add 3 episodes (c2_p011_e021 .. c9_p011_e025); total 3002 {'v1': 1088, 'v2': 1914}
Browse files- episodes/c2_p011_e021/data.npz +3 -0
- episodes/c2_p011_e021/device_events.jsonl +35 -0
- episodes/c2_p011_e021/env.mp4 +3 -0
- episodes/c2_p011_e021/meta.json +32 -0
- episodes/c2_p011_e021/scene_snapshot.json +1558 -0
- episodes/c2_p011_e021/wrist.mp4 +3 -0
- episodes/c9_p011_e024/data.npz +3 -0
- episodes/c9_p011_e024/device_events.jsonl +35 -0
- episodes/c9_p011_e024/env.mp4 +3 -0
- episodes/c9_p011_e024/meta.json +32 -0
- episodes/c9_p011_e024/scene_snapshot.json +1558 -0
- episodes/c9_p011_e024/wrist.mp4 +3 -0
- episodes/c9_p011_e025/data.npz +3 -0
- episodes/c9_p011_e025/device_events.jsonl +37 -0
- episodes/c9_p011_e025/env.mp4 +3 -0
- episodes/c9_p011_e025/meta.json +32 -0
- episodes/c9_p011_e025/scene_snapshot.json +1558 -0
- episodes/c9_p011_e025/wrist.mp4 +3 -0
- index/episodes.csv +3 -0
episodes/c2_p011_e021/data.npz
ADDED
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version https://git-lfs.github.com/spec/v1
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oid sha256:3792cbdebd916d3f24e0cdd0db5bfc1fd9b7bea87a102a0cf9ff331b847af6a9
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size 186328
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episodes/c2_p011_e021/device_events.jsonl
ADDED
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| 1 |
+
{"env_id": 3, "seq": 1, "step": 153, "t": 0.765, "topic": "conveyor_1.belt.station.pick.captured", "source": "conveyor_1.belt", "data": {"rider": "carrier_3"}, "cause": null}
|
| 2 |
+
{"env_id": 3, "seq": 2, "step": 153, "t": 0.765, "topic": "conveyor_1.belt.state.changed", "source": "conveyor_1.belt", "data": {"from": "running", "to": "at_station"}, "cause": null}
|
| 3 |
+
{"env_id": 3, "seq": 3, "step": 158, "t": 0.79, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_3"}, "cause": null}
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| 4 |
+
{"env_id": 3, "seq": 4, "step": 5823, "t": 29.115, "topic": "a4s_sealer_1.plate_present.present", "source": "a4s_sealer_1.plate_present", "data": {"object": "plate_3"}, "cause": null}
|
| 5 |
+
{"env_id": 3, "seq": 5, "step": 6436, "t": 32.18, "topic": "a4s_sealer_1.command.started", "source": "a4s_sealer_1", "data": {"command_id": "task-3-1", "name": "seal", "source": "task"}, "cause": "task-3-1"}
|
| 6 |
+
{"env_id": 3, "seq": 6, "step": 6436, "t": 32.18, "topic": "a4s_sealer_1.seal.started", "source": "a4s_sealer_1", "data": {"dwell": 1.5925429415310224}, "cause": "task-3-1"}
|
| 7 |
+
{"env_id": 3, "seq": 7, "step": 6436, "t": 32.18, "topic": "a4s_sealer_1.drawer.command.started", "source": "a4s_sealer_1.drawer", "data": {"command_id": "program-3-2", "name": "close", "source": "program:seal"}, "cause": "program-3-2"}
|
| 8 |
+
{"env_id": 3, "seq": 8, "step": 6436, "t": 32.18, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "at_out", "to": "moving"}, "cause": null}
|
| 9 |
+
{"env_id": 3, "seq": 9, "step": 6436, "t": 32.18, "topic": "a4s_sealer_1.drawer.moving", "source": "a4s_sealer_1.drawer", "data": {"target": 0.3, "goal": "in"}, "cause": "program-3-2"}
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| 10 |
+
{"env_id": 3, "seq": 10, "step": 6855, "t": 34.275, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "moving", "to": "at_in"}, "cause": null}
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| 11 |
+
{"env_id": 3, "seq": 11, "step": 6855, "t": 34.275, "topic": "a4s_sealer_1.drawer.reached", "source": "a4s_sealer_1.drawer", "data": {"position": "in", "q": 0.30000001192092896}, "cause": "program-3-2"}
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| 12 |
+
{"env_id": 3, "seq": 12, "step": 6855, "t": 34.275, "topic": "a4s_sealer_1.drawer.at_in", "source": "a4s_sealer_1.drawer", "data": {"q": 0.30000001192092896}, "cause": "program-3-2"}
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| 13 |
+
{"env_id": 3, "seq": 13, "step": 6855, "t": 34.275, "topic": "a4s_sealer_1.drawer.command.succeeded", "source": "a4s_sealer_1.drawer", "data": {"command_id": "program-3-2", "name": "close", "source": "program:seal", "result": {"position": "in"}}, "cause": "program-3-2"}
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| 14 |
+
{"env_id": 3, "seq": 14, "step": 6855, "t": 34.275, "topic": "labware.plate_3.changed", "source": "labware.plate_3", "data": {"key": "sealed", "value": true}, "cause": "task-3-1"}
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| 15 |
+
{"env_id": 3, "seq": 15, "step": 6855, "t": 34.275, "topic": "a4s_sealer_1.sealed", "source": "a4s_sealer_1", "data": {"plate": "plate_3"}, "cause": "task-3-1"}
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| 16 |
+
{"env_id": 3, "seq": 16, "step": 6855, "t": 34.275, "topic": "a4s_sealer_1.heater.command.started", "source": "a4s_sealer_1.heater", "data": {"command_id": "program-3-3", "name": "run", "source": "program:seal"}, "cause": "program-3-3"}
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| 17 |
+
{"env_id": 3, "seq": 17, "step": 6855, "t": 34.275, "topic": "a4s_sealer_1.heater.state.changed", "source": "a4s_sealer_1.heater", "data": {"from": "ready", "to": "running"}, "cause": null}
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| 18 |
+
{"env_id": 3, "seq": 18, "step": 6855, "t": 34.275, "topic": "a4s_sealer_1.heater.started", "source": "a4s_sealer_1.heater", "data": {"duration": 1.5925429415310224}, "cause": "program-3-3"}
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| 19 |
+
{"env_id": 3, "seq": 19, "step": 7174, "t": 35.87, "topic": "a4s_sealer_1.heater.state.changed", "source": "a4s_sealer_1.heater", "data": {"from": "running", "to": "ready"}, "cause": null}
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| 20 |
+
{"env_id": 3, "seq": 20, "step": 7174, "t": 35.87, "topic": "a4s_sealer_1.heater.finished", "source": "a4s_sealer_1.heater", "data": {"elapsed": 1.595000000000816}, "cause": "program-3-3"}
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| 21 |
+
{"env_id": 3, "seq": 21, "step": 7174, "t": 35.87, "topic": "a4s_sealer_1.heater.command.succeeded", "source": "a4s_sealer_1.heater", "data": {"command_id": "program-3-3", "name": "run", "source": "program:seal", "result": {"elapsed": 1.595000000000816}}, "cause": "program-3-3"}
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| 22 |
+
{"env_id": 3, "seq": 22, "step": 7174, "t": 35.87, "topic": "a4s_sealer_1.drawer.command.started", "source": "a4s_sealer_1.drawer", "data": {"command_id": "program-3-4", "name": "open", "source": "program:seal"}, "cause": "program-3-4"}
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| 23 |
+
{"env_id": 3, "seq": 23, "step": 7174, "t": 35.87, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "at_in", "to": "moving"}, "cause": null}
