "data": {"from": "running", "to": "ready"}, "cause": null} +{"env_id": 0, "seq": 21, "step": 8635, "t": 43.175, "topic": "a4s_sealer_1.heater.finished", "source": "a4s_sealer_1.heater", "data": {"elapsed": 2.1000000000010743}, "cause": "program-0-3"} +{"env_id": 0, "seq": 22, "step": 8635, "t": 43.175, "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": 2.1000000000010743}}, "cause": "program-0-3"} +{"env_id": 0, "seq": 23, "step": 8635, "t": 43.175, "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": 24, "step": 8635, "t": 43.175, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "at_in", "to": "moving"}, "cause": null} +{"env_id": 0, "seq": 25, "step": 8635, "t": 43.175, "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": 26, "step": 9055, "t": 45.275, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "moving", "to": "at_out"}, "cause": null} +{"env_id": 0, "seq": 27, "step": 9055, "t": 45.275, "topic": "a4s_sealer_1.drawer.reached", "source": "a4s_sealer_1.drawer", "data": {"position": "out", "q": 0.0}, "cause": "program-0-4"} +{"env_id": 0, "seq": 28, "step": 9055, "t": 45.275, "topic": "a4s_sealer_1.drawer.at_out", "source": "a4s_sealer_1.drawer", "data": {"q": 0.0}, "cause": "program-0-4"} +{"env_id": 0, "seq": 29, "step": 9055, "t": 45.275, "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": 30, "step": 9055, "t": 45.275, "topic": "a4s_sealer_1.seal.finished", "source": "a4s_sealer_1", "data": {}, "cause": "task-0-1"} +{"env_id": 0, "seq": 31, "step": 9055, "t": 45.275, "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": 32, "step": 9636, "t": 48.18, "topic": "a4s_sealer_1.plate_present.absent", "source": "a4s_sealer_1.plate_present", "data": {"object": "plate_1"}, "cause": null} +{"env_id": 0, "seq": 33, "step": 11364, "t": 56.82, "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": 34, "step": 11364, "t": 56.82, "topic": "conveyor_1.belt.station.pick.released", "source": "conveyor_1.belt", "data": {"rider": "carrier_1"}, "cause": "task-0-5"} +{"env_id": 0, "seq": 35, "step": 11364, "t": 56.82, "topic": "conveyor_1.belt.state.changed", "source": "conveyor_1.belt", "data": {"from": "at_station", "to": "running"}, "cause": null} +{"env_id": 0, "seq": 36, "step": 11364, "t": 56.82, "topic": "conveyor_1.belt.command.succeeded", "source": "conveyor_1.belt", "data": {"command_id": "task-0-5", "name": "release", "source": "task", "result": {"state": "running"}}, "cause": "task-0-5"} diff --git a/episodes/c6_p010_e009/env.mp4 b/episodes/c6_p010_e009/env.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..db7d77a66f275b7b0555df2496158a9cad038632 --- /dev/null +++ b/episodes/c6_p010_e009/env.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:eefbe71eb98360538f5469af2672e8b1c10637d4eb48e1dff67d2e170110bfe2 +size 1380102 diff --git a/episodes/c6_p010_e009/meta.json b/episodes/c6_p010_e009/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..cadba9ef7a98d550b1b04e80d9d02d143cc08a9d --- /dev/null +++ b/episodes/c6_p010_e009/meta.json @@ -0,0 +1,32 @@ +{ + "source": "raw/c6_p010/magicsim/9", + "fps": 25, + "frames": 1206, + "kept_ticks": "even", + "video_frames": { + "wrist": 1206, + "env": 1206 + }, + "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_p010_e009/scene_snapshot.json b/episodes/c6_p010_e009/scene_snapshot.json new file mode 100644 index 0000000000000000000000000000000000000000..919296364e36da5d7bc7f8460e407b8030d3e626 --- /dev/null +++ b/episodes/c6_p010_e009/scene_snapshot.json @@ -0,0 +1,1558 @@ +{ + "trajectory_id": 9, + "env_id": 0, + "run_id": "c6_p010", + "task_type": "BioPlateCell", + "success": true, + "timing": { + "fps": 50.0, + "sim_dt": 0.005, + "decimation": 4 + }, + "restore_interface": { + "scene": "scene_manager.reset_to(snapshot['scene'], env_ids=[env_id])", + "robots": "robot_manager.set_state({'robots': snapshot['robots']}, env_ids=[env_id])" + }, + "snapshot": { + "env_id": 0, + "scene": { + "objects": [ + { + "rac_cell": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/rac_cell.usd", + "pose": { + "pos": [ + 0.0, + 0.0, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "physics_material": { + "static_friction": 0.6, + "dynamic_friction": 0.5, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "robot_mount": [ + { + "asset": "Cube", + "pose": { + "pos": [ + 0.0, + 0.0, + 0.9075 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": "color", + "value": [ + 0.55, + 0.56, + 0.58 + ], + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": { + "size": [ + 0.2, + 0.2, + 0.015 + ] + } + }, + "type_specific": {} + } + ], + "plate_rack": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/plate_hotel.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 0.9 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "physics_material": { + "static_friction": 0.6, + "dynamic_friction": 0.5, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "hotel_plate": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/deep_well_96_2ml/deep_well_96_2ml.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 0.9605 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_384_white/plate_384_white.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.0285 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/deep_well_96_2ml/deep_well_96_2ml.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.0965 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_48_clear/plate_48_clear.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.1645 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_384_white/plate_384_white.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.2325 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "a4s_sealer": [ + { + "asset": "$MAGICSIM_ASSETS/Articulated/A4SSealer/Object.usd", + "pose": { + "pos": [ + 0.4826030731201172, + 0.10466194152832031, + 0.8999999761581421 + ], + "ori": [ + -0.7049852609634399, + 0.0, + 0.0, + 0.7092219591140747 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "articulation", + "solver_position_iteration_count": 16.0, + "solver_velocity_iteration_count": 1.0, + "enabled_self_collisions": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "joint_position": [ + 3.3641657710449524e-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": 0.2198825614045536, + "direction": [ + 1.0, + 0.0, + 0.0 + ], + "enabled": true, + "drive": "surface_velocity", + "lines": null, + "station_line": null, + "riders": [ + "carrier" + ], + "stations": { + "pick": { + "position": -0.05381164908658806, + "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": 0.2198825614045536, + "holds": [], + "station": "pick", + "rider": "carrier_1", + "arrived": true, + "applied_speed": 0.0 + } + } + } + ], + "carrier": [ + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + 0.09590816497802734, + 0.4475374221801758, + 0.8999999761581421 + ], + "ori": [ + 0.9999440908432007, + -5.137041370062434e-08, + 5.3057313209592394e-08, + 0.010574071668088436 + ], + "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": [ + 5.521489043758265e-08, + -4.484459168452304e-07, + 8.195638656616211e-08 + ], + "angular_velocity": [ + 9.860241334536113e-06, + 4.4742216687154723e-07, + 2.7166718155058334e-06 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + -0.052471160888671875, + 1.1527690887451172, + 0.8999999761581421 + ], + "ori": [ + -0.010133353061974049, + -8.975662574295384e-11, + -6.574566224770706e-09, + 0.9999487400054932 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 5.915046230597909e-12, + 2.8588298395249012e-09, + 7.450580596923828e-09 + ], + "angular_velocity": [ + -8.177616450666392e-08, + -1.4200241871265007e-08, + 1.2004858440661792e-08 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + 1.6401481628417969, + 0.6098012924194336, + 0.8999999761581421 + ], + "ori": [ + 0.8843193650245667, + -2.4589557057197453e-08, + 6.32842755976526e-08, + 0.46688246726989746 + ], + "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": [ + -4.5130338355292565e-10, + 8.425059261352175e-11, + 3.725290298461914e-09 + ], + "angular_velocity": [ + -1.210174538357478e-08, + -2.3743416122101735e-09, + -8.370111714839368e-09 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + -1.3197956085205078, + 0.5803794860839844, + 0.8999999761581421 + ], + "ori": [ + -0.9011275172233582, + -6.758357429248463e-09, + -1.665514837156934e-08, + 0.4335540533065796 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -3.608988663472701e-09, + 3.3124365472758655e-09, + 3.3527612686157227e-08 + ], + "angular_velocity": [ + -2.9128568712621927e-07, + -7.536509656347334e-07, + 1.151645392383216e-07 + ] + } + } + ], + "plate": [ + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_6_clear/Object.usd", + "pose": { + "pos": [ + 0.09195804595947266, + 0.4421234130859375, + 0.9179999828338623 + ], + "ori": [ + 0.9961890578269958, + -5.292799869494047e-07, + 1.920377279418517e-08, + 0.08721989393234253 + ], + "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": [ + 2.63660012933542e-06, + -3.719103688126779e-06, + -2.9280781745910645e-06 + ], + "angular_velocity": [ + 0.00016283580043818802, + 2.4777435100986622e-05, + -2.227006189059466e-05 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_96_black/Object.usd", + "pose": { + "pos": [ + -0.044295310974121094, + 1.1447019577026367, + 0.9180000424385071 + ], + "ori": [ + 0.056226737797260284, + -3.9137609819661634e-10, + -6.010907771525353e-09, + 0.9984180331230164 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 1.025528106879392e-08, + 4.9731145423947964e-08, + -5.733221769332886e-06 + ], + "angular_velocity": [ + -1.4661458180853515e-06, + 1.8272371562488843e-06, + -8.620963853900321e-08 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/pcr_96_blue/Object.usd", + "pose": { + "pos": [ + 1.6505765914916992, + 0.6128053665161133, + 0.9180000424385071 + ], + "ori": [ + 0.8524056673049927, + -2.1034969321931385e-08, + 6.479461944763898e-08, + 0.522881031036377 + ], + "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": [ + -2.497899131981285e-08, + -1.2985364783446585e-08, + -5.949288606643677e-06 + ], + "angular_velocity": [ + 1.5878295016591437e-06, + -7.44407429920102e-07, + 8.892058644960343e-08 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/deep_well_96_2ml/Object.usd", + "pose": { + "pos": [ + -1.3177766799926758, + 0.5657482147216797, + 0.9179999828338623 + ], + "ori": [ + -0.9080549478530884, + -6.773633209888885e-09, + -3.575125973043214e-08, + 0.41885119676589966 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -9.301584213972092e-08, + -8.305164556077216e-08, + -1.3671815395355225e-06 + ], + "angular_velocity": [ + 4.554873157758266e-06, + -1.7964193830266595e-06, + -1.767602952895686e-07 + ] + } + } + ], + "deco_hub_west": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/hub_d.usd", + "pose": { + "pos": [ + -3.36, + 0.0, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_hub_east": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/hub_e.usd", + "pose": { + "pos": [ + 3.36, + 0.0, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_hub_back": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/hub_b.usd", + "pose": { + "pos": [ + -3.0, + -2.1, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_bench_east": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/bench_a.usd", + "pose": { + "pos": [ + 2.6, + -2.5, + 0.0 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_bench_gap": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/bench_b.usd", + "pose": { + "pos": [ + -0.1, + -2.9, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ] + }, + {}, + {}, + {} + ], + "devices": { + "hub": [ + { + "t": 8.779999999999973, + "step": 1756, + "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": 3.3641657710449524e-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": 0.2198825614045536, + "holds": [], + "station": "pick", + "rider": "carrier_1", + "arrived": true, + "settle_count": 1566, + "released": { + "pick": [] + }, + "last_pos": { + "carrier_1": [ + -0.054091840982437134, + -0.0024625658988952637, + 0.0 + ], + "carrier_2": [ + -0.20247116684913635, + 0.7027691006660461, + 0.0 + ], + "carrier_3": [ + 1.4901481568813324, + 0.15980130434036255, + 0.0 + ], + "carrier_4": [ + -1.4697956144809723, + 0.13037949800491333, + 0.0 + ] + }, + "command": 0.0 + }, + "belt": { + "target_speed": 0.0, + "command_speed": 0.0 + }, + "seen": { + "state": "at_station", + "station": "pick", + "rider": "carrier_1", + "arrived": true + } + } + }, + "queues": {}, + "program": null, + "sensors": {}, + "interlocks": {} + } + }, + "zones": {}, + "labware": { + "plate_1": { + "sealed": false + }, + "plate_2": { + "sealed": false + }, + "plate_3": { + "sealed": false + }, + "plate_4": { + "sealed": false + } + }, + "rules": {}, + "records": [], + "bus": { + "seq": 3, + "queue": [] + } + }, + null, + null, + null + ], + "drives": [ + {}, + null, + null, + null + ] + }, + "artifacts": [ + { + "ceiling": { + "type": "rect", + "pose": { + "pos": [ + 0.6032114962806657, + 0.3940244350318485, + 2.7984558237615365 + ], + "ori": [ + 7.178331759730504, + 1.581045900858708, + 9.581430804614598 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "color_temperature": 3266.2526293759424, + "color": [ + 0.8247895835699465, + 0.8858294737313658, + 0.9542101355447974 + ], + "intensity": 8916.968980467078, + "width": 2.5132918295374225, + "height": 1.3297060235444724 + } + }, + "key": { + "type": "disk", + "pose": { + "pos": [ + -1.5310282610626642, + 1.3972184286094544, + 2.716893752653407 + ], + "ori": [ + -21.289329515128806, + 26.61407972026636, + 17.22679948685424 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "color_temperature": 4849.621775686272, + "color": [ + 0.827633259900591, + 0.845482303163633, + 0.798367872442095 + ], + "intensity": 2032.8588559954774, + "radius": 0.2638356590330896 + } + } + }, + {}, + {}, + {} + ], + "background": { + "type": "dome", + "pose": { + "pos": null, + "ori": null, + "scale": null + }, + "dr": { + "intensity": 457.4758841845153, + "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": [ + [ + 0.9141125679016113, + -1.7193931341171265, + 2.090496301651001, + -1.9419001340866089, + -1.5707999467849731, + 2.4849064350128174, + 0.01799999736249447, + 0.018000001087784767 + ], + [ + 0.923512876033783, + -1.5114861726760864, + 2.026726245880127, + -2.085979461669922, + -1.570798397064209, + 2.398651361465454, + 0.018001621589064598, + 0.017998427152633667 + ], + [ + 1.0664787292480469, + -1.5723658800125122, + 2.170677423477173, + -2.1691219806671143, + -1.570780634880066, + 2.7816689014434814, + 0.007705844473093748, + 0.007108939345926046 + ], + [ + 0.9141013026237488, + -1.7193982601165771, + 2.0904994010925293, + -1.9419007301330566, + -1.5707999467849731, + 2.4849002361297607, + 0.018000001087784767, + 0.01799999736249447 + ] + ], + "joint_vel": [ + [ + -2.430537612867366e-38, + 1.5140853343423144e-38, + -2.1069228665549644e-38, + 4.881309527144074e-37, + -5.786061355855584e-37, + 4.326818191096041e-37, + 2.599039028439165e-08, + -2.599039206074849e-08 + ], + [ + 0.0011923033744096756, + 0.03794647380709648, + -0.01080175768584013, + -0.025076812133193016, + -1.0748442036856432e-05, + -0.015038327313959599, + 4.2824296542676166e-05, + -4.332831304054707e-05 + ], + [ + 0.00015861554129514843, + -8.123442967189476e-06, + -0.00022126892872620374, + 0.0006204494857229292, + -0.00033307287958450615, + -0.0019814763218164444, + -0.007401447277516127, + 0.0003211990697309375 + ], + [ + 2.3024856980287466e-38, + -1.9630487506258068e-38, + 1.2889434744940247e-38, + -5.759031765829161e-37, + 5.793386223188303e-37, + -2.9935591571351915e-36, + -2.5990372520823257e-08, + 2.5990388508034812e-08 + ] + ] + } + }, + "cameras": { + "cameras": { + "camera0": [ + [ + 0.04633745923638344, + -0.00040396509575657547, + -0.026230625808238983, + -0.2786093056201935, + 0.6427910327911377, + 0.6527070999145508, + -0.28839200735092163 + ], + [ + 0.05007394775748253, + -0.001137296436354518, + -0.032012976706027985, + -0.26797056198120117, + 0.6507755517959595, + 0.656773567199707, + -0.27079781889915466 + ], + [ + 0.04731020703911781, + -0.001366342301480472, + -0.03328543156385422, + -0.27527835965156555, + 0.6402224898338318, + 0.6631475687026978, + -0.2730792462825775 + ], + [ + 0.04895225539803505, + -0.0007416724693030119, + -0.03071170672774315, + -0.28151798248291016, + 0.6495438814163208, + 0.6441003084182739, + -0.28978464007377625 + ] + ], + "camera1": [ + [ + 0.05168056860566139, + 0.596659779548645, + 1.9476194381713867, + 0.04672624543309212, + 0.027022220194339752, + 0.27735796570777893, + 0.9592491984367371 + ], + [ + 0.06531662493944168, + 0.593163251876831, + 1.9563872814178467, + 0.02694377675652504, + 0.004034095909446478, + 0.27929121255874634, + 0.9598198533058167 + ], + [ + 0.036625225096940994, + 0.5778366327285767, + 1.9349231719970703, + 0.057601943612098694, + 0.02280266582965851, + 0.25787147879600525, + 0.9641910195350647 + ], + [ + 0.04157958924770355, + 0.5579681396484375, + 1.9509466886520386, + 0.050953637808561325, + 0.011666228994727135, + 0.2575679123401642, + 0.9648452997207642 + ] + ] + } + } + } +} \ No newline at end of file diff --git a/episodes/c6_p010_e009/wrist.mp4 b/episodes/c6_p010_e009/wrist.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..c1e938378cd381c7205091f5e492cabbc145172f --- /dev/null +++ b/episodes/c6_p010_e009/wrist.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:3facacedad61206a183207580dd46b31cbb8aa1eb9312661cda4a71ffc39a7ee +size 6885269 diff --git a/episodes/c6_p010_e010/data.npz b/episodes/c6_p010_e010/data.npz new file mode 100644 index 0000000000000000000000000000000000000000..f9d27a0761303c1d0af1de4bda287a8ab7ff88e3 --- /dev/null +++ b/episodes/c6_p010_e010/data.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:bffe4eb4a693e6f794fd037d992301d83c8aa0057fc0e01bbd5dd14545f918fd +size 187112 diff --git a/episodes/c6_p010_e010/device_events.jsonl b/episodes/c6_p010_e010/device_events.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..20ced308325edc3d8122b5785b3a00c6a866bf0a --- /dev/null +++ b/episodes/c6_p010_e010/device_events.jsonl @@ -0,0 +1,36 @@ +{"env_id": 3, "seq": 1, "step": 137, "t": 0.685, "topic": "conveyor_1.belt.station.pick.captured", "source": "conveyor_1.belt", "data": {"rider": "carrier_3"}, "cause": null} +{"env_id": 3, "seq": 2, "step": 137, "t": 0.685, "topic": "conveyor_1.belt.state.changed", "source": "conveyor_1.belt", "data": {"from": "running", "to": "at_station"}, "cause": null} +{"env_id": 3, "seq": 3, "step": 142, "t": 0.71, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_3"}, "cause": null} +{"env_id": 3, "seq": 4, "step": 2086, "t": 10.43, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_3"}, "cause": null} +{"env_id": 3, "seq": 5, "step": 6915, "t": 34.575, "topic": "a4s_sealer_1.plate_present.present", "source": "a4s_sealer_1.plate_present", "data": {"object": "plate_3"}, "cause": null} +{"env_id": 3, "seq": 6, "step": 7524, "t": 37.62, "topic": "a4s_sealer_1.command.started", "source": "a4s_sealer_1", "data": {"command_id": "task-3-1", "name": "seal", "source": "task"}, "cause": "task-3-1"} +{"env_id": 3, "seq": 7, "step": 7524, "t": 37.62, "topic": "a4s_sealer_1.seal.started", "source": "a4s_sealer_1", "data": {"dwell": 2.0702622440173437}, "cause": "task-3-1"} +{"env_id": 3, "seq": 8, "step": 7524, "t": 37.62, "topic": "a4s_sealer_1.drawer.command.started", "source": "a4s_sealer_1.drawer", "data": {"command_id": "program-3-2", "name": "close", "source": "program:seal"}, "cause": "program-3-2"} +{"env_id": 3, "seq": 9, "step": 7524, "t": 37.62, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "at_out", "to": "moving"}, "cause": null} +{"env_id": 3, "seq": 10, "step": 7524, "t": 37.62, "topic": "a4s_sealer_1.drawer.moving", "source": "a4s_sealer_1.drawer", "data": {"target": 0.3, "goal": "in"}, "cause": "program-3-2"} +{"env_id": 3, "seq": 11, "step": 7943, "t": 39.715, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "moving", "to": "at_in"}, "cause": null} +{"env_id": 3, "seq": 12, "step": 7943, "t": 39.715, "topic": "a4s_sealer_1.drawer.reached", "source": "a4s_sealer_1.drawer", "data": {"position": "in", "q": 0.30000001192092896}, "cause": "program-3-2"} +{"env_id": 3, "seq": 13, "step": 7943, "t": 39.715, "topic": "a4s_sealer_1.drawer.at_in", "source": "a4s_sealer_1.drawer", "data": {"q": 0.30000001192092896}, "cause": "program-3-2"} +{"env_id": 3, "seq": 14, "step": 7943, "t": 39.715, "topic": "a4s_sealer_1.drawer.command.succeeded", "source": "a4s_sealer_1.drawer", "data": {"command_id": "program-3-2", "name": "close", "source": "program:seal", "result": {"position": "in"}}, "cause": "program-3-2"} +{"env_id": 3, "seq": 15, "step": 7943, "t": 39.715, "topic": "labware.plate_3.changed", "source": "labware.plate_3", "data": {"key": "sealed", "value": true}, "cause": "task-3-1"} +{"env_id": 3, "seq": 16, "step": 7943, "t": 39.715, "topic": "a4s_sealer_1.sealed", "source": "a4s_sealer_1", "data": {"plate": "plate_3"}, "cause": "task-3-1"} +{"env_id": 3, "seq": 17, "step": 7943, "t": 39.715, "topic": "a4s_sealer_1.heater.command.started", "source": "a4s_sealer_1.heater", "data": {"command_id": "program-3-3", "name": "run", "source": "program:seal"}, "cause": "program-3-3"} +{"env_id": 3, "seq": 18, "step": 7943, "t": 39.715, "topic": "a4s_sealer_1.heater.state.changed", "source": "a4s_sealer_1.heater", "data": {"from": "ready", "to": "running"}, "cause": null} +{"env_id": 3, "seq": 19, "step": 7943, "t": 39.715, "topic": "a4s_sealer_1.heater.started", "source": "a4s_sealer_1.heater", "data": {"duration": 2.0702622440173437}, "cause": "program-3-3"} +{"env_id": 3, "seq": 20, "step": 8358, "t": 41.79, "topic": "a4s_sealer_1.heater.state.changed", "source": "a4s_sealer_1.heater", "data": {"from": "running", "to": "ready"}, "cause": null} +{"env_id": 3, "seq": 21, "step": 8358, "t": 41.79, "topic": "a4s_sealer_1.heater.finished", "source": "a4s_sealer_1.heater", "data": {"elapsed": 2.0750000000010616}, "cause": "program-3-3"} +{"env_id": 3, "seq": 22, "step": 8358, "t": 41.79, "topic": "a4s_sealer_1.heater.command.succeeded", "source": "a4s_sealer_1.heater", "data": {"command_id": "program-3-3", "name": "run", "source": "program:seal", "result": {"elapsed": 2.0750000000010616}}, "cause": "program-3-3"} +{"env_id": 3, "seq": 23, "step": 8358, "t": 41.79, "topic": "a4s_sealer_1.drawer.command.started", "source": "a4s_sealer_1.drawer", "data": {"command_id": "program-3-4", "name": "open", "source": "program:seal"}, "cause": "program-3-4"} +{"env_id": 3, "seq": 24, "step": 8358, "t": 41.79, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "at_in", "to": "moving"}, "cause": null} +{"env_id": 3, "seq": 25, "step": 8358, "t": 41.79, "topic": "a4s_sealer_1.drawer.moving", "source": "a4s_sealer_1.drawer", "data": {"target": 0.0, "goal": "out"}, "cause": "program-3-4"} +{"env_id": 3, "seq": 26, "step": 8778, "t": 43.89, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "moving", "to": "at_out"}, "cause": null} +{"env_id": 3, "seq": 27, "step": 8778, "t": 43.89, "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": 28, "step": 8778, "t": 43.89, "topic": "a4s_sealer_1.drawer.at_out", "source": "a4s_sealer_1.drawer", "data": {"q": 0.0}, "cause": "program-3-4"} +{"env_id": 3, "seq": 29, "step": 8778, "t": 43.89, "topic": "a4s_sealer_1.drawer.command.succeeded", "source": "a4s_sealer_1.drawer", "data": {"command_id": "program-3-4", "name": "open", "source": "program:seal", "result": {"position": "out"}}, "cause": "program-3-4"} +{"env_id": 3, "seq": 30, "step": 8778, "t": 43.89, "topic": "a4s_sealer_1.seal.finished", "source": "a4s_sealer_1", "data": {}, "cause": "task-3-1"} +{"env_id": 3, "seq": 31, "step": 8778, "t": 43.89, "topic": "a4s_sealer_1.command.succeeded", "source": "a4s_sealer_1", "data": {"command_id": "task-3-1", "name": "seal", "source": "task"}, "cause": "task-3-1"} +{"env_id": 3, "seq": 32, "step": 9359, "t": 46.795, "topic": "a4s_sealer_1.plate_present.absent", "source": "a4s_sealer_1.plate_present", "data": {"object": "plate_3"}, "cause": null} +{"env_id": 3, "seq": 33, "step": 11064, "t": 55.32, "topic": "conveyor_1.belt.command.started", "source": "conveyor_1.belt", "data": {"command_id": "task-3-5", "name": "release", "source": "task"}, "cause": "task-3-5"} +{"env_id": 3, "seq": 34, "step": 11064, "t": 55.32, "topic": "conveyor_1.belt.station.pick.released", "source": "conveyor_1.belt", "data": {"rider": "carrier_3"}, "cause": "task-3-5"} +{"env_id": 3, "seq": 35, "step": 11064, "t": 55.32, "topic": "conveyor_1.belt.state.changed", "source": "conveyor_1.belt", "data": {"from": "at_station", "to": "running"}, "cause": null} +{"env_id": 3, "seq": 36, "step": 11064, "t": 55.32, "topic": "conveyor_1.belt.command.succeeded", "source": "conveyor_1.belt", "data": {"command_id": "task-3-5", "name": "release", "source": "task", "result": {"state": "running"}}, "cause": "task-3-5"} diff --git a/episodes/c6_p010_e010/env.mp4 b/episodes/c6_p010_e010/env.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..53cb531addf23114d9aa9205971d07f5dc7bae00 --- /dev/null +++ b/episodes/c6_p010_e010/env.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:23ba1424fa267112c90f68733df3986bab8a3a19dc4b19f3a5866f8e4c431fa8 +size 1241193 diff --git a/episodes/c6_p010_e010/meta.json b/episodes/c6_p010_e010/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..74347e5f5fbc60b663d33a3ff8274ce63ceefe7a --- /dev/null +++ b/episodes/c6_p010_e010/meta.json @@ -0,0 +1,32 @@ +{ + "source": "raw/c6_p010/magicsim/10", + "fps": 25, + "frames": 1183, + "kept_ticks": "even", + "video_frames": { + "wrist": 1183, + "env": 1183 + }, + "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_p010_e010/scene_snapshot.json b/episodes/c6_p010_e010/scene_snapshot.json new file mode 100644 index 0000000000000000000000000000000000000000..56dc666501a83c22377e9c3eac7e2f01733edbef --- /dev/null +++ b/episodes/c6_p010_e010/scene_snapshot.json @@ -0,0 +1,1558 @@ +{ + "trajectory_id": 10, + "env_id": 3, + "run_id": "c6_p010", + "task_type": "BioPlateCell", + "success": true, + "timing": { + "fps": 50.0, + "sim_dt": 0.005, + "decimation": 4 + }, + "restore_interface": { + "scene": "scene_manager.reset_to(snapshot['scene'], env_ids=[env_id])", + "robots": "robot_manager.set_state({'robots': snapshot['robots']}, env_ids=[env_id])" + }, + "snapshot": { + "env_id": 3, + "scene": { + "objects": [ + {}, + {}, + {}, + { + "rac_cell": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/rac_cell.usd", + "pose": { + "pos": [ + 0.0, + 0.0, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "physics_material": { + "static_friction": 0.6, + "dynamic_friction": 0.5, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "robot_mount": [ + { + "asset": "Cube", + "pose": { + "pos": [ + 0.0, + 0.0, + 0.9075 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": "color", + "value": [ + 0.55, + 0.56, + 0.58 + ], + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": { + "size": [ + 0.2, + 0.2, + 0.015 + ] + } + }, + "type_specific": {} + } + ], + "plate_rack": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/plate_hotel.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 0.9 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "physics_material": { + "static_friction": 0.6, + "dynamic_friction": 0.5, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "hotel_plate": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_96_black/plate_96_black.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 0.9605 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/deep_well_96_2ml/deep_well_96_2ml.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.0285 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/pcr_96_blue/pcr_96_blue.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.0965 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_96_black/plate_96_black.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.1645 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_96_black/plate_96_black.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.2325 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "a4s_sealer": [ + { + "asset": "$MAGICSIM_ASSETS/Articulated/A4SSealer/Object.usd", + "pose": { + "pos": [ + 0.4951019287109375, + 0.0760946273803711, + 0.8999999761581421 + ], + "ori": [ + 0.7237980961799622, + 0.0, + 0.0, + -0.6900117993354797 + ], + "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": 0.255578407839755, + "direction": [ + 1.0, + 0.0, + 0.0 + ], + "enabled": true, + "drive": "surface_velocity", + "lines": null, + "station_line": null, + "riders": [ + "carrier" + ], + "stations": { + "pick": { + "position": -0.045168175717224424, + "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": 0.255578407839755, + "holds": [], + "station": "pick", + "rider": "carrier_3", + "arrived": true, + "applied_speed": 0.0 + } + } + } + ], + "carrier": [ + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + 1.5129899978637695, + 0.4939393997192383, + 0.8999999761581421 + ], + "ori": [ + 0.971923828125, + 4.3149217532345574e-08, + 8.407261731235849e-08, + 0.23529601097106934 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -6.553430020872497e-11, + -1.3287334565958986e-09, + 3.725290298461914e-09 + ], + "angular_velocity": [ + 1.160309679448801e-07, + -1.8763254061582302e-08, + -8.30095381321172e-10 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + 0.06422042846679688, + 1.1499748229980469, + 0.8999999761581421 + ], + "ori": [ + -0.00017923660925589502, + 9.680696244629416e-10, + 7.152743675131745e-12, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 7.443090588310497e-11, + -1.9039427812117538e-09, + 3.725290298461914e-09 + ], + "angular_velocity": [ + 1.2143034666678432e-07, + 1.9697470321489163e-08, + -1.8900742082550437e-10 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + 0.1046304702758789, + 0.44690418243408203, + 0.8999999761581421 + ], + "ori": [ + 0.9999775886535645, + 3.6598408748034217e-09, + 3.107515633704594e-10, + 0.006709661800414324 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 6.623890325130333e-10, + 9.263161349082338e-10, + 3.725290298461914e-09 + ], + "angular_velocity": [ + -7.348138097995616e-08, + 6.541753094779779e-08, + -4.3668038074429205e-09 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + -1.3949451446533203, + 0.757481575012207, + 0.8999999761581421 + ], + "ori": [ + -0.7437098622322083, + -1.1375858122164573e-07, + -2.4483957083987207e-09, + 0.6685026288032532 + ], + "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": [ + -4.1279442086761264e-09, + -5.070623032565891e-09, + 4.842877388000488e-08 + ], + "angular_velocity": [ + 4.6966195554887236e-07, + -2.2034075186638802e-07, + 2.3196948362169678e-08 + ] + } + } + ], + "plate": [ + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_48_clear/Object.usd", + "pose": { + "pos": [ + 1.5000028610229492, + 0.49852943420410156, + 0.9179999828338623 + ], + "ori": [ + 0.9723399877548218, + 4.3725201237521105e-08, + 8.543074869749034e-08, + 0.2335699498653412 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -1.4853378971224629e-08, + -6.457978685148191e-08, + 1.1548399925231934e-07 + ], + "angular_velocity": [ + 2.8787455903511727e-06, + -9.668293614595314e-07, + -8.130413675644377e-09 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_384_white/Object.usd", + "pose": { + "pos": [ + 0.06675338745117188, + 1.154860496520996, + 0.9180000424385071 + ], + "ori": [ + -0.08332792669534683, + 1.6681561687548196e-09, + -4.2707387626350624e-10, + 0.9965222477912903 + ], + "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": [ + 1.8803586243620884e-08, + -1.7398377849531244e-08, + -5.09992241859436e-06 + ], + "angular_velocity": [ + -1.653313290717051e-07, + 1.596243691892596e-06, + 1.171114050180222e-07 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_96_clear/Object.usd", + "pose": { + "pos": [ + 0.09450149536132812, + 0.4538106918334961, + 0.9180000424385071 + ], + "ori": [ + 0.9986976385116577, + 3.513652258035904e-09, + 4.93525553757479e-10, + 0.05102033168077469 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -2.0407024958757347e-09, + 2.9480040630858184e-10, + -5.6438148021698e-06 + ], + "angular_velocity": [ + 1.3457050727083697e-06, + -1.6138370710905292e-06, + -6.650655848261522e-08 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/reservoir_12ch/Object.usd", + "pose": { + "pos": [ + -1.3944530487060547, + 0.7477579116821289, + 0.9179999828338623 + ], + "ori": [ + -0.6725158095359802, + -1.1476145544975225e-07, + -1.8041093952092524e-08, + 0.7400827407836914 + ], + "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": [ + 1.4071467546727945e-08, + -1.9919252025601963e-08, + -3.080815076828003e-06 + ], + "angular_velocity": [ + 6.886511982884258e-07, + 2.4666301214892883e-06, + -9.35602599838603e-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": 8.159999999999876, + "step": 1632, + "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": 0.255578407839755, + "holds": [], + "station": "pick", + "rider": "carrier_3", + "arrived": true, + "settle_count": 1494, + "released": { + "pick": [] + }, + "last_pos": { + "carrier_1": [ + 1.362989991903305, + 0.043939411640167236, + 0.0 + ], + "carrier_2": [ + -0.0857795774936676, + 0.6999748349189758, + 0.0 + ], + "carrier_3": [ + -0.04536953568458557, + -0.0030958056449890137, + 0.0 + ], + "carrier_4": [ + -1.5449451506137848, + 0.307481586933136, + 0.0 + ] + }, + "command": 0.0 + }, + "belt": { + "target_speed": 0.0, + "command_speed": 0.0 + }, + "seen": { + "state": "at_station", + "station": "pick", + "rider": "carrier_3", + "arrived": true + } + } + }, + "queues": {}, + "program": null, + "sensors": {}, + "interlocks": {} + } + }, + "zones": {}, + "labware": { + "plate_1": { + "sealed": false + }, + "plate_2": { + "sealed": false + }, + "plate_3": { + "sealed": false + }, + "plate_4": { + "sealed": false + } + }, + "rules": {}, + "records": [], + "bus": { + "seq": 3, + "queue": [] + } + } + ], + "drives": [ + null, + null, + null, + {} + ] + }, + "artifacts": [ + {}, + {}, + {}, + { + "ceiling": { + "type": "rect", + "pose": { + "pos": [ + 0.6653246241229854, + 0.05518838957661809, + 2.973437797329054 + ], + "ori": [ + 7.069347277240659, + -0.8228622427023495, + 9.998334377209162 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "color_temperature": 6729.56741531515, + "color": [ + 0.9164334697511329, + 0.9259172213849443, + 0.9583645325646899 + ], + "intensity": 15074.959319322206, + "width": 1.6123474014585792, + "height": 1.4548826709383929 + } + }, + "key": { + "type": "sphere", + "pose": { + "pos": [ + 0.8048984423478971, + 0.08282404939675425, + 2.7680343277518062 + ], + "ori": [ + -0.6494010882488794, + 25.987741123627345, + 6.799976835611986 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "color_temperature": 6808.708720716113, + "color": [ + 0.8779356611153054, + 0.9601604393362811, + 0.9258272694141855 + ], + "intensity": 2056.525906897273, + "radius": 0.13319421523828037 + } + } + } + ], + "background": { + "type": "dome", + "pose": { + "pos": null, + "ori": null, + "scale": null + }, + "dr": { + "intensity": 457.4758841845153, + "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": [ + [ + 0.8537967205047607, + -1.2312536239624023, + 2.072113513946533, + -2.411613702774048, + -1.5707952976226807, + 2.2500784397125244, + 0.01800004579126835, + 0.017999952659010887 + ], + [ + 0.92792147397995, + -1.1965845823287964, + 2.1142830848693848, + -2.488518714904785, + -1.5707619190216064, + 2.3585221767425537, + 0.007675213273614645, + 0.007049474399536848 + ], + [ + 2.2770421504974365, + -2.449742555618286, + 2.2907698154449463, + -1.410649299621582, + -1.5707650184631348, + 3.851065158843994, + 0.007966298609972, + 0.007440951652824879 + ], + [ + 0.9141013026237488, + -1.7193982601165771, + 2.0904994010925293, + -1.9419007301330566, + -1.5707999467849731, + 2.4849002361297607, + 0.018000001087784767, + 0.01799999736249447 + ] + ], + "joint_vel": [ + [ + -0.000156578651512973, + 0.016812462359666824, + 0.006265568546950817, + -0.02171444520354271, + -1.0122516869159881e-05, + -6.178276817081496e-05, + -7.154728791647358e-06, + 7.155866569519276e-06 + ], + [ + 5.084713120595552e-05, + -4.6398417907767e-06, + -9.253680764231831e-05, + 0.00022307336621452123, + -0.00039339024806395173, + -0.00134493806399405, + -0.007829696871340275, + 0.000315576558932662 + ], + [ + 0.022372012957930565, + -0.020034991204738617, + -0.004781958181411028, + 0.020248359069228172, + 0.00486403563991189, + 0.0029392484575510025, + -0.0010985895060002804, + 3.417729021748528e-05 + ], + [ + 2.3024856980287466e-38, + -1.9630487506258068e-38, + 1.2889434744940247e-38, + -5.759031765829161e-37, + 5.793386223188303e-37, + -2.9935591571351915e-36, + -2.5990372520823257e-08, + 2.5990388508034812e-08 + ] + ] + } + }, + "cameras": { + "cameras": { + "camera0": [ + [ + 0.04857460781931877, + -0.000377136078896001, + -0.028431439772248268, + -0.2772446870803833, + 0.6477741003036499, + 0.6510838270187378, + -0.2821594476699829 + ], + [ + 0.049187690019607544, + -0.0003085191419813782, + -0.03179824352264404, + -0.2648024559020996, + 0.6521280407905579, + 0.6508147120475769, + -0.28469085693359375 + ], + [ + 0.05055442452430725, + -0.003458550199866295, + -0.030725302174687386, + -0.28088515996932983, + 0.6428112983703613, + 0.6583955883979797, + -0.27278637886047363 + ], + [ + 0.05236826464533806, + -0.0003195711469743401, + -0.028245311230421066, + -0.27955952286720276, + 0.6504173278808594, + 0.644237756729126, + -0.2894156873226166 + ] + ], + "camera1": [ + [ + 0.05168056860566139, + 0.596659779548645, + 1.9476194381713867, + 0.04672624543309212, + 0.027022220194339752, + 0.27735796570777893, + 0.9592491984367371 + ], + [ + 0.06531662493944168, + 0.593163251876831, + 1.9563872814178467, + 0.02694377675652504, + 0.004034095909446478, + 0.27929121255874634, + 0.9598198533058167 + ], + [ + 0.036625225096940994, + 0.5778366327285767, + 1.9349231719970703, + 0.057601943612098694, + 0.02280266582965851, + 0.25787147879600525, + 0.9641910195350647 + ], + [ + 0.04157958924770355, + 0.5579681396484375, + 1.9509466886520386, + 0.050953637808561325, + 0.011666228994727135, + 0.2575679123401642, + 0.9648452997207642 + ] + ] + } + } + } +} \ No newline at end of file diff --git a/episodes/c6_p010_e010/wrist.mp4 b/episodes/c6_p010_e010/wrist.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..b231bbc34b916f6bc02ebda76cb2c5756c23e626 --- /dev/null +++ b/episodes/c6_p010_e010/wrist.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:8b8241c4741f7c00fabc885655fd9e1083d20402c33b7ebaae34eac36fea0d93 +size 6767857 diff --git a/episodes/c6_p010_e011/data.npz b/episodes/c6_p010_e011/data.npz new file mode 100644 index 0000000000000000000000000000000000000000..e38ea75e29a80cf9c774635e64d9cb9da268821c --- /dev/null +++ b/episodes/c6_p010_e011/data.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:066f4141f9e7a43a8966d5f04dc9388737915d16bd9242a64eaa1feafd6d1f1d +size 191308 diff --git a/episodes/c6_p010_e011/device_events.jsonl b/episodes/c6_p010_e011/device_events.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..6cc1f811412449a7d46f280f00246714fe4cf253 --- /dev/null +++ b/episodes/c6_p010_e011/device_events.jsonl @@ -0,0 +1,35 @@ +{"env_id": 1, "seq": 1, "step": 62, "t": 0.31, "topic": "conveyor_1.belt.station.pick.captured", "source": "conveyor_1.belt", "data": {"rider": "carrier_1"}, "cause": null} +{"env_id": 1, "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": 1, "seq": 3, "step": 67, "t": 0.335, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_1"}, "cause": null} +{"env_id": 1, "seq": 4, "step": 5902, "t": 29.51, "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": 6512, "t": 32.56, "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": 6512, "t": 32.56, "topic": "a4s_sealer_1.seal.started", "source": "a4s_sealer_1", "data": {"dwell": 3.7758633188334447}, "cause": "task-1-1"} +{"env_id": 1, "seq": 7, "step": 6512, "t": 32.56, "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": 6512, "t": 32.56, "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": 6512, "t": 32.56, "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": 6931, "t": 34.655, "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": 6931, "t": 34.655, "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": 6931, "t": 34.655, "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": 6931, "t": 34.655, "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": 6931, "t": 34.655, "topic": "labware.plate_1.changed", "source": "labware.plate_1", "data": {"key": "sealed", "value": true}, "cause": "task-1-1"} +{"env_id": 1, "seq": 15, "step": 6931, "t": 34.655, "topic": "a4s_sealer_1.sealed", "source": "a4s_sealer_1", "data": {"plate": "plate_1"}, "cause": "task-1-1"} +{"env_id": 1, "seq": 16, "step": 6931, "t": 34.655, "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": 6931, "t": 34.655, "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": 6931, "t": 34.655, "topic": "a4s_sealer_1.heater.started", "source": "a4s_sealer_1.heater", "data": {"duration": 3.7758633188334447}, "cause": "program-1-3"} +{"env_id": 1, "seq": 19, "step": 7687, "t": 38.435, "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": 7687, "t": 38.435, "topic": "a4s_sealer_1.heater.finished", "source": "a4s_sealer_1.heater", "data": {"elapsed": 3.780000000001934}, "cause": "program-1-3"} +{"env_id": 1, "seq": 21, "step": 7687, "t": 38.435, "topic": "a4s_sealer_1.heater.command.succeeded", "source": "a4s_sealer_1.heater", "data": {"command_id": "program-1-3", "name": "run", "source": "program:seal", "result": {"elapsed": 3.780000000001934}}, "cause": "program-1-3"} +{"env_id": 1, "seq": 22, "step": 7687, "t": 38.435, "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": 7687, "t": 38.435, "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": 7687, "t": 38.435, "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": 8107, "t": 40.535, "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": 8107, "t": 40.535, "topic": "a4s_sealer_1.drawer.reached", "source": "a4s_sealer_1.drawer", "data": {"position": "out", "q": 4.942783682349017e-11}, "cause": "program-1-4"} +{"env_id": 1, "seq": 27, "step": 8107, "t": 40.535, "topic": "a4s_sealer_1.drawer.at_out", "source": "a4s_sealer_1.drawer", "data": {"q": 4.942783682349017e-11}, "cause": "program-1-4"} +{"env_id": 1, "seq": 28, "step": 8107, "t": 40.535, "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": 8107, "t": 40.535, "topic": "a4s_sealer_1.seal.finished", "source": "a4s_sealer_1", "data": {}, "cause": "task-1-1"} +{"env_id": 1, "seq": 30, "step": 8107, "t": 40.535, "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": 8687, "t": 43.435, "topic": "a4s_sealer_1.plate_present.absent", "source": "a4s_sealer_1.plate_present", "data": {"object": "plate_1"}, "cause": null} +{"env_id": 1, "seq": 32, "step": 10420, "t": 52.1, "topic": "conveyor_1.belt.command.started", "source": "conveyor_1.belt", "data": {"command_id": "task-1-5", "name": "release", "source": "task"}, "cause": "task-1-5"} +{"env_id": 1, "seq": 33, "step": 10420, "t": 52.1, "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": 10420, "t": 52.1, "topic": "conveyor_1.belt.state.changed", "source": "conveyor_1.belt", "data": {"from": "at_station", "to": "running"}, "cause": null} +{"env_id": 1, "seq": 35, "step": 10420, "t": 52.1, "topic": "conveyor_1.belt.command.succeeded", "source": "conveyor_1.belt", "data": {"command_id": "task-1-5", "name": "release", "source": "task", "result": {"state": "running"}}, "cause": "task-1-5"} diff --git a/episodes/c6_p010_e011/env.mp4 b/episodes/c6_p010_e011/env.