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| 24 |
+
{"env_id": 3, "seq": 24, "step": 7174, "t": 35.87, "topic": "a4s_sealer_1.drawer.moving", "source": "a4s_sealer_1.drawer", "data": {"target": 0.0, "goal": "out"}, "cause": "program-3-4"}
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| 25 |
+
{"env_id": 3, "seq": 25, "step": 7594, "t": 37.97, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "moving", "to": "at_out"}, "cause": null}
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| 26 |
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{"env_id": 3, "seq": 26, "step": 7594, "t": 37.97, "topic": "a4s_sealer_1.drawer.reached", "source": "a4s_sealer_1.drawer", "data": {"position": "out", "q": 1.6760294263562514e-09}, "cause": "program-3-4"}
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| 27 |
+
{"env_id": 3, "seq": 27, "step": 7594, "t": 37.97, "topic": "a4s_sealer_1.drawer.at_out", "source": "a4s_sealer_1.drawer", "data": {"q": 1.6760294263562514e-09}, "cause": "program-3-4"}
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| 28 |
+
{"env_id": 3, "seq": 28, "step": 7594, "t": 37.97, "topic": "a4s_sealer_1.drawer.command.succeeded", "source": "a4s_sealer_1.drawer", "data": {"command_id": "program-3-4", "name": "open", "source": "program:seal", "result": {"position": "out"}}, "cause": "program-3-4"}
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| 29 |
+
{"env_id": 3, "seq": 29, "step": 7594, "t": 37.97, "topic": "a4s_sealer_1.seal.finished", "source": "a4s_sealer_1", "data": {}, "cause": "task-3-1"}
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| 30 |
+
{"env_id": 3, "seq": 30, "step": 7594, "t": 37.97, "topic": "a4s_sealer_1.command.succeeded", "source": "a4s_sealer_1", "data": {"command_id": "task-3-1", "name": "seal", "source": "task"}, "cause": "task-3-1"}
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| 31 |
+
{"env_id": 3, "seq": 31, "step": 8175, "t": 40.875, "topic": "a4s_sealer_1.plate_present.absent", "source": "a4s_sealer_1.plate_present", "data": {"object": "plate_3"}, "cause": null}
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| 32 |
+
{"env_id": 3, "seq": 32, "step": 9936, "t": 49.68, "topic": "conveyor_1.belt.command.started", "source": "conveyor_1.belt", "data": {"command_id": "task-3-5", "name": "release", "source": "task"}, "cause": "task-3-5"}
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| 33 |
+
{"env_id": 3, "seq": 33, "step": 9936, "t": 49.68, "topic": "conveyor_1.belt.station.pick.released", "source": "conveyor_1.belt", "data": {"rider": "carrier_3"}, "cause": "task-3-5"}
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| 34 |
+
{"env_id": 3, "seq": 34, "step": 9936, "t": 49.68, "topic": "conveyor_1.belt.state.changed", "source": "conveyor_1.belt", "data": {"from": "at_station", "to": "running"}, "cause": null}
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| 35 |
+
{"env_id": 3, "seq": 35, "step": 9936, "t": 49.68, "topic": "conveyor_1.belt.command.succeeded", "source": "conveyor_1.belt", "data": {"command_id": "task-3-5", "name": "release", "source": "task", "result": {"state": "running"}}, "cause": "task-3-5"}
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episodes/c2_p011_e021/env.mp4
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version https://git-lfs.github.com/spec/v1
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oid sha256:47a1543d1cadd77588cb7aebbbf25d4e74a33ab7ac6a73522284c4381e711014
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size 1211662
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episodes/c2_p011_e021/meta.json
ADDED
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{
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| 2 |
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"source": "raw/c2_p011/magicsim/21",
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| 3 |
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"fps": 25,
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| 4 |
+
"frames": 1156,
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| 5 |
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"kept_ticks": "even",
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| 6 |
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"video_frames": {
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| 7 |
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"wrist": 1156,
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| 8 |
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"env": 1156
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| 9 |
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},
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| 10 |
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"joint_target_source": "joint_pos_target",
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| 11 |
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"fk_vs_recorded_eef_max_m": 0.0,
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| 12 |
+
"curobo_joints": [
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| 13 |
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"shoulder_pan_joint",
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| 14 |
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"shoulder_lift_joint",
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| 15 |
+
"elbow_joint",
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| 16 |
+
"wrist_1_joint",
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| 17 |
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"wrist_2_joint",
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| 18 |
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"wrist_3_joint"
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| 19 |
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],
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| 20 |
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"joint_order": [
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| 21 |
+
"shoulder_pan",
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| 22 |
+
"shoulder_lift",
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| 23 |
+
"elbow",
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| 24 |
+
"wrist_1",
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| 25 |
+
"wrist_2",
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| 26 |
+
"wrist_3",
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| 27 |
+
"finger_left",
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| 28 |
+
"finger_right"
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| 29 |
+
],
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| 30 |
+