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..ec55bbae0d70cccc1becb0670c7177d69e809298 --- /dev/null +++ b/episodes/c6_p010_e011/env.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:f9c5c80e1439a4c85a1d4292bbc624ecf9e5435bb2b1643846cb97c42d693be4 +size 1317082 diff --git a/episodes/c6_p010_e011/meta.json b/episodes/c6_p010_e011/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..6ebd3096a9cfbdbd8c947bcb38232fd2dc973c3d --- /dev/null +++ b/episodes/c6_p010_e011/meta.json @@ -0,0 +1,32 @@ +{ + "source": "raw/c6_p010/magicsim/11", + "fps": 25, + "frames": 1244, + "kept_ticks": "even", + "video_frames": { + "wrist": 1244, + "env": 1244 + }, + "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_p010_e011/scene_snapshot.json b/episodes/c6_p010_e011/scene_snapshot.json new file mode 100644 index 0000000000000000000000000000000000000000..4f33be237276da1aedbf29a6aabc035a68b48ba8 --- /dev/null +++ b/episodes/c6_p010_e011/scene_snapshot.json @@ -0,0 +1,1558 @@ +{ + "trajectory_id": 11, + "env_id": 1, + "run_id": "c6_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_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": [ + 2.6913332673572654e-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": 0.26413320426925335, + "direction": [ + 1.0, + 0.0, + 0.0 + ], + "enabled": true, + "drive": "surface_velocity", + "lines": null, + "station_line": null, + "riders": [ + "carrier" + ], + "stations": { + "pick": { + "position": -0.10226356277040585, + "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": 0.26413320426925335, + "holds": [], + "station": "pick", + "rider": "carrier_1", + "arrived": true, + "applied_speed": 0.0 + } + } + } + ], + "carrier": [ + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + 0.048076629638671875, + 0.4499988555908203, + 0.8999999761581421 + ], + "ori": [ + 1.0, + 3.55253915174103e-09, + 2.693983924828558e-09, + -3.761476136787678e-06 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 1.0597971389358918e-09, + -2.4637858420106795e-10, + 1.1175870895385742e-08 + ], + "angular_velocity": [ + 4.079466009443422e-08, + 1.07545965022382e-07, + -9.001453804557968e-09 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + -1.2823104858398438, + 0.5397720336914062, + 0.8999999761581421 + ], + "ori": [ + -0.9336959719657898, + 5.4688037209871254e-08, + 1.3495534290086653e-07, + 0.35806703567504883 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -2.1016170137500012e-08, + -2.6006750530882528e-08, + 1.1175870895385742e-08 + ], + "angular_velocity": [ + 9.581797257851576e-07, + -7.928766194709169e-07, + -2.0905569897422538e-07 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + 0.4512605667114258, + 1.1499967575073242, + 0.8999999761581421 + ], + "ori": [ + -3.2985612051561475e-05, + -6.924862905322016e-09, + -3.1719384896433667e-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": [ + -1.0792761129252426e-10, + -4.940121645091722e-10, + 3.725290298461914e-09 + ], + "angular_velocity": [ + -2.150028821645833e-09, + -5.633513211478203e-09, + -1.456299969504471e-08 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + 1.6586685180664062, + 0.9626083374023438, + 0.8999999761581421 + ], + "ori": [ + 0.5182767510414124, + -1.6634675148452516e-07, + -5.6382113200470485e-08, + 0.8552129864692688 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 3.5654661445505553e-09, + 1.475513045079424e-10, + -3.725290298461914e-09 + ], + "angular_velocity": [ + -9.765699360286817e-10, + 1.3108228813507594e-07, + -2.9208493401711166e-08 + ] + } + } + ], + "plate": [ + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_12_clear/Object.usd", + "pose": { + "pos": [ + 0.050461769104003906, + 0.4552183151245117, + 0.9179999828338623 + ], + "ori": [ + 0.9975401759147644, + 1.722956666228015e-09, + 1.7762646908892066e-09, + 0.07009662687778473 + ], + "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": [ + -1.476683308965221e-08, + -2.1077758205478858e-08, + 1.5273690223693848e-07 + ], + "angular_velocity": [ + 1.5590113662256044e-06, + -1.886738459688786e-06, + -6.191852008896603e-08 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_96_white/Object.usd", + "pose": { + "pos": [ + -1.275019645690918, + 0.5479793548583984, + 0.9180000424385071 + ], + "ori": [ + -0.9401229023933411, + 3.4324546049901983e-07, + 8.796865813565091e-08, + 0.34083569049835205 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -1.1719334906956647e-06, + -9.206616596202366e-06, + -5.1781535148620605e-06 + ], + "angular_velocity": [ + 0.0001679733832133934, + -0.00012290332233533263, + -6.04531160206534e-05 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/pcr_384_red/Object.usd", + "pose": { + "pos": [ + 0.4621248245239258, + 1.1502962112426758, + 0.9179999828338623 + ], + "ori": [ + 0.0025769583880901337, + -7.203327268001658e-09, + -3.056138897505889e-09, + 0.9999967813491821 + ], + "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": [ + 7.262704215804661e-09, + -1.602469090755676e-08, + -5.662441253662109e-06 + ], + "angular_velocity": [ + -4.96671816563321e-07, + 1.810709250094078e-06, + 2.1633464797332635e-08 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/deep_well_96_1ml/Object.usd", + "pose": { + "pos": [ + 1.652024269104004, + 0.9561223983764648, + 0.9179999828338623 + ], + "ori": [ + 0.4520599842071533, + -1.7665229279373307e-07, + -4.5836454631853485e-08, + 0.8919876217842102 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 1.8403056856186595e-07, + 2.4731127368227135e-08, + 1.30385160446167e-07 + ], + "angular_velocity": [ + -1.1491439408928272e-06, + 8.005798918020446e-06, + -1.2258354331606824e-08 + ] + } + } + ], + "deco_hub_west": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/hub_a.usd", + "pose": { + "pos": [ + -3.36, + 0.0, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_hub_east": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/hub_c.usd", + "pose": { + "pos": [ + 3.36, + 0.0, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_hub_back": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/hub_d.usd", + "pose": { + "pos": [ + -3.0, + -2.1, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_bench_east": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/bench_c.usd", + "pose": { + "pos": [ + 2.6, + -2.5, + 0.0 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_bench_gap": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/bench_b.usd", + "pose": { + "pos": [ + -0.1, + -2.9, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ] + }, + {}, + {} + ], + "devices": { + "hub": [ + null, + { + "t": 2.499999999999969, + "step": 500, + "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": 2.6913332673572654e-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": 0.26413320426925335, + "holds": [], + "station": "pick", + "rider": "carrier_1", + "arrived": true, + "settle_count": 437, + "released": { + "pick": [] + }, + "last_pos": { + "carrier_1": [ + -0.1019233763217926, + -1.1324882507324219e-06, + 0.0 + ], + "carrier_2": [ + -1.4323104918003082, + 0.0897720456123352, + 0.0 + ], + "carrier_3": [ + 0.3012605607509613, + 0.6999967694282532, + 0.0 + ], + "carrier_4": [ + 1.5086685121059418, + 0.5126083493232727, + 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": [ + -0.16793152405844708, + -0.4239401611377236, + 3.1207565997030007 + ], + "ori": [ + -2.1778855845016345, + 6.908249709511622, + -4.531902997182556 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "color_temperature": 3567.194216798249, + "color": [ + 0.8565128405487826, + 0.9962662216614879, + 0.9611822518377726 + ], + "intensity": 12169.960584241755, + "width": 2.673249990712463, + "height": 1.6381996869838038 + } + }, + "key": { + "type": "disk", + "pose": { + "pos": [ + -1.3478189143805668, + -0.5254400715015789, + 1.9683363714818685 + ], + "ori": [ + -33.8349813898307, + 22.024881153798987, + 18.5919117334945 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "color_temperature": 3431.635840991231, + "color": [ + 0.8286551109730009, + 0.85196051110465, + 0.9083184062198978 + ], + "intensity": 4591.172469780238, + "radius": 0.2944024542539717 + } + } + }, + {}, + {} + ], + "background": { + "type": "dome", + "pose": { + "pos": null, + "ori": null, + "scale": null + }, + "dr": { + "intensity": 457.4758841845153, + "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": [ + [ + 0.9141122698783875, + -1.7193934917449951, + 2.090496301651001, + -1.9419001340866089, + -1.5707999467849731, + 2.4849064350128174, + 0.01799999549984932, + 0.018000002950429916 + ], + [ + 0.9141020178794861, + -1.7193981409072876, + 2.090498685836792, + -1.9419000148773193, + -1.5707999467849731, + 2.484900951385498, + 0.01799999736249447, + 0.018000001087784767 + ], + [ + 1.0664615631103516, + -1.5714061260223389, + 2.171281576156616, + -2.171119451522827, + -1.570758581161499, + 2.781498908996582, + 0.008035758510231972, + 0.007081264164298773 + ], + [ + 0.9140999913215637, + -1.7194000482559204, + 2.0905001163482666, + -1.9419000148773193, + -1.5707999467849731, + 2.4848999977111816, + 0.017999999225139618, + 0.017999999225139618 + ] + ], + "joint_vel": [ + [ + 1.7029819900926668e-06, + 3.4059351037285523e-06, + -1.1269386465673215e-11, + 3.405976030990132e-06, + -5.601608451177506e-14, + 2.758973063031467e-13, + 5.1980507009830035e-08, + -5.19803116105777e-08 + ], + [ + 0.0, + -2.615486869642506e-38, + -2.2061022877047891e-38, + -7.220966768886733e-37, + 1.9674118335243286e-37, + 7.590675714780758e-38, + 2.5990372520823257e-08, + -2.5990386731677972e-08 + ], + [ + -0.0002974139351863414, + 0.0003021573938895017, + 0.001284584286622703, + -0.0012861681170761585, + 0.0005938155809417367, + 0.0030991793610155582, + -0.0037225261330604553, + 0.00019444666395429522 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + ] + } + }, + "cameras": { + "cameras": { + "camera0": [ + [ + 0.04804380238056183, + 0.00172517413739115, + -0.028904041275382042, + -0.28073689341545105, + 0.6437419652938843, + 0.6536871194839478, + -0.2819153368473053 + ], + [ + 0.04865303263068199, + -0.00035261554876342416, + -0.03093576431274414, + -0.26584967970848083, + 0.6496725678443909, + 0.6563901305198669, + -0.2764081358909607 + ], + [ + 0.04774700105190277, + -0.000900081533472985, + -0.028844978660345078, + -0.281985342502594, + 0.6421370506286621, + 0.6570443511009216, + -0.27647238969802856 + ], + [ + 0.05396070331335068, + 0.0032433192245662212, + -0.029507987201213837, + -0.2771291732788086, + 0.64744633436203, + 0.6467440724372864, + -0.2928050756454468 + ] + ], + "camera1": [ + [ + 0.05168056860566139, + 0.596659779548645, + 1.9476194381713867, + 0.04672624543309212, + 0.027022220194339752, + 0.27735796570777893, + 0.9592491984367371 + ], + [ + 0.06531662493944168, + 0.593163251876831, + 1.9563872814178467, + 0.02694377675652504, + 0.004034095909446478, + 0.27929121255874634, + 0.9598198533058167 + ], + [ + 0.036625225096940994, + 0.5778366327285767, + 1.9349231719970703, + 0.057601943612098694, + 0.02280266582965851, + 0.25787147879600525, + 0.9641910195350647 + ], + [ + 0.04157958924770355, + 0.5579681396484375, + 1.9509466886520386, + 0.050953637808561325, + 0.011666228994727135, + 0.2575679123401642, + 0.9648452997207642 + ] + ] + } + } + } +} \ No newline at end of file diff --git a/episodes/c6_p010_e011/wrist.mp4 b/episodes/c6_p010_e011/wrist.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..294ac500903fb0f51666a6ce2ab452beb13902e0 --- /dev/null +++ b/episodes/c6_p010_e011/wrist.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:7e894517679119a16794f71e3a3e6c1fa0b05748f2c7022afd8eecfde909dd51 +size 7165245 diff --git a/episodes/c7_p010_e025/data.npz b/episodes/c7_p010_e025/data.npz new file mode 100644 index 0000000000000000000000000000000000000000..79e8db722e470c2caf6c248b39a935998c46cd9a --- /dev/null +++ b/episodes/c7_p010_e025/data.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:21f9adccbf9e1aac7d583a3cbabed10828028b1951e6b75a81c1e7b0eaef1957 +size 199681 diff --git a/episodes/c7_p010_e025/device_events.jsonl b/episodes/c7_p010_e025/device_events.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..1b98d54fd206372a031e8de70c4b186798f48efc --- /dev/null +++ b/episodes/c7_p010_e025/device_events.jsonl @@ -0,0 +1,36 @@ +{"env_id": 3, "seq": 1, "step": 147, "t": 0.735, "topic": "conveyor_1.belt.station.pick.captured", "source": "conveyor_1.belt", "data": {"rider": "carrier_2"}, "cause": null} +{"env_id": 3, "seq": 2, "step": 147, "t": 0.735, "topic": "conveyor_1.belt.state.changed", "source": "conveyor_1.belt", "data": {"from": "running", "to": "at_station"}, "cause": null} +{"env_id": 3, "seq": 3, "step": 152, "t": 0.76, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_2"}, "cause": null} +{"env_id": 3, "seq": 4, "step": 2004, "t": 10.02, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_2"}, "cause": null} +{"env_id": 3, "seq": 5, "step": 6566, "t": 32.83, "topic": "a4s_sealer_1.plate_present.present", "source": "a4s_sealer_1.plate_present", "data": {"object": "plate_2"}, "cause": null} +{"env_id": 3, "seq": 6, "step": 7180, "t": 35.9, "topic": "a4s_sealer_1.command.started", "source": "a4s_sealer_1", "data": {"command_id": "task-3-1", "name": "seal", "source": "task"}, "cause": "task-3-1"} +{"env_id": 3, "seq": 7, "step": 7180, "t": 35.9, "topic": "a4s_sealer_1.seal.started", "source": "a4s_sealer_1", "data": {"dwell": 3.9190873413740137}, "cause": "task-3-1"} +{"env_id": 3, "seq": 8, "step": 7180, "t": 35.9, "topic": "a4s_sealer_1.drawer.command.started", "source": "a4s_sealer_1.drawer", "data": {"command_id": "program-3-2", "name": "close", "source": "program:seal"}, "cause": "program-3-2"} +{"env_id": 3, "seq": 9, "step": 7180, "t": 35.9, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "at_out", "to": "moving"}, "cause": null} +{"env_id": 3, "seq": 10, "step": 7180, "t": 35.9, "topic": "a4s_sealer_1.drawer.moving", "source": "a4s_sealer_1.drawer", "data": {"target": 0.3, "goal": "in"}, "cause": "program-3-2"} +{"env_id": 3, "seq": 11, "step": 7599, "t": 37.995, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "moving", "to": "at_in"}, "cause": null} +{"env_id": 3, "seq": 12, "step": 7599, "t": 37.995, "topic": "a4s_sealer_1.drawer.reached", "source": "a4s_sealer_1.drawer", "data": {"position": "in", "q": 0.30000001192092896}, "cause": "program-3-2"} +{"env_id": 3, "seq": 13, "step": 7599, "t": 37.995, "topic": "a4s_sealer_1.drawer.at_in", "source": "a4s_sealer_1.drawer", "data": {"q": 0.30000001192092896}, "cause": "program-3-2"} +{"env_id": 3, "seq": 14, "step": 7599, "t": 37.995, "topic": "a4s_sealer_1.drawer.command.succeeded", "source": "a4s_sealer_1.drawer", "data": {"command_id": "program-3-2", "name": "close", "source": "program:seal", "result": {"position": "in"}}, "cause": "program-3-2"} +{"env_id": 3, "seq": 15, "step": 7599, "t": 37.995, "topic": "labware.plate_2.changed", "source": "labware.plate_2", "data": {"key": "sealed", "value": true}, "cause": "task-3-1"} +{"env_id": 3, "seq": 16, "step": 7599, "t": 37.995, "topic": "a4s_sealer_1.sealed", "source": "a4s_sealer_1", "data": {"plate": "plate_2"}, "cause": "task-3-1"} +{"env_id": 3, "seq": 17, "step": 7599, "t": 37.995, "topic": "a4s_sealer_1.heater.command.started", "source": "a4s_sealer_1.heater", "data": {"command_id": "program-3-3", "name": "run", "source": "program:seal"}, "cause": "program-3-3"} +{"env_id": 3, "seq": 18, "step": 7599, "t": 37.995, "topic": "a4s_sealer_1.heater.state.changed", "source": "a4s_sealer_1.heater", "data": {"from": "ready", "to": "running"}, "cause": null} +{"env_id": 3, "seq": 19, "step": 7599, "t": 37.995, "topic": "a4s_sealer_1.heater.started", "source": "a4s_sealer_1.heater", "data": {"duration": 3.9190873413740137}, "cause": "program-3-3"} +{"env_id": 3, "seq": 20, "step": 8383, "t": 41.915, "topic": "a4s_sealer_1.heater.state.changed", "source": "a4s_sealer_1.heater", "data": {"from": "running", "to": "ready"}, "cause": null} +{"env_id": 3, "seq": 21, "step": 8383, "t": 41.915, "topic": "a4s_sealer_1.heater.finished", "source": "a4s_sealer_1.heater", "data": {"elapsed": 3.9200000000020054}, "cause": "program-3-3"} +{"env_id": 3, "seq": 22, "step": 8383, "t": 41.915, "topic": "a4s_sealer_1.heater.command.succeeded", "source": "a4s_sealer_1.heater", "data": {"command_id": "program-3-3", "name": "run", "source": "program:seal", "result": {"elapsed": 3.9200000000020054}}, "cause": "program-3-3"} +{"env_id": 3, "seq": 23, "step": 8383, "t": 41.915, "topic": "a4s_sealer_1.drawer.command.started", "source": "a4s_sealer_1.drawer", "data": {"command_id": "program-3-4", "name": "open", "source": "program:seal"}, "cause": "program-3-4"} +{"env_id": 3, "seq": 24, "step": 8383, "t": 41.915, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "at_in", "to": "moving"}, "cause": null} +{"env_id": 3, "seq": 25, "step": 8383, "t": 41.915, "topic": "a4s_sealer_1.drawer.moving", "source": "a4s_sealer_1.drawer", "data": {"target": 0.0, "goal": "out"}, "cause": "program-3-4"} +{"env_id": 3, "seq": 26, "step": 8803, "t": 44.015, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "moving", "to": "at_out"}, "cause": null} +{"env_id": 3, "seq": 27, "step": 8803, "t": 44.015, "topic": "a4s_sealer_1.drawer.reached", "source": "a4s_sealer_1.drawer", "data": {"position": "out", "q": 4.561157229687751e-09}, "cause": "program-3-4"} +{"env_id": 3, "seq": 28, "step": 8803, "t": 44.015, "topic": "a4s_sealer_1.drawer.at_out", "source": "a4s_sealer_1.drawer", "data": {"q": 4.561157229687751e-09}, "cause": "program-3-4"} +{"env_id": 3, "seq": 29, "step": 8803, "t": 44.015, "topic": "a4s_sealer_1.drawer.command.succeeded", "source": "a4s_sealer_1.drawer", "data": {"command_id": "program-3-4", "name": "open", "source": "program:seal", "result": {"position": "out"}}, "cause": "program-3-4"} +{"env_id": 3, "seq": 30, "step": 8803, "t": 44.015, "topic": "a4s_sealer_1.seal.finished", "source": "a4s_sealer_1", "data": {}, "cause": "task-3-1"} +{"env_id": 3, "seq": 31, "step": 8803, "t": 44.015, "topic": "a4s_sealer_1.command.succeeded", "source": "a4s_sealer_1", "data": {"command_id": "task-3-1", "name": "seal", "source": "task"}, "cause": "task-3-1"} +{"env_id": 3, "seq": 32, "step": 9383, "t": 46.915, "topic": "a4s_sealer_1.plate_present.absent", "source": "a4s_sealer_1.plate_present", "data": {"object": "plate_2"}, "cause": null} +{"env_id": 3, "seq": 33, "step": 11544, "t": 57.72, "topic": "conveyor_1.belt.command.started", "source": "conveyor_1.belt", "data": {"command_id": "task-3-5", "name": "release", "source": "task"}, "cause": "task-3-5"} +{"env_id": 3, "seq": 34, "step": 11544, "t": 57.72, "topic": "conveyor_1.belt.station.pick.released", "source": "conveyor_1.belt", "data": {"rider": "carrier_2"}, "cause": "task-3-5"} +{"env_id": 3, "seq": 35, "step": 11544, "t": 57.72, "topic": "conveyor_1.belt.state.changed", "source": "conveyor_1.belt", "data": {"from": "at_station", "to": "running"}, "cause": null} +{"env_id": 3, "seq": 36, "step": 11544, "t": 57.72, "topic": "conveyor_1.belt.command.succeeded", "source": "conveyor_1.belt", "data": {"command_id": "task-3-5", "name": "release", "source": "task", "result": {"state": "running"}}, "cause": "task-3-5"} diff --git a/episodes/c7_p010_e025/env.mp4 b/episodes/c7_p010_e025/env.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..c3533f861050dfe1a3763d9f5f5f9e4bef8cbc16 --- /dev/null +++ b/episodes/c7_p010_e025/env.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:e43a1cbc0912a4d2c04c98838900c8faf77c2b3a821106fd92ecbcf1b4c6c4cf +size 1374703 diff --git a/episodes/c7_p010_e025/meta.json b/episodes/c7_p010_e025/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..6e891614ce3a1109ac189d0159415144c9a055aa --- /dev/null +++ b/episodes/c7_p010_e025/meta.json @@ -0,0 +1,32 @@ +{ + "source": "raw/c7_p010/magicsim/25", + "fps": 25, + "frames": 1258, + "kept_ticks": "even", + "video_frames": { + "wrist": 1258, + "env": 1258 + }, + "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_e025/scene_snapshot.json b/episodes/c7_p010_e025/scene_snapshot.json new file mode 100644 index 0000000000000000000000000000000000000000..b7aa0ca3bcbe81ad2e04e2a9ff349a7aa83b38ea --- /dev/null +++ b/episodes/c7_p010_e025/scene_snapshot.json @@ -0,0 +1,1558 @@ +{ + "trajectory_id": 25, + "env_id": 3, + "run_id": "c7_p010", + "task_type": "BioPlateCell", + "success": true, + "timing": { + "fps": 50.0, + "sim_dt": 0.005, + "decimation": 4 + }, + "restore_interface": { + "scene": "scene_manager.reset_to(snapshot['scene'], env_ids=[env_id])", + "robots": "robot_manager.set_state({'robots': snapshot['robots']}, env_ids=[env_id])" + }, + "snapshot": { + "env_id": 3, + "scene": { + "objects": [ + {}, + {}, + {}, + { + "rac_cell": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/rac_cell.usd", + "pose": { + "pos": [ + 0.0, + 0.0, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "physics_material": { + "static_friction": 0.6, + "dynamic_friction": 0.5, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "robot_mount": [ + { + "asset": "Cube", + "pose": { + "pos": [ + 0.0, + 0.0, + 0.9075 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": "color", + "value": [ + 0.55, + 0.56, + 0.58 + ], + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": { + "size": [ + 0.2, + 0.2, + 0.015 + ] + } + }, + "type_specific": {} + } + ], + "plate_rack": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/plate_hotel.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 0.9 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "physics_material": { + "static_friction": 0.6, + "dynamic_friction": 0.5, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "hotel_plate": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_6_clear/plate_6_clear.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 0.9605 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_12_clear/plate_12_clear.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.0285 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/pcr_384_red/pcr_384_red.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.0965 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_24_clear/plate_24_clear.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.1645 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/deep_well_24_10ml/deep_well_24_10ml.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.2325 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "a4s_sealer": [ + { + "asset": "$MAGICSIM_ASSETS/Articulated/A4SSealer/Object.usd", + "pose": { + "pos": [ + 0.5084505081176758, + 0.052756309509277344, + 0.8999999761581421 + ], + "ori": [ + -0.6875692009925842, + 0.0, + 0.0, + 0.7261188626289368 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "articulation", + "solver_position_iteration_count": 16.0, + "solver_velocity_iteration_count": 1.0, + "enabled_self_collisions": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "joint_position": [ + 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": 0.21592549266735156, + "direction": [ + 1.0, + 0.0, + 0.0 + ], + "enabled": true, + "drive": "surface_velocity", + "lines": null, + "station_line": null, + "riders": [ + "carrier" + ], + "stations": { + "pick": { + "position": -0.26272292123650665, + "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": 0.21592549266735156, + "holds": [], + "station": "pick", + "rider": "carrier_2", + "arrived": true, + "applied_speed": 0.0 + } + } + } + ], + "carrier": [ + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + 1.5419960021972656, + 0.5113153457641602, + 0.8999999761581421 + ], + "ori": [ + 0.9593318104743958, + -1.4856888164160864e-08, + -6.929733453731046e-10, + 0.2822808623313904 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -4.989841873026535e-12, + -3.8652961387164453e-10, + 3.725290298461914e-09 + ], + "angular_velocity": [ + 9.046500082376951e-08, + 2.5829187677572918e-09, + 6.72797817458104e-09 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + -0.1123647689819336, + 0.44754695892333984, + 0.8999999761581421 + ], + "ori": [ + 0.9999396800994873, + 3.821765659495213e-08, + -1.1761763119011448e-07, + 0.010983088053762913 + ], + "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": [ + 1.102307578548789e-09, + 1.680092509559472e-09, + 3.725290298461914e-09 + ], + "angular_velocity": [ + -1.603821147000417e-07, + 1.8246646504849195e-07, + 1.39879006155752e-08 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + 0.7097272872924805, + 1.1524238586425781, + 0.8999999761581421 + ], + "ori": [ + -0.011323215439915657, + -8.50272907637617e-11, + 4.837213407604679e-10, + 0.9999358654022217 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -7.873404150871011e-10, + 3.3799341103701863e-10, + 3.725290298461914e-09 + ], + "angular_velocity": [ + -4.762709693295619e-08, + -7.453027706105786e-08, + -8.221560321430843e-09 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + -1.394648551940918, + 0.8431310653686523, + 0.8999999761581421 + ], + "ori": [ + -0.6571354269981384, + 1.5082020965451193e-08, + 3.707271289954406e-08, + 0.753772497177124 + ], + "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": [ + 3.2123050885957127e-09, + 1.0613779855006555e-09, + 7.450580596923828e-09 + ], + "angular_velocity": [ + -8.42983354232274e-08, + 1.445411470513136e-07, + 1.9517200300356308e-08 + ] + } + } + ], + "plate": [ + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_48_clear/Object.usd", + "pose": { + "pos": [ + 1.544424057006836, + 0.5005044937133789, + 0.9179999828338623 + ], + "ori": [ + 0.9309384822845459, + -1.583127939852602e-08, + 6.294608168033733e-10, + 0.36517617106437683 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -2.909708385345766e-08, + -2.20155893515539e-08, + 7.82310962677002e-08 + ], + "angular_velocity": [ + 1.3159879017621279e-06, + -9.728756822369178e-07, + 7.333058249514579e-08 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_384_white/Object.usd", + "pose": { + "pos": [ + -0.12486457824707031, + 0.4567251205444336, + 0.9180000424385071 + ], + "ori": [ + 0.9992908835411072, + 4.7730015495517364e-08, + -1.1736322846900293e-07, + -0.03765362873673439 + ], + "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": [ + -1.7942056729225442e-09, + -4.815154852622072e-08, + 2.644956111907959e-07 + ], + "angular_velocity": [ + 2.6264460757374763e-06, + -3.2014213502407074e-06, + -2.9911726073805767e-07 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_96_clear/Object.usd", + "pose": { + "pos": [ + 0.7204551696777344, + 1.146651268005371, + 0.9180000424385071 + ], + "ori": [ + -0.10725725442171097, + 8.164522946607633e-10, + -6.481233327804148e-10, + 0.9942314028739929 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -6.249400996694021e-10, + 1.823864281824683e-09, + -5.37186861038208e-06 + ], + "angular_velocity": [ + -1.4633144473918946e-06, + 1.3883267229175544e-06, + -8.316661137541814e-08 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/reservoir_12ch/Object.usd", + "pose": { + "pos": [ + -1.4024114608764648, + 0.8305273056030273, + 0.9179999828338623 + ], + "ori": [ + -0.703410267829895, + 1.3321352909656525e-08, + 3.551679128577234e-08, + 0.7107840776443481 + ], + "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": [ + 2.6169235667339308e-08, + 1.1341966654754287e-07, + -2.436339855194092e-06 + ], + "angular_velocity": [ + -3.7444958707055775e-06, + -1.9040476217924152e-07, + 2.6191719371126965e-07 + ] + } + } + ], + "deco_hub_west": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/hub_e.usd", + "pose": { + "pos": [ + -3.36, + 0.0, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_hub_east": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/hub_d.usd", + "pose": { + "pos": [ + 3.36, + 0.0, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_hub_back": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/hub_a.usd", + "pose": { + "pos": [ + -3.0, + -2.1, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_bench_east": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/bench_c.usd", + "pose": { + "pos": [ + 2.6, + -2.5, + 0.0 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_bench_gap": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/bench_b.usd", + "pose": { + "pos": [ + -0.1, + -2.9, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ] + } + ], + "devices": { + "hub": [ + null, + null, + null, + { + "t": 7.61999999999986, + "step": 1524, + "counter": 0, + "devices": { + "a4s_sealer_1": { + "mode": "auto", + "units": { + "drawer": { + "state": "at_out", + "active": null, + "target": 0.0, + "goal_name": "out", + "profile": null, + "q_start": null, + "reversing": false, + "blocked_for": 0.0, + "settled_for": 0.0, + "last_q": 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": 0.21592549266735156, + "holds": [], + "station": "pick", + "rider": "carrier_2", + "arrived": true, + "settle_count": 1376, + "released": { + "pick": [] + }, + "last_pos": { + "carrier_1": [ + 1.3919959962368011, + 0.06131535768508911, + 0.0 + ], + "carrier_2": [ + -0.26236477494239807, + -0.002453029155731201, + 0.0 + ], + "carrier_3": [ + 0.559727281332016, + 0.7024238705635071, + 0.0 + ], + "carrier_4": [ + -1.5446485579013824, + 0.3931310772895813, + 0.0 + ] + }, + "command": 0.0 + }, + "belt": { + "target_speed": 0.0, + "command_speed": 0.0 + }, + "seen": { + "state": "at_station", + "station": "pick", + "rider": "carrier_2", + "arrived": true + } + } + }, + "queues": {}, + "program": null, + "sensors": {}, + "interlocks": {} + } + }, + "zones": {}, + "labware": { + "plate_1": { + "sealed": false + }, + "plate_2": { + "sealed": false + }, + "plate_3": { + "sealed": false + }, + "plate_4": { + "sealed": false + } + }, + "rules": {}, + "records": [], + "bus": { + "seq": 3, + "queue": [] + } + } + ], + "drives": [ + null, + null, + null, + {} + ] + }, + "artifacts": [ + {}, + {}, + {}, + { + "ceiling": { + "type": "rect", + "pose": { + "pos": [ + 0.8898306562328707, + 0.4397736684645761, + 2.7318526775204184 + ], + "ori": [ + 5.801414411695365, + -0.15394912130686755, + -24.50194220210065 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "color_temperature": 4325.417288900979, + "color": [ + 0.8428011460405647, + 0.8683791408323979, + 0.8671013445603556 + ], + "intensity": 14655.68564600264, + "width": 2.112162561950269, + "height": 1.725797484060954 + } + }, + "key": { + "type": "sphere", + "pose": { + "pos": [ + -0.7877950625363591, + 0.1979966255144927, + 2.5656177147664616 + ], + "ori": [ + 24.481184292987322, + -25.926180226045574, + -27.944683695012813 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "color_temperature": 7378.702446675399, + "color": [ + 0.9474540503119289, + 0.788375402063633, + 0.902904135124859 + ], + "intensity": 6070.21333958979, + "radius": 0.14228992567687607 + } + } + } + ], + "background": { + "type": "dome", + "pose": { + "pos": null, + "ori": null, + "scale": null + }, + "dr": { + "intensity": 487.53543424775916, + "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": [ + [ + 0.9141020774841309, + -1.719397783279419, + 2.0904994010925293, + -1.9419007301330566, + -1.5707999467849731, + 2.484900712966919, + 0.017999999225139618, + 0.017999999225139618 + ], + [ + 0.9140999913215637, + -1.7194000482559204, + 2.0905001163482666, + -1.9419000148773193, + -1.5707999467849731, + 2.4848999977111816, + 0.017999999225139618, + 0.017999999225139618 + ], + [ + 1.3638442754745483, + -1.3105733394622803, + 2.278649091720581, + -2.5387063026428223, + -1.5706242322921753, + 6.073154926300049, + 0.017999986186623573, + 0.017999986186623573 + ], + [ + 0.9141023755073547, + -1.719398021697998, + 2.090498685836792, + -1.9418998956680298, + -1.5707999467849731, + 2.48490047454834, + 0.017999999225139618, + 0.017999999225139618 + ] + ], + "joint_vel": [ + [ + 1.7029826722136931e-06, + -3.405954885238316e-06, + 6.81194978824351e-06, + -2.2115759744367747e-12, + -3.405977395232185e-06, + 8.021799912695526e-13, + 1.7151300453661922e-13, + 1.8061073470132527e-13 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + [ + -6.811926596128615e-06, + 6.8118347371637356e-06, + 1.362386410619365e-05, + -9.555011296069615e-12, + 6.81195479046437e-06, + 2.7247833713772707e-05, + 1.8193850337411277e-07, + 1.8193550488376786e-07 + ], + [ + 2.1777729373007665e-38, + -1.688215165674402e-38, + -3.802512505527722e-38, + -5.3220849322927625e-37, + 4.2288003903212033e-38, + -2.7814388912926094e-37, + 0.0, + 4.116048552765314e-38 + ] + ] + } + }, + "cameras": { + "cameras": { + "camera0": [ + [ + 0.052012283354997635, + -0.002020912477746606, + -0.0317726694047451, + -0.2763150930404663, + 0.656938910484314, + 0.6409617066383362, + -0.2850426137447357 + ], + [ + 0.047804802656173706, + 0.00014386791735887527, + -0.02839358150959015, + -0.2769815921783447, + 0.6498159170150757, + 0.6443108320236206, + -0.29305973649024963 + ], + [ + 0.04903523623943329, + 0.0018382321577519178, + -0.028296921402215958, + -0.2765290439128876, + 0.6505642533302307, + 0.6511124968528748, + -0.27631571888923645 + ], + [ + 0.05026090145111084, + -0.0013019528705626726, + -0.030238717794418335, + -0.28368040919303894, + 0.6465399265289307, + 0.645924985408783, + -0.29033151268959045 + ] + ], + "camera1": [ + [ + 0.06412850320339203, + 0.5557159781455994, + 1.9335919618606567, + 0.04389628395438194, + -0.0021297018975019455, + 0.2580743134021759, + 0.9651249647140503 + ], + [ + 0.06218170002102852, + 0.5782442688941956, + 1.9435467720031738, + 0.05539282411336899, + 0.006723735015839338, + 0.2767232060432434, + 0.9593282341957092 + ], + [ + 0.04315219819545746, + 0.5671351552009583, + 1.9646466970443726, + 0.03181353211402893, + 0.01987640932202339, + 0.2604776620864868, + 0.9647508859634399 + ], + [ + 0.02653186395764351, + 0.5798415541648865, + 1.96163010597229, + 0.027027523145079613, + 0.013122652657330036, + 0.2850870192050934, + 0.958030641078949 + ] + ] + } + } + } +} \ No newline at end of file diff --git a/episodes/c7_p010_e025/wrist.mp4 b/episodes/c7_p010_e025/wrist.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..f7a30e9bae5ecef469d75092d6643d2dda7fe72c --- /dev/null +++ b/episodes/c7_p010_e025/wrist.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:c1d0bb0bad83ad89aa465a390c7df2c2e14f66b02bbdf481d9ee3770999ce20f +size 6830106 diff --git a/episodes/c7_p010_e026/data.npz b/episodes/c7_p010_e026/data.npz new file mode 100644 index 0000000000000000000000000000000000000000..a24e5027a4408894bc01445c98bed954e90f6221 --- /dev/null +++ b/episodes/c7_p010_e026/data.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:50de450aa6809e2e2dbea8ddbea9d6e7232aca7682f88792f6b7f50068710d09 +size 195112 diff --git a/episodes/c7_p010_e026/device_events.jsonl b/episodes/c7_p010_e026/device_events.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..291a1490385b4e0d764a82c4f23db78504ddb301 --- /dev/null +++ b/episodes/c7_p010_e026/device_events.jsonl @@ -0,0 +1,38 @@ +{"env_id": 1, "seq": 1, "step": 93, "t": 0.465, "topic": "conveyor_1.belt.station.pick.captured", "source": "conveyor_1.belt", "data": {"rider": "carrier_4"}, "cause": null} +{"env_id": 1, "seq": 2, "step": 93, "t": 0.465, "topic": "conveyor_1.belt.state.changed", "source": "conveyor_1.belt", "data": {"from": "running", "to": "at_station"}, "cause": null} +{"env_id": 1, "seq": 3, "step": 98, "t": 0.49, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_4"}, "cause": null} +{"env_id": 1, "seq": 4, "step": 1206, "t": 6.03, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_4"}, "cause": null} +{"env_id": 1, "seq": 5, "step": 1225, "t": 6.125, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_4"}, "cause": null} +{"env_id": 1, "seq": 6, "step": 1383, "t": 6.915, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_4"}, "cause": null} +{"env_id": 1, "seq": 7, "step": 6191, "t": 30.955, "topic": "a4s_sealer_1.plate_present.present", "source": "a4s_sealer_1.plate_present", "data": {"object": "plate_4"}, "cause": null} +{"env_id": 1, "seq": 8, "step": 6804, "t": 34.02, "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": 9, "step": 6804, "t": 34.02, "topic": "a4s_sealer_1.seal.started", "source": "a4s_sealer_1", "data": {"dwell": 4.894399600102752}, "cause": "task-1-1"} +{"env_id": 1, "seq": 10, "step": 6804, "t": 34.02, "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": 11, "step": 6804, "t": 34.02, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "at_out", "to": "moving"}, "cause": null} +{"env_id": 1, "seq": 12, "step": 6804, "t": 34.02, "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": 13, "step": 7223, "t": 36.115, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "moving", "to": "at_in"}, "cause": null} +{"env_id": 1, "seq": 14, "step": 7223, "t": 36.115, "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": 15, "step": 7223, "t": 36.115, "topic": "a4s_sealer_1.drawer.at_in", "source": "a4s_sealer_1.drawer", "data": {"q": 0.30000001192092896}, "cause": "program-1-2"} +{"env_id": 1, "seq": 16, "step": 7223, "t": 36.115, "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": 17, "step": 7223, "t": 36.115, "topic": "labware.plate_4.changed", "source": "labware.plate_4", "data": {"key": "sealed", "value": true}, "cause": "task-1-1"} +{"env_id": 1, "seq": 18, "step": 7223, "t": 36.115, "topic": "a4s_sealer_1.sealed", "source": "a4s_sealer_1", "data": {"plate": "plate_4"}, "cause": "task-1-1"} +{"env_id": 1, "seq": 19, "step": 7223, "t": 36.115, "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": 20, "step": 7223, "t": 36.115, "topic": "a4s_sealer_1.heater.state.changed", "source": "a4s_sealer_1.heater", "data": {"from": "ready", "to": "running"}, "cause": null} +{"env_id": 1, "seq": 21, "step": 7223, "t": 36.115, "topic": "a4s_sealer_1.heater.started", "source": "a4s_sealer_1.heater", "data": {"duration": 4.894399600102752}, "cause": "program-1-3"} +{"env_id": 1, "seq": 22, "step": 8202, "t": 41.01, "topic": "a4s_sealer_1.heater.state.changed", "source": "a4s_sealer_1.heater", "data": {"from": "running", "to": "ready"}, "cause": null} +{"env_id": 1, "seq": 23, "step": 8202, "t": 41.01, "topic": "a4s_sealer_1.heater.finished", "source": "a4s_sealer_1.heater", "data": {"elapsed": 4.895000000002504}, "cause": "program-1-3"} +{"env_id": 1, "seq": 24, "step": 8202, "t": 41.01, "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": 4.895000000002504}}, "cause": "program-1-3"} +{"env_id": 1, "seq": 25, "step": 8202, "t": 41.01, "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": 26, "step": 8202, "t": 41.01, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "at_in", "to": "moving"}, "cause": null} +{"env_id": 1, "seq": 27, "step": 8202, "t": 41.01, "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": 28, "step": 8622, "t": 43.11, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "moving", "to": "at_out"}, "cause": null} +{"env_id": 1, "seq": 29, "step": 8622, "t": 43.11, "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": 30, "step": 8622, "t": 43.11, "topic": "a4s_sealer_1.drawer.at_out", "source": "a4s_sealer_1.drawer", "data": {"q": 0.0}, "cause": "program-1-4"} +{"env_id": 1, "seq": 31, "step": 8622, "t": 43.11, "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": 32, "step": 8622, "t": 43.11, "topic": "a4s_sealer_1.seal.finished", "source": "a4s_sealer_1", "data": {}, "cause": "task-1-1"} +{"env_id": 1, "seq": 33, "step": 8622, "t": 43.11, "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": 34, "step": 9204, "t": 46.02, "topic": "a4s_sealer_1.plate_present.absent", "source": "a4s_sealer_1.plate_present", "data": {"object": "plate_4"}, "cause": null} +{"env_id": 1, "seq": 35, "step": 10944, "t": 54.72, "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": 36, "step": 10944, "t": 54.72, "topic": "conveyor_1.belt.station.pick.released", "source": "conveyor_1.belt", "data": {"rider": "carrier_4"}, "cause": "task-1-5"} +{"env_id": 1, "seq": 37, "step": 10944, "t": 54.72, "topic": "conveyor_1.belt.state.changed", "source": "conveyor_1.belt", "data": {"from": "at_station", "to": "running"}, "cause": null} +{"env_id": 1, "seq": 38, "step": 10944, "t": 54.72, "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_e026/env.mp4 b/episodes/c7_p010_e026/env.