"frames_note": "eef / actions in the robot base frame; camera_pose = local pose (wrist: in plate_gripper_base, env: env frame), pos + quat wxyz",
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| 31 |
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"dr_version": "v2"
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| 32 |
+
}
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episodes/c2_p011_e021/scene_snapshot.json
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| 1 |
+
{
|
| 2 |
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|
| 3 |
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|
| 4 |
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|
| 5 |
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|
| 6 |
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|
| 7 |
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|
| 8 |
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|
| 9 |
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|
| 10 |
+
"decimation": 4
|
| 11 |
+
},
|
| 12 |
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"restore_interface": {
|
| 13 |
+
"scene": "scene_manager.reset_to(snapshot['scene'], env_ids=[env_id])",
|
| 14 |
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"robots": "robot_manager.set_state({'robots': snapshot['robots']}, env_ids=[env_id])"
|
| 15 |
+
},
|
| 16 |
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"snapshot": {
|
| 17 |
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|
| 18 |
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|
| 19 |
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|
| 20 |
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{},
|
| 21 |
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{},
|
| 22 |
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{},
|
| 23 |
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{
|
| 24 |
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"rac_cell": [
|
| 25 |
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{
|
| 26 |
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"asset": "$MAGICSIM_ASSETS/Bio/Lab/rac_cell.usd",
|
| 27 |
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|
| 28 |
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|
| 29 |
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0.0,
|
| 30 |
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| 31 |
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| 32 |
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],
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| 33 |
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|
| 34 |
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|
| 35 |
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| 36 |
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| 37 |
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| 38 |
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],
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| 39 |
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| 40 |
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| 41 |
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| 42 |
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| 43 |
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]
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| 44 |
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| 45 |
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| 46 |
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| 47 |
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| 48 |
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| 49 |
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|
| 50 |
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},
|
| 51 |
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|
| 52 |
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|
| 53 |
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|
| 54 |
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|
| 55 |
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|
| 56 |
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|
| 57 |
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|
| 58 |
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},
|
| 59 |
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|
| 60 |
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},
|
| 61 |
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|
| 62 |
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},
|
| 63 |
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|
| 64 |
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}
|
| 65 |
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],
|
| 66 |
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|
| 67 |
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{
|
| 68 |
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"asset": "Cube",
|
| 69 |
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|
| 70 |
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|
| 71 |
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| 72 |
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| 73 |
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| 74 |
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| 75 |
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| 76 |
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| 77 |
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| 78 |
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| 79 |
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| 80 |
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| 81 |
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| 82 |
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| 83 |
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| 84 |
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| 85 |
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]
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| 86 |
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| 87 |
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| 88 |
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| 89 |
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| 90 |
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| 91 |
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| 92 |
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|
| 93 |
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|
| 94 |
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],
|
| 95 |
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|
| 96 |
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},
|
| 97 |
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|
| 98 |
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|