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..e6cf41aad8b0f947a84fcdc199fd9f1030df4d4b --- /dev/null +++ b/episodes/c7_p010_e026/env.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:0793c5a49c3ff869e710bb97ade79ea3ed1bf7c0e9b65b75be09fb18660e05d8 +size 1407004 diff --git a/episodes/c7_p010_e026/meta.json b/episodes/c7_p010_e026/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..fc9cbe7272336a7f091656a27ea780869552fc15 --- /dev/null +++ b/episodes/c7_p010_e026/meta.json @@ -0,0 +1,32 @@ +{ + "source": "raw/c7_p010/magicsim/26", + "fps": 25, + "frames": 1275, + "kept_ticks": "even", + "video_frames": { + "wrist": 1275, + "env": 1275 + }, + "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_e026/scene_snapshot.json b/episodes/c7_p010_e026/scene_snapshot.json new file mode 100644 index 0000000000000000000000000000000000000000..d6690847a40e341a2b956fa572ad16a165cca362 --- /dev/null +++ b/episodes/c7_p010_e026/scene_snapshot.json @@ -0,0 +1,1558 @@ +{ + "trajectory_id": 26, + "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": [ + 1.6820817742152494e-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": 0.22483402392174087, + "direction": [ + 1.0, + 0.0, + 0.0 + ], + "enabled": true, + "drive": "surface_velocity", + "lines": null, + "station_line": null, + "riders": [ + "carrier" + ], + "stations": { + "pick": { + "position": -0.085754756743074, + "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": 0.22483402392174087, + "holds": [], + "station": "pick", + "rider": "carrier_4", + "arrived": true, + "applied_speed": 0.0 + } + } + } + ], + "carrier": [ + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + -0.029035568237304688, + 1.1499977111816406, + 0.8999999761581421 + ], + "ori": [ + -2.57009596680291e-05, + 6.736022156728083e-11, + -3.071203069637818e-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": [ + 5.717598616783448e-10, + 6.933836838030061e-10, + 0.0 + ], + "angular_velocity": [ + -1.1594025295380561e-08, + 6.441359090558763e-08, + -1.0962072138909207e-08 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + -1.320225715637207, + 1.0176305770874023, + 0.8999999761581421 + ], + "ori": [ + -0.4245022237300873, + 9.339512985206966e-08, + 2.5475413778508482e-08, + 0.9054268598556519 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 2.6761881599668413e-10, + 3.000764081662055e-10, + 0.0 + ], + "angular_velocity": [ + -2.408341970294714e-08, + -3.7816789699718356e-08, + -1.0224312063655816e-08 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + 1.599386215209961, + 0.5578222274780273, + 0.8999999761581421 + ], + "ori": [ + 0.9215348958969116, + 1.3876901050480228e-07, + -6.45889386419185e-08, + 0.3882956802845001 + ], + "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": [ + -1.673230443088869e-10, + -1.2111707192730137e-09, + -1.1175870895385742e-08 + ], + "angular_velocity": [ + 2.7310591121931793e-08, + 6.477443292851603e-08, + 8.250113481267363e-09 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + 0.0648040771484375, + 0.45000267028808594, + 0.8999999761581421 + ], + "ori": [ + 1.0, + -3.652746327631462e-09, + -4.455628574429049e-11, + -2.7702761144610122e-05 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 3.6951108839389235e-10, + 3.476583021466695e-09, + 7.450580596923828e-09 + ], + "angular_velocity": [ + -2.5895238309203705e-07, + 1.1444321046383266e-09, + -6.121320339502745e-09 + ] + } + } + ], + "plate": [ + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_12_clear/Object.usd", + "pose": { + "pos": [ + -0.039298057556152344, + 1.14385986328125, + 0.9179999828338623 + ], + "ori": [ + -0.07641942799091339, + 6.69955757537366e-12, + 1.7380105132858148e-09, + 0.9970758557319641 + ], + "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": [ + 3.495298983580142e-08, + 1.828057349939627e-08, + 9.313225746154785e-08 + ], + "angular_velocity": [ + -8.943950433604186e-07, + 1.7136184169430635e-06, + 1.305345449509332e-07 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_96_white/Object.usd", + "pose": { + "pos": [ + -1.334050178527832, + 1.0185928344726562, + 0.9180000424385071 + ], + "ori": [ + -0.4092193841934204, + 7.155259851288065e-08, + 7.470668350606502e-08, + 0.9124360680580139 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 4.2217345708195353e-07, + -1.674948180152569e-09, + 2.123415470123291e-07 + ], + "angular_velocity": [ + 4.1754174162633717e-07, + 6.24223321210593e-06, + 2.6120060283574276e-06 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/pcr_384_red/Object.usd", + "pose": { + "pos": [ + 1.5903615951538086, + 0.5455131530761719, + 0.9179999828338623 + ], + "ori": [ + 0.8796052932739258, + 1.31165066363792e-07, + -7.77579032273934e-08, + 0.47570425271987915 + ], + "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": [ + -3.7856686674331286e-09, + -8.720840050102652e-09, + -6.59748911857605e-06 + ], + "angular_velocity": [ + 1.4164712638375931e-06, + -2.5919288759723713e-07, + 3.220709743345651e-08 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/deep_well_96_1ml/Object.usd", + "pose": { + "pos": [ + 0.05265522003173828, + 0.44252967834472656, + 0.9179999828338623 + ], + "ori": [ + 0.9998008012771606, + -8.459110745206999e-09, + 3.223828537457507e-09, + 0.01996244303882122 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -4.8997058854638453e-08, + 3.241031620859758e-08, + 1.825392246246338e-07 + ], + "angular_velocity": [ + -7.26475832379947e-07, + -2.2317551611195086e-06, + 1.6449622819436627e-07 + ] + } + } + ], + "deco_hub_west": [ + { + "asset": "$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": 3.899999999999939, + "step": 780, + "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": 1.6820817742152494e-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": 0.22483402392174087, + "holds": [], + "station": "pick", + "rider": "carrier_4", + "arrived": true, + "settle_count": 686, + "released": { + "pick": [] + }, + "last_pos": { + "carrier_1": [ + -0.17903557419776917, + 0.6999977231025696, + 0.0 + ], + "carrier_2": [ + -1.4702257215976715, + 0.5676305890083313, + 0.0 + ], + "carrier_3": [ + 1.4493862092494965, + 0.1078222393989563, + 0.0 + ], + "carrier_4": [ + -0.08519592881202698, + 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": [ + -0.37717779551663005, + 0.29592921692747165, + 2.928519657870898 + ], + "ori": [ + 9.976382657869436, + -6.609449207677454, + 26.631594571381605 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "color_temperature": 4187.212158992681, + "color": [ + 0.8876756475678941, + 0.9942530444907379, + 0.9858915168940805 + ], + "intensity": 10009.070592546672, + "width": 2.4993317334979386, + "height": 0.8436080123987055 + } + }, + "key": { + "type": "disk", + "pose": { + "pos": [ + -0.524625406645342, + 0.5443115064306843, + 2.4732839909730173 + ], + "ori": [ + -11.519481042972892, + -1.296766308105319, + 4.318889615921073 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "color_temperature": 4574.916558712338, + "color": [ + 0.8697719326962511, + 0.8895448118297482, + 0.786693711219848 + ], + "intensity": 9215.87736969589, + "radius": 0.20348373106108633 + } + } + }, + {}, + {} + ], + "background": { + "type": "dome", + "pose": { + "pos": null, + "ori": null, + "scale": null + }, + "dr": { + "intensity": 487.53543424775916, + "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": [ + [ + 1.1788430213928223, + -1.5927565097808838, + 2.226328134536743, + -2.204333782196045, + -1.5707964897155762, + 2.912822961807251, + 0.018000049516558647, + 0.01799994893372059 + ], + [ + 0.9140999913215637, + -1.7194000482559204, + 2.0905001163482666, + -1.9419000148773193, + -1.5707999467849731, + 2.4848999977111816, + 0.017999999225139618, + 0.017999999225139618 + ], + [ + 1.3638414144515991, + -1.4926726818084717, + 2.1968414783477783, + -2.274839162826538, + -1.5706230401992798, + 6.073147296905518, + 0.0180000402033329, + 0.017999960109591484 + ], + [ + 1.23391854763031, + -1.4975582361221313, + 2.215087413787842, + -2.288285970687866, + -1.570794939994812, + 2.879892349243164, + 0.018000051379203796, + 0.01799994893372059 + ] + ], + "joint_vel": [ + [ + -8.069557952694595e-05, + 0.012843338772654533, + 0.010227014310657978, + -0.022004617378115654, + -7.389583061012672e-06, + 5.417307693278417e-05, + -5.263551429379731e-06, + 5.265042091195937e-06 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + [ + 0.0001390533143421635, + -0.016180144622921944, + -0.010609717108309269, + 0.02552228420972824, + -6.005229806760326e-06, + 4.0191614971263334e-05, + -7.832080882508308e-06, + 7.80836671765428e-06 + ], + [ + -6.774194480385631e-05, + 0.01556615624576807, + 0.009849200956523418, + -0.02425350621342659, + -8.253551641246304e-06, + 7.449407712556422e-05, + -6.850427325844066e-06, + 6.826463504694402e-06 + ] + ] + } + }, + "cameras": { + "cameras": { + "camera0": [ + [ + 0.05092887952923775, + -0.0009136419976130128, + -0.028786009177565575, + -0.2719308137893677, + 0.6557081341743469, + 0.6444512605667114, + -0.2842235267162323 + ], + [ + 0.04720349982380867, + -0.0008705848595127463, + -0.027123412117362022, + -0.2777225971221924, + 0.6516373753547668, + 0.6406463384628296, + -0.2963294982910156 + ], + [ + 0.051789503544569016, + -0.0019962347578257322, + -0.029568849131464958, + -0.27389028668403625, + 0.6545851230621338, + 0.6480926871299744, + -0.27654701471328735 + ], + [ + 0.04887419193983078, + -0.0006238562054932117, + -0.028121113777160645, + -0.2772969901561737, + 0.6482090950012207, + 0.6457821726799011, + -0.29308146238327026 + ] + ], + "camera1": [ + [ + 0.06412850320339203, + 0.5557159781455994, + 1.9335919618606567, + 0.04389628395438194, + -0.0021297018975019455, + 0.2580743134021759, + 0.9651249647140503 + ], + [ + 0.06218170002102852, + 0.5782442688941956, + 1.9435467720031738, + 0.05539282411336899, + 0.006723735015839338, + 0.2767232060432434, + 0.9593282341957092 + ], + [ + 0.04315219819545746, + 0.5671351552009583, + 1.9646466970443726, + 0.03181353211402893, + 0.01987640932202339, + 0.2604776620864868, + 0.9647508859634399 + ], + [ + 0.02653186395764351, + 0.5798415541648865, + 1.96163010597229, + 0.027027523145079613, + 0.013122652657330036, + 0.2850870192050934, + 0.958030641078949 + ] + ] + } + } + } +} \ No newline at end of file diff --git a/episodes/c7_p010_e026/wrist.mp4 b/episodes/c7_p010_e026/wrist.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..bc11cbd72c94c6cfca05c135e8da5a7afc1be728 --- /dev/null +++ b/episodes/c7_p010_e026/wrist.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:d221582b5fe44018038058b67058e3fdf11771af1b4d378cfa0e1c09970dd5c4 +size 6921807 diff --git a/episodes/c7_p010_e027/data.npz b/episodes/c7_p010_e027/data.npz new file mode 100644 index 0000000000000000000000000000000000000000..e80d1d39924f421b6e55b20c17979ea0d1deeb9d --- /dev/null +++ b/episodes/c7_p010_e027/data.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:a2ad9a9ab695726a3b7293bcc3c847b73fab753cad86cd101067effa586b8f2c +size 190753 diff --git a/episodes/c7_p010_e027/device_events.jsonl b/episodes/c7_p010_e027/device_events.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..35159805b87369ba2510765f2c71cbd287084b2b --- /dev/null +++ b/episodes/c7_p010_e027/device_events.jsonl @@ -0,0 +1,36 @@ +{"env_id": 2, "seq": 1, "step": 163, "t": 0.815, "topic": "conveyor_1.belt.station.pick.captured", "source": "conveyor_1.belt", "data": {"rider": "carrier_2"}, "cause": null} +{"env_id": 2, "seq": 2, "step": 163, "t": 0.815, "topic": "conveyor_1.belt.state.changed", "source": "conveyor_1.belt", "data": {"from": "running", "to": "at_station"}, "cause": null} +{"env_id": 2, "seq": 3, "step": 168, "t": 0.84, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_2"}, "cause": null} +{"env_id": 2, "seq": 4, "step": 724, "t": 3.62, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_2"}, "cause": null} +{"env_id": 2, "seq": 5, "step": 5854, "t": 29.27, "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": 6468, "t": 32.34, "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": 6468, "t": 32.34, "topic": "a4s_sealer_1.seal.started", "source": "a4s_sealer_1", "data": {"dwell": 1.99468722541472}, "cause": "task-2-1"} +{"env_id": 2, "seq": 8, "step": 6468, "t": 32.34, "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": 6468, "t": 32.34, "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": 6468, "t": 32.34, "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": 6887, "t": 34.435, "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": 6887, "t": 34.435, "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": 6887, "t": 34.435, "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": 6887, "t": 34.435, "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": 6887, "t": 34.435, "topic": "labware.plate_2.changed", "source": "labware.plate_2", "data": {"key": "sealed", "value": true}, "cause": "task-2-1"} +{"env_id": 2, "seq": 16, "step": 6887, "t": 34.435, "topic": "a4s_sealer_1.sealed", "source": "a4s_sealer_1", "data": {"plate": "plate_2"}, "cause": "task-2-1"} +{"env_id": 2, "seq": 17, "step": 6887, "t": 34.435, "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": 6887, "t": 34.435, "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": 6887, "t": 34.435, "topic": "a4s_sealer_1.heater.started", "source": "a4s_sealer_1.heater", "data": {"duration": 1.99468722541472}, "cause": "program-2-3"} +{"env_id": 2, "seq": 20, "step": 7286, "t": 36.43, "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": 7286, "t": 36.43, "topic": "a4s_sealer_1.heater.finished", "source": "a4s_sealer_1.heater", "data": {"elapsed": 1.9950000000010206}, "cause": "program-2-3"} +{"env_id": 2, "seq": 22, "step": 7286, "t": 36.43, "topic": "a4s_sealer_1.heater.command.succeeded", "source": "a4s_sealer_1.heater", "data": {"command_id": "program-2-3", "name": "run", "source": "program:seal", "result": {"elapsed": 1.9950000000010206}}, "cause": "program-2-3"} +{"env_id": 2, "seq": 23, "step": 7286, "t": 36.43, "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": 7286, "t": 36.43, "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": 7286, "t": 36.43, "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": 7706, "t": 38.53, "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": 7706, "t": 38.53, "topic": "a4s_sealer_1.drawer.reached", "source": "a4s_sealer_1.drawer", "data": {"position": "out", "q": 1.4165779660402222e-10}, "cause": "program-2-4"} +{"env_id": 2, "seq": 28, "step": 7706, "t": 38.53, "topic": "a4s_sealer_1.drawer.at_out", "source": "a4s_sealer_1.drawer", "data": {"q": 1.4165779660402222e-10}, "cause": "program-2-4"} +{"env_id": 2, "seq": 29, "step": 7706, "t": 38.53, "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": 7706, "t": 38.53, "topic": "a4s_sealer_1.seal.finished", "source": "a4s_sealer_1", "data": {}, "cause": "task-2-1"} +{"env_id": 2, "seq": 31, "step": 7706, "t": 38.53, "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": 8287, "t": 41.435, "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": 10068, "t": 50.34, "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": 10068, "t": 50.34, "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": 10068, "t": 50.34, "topic": "conveyor_1.belt.state.changed", "source": "conveyor_1.belt", "data": {"from": "at_station", "to": "running"}, "cause": null} +{"env_id": 2, "seq": 36, "step": 10068, "t": 50.34, "topic": "conveyor_1.belt.command.succeeded", "source": "conveyor_1.belt", "data": {"command_id": "task-2-5", "name": "release", "source": "task", "result": {"state": "running"}}, "cause": "task-2-5"} diff --git a/episodes/c7_p010_e027/env.mp4 b/episodes/c7_p010_e027/env.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..b13e4bf10cc1da27648ffcde00a8bc01c5820a7a --- /dev/null +++ b/episodes/c7_p010_e027/env.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:f460dda93d8cccb1602f56d4e246cf22655646ab3e055228f446cf40a4371547 +size 1303405 diff --git a/episodes/c7_p010_e027/meta.json b/episodes/c7_p010_e027/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..3d59323d8069b3283f09f8f9952c1cf1c28d98bb --- /dev/null +++ b/episodes/c7_p010_e027/meta.json @@ -0,0 +1,32 @@ +{ + "source": "raw/c7_p010/magicsim/27", + "fps": 25, + "frames": 1225, + "kept_ticks": "even", + "video_frames": { + "wrist": 1225, + "env": 1225 + }, + "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_e027/scene_snapshot.json b/episodes/c7_p010_e027/scene_snapshot.json new file mode 100644 index 0000000000000000000000000000000000000000..180e33a971de6e7c5e5dade131784a3de95be141 --- /dev/null +++ b/episodes/c7_p010_e027/scene_snapshot.json @@ -0,0 +1,1558 @@ +{ + "trajectory_id": 27, + "env_id": 2, + "run_id": "c7_p010", + "task_type": "BioPlateCell", + "success": true, + "timing": { + "fps": 50.0, + "sim_dt": 0.005, + "decimation": 4 + }, + "restore_interface": { + "scene": "scene_manager.reset_to(snapshot['scene'], env_ids=[env_id])", + "robots": "robot_manager.set_state({'robots': snapshot['robots']}, env_ids=[env_id])" + }, + "snapshot": { + "env_id": 2, + "scene": { + "objects": [ + {}, + {}, + { + "rac_cell": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/rac_cell.usd", + "pose": { + "pos": [ + 0.0, + 0.0, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "physics_material": { + "static_friction": 0.6, + "dynamic_friction": 0.5, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "robot_mount": [ + { + "asset": "Cube", + "pose": { + "pos": [ + 0.0, + 0.0, + 0.9075 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": "color", + "value": [ + 0.55, + 0.56, + 0.58 + ], + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": { + "size": [ + 0.2, + 0.2, + 0.015 + ] + } + }, + "type_specific": {} + } + ], + "plate_rack": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/plate_hotel.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 0.9 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "physics_material": { + "static_friction": 0.6, + "dynamic_friction": 0.5, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "hotel_plate": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_96_clear/plate_96_clear.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 0.9605 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/pcr_96_blue/pcr_96_blue.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.0285 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_384_white/plate_384_white.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.0965 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_12_clear/plate_12_clear.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.1645 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_24_clear/plate_24_clear.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.2325 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "a4s_sealer": [ + { + "asset": "$MAGICSIM_ASSETS/Articulated/A4SSealer/Object.usd", + "pose": { + "pos": [ + 0.4654064178466797, + 0.08583927154541016, + 0.8999999761581421 + ], + "ori": [ + 0.7158191800117493, + 0.0, + 0.0, + -0.698285698890686 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "articulation", + "solver_position_iteration_count": 16.0, + "solver_velocity_iteration_count": 1.0, + "enabled_self_collisions": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "joint_position": [ + 5.046247274209659e-12 + ], + "joint_velocity": [ + 0.0 + ], + "linear_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "angular_velocity": [ + 0.0, + 0.0, + 0.0 + ] + } + } + ], + "conveyor": [ + { + "asset": "Cube", + "pose": { + "pos": [ + 0.15, + 0.45, + 0.9 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "conveyor", + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9 + }, + "ratio": 1.0 + }, + "primitive_params": { + "size": [ + 2.4, + 0.076, + 0.03 + ] + }, + "conveyor": { + "speed": 0.2735287027601613, + "direction": [ + 1.0, + 0.0, + 0.0 + ], + "enabled": true, + "drive": "surface_velocity", + "lines": null, + "station_line": null, + "riders": [ + "carrier" + ], + "stations": { + "pick": { + "position": -0.11567751390475514, + "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": 0.2735287027601613, + "holds": [], + "station": "pick", + "rider": "carrier_2", + "arrived": true, + "applied_speed": 0.0 + } + } + } + ], + "carrier": [ + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + -1.1702337265014648, + 1.125166893005371, + 0.8999999761581421 + ], + "ori": [ + -0.16731885075569153, + 1.1194078552989595e-08, + -9.362995712081101e-09, + 0.9859029054641724 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 3.199147613486275e-10, + 5.295419214235153e-09, + -1.1175870895385742e-08 + ], + "angular_velocity": [ + -3.124223439954221e-07, + 1.153239281848073e-07, + 1.2326495379966218e-08 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + 0.034516334533691406, + 0.44752979278564453, + 0.8999999761581421 + ], + "ori": [ + 0.9999500513076782, + -6.760716786402554e-08, + -4.001647901930028e-09, + 0.009996918961405754 + ], + "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": [ + 1.26268773215088e-08, + -2.1356876800382452e-07, + 1.7881393432617188e-07 + ], + "angular_velocity": [ + 7.485484275093768e-06, + 1.1006792419721023e-06, + -1.8089203877025284e-06 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + 1.689621925354004, + 0.7263545989990234, + 0.8999999761581421 + ], + "ori": [ + 0.7828702926635742, + -9.571110126671556e-09, + -1.444033443931403e-07, + 0.6221850514411926 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -3.6113533496973105e-07, + -1.1848391068269848e-06, + -3.1441450119018555e-06 + ], + "angular_velocity": [ + 9.8364835139364e-05, + -4.059851198690012e-05, + -2.1819428184244316e-06 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + 0.6386928558349609, + 1.152543067932129, + 0.8999999761581421 + ], + "ori": [ + -0.009536734782159328, + 7.275374525050893e-09, + 1.6559014159867047e-09, + 0.9999545216560364 + ], + "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": [ + -1.337352451002971e-09, + -1.0543446116173527e-09, + 1.862645149230957e-08 + ], + "angular_velocity": [ + 4.367173289665516e-08, + -1.4042440454886673e-07, + -1.973524277332217e-08 + ] + } + } + ], + "plate": [ + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_24_clear/Object.usd", + "pose": { + "pos": [ + -1.1657867431640625, + 1.120802879333496, + 0.9179999828338623 + ], + "ori": [ + -0.07301626354455948, + 1.8778063548552382e-08, + -4.492343386175435e-09, + 0.9973307847976685 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 2.6648194761946797e-10, + -6.037964794813888e-09, + 1.2293457984924316e-07 + ], + "angular_velocity": [ + -1.5857767721172422e-06, + 1.7776183085516095e-06, + -7.78939153178726e-08 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_384_black/Object.usd", + "pose": { + "pos": [ + 0.041778564453125, + 0.4407014846801758, + 0.9180000424385071 + ], + "ori": [ + 0.9986777305603027, + -5.821296440444712e-07, + -1.520569412605255e-07, + 0.05140803009271622 + ], + "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": [ + 4.4287503442319576e-06, + -1.4360098248289432e-06, + -5.330890417098999e-06 + ], + "angular_velocity": [ + 0.00023078132653608918, + 6.641301297349855e-06, + -5.171741213416681e-05 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_1536_black/Object.usd", + "pose": { + "pos": [ + 1.6989860534667969, + 0.7345924377441406, + 0.9179999828338623 + ], + "ori": [ + 0.7366897463798523, + -1.9022692754333548e-08, + -1.4078301546760486e-07, + 0.6762309074401855 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -7.503336973968544e-07, + -2.254420223835041e-06, + -8.56444239616394e-06 + ], + "angular_velocity": [ + 9.912958921631798e-05, + -4.1422736103413627e-05, + -2.270928234793246e-06 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/deep_well_24_10ml/Object.usd", + "pose": { + "pos": [ + 0.6450948715209961, + 1.1435356140136719, + 0.9179999828338623 + ], + "ori": [ + 0.04655396565794945, + 8.09341127450125e-09, + 1.7826564668865785e-09, + 0.9989158511161804 + ], + "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": [ + 3.5832400158142264e-08, + 2.583531255595517e-08, + -1.0356307029724121e-06 + ], + "angular_velocity": [ + -1.5999469269445399e-06, + 2.670197773113614e-06, + -5.362597477187592e-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": 1.5199999999999896, + "step": 304, + "counter": 0, + "devices": { + "a4s_sealer_1": { + "mode": "auto", + "units": { + "drawer": { + "state": "at_out", + "active": null, + "target": 0.0, + "goal_name": "out", + "profile": null, + "q_start": null, + "reversing": false, + "blocked_for": 0.0, + "settled_for": 0.0, + "last_q": 5.046247274209659e-12 + }, + "heater": { + "state": "ready", + "active": null, + "duration": 0.0, + "t_start": null, + "elapsed": 0.0 + } + }, + "queues": {}, + "program": null, + "sensors": { + "plate_present": { + "occupants": [], + "pending": {} + } + }, + "interlocks": {} + }, + "conveyor_1": { + "mode": "auto", + "units": { + "belt": { + "state": "at_station", + "active": null, + "controller": { + "speed": 0.2735287027601613, + "holds": [], + "station": "pick", + "rider": "carrier_2", + "arrived": true, + "settle_count": 140, + "released": { + "pick": [] + }, + "last_pos": { + "carrier_1": [ + -1.3202337324619293, + 0.6751669049263, + 0.0 + ], + "carrier_2": [ + -0.11548367142677307, + -0.0024701952934265137, + 0.0 + ], + "carrier_3": [ + 1.5396219193935394, + 0.2763546109199524, + 0.0 + ], + "carrier_4": [ + 0.48869284987449646, + 0.7025430798530579, + 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": [ + 0.5840642489989808, + -0.2233989031319965, + 2.9070857769749905 + ], + "ori": [ + -6.170598025636917, + -1.4945236360215848, + 28.528031583817402 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "color_temperature": 5864.78327475218, + "color": [ + 0.8388057811250645, + 0.8053798058175465, + 0.8738081121834352 + ], + "intensity": 13451.811479937613, + "width": 2.406059708065192, + "height": 1.2930124616627552 + } + }, + "key": { + "type": "sphere", + "pose": { + "pos": [ + 0.8400868147284348, + 0.3686104482143311, + 1.6089261555875947 + ], + "ori": [ + 16.457680473265256, + -8.041653563921265, + 35.83277680855653 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "color_temperature": 4242.064286074238, + "color": [ + 0.8945013589622918, + 0.8712292559261184, + 0.8490394135827162 + ], + "intensity": 8874.455567648209, + "radius": 0.07356462892214564 + } + } + }, + {} + ], + "background": { + "type": "dome", + "pose": { + "pos": null, + "ori": null, + "scale": null + }, + "dr": { + "intensity": 487.53543424775916, + "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": [ + [ + 1.1796239614486694, + -1.4244804382324219, + 2.32037353515625, + -2.466728448867798, + -1.5707942247390747, + 2.9140825271606445, + 0.0071205683052539825, + 0.006636182777583599 + ], + [ + 0.8881657123565674, + -1.237200140953064, + 2.1803767681121826, + -2.5140674114227295, + -1.5706977844238281, + 2.419358730316162, + 0.007811262737959623, + 0.007144350558519363 + ], + [ + 0.9141013026237488, + -1.7193976640701294, + 2.09049916267395, + -1.941900610923767, + -1.5707999467849731, + 2.4849002361297607, + 0.018000001087784767, + 0.01799999736249447 + ], + [ + 1.2345716953277588, + -1.4590510129928589, + 2.2368648052215576, + -2.3486413955688477, + -1.5708009004592896, + 2.880666494369507, + 0.007729551754891872, + 0.007129285484552383 + ] + ], + "joint_vel": [ + [ + 0.00015428847109433264, + -0.02121722511947155, + -0.008139279671013355, + 0.028263358399271965, + -0.00012727329158224165, + -0.0011504368158057332, + -0.0071863820776343346, + -0.00034120670170523226 + ], + [ + -0.0003993638092651963, + -0.00012645300012081861, + 7.195080979727209e-05, + 0.00044409706606529653, + -0.0012272815220057964, + -0.005319023504853249, + -0.00748885702341795, + 0.00031609655707143247 + ], + [ + 0.0, + -2.454379024679696e-38, + -1.6918571403831822e-38, + -3.603107173534915e-37, + 5.968267374705023e-37, + -2.6944321126972536e-36, + -2.5990388508034812e-08, + 2.5990388508034812e-08 + ], + [ + 0.00018043503223452717, + -0.018195705488324165, + -0.009999175556004047, + 0.02570902369916439, + 0.00034123475779779255, + 0.00253210193477571, + -0.007515304256230593, + 0.00023383524967357516 + ] + ] + } + }, + "cameras": { + "cameras": { + "camera0": [ + [ + 0.05478951707482338, + -0.0018449986819177866, + -0.03196769952774048, + -0.2731742262840271, + 0.6531397700309753, + 0.6479507684707642, + -0.28096991777420044 + ], + [ + 0.050396595150232315, + -0.0008148999768309295, + -0.028395166620612144, + -0.27728378772735596, + 0.6520901322364807, + 0.638026773929596, + -0.3013535439968109 + ], + [ + 0.048464640974998474, + 5.9082707593915984e-05, + -0.028997894376516342, + -0.2712288796901703, + 0.6584702134132385, + 0.6431261897087097, + -0.2814970910549164 + ], + [ + 0.04672922194004059, + -0.0021604453213512897, + -0.030498499050736427, + -0.2766140103340149, + 0.6477773785591125, + 0.6474255323410034, + -0.29104867577552795 + ] + ], + "camera1": [ + [ + 0.06412850320339203, + 0.5557159781455994, + 1.9335919618606567, + 0.04389628395438194, + -0.0021297018975019455, + 0.2580743134021759, + 0.9651249647140503 + ], + [ + 0.06218170002102852, + 0.5782442688941956, + 1.9435467720031738, + 0.05539282411336899, + 0.006723735015839338, + 0.2767232060432434, + 0.9593282341957092 + ], + [ + 0.03814294561743736, + 0.5907680988311768, + 1.954261064529419, + 0.04959401860833168, + 0.02150113508105278, + 0.27551499009132385, + 0.9597758054733276 + ], + [ + 0.02653186395764351, + 0.5798415541648865, + 1.96163010597229, + 0.027027523145079613, + 0.013122652657330036, + 0.2850870192050934, + 0.958030641078949 + ] + ] + } + } + } +} \ No newline at end of file diff --git a/episodes/c7_p010_e027/wrist.mp4 b/episodes/c7_p010_e027/wrist.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..6d66d8ee26db6fd8a373ef0bfdde4af17d30f41c --- /dev/null +++ b/episodes/c7_p010_e027/wrist.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:9b46e2f022225703ae623d619d7a908fff6b34f9e02a912686eb214beb9dcd58 +size 6694004 diff --git a/episodes/c8_p010_e028/data.npz b/episodes/c8_p010_e028/data.npz new file mode 100644 index 0000000000000000000000000000000000000000..5ac17178ace92b31205dda11b888a008691bf922 --- /dev/null +++ b/episodes/c8_p010_e028/data.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:f19581803664d29996336ac251bd0839d7f9516ddf9d508607ff980453bce884 +size 190630 diff --git a/episodes/c8_p010_e028/device_events.jsonl b/episodes/c8_p010_e028/device_events.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..4eec9e4178f01ba459fe141e34da7fcd6d957e74 --- /dev/null +++ b/episodes/c8_p010_e028/device_events.jsonl @@ -0,0 +1,36 @@ +{"env_id": 3, "seq": 1, "step": 57, "t": 0.285, "topic": "conveyor_1.belt.station.pick.captured", "source": "conveyor_1.belt", "data": {"rider": "carrier_2"}, "cause": null} +{"env_id": 3, "seq": 2, "step": 57, "t": 0.285, "topic": "conveyor_1.belt.state.changed", "source": "conveyor_1.belt", "data": {"from": "running", "to": "at_station"}, "cause": null} +{"env_id": 3, "seq": 3, "step": 62, "t": 0.31, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_2"}, "cause": null} +{"env_id": 3, "seq": 4, "step": 1143, "t": 5.715, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_2"}, "cause": null} +{"env_id": 3, "seq": 5, "step": 5745, "t": 28.725, "topic": "a4s_sealer_1.plate_present.present", "source": "a4s_sealer_1.plate_present", "data": {"object": "plate_2"}, "cause": null} +{"env_id": 3, "seq": 6, "step": 6352, "t": 31.76, "topic": "a4s_sealer_1.command.started", "source": "a4s_sealer_1", "data": {"command_id": "task-3-1", "name": "seal", "source": "task"}, "cause": "task-3-1"} +{"env_id": 3, "seq": 7, "step": 6352, "t": 31.76, "topic": "a4s_sealer_1.seal.started", "source": "a4s_sealer_1", "data": {"dwell": 4.593476286927619}, "cause": "task-3-1"} +{"env_id": 3, "seq": 8, "step": 6352, "t": 31.76, "topic": "a4s_sealer_1.drawer.command.started", "source": "a4s_sealer_1.drawer", "data": {"command_id": "program-3-2", "name": "close", "source": "program:seal"}, "cause": "program-3-2"} +{"env_id": 3, "seq": 9, "step": 6352, "t": 31.76, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "at_out", "to": "moving"}, "cause": null} +{"env_id": 3, "seq": 10, "step": 6352, "t": 31.76, "topic": "a4s_sealer_1.drawer.moving", "source": "a4s_sealer_1.drawer", "data": {"target": 0.3, "goal": "in"}, "cause": "program-3-2"} +{"env_id": 3, "seq": 11, "step": 6771, "t": 33.855, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "moving", "to": "at_in"}, "cause": null} +{"env_id": 3, "seq": 12, "step": 6771, "t": 33.855, "topic": "a4s_sealer_1.drawer.reached", "source": "a4s_sealer_1.drawer", "data": {"position": "in", "q": 0.30000001192092896}, "cause": "program-3-2"} +{"env_id": 3, "seq": 13, "step": 6771, "t": 33.855, "topic": "a4s_sealer_1.drawer.at_in", "source": "a4s_sealer_1.drawer", "data": {"q": 0.30000001192092896}, "cause": "program-3-2"} +{"env_id": 3, "seq": 14, "step": 6771, "t": 33.855, "topic": "a4s_sealer_1.drawer.command.succeeded", "source": "a4s_sealer_1.drawer", "data": {"command_id": "program-3-2", "name": "close", "source": "program:seal", "result": {"position": "in"}}, "cause": "program-3-2"} +{"env_id": 3, "seq": 15, "step": 6771, "t": 33.855, "topic": "labware.plate_2.changed", "source": "labware.plate_2", "data": {"key": "sealed", "value": true}, "cause": "task-3-1"} +{"env_id": 3, "seq": 16, "step": 6771, "t": 33.855, "topic": "a4s_sealer_1.sealed", "source": "a4s_sealer_1", "data": {"plate": "plate_2"}, "cause": "task-3-1"} +{"env_id": 3, "seq": 17, "step": 6771, "t": 33.855, "topic": "a4s_sealer_1.heater.command.started", "source": "a4s_sealer_1.heater", "data": {"command_id": "program-3-3", "name": "run", "source": "program:seal"}, "cause": "program-3-3"} +{"env_id": 3, "seq": 18, "step": 6771, "t": 33.855, "topic": "a4s_sealer_1.heater.state.changed", "source": "a4s_sealer_1.heater", "data": {"from": "ready", "to": "running"}, "cause": null} +{"env_id": 3, "seq": 19, "step": 6771, "t": 33.855, "topic": "a4s_sealer_1.heater.started", "source": "a4s_sealer_1.heater", "data": {"duration": 4.593476286927619}, "cause": "program-3-3"} +{"env_id": 3, "seq": 20, "step": 7690, "t": 38.45, "topic": "a4s_sealer_1.heater.state.changed", "source": "a4s_sealer_1.heater", "data": {"from": "running", "to": "ready"}, "cause": null} +{"env_id": 3, "seq": 21, "step": 7690, "t": 38.45, "topic": "a4s_sealer_1.heater.finished", "source": "a4s_sealer_1.heater", "data": {"elapsed": 4.595000000002351}, "cause": "program-3-3"} +{"env_id": 3, "seq": 22, "step": 7690, "t": 38.45, "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": 4.595000000002351}}, "cause": "program-3-3"} +{"env_id": 3, "seq": 23, "step": 7690, "t": 38.45, "topic": "a4s_sealer_1.drawer.command.started", "source": "a4s_sealer_1.drawer", "data": {"command_id": "program-3-4", "name": "open", "source": "program:seal"}, "cause": "program-3-4"} +{"env_id": 3, "seq": 24, "step": 7690, "t": 38.45, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "at_in", "to": "moving"}, "cause": null} +{"env_id": 3, "seq": 25, "step": 7690, "t": 38.45, "topic": "a4s_sealer_1.drawer.moving", "source": "a4s_sealer_1.drawer", "data": {"target": 0.0, "goal": "out"}, "cause": "program-3-4"} +{"env_id": 3, "seq": 26, "step": 8110, "t": 40.55, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "moving", "to": "at_out"}, "cause": null} +{"env_id": 3, "seq": 27, "step": 8110, "t": 40.55, "topic": "a4s_sealer_1.drawer.reached", "source": "a4s_sealer_1.drawer", "data": {"position": "out", "q": 1.816781967922676e-11}, "cause": "program-3-4"} +{"env_id": 3, "seq": 28, "step": 8110, "t": 40.55, "topic": "a4s_sealer_1.drawer.at_out", "source": "a4s_sealer_1.drawer", "data": {"q": 1.816781967922676e-11}, "cause": "program-3-4"} +{"env_id": 3, "seq": 29, "step": 8110, "t": 40.55, "topic": "a4s_sealer_1.drawer.command.succeeded", "source": "a4s_sealer_1.drawer", "data": {"command_id": "program-3-4", "name": "open", "source": "program:seal", "result": {"position": "out"}}, "cause": "program-3-4"} +{"env_id": 3, "seq": 30, "step": 8110, "t": 40.55, "topic": "a4s_sealer_1.seal.finished", "source": "a4s_sealer_1", "data": {}, "cause": "task-3-1"} +{"env_id": 3, "seq": 31, "step": 8110, "t": 40.55, "topic": "a4s_sealer_1.command.succeeded", "source": "a4s_sealer_1", "data": {"command_id": "task-3-1", "name": "seal", "source": "task"}, "cause": "task-3-1"} +{"env_id": 3, "seq": 32, "step": 8687, "t": 43.435, "topic": "a4s_sealer_1.plate_present.absent", "source": "a4s_sealer_1.plate_present", "data": {"object": "plate_2"}, "cause": null} +{"env_id": 3, "seq": 33, "step": 10408, "t": 52.04, "topic": "conveyor_1.belt.command.started", "source": "conveyor_1.belt", "data": {"command_id": "task-3-5", "name": "release", "source": "task"}, "cause": "task-3-5"} +{"env_id": 3, "seq": 34, "step": 10408, "t": 52.04, "topic": "conveyor_1.belt.station.pick.released", "source": "conveyor_1.belt", "data": {"rider": "carrier_2"}, "cause": "task-3-5"} +{"env_id": 3, "seq": 35, "step": 10408, "t": 52.04, "topic": "conveyor_1.belt.state.changed", "source": "conveyor_1.belt", "data": {"from": "at_station", "to": "running"}, "cause": null} +{"env_id": 3, "seq": 36, "step": 10408, "t": 52.04, "topic": "conveyor_1.belt.command.succeeded", "source": "conveyor_1.belt", "data": {"command_id": "task-3-5", "name": "release", "source": "task", "result": {"state": "running"}}, "cause": "task-3-5"} diff --git a/episodes/c8_p010_e028/env.mp4 b/episodes/c8_p010_e028/env.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..0c2a7e37250cc4a8d856f29f7dbb408d5e20f546 --- /dev/null +++ b/episodes/c8_p010_e028/env.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:f7f00a43fea5c9727ed64f482cd82a5059afea944beedcfa20457d8f774580d0 +size 1250456 diff --git a/episodes/c8_p010_e028/meta.json b/episodes/c8_p010_e028/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..605a83fd2b4cfd53cbc5af9451b7077a10471812 --- /dev/null +++ b/episodes/c8_p010_e028/meta.json @@ -0,0 +1,32 @@ +{ + "source": "raw/c8_p010/magicsim/28", + "fps": 25, + "frames": 1216, + "kept_ticks": "even", + "video_frames": { + "wrist": 1216, + "env": 1216 + }, + "joint_target_source": "joint_pos_target", + "fk_vs_recorded_eef_max_m": 0.0, + "curobo_joints": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "joint_order": [ + "shoulder_pan", + "shoulder_lift", + "elbow", + "wrist_1", + "wrist_2", + "wrist_3", + "finger_left", + "finger_right" + ], + "frames_note": "eef / actions in the robot base frame; camera_pose = local pose (wrist: in plate_gripper_base, env: env frame), pos + quat wxyz", + "dr_version": "v2" +} \ No newline at end of file diff --git a/episodes/c8_p010_e028/scene_snapshot.json b/episodes/c8_p010_e028/scene_snapshot.json new file mode 100644 index 0000000000000000000000000000000000000000..9cad740aff6c2896482dab73b9b49d2f2b0c2305 --- /dev/null +++ b/episodes/c8_p010_e028/scene_snapshot.json @@ -0,0 +1,1558 @@ +{ + "trajectory_id": 28, + "env_id": 3, + "run_id": "c8_p010", + "task_type": "BioPlateCell", + "success": true, + "timing": { + "fps": 50.0, + "sim_dt": 0.005, + "decimation": 4 + }, + "restore_interface": { + "scene": "scene_manager.reset_to(snapshot['scene'], env_ids=[env_id])", + "robots": "robot_manager.set_state({'robots': snapshot['robots']}, env_ids=[env_id])" + }, + "snapshot": { + "env_id": 3, + "scene": { + "objects": [ + {}, + {}, + {}, + { + "rac_cell": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/rac_cell.usd", + "pose": { + "pos": [ + 0.0, + 0.0, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "physics_material": { + "static_friction": 0.6, + "dynamic_friction": 0.5, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "robot_mount": [ + { + "asset": "Cube", + "pose": { + "pos": [ + 0.0, + 0.0, + 0.9075 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": "color", + "value": [ + 0.55, + 0.56, + 0.58 + ], + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": { + "size": [ + 0.2, + 0.2, + 0.015 + ] + } + }, + "type_specific": {} + } + ], + "plate_rack": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/plate_hotel.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 0.9 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "physics_material": { + "static_friction": 0.6, + "dynamic_friction": 0.5, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "hotel_plate": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/pcr_96_blue/pcr_96_blue.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 0.9605 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_24_clear/plate_24_clear.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.0285 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_24_clear/plate_24_clear.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.0965 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_24_clear/plate_24_clear.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.1645 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/deep_well_96_2ml/deep_well_96_2ml.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.2325 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "a4s_sealer": [ + { + "asset": "$MAGICSIM_ASSETS/Articulated/A4SSealer/Object.usd", + "pose": { + "pos": [ + 0.470947265625, + 0.11478233337402344, + 0.8999999761581421 + ], + "ori": [ + 0.7274402976036072, + 0.0, + 0.0, + -0.6861709952354431 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "articulation", + "solver_position_iteration_count": 16.0, + "solver_velocity_iteration_count": 1.0, + "enabled_self_collisions": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "joint_position": [ + 3.027747540532144e-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": 0.2717708625421806, + "direction": [ + 1.0, + 0.0, + 0.0 + ], + "enabled": true, + "drive": "surface_velocity", + "lines": null, + "station_line": null, + "riders": [ + "carrier" + ], + "stations": { + "pick": { + "position": -0.2197518659258932, + "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": 0.2717708625421806, + "holds": [], + "station": "pick", + "rider": "carrier_2", + "arrived": true, + "applied_speed": 0.0 + } + } + } + ], + "carrier": [ + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + 1.2759475708007812, + 0.4499940872192383, + 0.8999999761581421 + ], + "ori": [ + 1.0, + 1.6999605056966516e-09, + -2.7511754652209675e-08, + -7.060039934003726e-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": [ + 8.835643328097831e-11, + -3.705718842894612e-09, + 0.0 + ], + "angular_velocity": [ + 4.846604895192286e-08, + -3.224187139494461e-08, + 2.485980132860277e-08 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + -0.0691080093383789, + 0.4499998092651367, + 0.8999999761581421 + ], + "ori": [ + 1.0, + -2.732389425830206e-09, + 2.9513929078461842e-09, + 5.341333235264756e-05 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -1.284448103433533e-10, + 1.0394849425665598e-09, + 3.725290298461914e-09 + ], + "angular_velocity": [ + -8.476899893139489e-08, + -2.573599999777798e-08, + -5.357776888814669e-09 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + 0.27355289459228516, + 1.1500005722045898, + 0.8999999761581421 + ], + "ori": [ + -1.4451806237048004e-05, + -3.3120534093100673e-10, + 3.0476341450480504e-09, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -7.14470704821224e-11, + -4.300175771021486e-10, + 7.450580596923828e-09 + ], + "angular_velocity": [ + 9.223781205491832e-08, + -2.7751219988658704e-08, + 1.4670016312834377e-08 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + -1.377934455871582, + 0.9125585556030273, + 0.8999999761581421 + ], + "ori": [ + -0.5703954100608826, + -1.3544307364554697e-07, + -1.1611521699705918e-07, + 0.8213703036308289 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -1.9636274828371825e-09, + 1.2653345038415864e-10, + 3.725290298461914e-09 + ], + "angular_velocity": [ + -1.9019353203475475e-08, + -4.6646164264529943e-08, + -1.8716264094109647e-08 + ] + } + } + ], + "plate": [ + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_48_clear/Object.usd", + "pose": { + "pos": [ + 1.2893362045288086, + 0.4535856246948242, + 0.9179999828338623 + ], + "ori": [ + 0.9992246031761169, + -4.3384188602724194e-11, + -2.7668754398746387e-08, + 0.039374835789203644 + ], + "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": [ + -2.6967402533273344e-08, + -6.374674654807677e-08, + 6.705522537231445e-08 + ], + "angular_velocity": [ + 1.0856047083507292e-06, + -1.456840664104675e-06, + 2.7214333897518372e-08 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_384_white/Object.usd", + "pose": { + "pos": [ + -0.07295036315917969, + 0.4502754211425781, + 0.9180000424385071 + ], + "ori": [ + 0.999976634979248, + -3.079590582544256e-09, + 2.4537130105528604e-09, + 0.006834744941443205 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -1.7255231909985014e-08, + 1.3527160724891019e-08, + -5.677342414855957e-06 + ], + "angular_velocity": [ + 1.967386822343542e-07, + -1.5754718560856418e-06, + 8.528201789204104e-08 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_96_clear/Object.usd", + "pose": { + "pos": [ + 0.2717428207397461, + 1.138554573059082, + 0.9180000424385071 + ], + "ori": [ + -0.063710518181324, + -8.226083147988561e-10, + 3.058709951986316e-09, + 0.9979684352874756 + ], + "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": [ + 4.646792284290768e-09, + 5.702271987928498e-09, + -5.558133125305176e-06 + ], + "angular_velocity": [ + -1.3808052017338923e-06, + 1.5707176999057992e-06, + -5.8792004153929156e-08 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/reservoir_12ch/Object.usd", + "pose": { + "pos": [ + -1.3701438903808594, + 0.9223642349243164, + 0.9179999828338623 + ], + "ori": [ + -0.6480787396430969, + -1.5296421906896285e-07, + -1.0198532862659704e-07, + 0.761573314666748 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -2.457631467223109e-07, + 1.713367510092212e-07, + 2.4586915969848633e-07 + ], + "angular_velocity": [ + -5.587331543210894e-06, + -6.707210559397936e-06, + -4.3011095840483904e-07 + ] + } + } + ], + "deco_hub_west": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/hub_e.usd", + "pose": { + "pos": [ + -3.36, + 0.0, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_hub_east": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/hub_d.usd", + "pose": { + "pos": [ + 3.36, + 0.0, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_hub_back": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/hub_a.usd", + "pose": { + "pos": [ + -3.0, + -2.1, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_bench_east": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/bench_c.usd", + "pose": { + "pos": [ + 2.6, + -2.5, + 0.0 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_bench_gap": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/bench_b.usd", + "pose": { + "pos": [ + -0.1, + -2.9, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ] + } + ], + "devices": { + "hub": [ + null, + null, + null, + { + "t": 3.5599999999999463, + "step": 712, + "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": 3.027747540532144e-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": 0.2717708625421806, + "holds": [], + "station": "pick", + "rider": "carrier_2", + "arrived": true, + "settle_count": 654, + "released": { + "pick": [] + }, + "last_pos": { + "carrier_1": [ + 1.1259475648403168, + -5.900859832763672e-06, + 0.0 + ], + "carrier_2": [ + -0.21910801529884338, + -1.7881393432617188e-07, + 0.0 + ], + "carrier_3": [ + 0.12355288863182068, + 0.7000005841255188, + 0.0 + ], + "carrier_4": [ + -1.5279344618320465, + 0.4625585675239563, + 0.0 + ] + }, + "command": 0.0 + }, + "belt": { + "target_speed": 0.0, + "command_speed": 0.0 + }, + "seen": { + "state": "at_station", + "station": "pick", + "rider": "carrier_2", + "arrived": true + } + } + }, + "queues": {}, + "program": null, + "sensors": {}, + "interlocks": {} + } + }, + "zones": {}, + "labware": { + "plate_1": { + "sealed": false + }, + "plate_2": { + "sealed": false + }, + "plate_3": { + "sealed": false + }, + "plate_4": { + "sealed": false + } + }, + "rules": {}, + "records": [], + "bus": { + "seq": 3, + "queue": [] + } + } + ], + "drives": [ + null, + null, + null, + {} + ] + }, + "artifacts": [ + {}, + {}, + {}, + { + "ceiling": { + "type": "rect", + "pose": { + "pos": [ + 0.16524796010231257, + 0.03964235555873219, + 2.674073796527371 + ], + "ori": [ + 7.726124257753387, + 10.029722204203388, + -1.9779246993552633 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "color_temperature": 6844.4875915848, + "color": [ + 0.9374554982014363, + 0.9697346223957787, + 0.8280942136396412 + ], + "intensity": 12870.954260580198, + "width": 1.4589068233117821, + "height": 1.7851664908130644 + } + }, + "key": { + "type": "disk", + "pose": { + "pos": [ + 1.7103631078065566, + -1.0477754143408933, + 2.3001826621989263 + ], + "ori": [ + -11.77673314559744, + 37.50606158636633, + 28.977023316128324 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "color_temperature": 5779.415553610759, + "color": [ + 0.9420604575170454, + 0.8716118133335996, + 0.9509388749370347 + ], + "intensity": 3821.531524341429, + "radius": 0.37182873915379566 + } + } + } + ], + "background": { + "type": "dome", + "pose": { + "pos": null, + "ori": null, + "scale": null + }, + "dr": { + "intensity": 652.2566320167537, + "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": [ + [ + -0.33931824564933777, + -2.0095231533050537, + 2.6895806789398193, + -2.2509114742279053, + -1.570637583732605, + 4.32385778427124, + 0.007734033279120922, + 0.007052874658256769 + ], + [ + -0.20188270509243011, + -2.0797150135040283, + 2.7158687114715576, + -2.2070775032043457, + -1.5705794095993042, + 4.555225849151611, + 0.007844301871955395, + 0.007173911668360233 + ], + [ + 0.9141007661819458, + -1.719397783279419, + 2.0904996395111084, + -1.9419010877609253, + -1.5707999467849731, + 2.4849002361297607, + 0.01799999736249447, + 0.018000001087784767 + ], + [ + 0.9141008853912354, + -1.7193976640701294, + 2.0904996395111084, + -1.9419010877609253, + -1.5707999467849731, + 2.4849002361297607, + 0.01799999736249447, + 0.018000001087784767 + ] + ], + "joint_vel": [ + [ + -0.0007364147459156811, + 1.2999746104469523e-05, + 0.0010205544531345367, + -0.0007668174803256989, + -0.005152817815542221, + 0.012684772722423077, + -0.009535618126392365, + 0.0004523875250015408 + ], + [ + -0.0008006958523765206, + 5.4081068810774013e-05, + 0.0014632268575951457, + -0.00016612884064670652, + -0.006695302203297615, + 0.015101674012839794, + -0.009446034207940102, + 0.0005938950926065445 + ], + [ + 2.826512048761187e-38, + -1.6420168776428485e-38, + 1.553859509694017e-38, + -5.007271685582846e-37, + 4.235041437369675e-37, + -2.6479559079438675e-37, + 2.5990388508034812e-08, + -2.5990386731677972e-08 + ], + [ + 2.8267897861168164e-38, + -1.6421855939779532e-38, + 1.5540108499281642e-38, + -5.00776763313534e-37, + 4.2354391819257886e-37, + -2.8938597982031637e-37, + 2.5990388508034812e-08, + -2.5990388508034812e-08 + ] + ] + } + }, + "cameras": { + "cameras": { + "camera0": [ + [ + 0.0497884675860405, + -0.003721895394846797, + -0.028240112587809563, + -0.2758399248123169, + 0.6464947462081909, + 0.649413526058197, + -0.29020506143569946 + ], + [ + 0.05231118202209473, + 0.0022756231483072042, + -0.02830382063984871, + -0.2759506404399872, + 0.6558157801628113, + 0.6365347504615784, + -0.2976245582103729 + ], + [ + 0.05102536827325821, + 0.0011188150383532047, + -0.03086075931787491, + -0.2726651728153229, + 0.6546809673309326, + 0.6498069167137146, + -0.2734913229942322 + ], + [ + 0.0487590990960598, + -0.0005086577730253339, + -0.02710489183664322, + -0.27434369921684265, + 0.6450414657592773, + 0.6586953997612, + -0.2734546959400177 + ] + ], + "camera1": [ + [ + 0.05757346749305725, + 0.5979699492454529, + 1.9749929904937744, + 0.04998409003019333, + 0.02494717761874199, + 0.26428496837615967, + 0.962825357913971 + ], + [ + 0.03292189538478851, + 0.5839483737945557, + 1.9501320123672485, + 0.04155341163277626, + 0.02237195335328579, + 0.264934241771698, + 0.9631109237670898 + ], + [ + 0.0741320475935936, + 0.5696404576301575, + 1.9259289503097534, + 0.032913316041231155, + 0.026827331632375717, + 0.2798106074333191, + 0.959115743637085 + ], + [ + 0.07323464006185532, + 0.5599193572998047, + 1.9426196813583374, + 0.05245573818683624, + 0.009211579337716103, + 0.2702818810939789, + 0.9613070487976074 + ] + ] + } + } + } +} \ No newline at end of file diff --git a/episodes/c8_p010_e028/wrist.mp4 b/episodes/c8_p010_e028/wrist.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..b70a844a7aa6fc91ec716c794cbf6e8b67305610 --- /dev/null +++ b/episodes/c8_p010_e028/wrist.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:3ff04a1454b6966a89d3f88fff5f9840d03b949574567b916f779003d9faa40c +size 6382201 diff --git a/episodes/c8_p010_e029/data.npz b/episodes/c8_p010_e029/data.npz new file mode 100644 index 0000000000000000000000000000000000000000..09b1cab40bd1758b5a47a008f3183227015c71bb --- /dev/null +++ b/episodes/c8_p010_e029/data.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:c81cb996e6c58b18b9ddfe7c681376768ffd5194cd391f954e3ee3cc5afb388c +size 202422 diff --git a/episodes/c8_p010_e029/device_events.jsonl b/episodes/c8_p010_e029/device_events.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..91186129abc9317882157e26af317733731fe6ac --- /dev/null +++ b/episodes/c8_p010_e029/device_events.jsonl @@ -0,0 +1,36 @@ +{"env_id": 2, "seq": 1, "step": 137, "t": 0.685, "topic": "conveyor_1.belt.station.pick.captured", "source": "conveyor_1.belt", "data": {"rider": "carrier_3"}, "cause": null} +{"env_id": 2, "seq": 2, "step": 137, "t": 0.685, "topic": "conveyor_1.belt.state.changed", "source": "conveyor_1.belt", "data": {"from": "running", "to": "at_station"}, "cause": null} +{"env_id": 2, "seq": 3, "step": 142, "t": 0.71, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_3"}, "cause": null} +{"env_id": 2, "seq": 4, "step": 1323, "t": 6.615, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_3"}, "cause": null} +{"env_id": 2, "seq": 5, "step": 6011, "t": 30.055, "topic": "a4s_sealer_1.plate_present.present", "source": "a4s_sealer_1.plate_present", "data": {"object": "plate_3"}, "cause": null} +{"env_id": 2, "seq": 6, "step": 6624, "t": 33.12, "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": 6624, "t": 33.12, "topic": "a4s_sealer_1.seal.started", "source": "a4s_sealer_1", "data": {"dwell": 2.5697431174431933}, "cause": "task-2-1"} +{"env_id": 2, "seq": 8, "step": 6624, "t": 33.12, "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": 6624, "t": 33.12, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "at_out", "to": "moving"}, "cause": null} +{"env_id": 2, "seq": 10, "step": 6624, "t": 33.12, "topic": "a4s_sealer_1.drawer.moving", "source": "a4s_sealer_1.drawer", "data": {"target": 0.3, "goal": "in"}, "cause": "program-2-2"} +{"env_id": 2, "seq": 11, "step": 7043, "t": 35.215, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "moving", "to": "at_in"}, "cause": null} +{"env_id": 2, "seq": 12, "step": 7043, "t": 35.215, "topic": "a4s_sealer_1.drawer.reached", "source": "a4s_sealer_1.drawer", "data": {"position": "in", "q": 0.30000001192092896}, "cause": "program-2-2"} +{"env_id": 2, "seq": 13, "step": 7043, "t": 35.215, "topic": "a4s_sealer_1.drawer.at_in", "source": "a4s_sealer_1.drawer", "data": {"q": 0.30000001192092896}, "cause": "program-2-2"} +{"env_id": 2, "seq": 14, "step": 7043, "t": 35.215, "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": 7043, "t": 35.215, "topic": "labware.plate_3.changed", "source": "labware.plate_3", "data": {"key": "sealed", "value": true}, "cause": "task-2-1"} +{"env_id": 2, "seq": 16, "step": 7043, "t": 35.215, "topic": "a4s_sealer_1.sealed", "source": "a4s_sealer_1", "data": {"plate": "plate_3"}, "cause": "task-2-1"} +{"env_id": 2, "seq": 17, "step": 7043, "t": 35.215, "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": 7043, "t": 35.215, "topic": "a4s_sealer_1.heater.state.changed", "source": "a4s_sealer_1.heater", "data": {"from": "ready", "to": "running"}, "cause": null} +{"env_id": 2, "seq": 19, "step": 7043, "t": 35.215, "topic": "a4s_sealer_1.heater.started", "source": "a4s_sealer_1.heater", "data": {"duration": 2.5697431174431933}, "cause": "program-2-3"} +{"env_id": 2, "seq": 20, "step": 7557, "t": 37.785, "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": 7557, "t": 37.785, "topic": "a4s_sealer_1.heater.finished", "source": "a4s_sealer_1.heater", "data": {"elapsed": 2.570000000001315}, "cause": "program-2-3"} +{"env_id": 2, "seq": 22, "step": 7557, "t": 37.785, "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": 2.570000000001315}}, "cause": "program-2-3"} +{"env_id": 2, "seq": 23, "step": 7557, "t": 37.785, "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": 7557, "t": 37.785, "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": 7557, "t": 37.785, "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": 7977, "t": 39.885, "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": 7977, "t": 39.885, "topic": "a4s_sealer_1.drawer.reached", "source": "a4s_sealer_1.drawer", "data": {"position": "out", "q": 7.621083208952939e-10}, "cause": "program-2-4"} +{"env_id": 2, "seq": 28, "step": 7977, "t": 39.885, "topic": "a4s_sealer_1.drawer.at_out", "source": "a4s_sealer_1.drawer", "data": {"q": 7.621083208952939e-10}, "cause": "program-2-4"} +{"env_id": 2, "seq": 29, "step": 7977, "t": 39.885, "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": 7977, "t": 39.885, "topic": "a4s_sealer_1.seal.finished", "source": "a4s_sealer_1", "data": {}, "cause": "task-2-1"} +{"env_id": 2, "seq": 31, "step": 7977, "t": 39.885, "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": 8560, "t": 42.8, "topic": "a4s_sealer_1.plate_present.absent", "source": "a4s_sealer_1.plate_present", "data": {"object": "plate_3"}, "cause": null} +{"env_id": 2, "seq": 33, "step": 10716, "t": 53.58, "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": 10716, "t": 53.58, "topic": "conveyor_1.belt.station.pick.released", "source": "conveyor_1.belt", "data": {"rider": "carrier_3"}, "cause": "task-2-5"} +{"env_id": 2, "seq": 35, "step": 10716, "t": 53.58, "topic": "conveyor_1.belt.state.changed", "source": "conveyor_1.belt", "data": {"from": "at_station", "to": "running"}, "cause": null} +{"env_id": 2, "seq": 36, "step": 10716, "t": 53.58, "topic": "conveyor_1.belt.command.succeeded", "source": "conveyor_1.belt", "data": {"command_id": "task-2-5", "name": "release", "source": "task", "result": {"state": "running"}}, "cause": "task-2-5"} diff --git a/episodes/c8_p010_e029/env.mp4 b/episodes/c8_p010_e029/env.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..cac31b79915d069b1f8996c2e94f931fd000abb2 --- /dev/null +++ b/episodes/c8_p010_e029/env.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:eb3688d3a411400f32a29362e92b7da5a7c73cf71735103f5b4fed5dc4aa69c6 +size 1326828 diff --git a/episodes/c8_p010_e029/meta.json b/episodes/c8_p010_e029/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..4742e814a931d110f5a40d1da69f6b330a15c88c --- /dev/null +++ b/episodes/c8_p010_e029/meta.json @@ -0,0 +1,32 @@ +{ + "source": "raw/c8_p010/magicsim/29", + "fps": 25, + "frames": 1240, + "kept_ticks": "even", + "video_frames": { + "wrist": 1240, + "env": 1240 + }, + "joint_target_source": "joint_pos_target", + "fk_vs_recorded_eef_max_m": 0.0, + "curobo_joints": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "joint_order": [ + "shoulder_pan", + "shoulder_lift", + "elbow", + "wrist_1", + "wrist_2", + "wrist_3", + "finger_left", + "finger_right" + ], + "frames_note": "eef / actions in the robot base frame; camera_pose = local pose (wrist: in plate_gripper_base, env: env frame), pos + quat wxyz", + "dr_version": "v2" +} \ No newline at end of file diff --git a/episodes/c8_p010_e029/scene_snapshot.json b/episodes/c8_p010_e029/scene_snapshot.json new file mode 100644 index 0000000000000000000000000000000000000000..9d75457f6ff64a92e75604cd396063c112d8f1bc --- /dev/null +++ b/episodes/c8_p010_e029/scene_snapshot.json @@ -0,0 +1,1558 @@ +{ + "trajectory_id": 29, + "env_id": 2, + "run_id": "c8_p010", + "task_type": "BioPlateCell", + "success": true, + "timing": { + "fps": 50.0, + "sim_dt": 0.005, + "decimation": 4 + }, + "restore_interface": { + "scene": "scene_manager.reset_to(snapshot['scene'], env_ids=[env_id])", + "robots": "robot_manager.set_state({'robots': snapshot['robots']}, env_ids=[env_id])" + }, + "snapshot": { + "env_id": 2, + "scene": { + "objects": [ + {}, + {}, + { + "rac_cell": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/rac_cell.usd", + "pose": { + "pos": [ + 0.0, + 0.0, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "physics_material": { + "static_friction": 0.6, + "dynamic_friction": 0.5, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "robot_mount": [ + { + "asset": "Cube", + "pose": { + "pos": [ + 0.0, + 0.0, + 0.9075 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": "color", + "value": [ + 0.55, + 0.56, + 0.58 + ], + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": { + "size": [ + 0.2, + 0.2, + 0.015 + ] + } + }, + "type_specific": {} + } + ], + "plate_rack": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/plate_hotel.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 0.9 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "physics_material": { + "static_friction": 0.6, + "dynamic_friction": 0.5, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "hotel_plate": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_384_white/plate_384_white.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 0.9605 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_384_white/plate_384_white.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.0285 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/pcr_384_red/pcr_384_red.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.0965 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/deep_well_96_2ml/deep_well_96_2ml.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.1645 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_96_clear/plate_96_clear.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.2325 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "a4s_sealer": [ + { + "asset": "$MAGICSIM_ASSETS/Articulated/A4SSealer/Object.usd", + "pose": { + "pos": [ + 0.5017671585083008, + 0.0675649642944336, + 0.8999999761581421 + ], + "ori": [ + -0.6824094653129578, + 0.0, + 0.0, + 0.7309701442718506 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "articulation", + "solver_position_iteration_count": 16.0, + "solver_velocity_iteration_count": 1.0, + "enabled_self_collisions": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "joint_position": [ + 5.046250309975742e-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": 0.28053734535644137, + "direction": [ + 1.0, + 0.0, + 0.0 + ], + "enabled": true, + "drive": "surface_velocity", + "lines": null, + "station_line": null, + "riders": [ + "carrier" + ], + "stations": { + "pick": { + "position": -0.28909891600762955, + "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": 0.28053734535644137, + "holds": [], + "station": "pick", + "rider": "carrier_3", + "arrived": true, + "applied_speed": 0.0 + } + } + } + ], + "carrier": [ + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + 0.4513559341430664, + 1.1525506973266602, + 0.8999999761581421 + ], + "ori": [ + -0.00964269507676363, + 2.827832368268446e-08, + 6.276815511796485e-09, + 0.9999535083770752 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 2.637946527883628e-10, + 1.1430814073065676e-09, + 2.60770320892334e-08 + ], + "angular_velocity": [ + -2.3653306868709478e-07, + 1.9102158432815486e-07, + 3.6752723531208176e-08 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + 1.6772842407226562, + 0.9175863265991211, + 0.8999999761581421 + ], + "ori": [ + 0.5829976201057434, + 1.8450236893841065e-08, + -1.052815523649997e-08, + 0.8124738335609436 + ], + "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": [ + -1.2317480369006262e-10, + 7.740158514124573e-11, + 3.725290298461914e-09 + ], + "angular_velocity": [ + -3.5328682201907213e-08, + 4.277922904805109e-09, + -4.6552477428463135e-09 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + -0.13890647888183594, + 0.4473438262939453, + 0.8999999761581421 + ], + "ori": [ + 0.9999420642852783, + 2.8486129011184858e-09, + 4.21470802702828e-10, + 0.010765605606138706 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 1.0719041210194291e-09, + 1.4659340408229582e-10, + 7.450580596923828e-09 + ], + "angular_velocity": [ + -3.843517504265037e-09, + 1.0985748133407469e-07, + -7.358742948326835e-09 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + -1.3930320739746094, + 0.7430744171142578, + 0.8999999761581421 + ], + "ori": [ + -0.7568273544311523, + -2.6030186006664735e-08, + -7.344706176581894e-08, + 0.6536149382591248 + ], + "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": [ + -1.3477150506702174e-09, + 7.172313853942569e-10, + 3.725290298461914e-09 + ], + "angular_velocity": [ + -3.154151784201531e-08, + -1.0507307024454349e-08, + -1.7425657361513913e-08 + ] + } + } + ], + "plate": [ + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_24_clear/Object.usd", + "pose": { + "pos": [ + 0.4460763931274414, + 1.1632413864135742, + 0.9179999828338623 + ], + "ori": [ + -0.010232252068817616, + 2.74576539283089e-08, + 8.039498844425452e-09, + 0.999947726726532 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 5.2256545757245476e-08, + 3.232181455814498e-08, + 2.086162567138672e-07 + ], + "angular_velocity": [ + -8.365160510948044e-07, + 3.4045767733914545e-06, + 1.9824290120595833e-07 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_384_black/Object.usd", + "pose": { + "pos": [ + 1.6736459732055664, + 0.9091405868530273, + 0.9180000424385071 + ], + "ori": [ + 0.5809845328330994, + 1.9332025757989868e-08, + -8.763204384365508e-09, + 0.8139146566390991 + ], + "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": [ + 2.2102177865690464e-08, + -6.864562251962525e-10, + -4.716217517852783e-06 + ], + "angular_velocity": [ + 1.0438986919325544e-06, + 1.7343713807349559e-06, + -8.185394761994758e-08 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_1536_black/Object.usd", + "pose": { + "pos": [ + -0.12891197204589844, + 0.4583749771118164, + 0.9180000424385071 + ], + "ori": [ + 0.9973012804985046, + 3.938178672058257e-09, + 3.7657904572441225e-11, + -0.07341889292001724 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -4.582898505134381e-09, + -2.279363364721121e-10, + -5.174428224563599e-06 + ], + "angular_velocity": [ + 8.026398745641927e-07, + -1.7819601225710358e-06, + -3.412849380879379e-08 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/deep_well_24_10ml/Object.usd", + "pose": { + "pos": [ + -1.3941545486450195, + 0.7305402755737305, + 0.9179999828338623 + ], + "ori": [ + -0.8004391193389893, + -2.9725804040481307e-08, + -7.355249920237839e-08, + 0.5994141697883606 + ], + "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": [ + -7.351015085532708e-08, + 1.2027521734125912e-07, + -1.6130506992340088e-06 + ], + "angular_velocity": [ + -3.3616247492318507e-06, + -3.202617335773539e-06, + -4.8612790237712034e-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": 4.119999999999934, + "step": 824, + "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": 5.046250309975742e-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": 0.28053734535644137, + "holds": [], + "station": "pick", + "rider": "carrier_3", + "arrived": true, + "settle_count": 686, + "released": { + "pick": [] + }, + "last_pos": { + "carrier_1": [ + 0.30135592818260193, + 0.7025507092475891, + 0.0 + ], + "carrier_2": [ + 1.5272842347621918, + 0.46758633852005005, + 0.0 + ], + "carrier_3": [ + -0.2889064848423004, + -0.0026561617851257324, + 0.0 + ], + "carrier_4": [ + -1.5430320799350739, + 0.29307442903518677, + 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": [ + 0.03143305517962525, + -0.39852264875041504, + 3.148065870119827 + ], + "ori": [ + -7.822969502652847, + 2.9429621821334386, + -4.731778393986485 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "color_temperature": 6186.951134861261, + "color": [ + 0.8459131059485554, + 0.9027343814165508, + 0.8900703216191954 + ], + "intensity": 14051.038817684199, + "width": 1.7924827752120436, + "height": 1.0359282160434646 + } + }, + "key": { + "type": "disk", + "pose": { + "pos": [ + 0.8954619852333212, + 0.9503186311885943, + 2.6051973821006777 + ], + "ori": [ + 27.250216859389923, + 15.19073868248661, + -13.71661826429576 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "color_temperature": 5834.4514459399015, + "color": [ + 0.8771604701287565, + 0.8931363188645456, + 0.9892602328089146 + ], + "intensity": 2693.2471554165277, + "radius": 0.4368124883864076 + } + } + }, + {} + ], + "background": { + "type": "dome", + "pose": { + "pos": null, + "ori": null, + "scale": null + }, + "dr": { + "intensity": 652.2566320167537, + "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": [ + [ + -0.33934009075164795, + -2.074796676635742, + 2.6426608562469482, + -2.138680934906006, + -1.5707664489746094, + 4.3241682052612305, + 0.007730510551482439, + 0.007069626357406378 + ], + [ + -0.2018958330154419, + -2.219853639602661, + 2.5824227333068848, + -1.933365821838379, + -1.5707498788833618, + 4.555605888366699, + 0.007838737219572067, + 0.007175414822995663 + ], + [ + 0.9141015410423279, + -1.7193994522094727, + 2.0905001163482666, + -1.9419008493423462, + -1.5707999467849731, + 2.4849002361297607, + 0.017999999225139618, + 0.017999999225139618 + ], + [ + 1.1240973472595215, + -1.5424346923828125, + 2.136247396469116, + -2.164595365524292, + -1.570796012878418, + 2.6814498901367188, + 0.01800038479268551, + 0.017999613657593727 + ] + ], + "joint_vel": [ + [ + 0.00012561962648760527, + -0.021598389372229576, + -0.018023282289505005, + 0.038107942789793015, + 0.0006523781339637935, + -0.0017983028665184975, + -0.008201465010643005, + 0.0003111156984232366 + ], + [ + -8.41758301248774e-05, + -0.014882336370646954, + -0.021077806130051613, + 0.03408520668745041, + 0.00014297036977950484, + -0.00045067621977068484, + -0.007932676002383232, + 0.0003615804889705032 + ], + [ + 5.108948244014755e-06, + 3.4059366953442805e-06, + -9.260775306330071e-12, + -1.7580001039976811e-12, + 1.615832576247478e-13, + 1.24669458784199e-12, + 6.235047471814942e-14, + 2.244393906836173e-13 + ], + [ + 0.008178574033081532, + 0.007020102813839912, + 0.0018974458798766136, + -0.008519824594259262, + 1.4947462659620214e-05, + 0.007548503577709198, + 7.1766917244531214e-06, + -7.176656708907103e-06 + ] + ] + } + }, + "cameras": { + "cameras": { + "camera0": [ + [ + 0.04925312474370003, + -0.0017703395569697022, + -0.026812579482793808, + -0.28258898854255676, + 0.6435539722442627, + 0.6507537961006165, + -0.2872302234172821 + ], + [ + 0.05193839967250824, + 0.0024981761816889048, + -0.028369493782520294, + -0.27591457962989807, + 0.6537477970123291, + 0.6399590969085693, + -0.2948513627052307 + ], + [ + 0.05301507189869881, + -0.00018703239038586617, + -0.028781868517398834, + -0.2788105607032776, + 0.654208242893219, + 0.6454653739929199, + -0.27865877747535706 + ], + [ + 0.04753600433468819, + -0.00035096981446258724, + -0.025074055418372154, + -0.280579537153244, + 0.646729588508606, + 0.6564721465110779, + -0.26844048500061035 + ] + ], + "camera1": [ + [ + 0.05757346749305725, + 0.5979699492454529, + 1.9749929904937744, + 0.04998409003019333, + 0.02494717761874199, + 0.26428496837615967, + 0.962825357913971 + ], + [ + 0.03292189538478851, + 0.5839483737945557, + 1.9501320123672485, + 0.04155341163277626, + 0.02237195335328579, + 0.264934241771698, + 0.9631109237670898 + ], + [ + 0.0741320475935936, + 0.5696404576301575, + 1.9259289503097534, + 0.032913316041231155, + 0.026827331632375717, + 0.2798106074333191, + 0.959115743637085 + ], + [ + 0.07323464006185532, + 0.5599193572998047, + 1.9426196813583374, + 0.05245573818683624, + 0.009211579337716103, + 0.2702818810939789, + 0.9613070487976074 + ] + ] + } + } + } +} \ No newline at end of file diff --git a/episodes/c8_p010_e029/wrist.mp4 b/episodes/c8_p010_e029/wrist.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..296e7a1a86c17eeb59c9b5410a3ba4863934fbb3 --- /dev/null +++ b/episodes/c8_p010_e029/wrist.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:e282d94ea09c6dc6802b3149e4337ac487cbb11b10139ee0674148ee04daf631 +size 6596999 diff --git a/index/episodes.csv b/index/episodes.csv index 22a6a7fd311785d9b2e0c6ec507f351591040d1d..ad48290302283caf15ccfceafd57079c63803690 100644 --- a/index/episodes.csv +++ b/index/episodes.csv @@ -3112,3 +3112,12 @@ c9_p012_e000,1,True,0.013515472412109375,0.44750499725341797,-0.0043939145408227 c9_p012_e001,3,True,0.06951236724853516,0.4499979019165039,0.005776232385167398,0.007240433388064362,-5.101310897466362,plate_384_white,0.47942543029785156,0.07618427276611328,-91.87301596129831,0.18951584645508,812.3478732838801,rect,0.5987626089795487,0.577837483288151,3.0323845860884306,7217.045592044344,4341.455915622699,sphere,0.44745368225173143,-0.6797888402640936,1.653636388598374,9545.5221362024,4549.323089793672,0.05159986764192581,-0.0008169679786078632,-0.02761833742260933,-0.27870696783065796,0.6459996700286865,0.6504544019699097,-0.2862096130847931,0.05203546956181526,0.5766218900680542,1.9530162811279297,0.052723228931427,0.02071545086801052,0.2611715495586395,0.9636288285255432,1198,1,,2.094351291656494,0.2988892428761071,0.0,0.007416081614792347,0.5333889816360601,12,release,0.042502641677856445,"Pre-grasping the small plate, moving the arm toward it; the ",v2,True,False c9_p012_e002,0,True,-0.09329700469970703,0.45000457763671875,-0.00021300708342091344,-0.0051965575183089,1.4098352755801784,plate_96_black,0.5227231979370117,0.11492919921875,-88.80199811353675,0.16219275164212402,812.3478732838801,rect,-0.14849323710962203,-0.27430124923838595,2.90879322944553,12024.760191063862,5006.411782887488,disk,-1.429214041613451,0.041430449618136134,1.8524845543229196,2363.949333877354,3345.165027992107,0.052201930433511734,0.0013073243899270892,-0.028481287881731987,-0.28294456005096436,0.6465675830841064,0.6474916338920593,-0.2874844968318939,0.04480482637882233,0.5754384398460388,1.9631919860839844,0.04693735018372536,0.007139402907341719,0.28217267990112305,0.9581881165504456,1225,1,,2.0634069442749023,0.262257132128866,0.0,0.007256441283971071,0.52,12,release,0.0421137809753418,"Pre-grasping the small plate, moving the arm toward it; the ",v2,True,False c9_p012_e003,2,True,-0.043799400329589844,0.4471855163574219,0.006506949929126281,0.006486497433181941,6.312923205476466,plate_384_black,0.5216436386108398,0.11292362213134766,-87.43239555807246,0.22260707010114453,812.3478732838801,rect,0.7206024729988604,0.27071989378573325,2.6883984385312956,9933.809084554827,3936.6603055203745,sphere,0.27472170520193684,0.7796508387661174,2.653403997612406,4130.094467299614,4908.548746561033,0.05094894766807556,-0.002532298443838954,-0.02992931753396988,-0.30123797059059143,0.6354643702507019,0.6554945111274719,-0.2752592861652374,0.06495238095521927,0.5970008969306946,1.9317160844802856,0.03473128750920296,-0.002288408810272813,0.2555459141731262,0.9661701917648315,1281,1,,2.0887699127197266,0.29799451555458234,0.0,0.0074249813333153725,0.5487900078064013,12,release,0.04214930534362793,"Pre-grasping the small plate, moving the arm toward it; the ",v2,True,False +c6_p010_e008,2,True,-0.04243183135986328,0.4499998092651367,-0.00837314726899866,0.004969787637162599,-8.267519298439112,plate_1536_black,0.5262136459350586,0.07812881469726562,-87.10510678931891,0.27651761570675626,457.4758841845153,rect,0.06175007967607049,0.024245188836123144,2.82113112568489,13748.669392184001,5214.052345735853,disk,0.8013184288200716,-0.2768214564667887,1.8671928550702164,4772.708332019891,4441.447118020555,0.04751411825418472,-0.0008203501929529011,-0.02843175269663334,-0.285035103559494,0.6434733867645264,0.6549912095069885,-0.27510637044906616,0.036625225096940994,0.5778366327285767,1.9349231719970703,0.057601943612098694,0.02280266582965851,0.25787147879600525,0.9641910195350647,1243,1,,2.108529567718506,0.3130236492032038,0.0,0.0073425909504294395,0.5156878519710378,12,release,0.04219675064086914,"Pre-grasping the small plate, moving the arm toward it; the ",v2,True,False +c6_p010_e009,0,True,0.09590816497802734,0.4475374221801758,-0.004063725524069399,-0.00532926539011421,8.795657096097386,plate_6_clear,0.4826030731201172,0.10466194152832031,-90.34329398814339,0.2198825614045536,457.4758841845153,rect,0.6032114962806657,0.3940244350318485,2.7984558237615365,8916.968980467078,3266.2526293759424,disk,-1.5310282610626642,1.3972184286094544,2.716893752653407,2032.8588559954774,4849.621775686272,0.04633745923638344,-0.00040396509575657547,-0.026230625808238983,-0.2786093056201935,0.6427910327911377,0.6527070999145508,-0.28839200735092163,0.05168056860566139,0.596659779548645,1.9476194381713867,0.04672624543309212,0.027022220194339752,0.27735796570777893,0.9592491984367371,1206,1,,2.1077446937561035,0.28922758833913564,0.0,0.00739970151335001,0.5364842454394693,12,release,0.0422365665435791,"Pre-grasping the small plate, moving the arm toward it; the ",v2,True,False +c6_p010_e010,3,True,0.1046304702758789,0.44690418243408203,-0.010035384302870761,0.007041808489123296,5.080162490567147,plate_96_clear,0.4951019287109375,0.0760946273803711,-87.26208570395877,0.255578407839755,457.4758841845153,rect,0.6653246241229854,0.05518838957661809,2.973437797329054,15074.959319322206,6729.56741531515,sphere,0.8048984423478971,0.08282404939675425,2.7680343277518062,2056.525906897273,6808.708720716113,0.05236826464533806,-0.0003195711469743401,-0.028245311230421066,-0.27955952286720276,0.6504173278808594,0.644237756729126,-0.2894156873226166,0.04157958924770355,0.5579681396484375,1.9509466886520386,0.050953637808561325,0.011666228994727135,0.2575679123401642,0.9648452997207642,1183,1,,2.145714521408081,0.26564654510899927,0.0,0.007257960736751556,0.5418427726120034,12,release,0.04215645790100098,"Pre-grasping the small plate, moving the arm toward it; the ",v2,True,False +c6_p010_e011,1,True,0.048076629638671875,0.4499988555908203,0.002385100199519572,0.005219477476834072,8.039505119336809,plate_12_clear,0.5131692886352539,0.06496334075927734,-89.15471793599049,0.26413320426925335,457.4758841845153,rect,-0.16793152405844708,-0.4239401611377236,3.1207565997030007,12169.960584241755,3567.194216798249,disk,-1.3478189143805668,-0.5254400715015789,1.9683363714818685,4591.172469780238,3431.635840991231,0.04865303263068199,-0.00035261554876342416,-0.03093576431274414,-0.26584967970848083,0.6496725678443909,0.6563901305198669,-0.2764081358909607,0.06531662493944168,0.593163251876831,1.9563872814178467,0.02694377675652504,0.004034095909446478,0.27929121255874634,0.9598198533058167,1244,1,,2.080829620361328,0.30554536961026807,0.0,0.00736154243350029,0.5168810289389068,12,release,0.04235994815826416,"Pre-grasping the small plate, moving the arm toward it; the ",v2,True,False +c7_p010_e025,3,True,-0.1123647689819336,0.44754695892333984,-0.012295196652125896,0.009450503779866351,-5.574402876292822,plate_384_white,0.5084505081176758,0.052756309509277344,-93.12400749015953,0.21592549266735156,487.53543424775916,rect,0.8898306562328707,0.4397736684645761,2.7318526775204184,14655.68564600264,4325.417288900979,sphere,-0.7877950625363591,0.1979966255144927,2.5656177147664616,6070.21333958979,7378.702446675399,0.05026090145111084,-0.0013019528705626726,-0.030238717794418335,-0.28368040919303894,0.6465399265289307,0.645924985408783,-0.29033151268959045,0.02653186395764351,0.5798415541648865,1.96163010597229,0.027027523145079613,0.013122652657330036,0.2850870192050934,0.958030641078949,1258,1,,2.1135761737823486,0.31432466502028766,0.0,0.007377877831459045,0.5508744038155803,12,release,0.04232180118560791,"Pre-grasping the small plate, moving the arm toward it; the ",v2,True,False +c7_p010_e026,1,True,0.0648040771484375,0.45000267028808594,-0.012148443053030424,-0.007473665045662952,2.290854090843027,deep_well_96_1ml,0.4943122863769531,0.12484455108642578,-92.88386472532007,0.22483402392174087,487.53543424775916,rect,-0.37717779551663005,0.29592921692747165,2.928519657870898,10009.070592546672,4187.212158992681,disk,-0.524625406645342,0.5443115064306843,2.4732839909730173,9215.87736969589,4574.916558712338,0.04720349982380867,-0.0008705848595127463,-0.027123412117362022,-0.2777225971221924,0.6516373753547668,0.6406463384628296,-0.2963294982910156,0.06218170002102852,0.5782442688941956,1.9435467720031738,0.05539282411336899,0.006723735015839338,0.2767232060432434,0.9593282341957092,1275,1,,2.0096302032470703,0.23581854622130644,0.0,0.007434468250721693,0.5050980392156863,12,release,0.04207199811935425,"Pre-grasping the small plate, moving the arm toward it; the ",v2,True,False +c7_p010_e027,2,True,0.034516334533691406,0.44752979278564453,0.007124261101910091,-0.006972135880613451,4.747942497556608,plate_384_black,0.4654064178466797,0.08583927154541016,-88.57925339217232,0.2735287027601613,487.53543424775916,rect,0.5840642489989808,-0.2233989031319965,2.9070857769749905,13451.811479937613,5864.78327475218,sphere,0.8400868147284348,0.3686104482143311,1.6089261555875947,8874.455567648209,4242.064286074238,0.048464640974998474,5.9082707593915984e-05,-0.028997894376516342,-0.2712288796901703,0.6584702134132385,0.6431261897087097,-0.2814970910549164,0.03814294561743736,0.5907680988311768,1.954261064529419,0.04959401860833168,0.02150113508105278,0.27551499009132385,0.9597758054733276,1225,1,,2.1428091526031494,0.2687242231745836,0.0,0.007412934675812721,0.5330612244897959,12,release,0.042310237884521484,"Pre-grasping the small plate, moving the arm toward it; the ",v2,True,False +c8_p010_e028,3,True,-0.0691080093383789,0.4499998092651367,-0.0038423243561788124,0.0002760223417120674,0.777089453037263,plate_384_white,0.470947265625,0.11478233337402344,-86.6555380947792,0.2717708625421806,652.2566320167537,rect,0.16524796010231257,0.03964235555873219,2.674073796527371,12870.954260580198,6844.4875915848,disk,1.7103631078065566,-1.0477754143408933,2.3001826621989263,3821.531524341429,5779.415553610759,0.0487590990960598,-0.0005086577730253339,-0.02710489183664322,-0.27434369921684265,0.6450414657592773,0.6586953997612,-0.2734546959400177,0.07323464006185532,0.5599193572998047,1.9426196813583374,0.05245573818683624,0.009211579337716103,0.2702818810939789,0.9613070487976074,1216,1,,2.070399761199951,0.2928970259092029,0.0,0.007418959867209196,0.524671052631579,12,release,0.042305588722229004,"Pre-grasping the small plate, moving the arm toward it; the ",v2,True,False +c8_p010_e029,2,True,-0.13890647888183594,0.4473438262939453,0.010229690421509442,0.010813412465096183,-9.654434229646938,plate_1536_black,0.5017671585083008,0.0675649642944336,-93.9355727520357,0.28053734535644137,652.2566320167537,rect,0.03143305517962525,-0.39852264875041504,3.148065870119827,14051.038817684199,6186.951134861261,disk,0.8954619852333212,0.9503186311885943,2.6051973821006777,2693.2471554165277,5834.4514459399015,0.05301507189869881,-0.00018703239038586617,-0.028781868517398834,-0.2788105607032776,0.654208242893219,0.6454653739929199,-0.27865877747535706,0.0741320475935936,0.5696404576301575,1.9259289503097534,0.032913316041231155,0.026827331632375717,0.2798106074333191,0.959115743637085,1240,1,,2.0946102142333984,0.3241302145317375,0.0,0.007383167743682861,0.5580645161290323,12,release,0.042268991470336914,"Pre-grasping the small plate, moving the arm toward it; the ",v2,True,False