| 99 |
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|
| 100 |
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|
| 101 |
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},
|
| 102 |
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|
| 103 |
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|
| 104 |
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|
| 105 |
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|
| 106 |
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|
| 107 |
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]
|
| 108 |
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}
|
| 109 |
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},
|
| 110 |
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|
| 111 |
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}
|
| 112 |
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],
|
| 113 |
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|
| 114 |
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{
|
| 115 |
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"asset": "$MAGICSIM_ASSETS/Bio/Lab/plate_hotel.usd",
|
| 116 |
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|
| 117 |
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|
| 118 |
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| 119 |
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| 120 |
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| 121 |
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| 122 |
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| 123 |
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| 124 |
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| 125 |
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| 126 |
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| 128 |
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| 129 |
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| 131 |
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| 132 |
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| 133 |
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| 134 |
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| 135 |
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| 136 |
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| 137 |
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| 138 |
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| 139 |
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|
| 140 |
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| 141 |
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|
| 142 |
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|
| 143 |
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|
| 144 |
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|
| 145 |
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|
| 146 |
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|
| 147 |
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},
|
| 148 |
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|
| 149 |
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},
|
| 150 |
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|
| 151 |
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},
|
| 152 |
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|
| 153 |
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}
|
| 154 |
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],
|
| 155 |
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|
| 156 |
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{
|
| 157 |
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"asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/deep_well_24_10ml/deep_well_24_10ml.usd",
|
| 158 |
+
"pose": {
|
| 159 |
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"pos": [
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| 160 |
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|
| 161 |
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|
| 162 |
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|
| 163 |
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],
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| 164 |
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| 165 |
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|
| 166 |
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| 167 |
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| 168 |
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| 169 |
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],
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| 170 |
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| 171 |
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| 172 |
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1.0,
|
| 173 |
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1.0
|
| 174 |
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]
|
| 175 |
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},
|
| 176 |
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| 177 |
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| 178 |
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|
| 179 |
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|
| 180 |
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|
| 181 |
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},
|
| 182 |
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|
| 183 |
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|
| 184 |
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|
| 185 |
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|
| 186 |
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},
|
| 187 |
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|
| 188 |
+
},
|
| 189 |
+
"type_specific": {}
|
| 190 |
+
},
|
| 191 |
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{
|
| 192 |
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"asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_48_clear/plate_48_clear.usd",
|
| 193 |
+
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|
| 194 |
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|
| 195 |
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|
| 196 |
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| 197 |
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},
|
| 217 |
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| 218 |
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| 219 |
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|
| 220 |
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|
| 221 |
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},
|
| 222 |
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|
| 223 |
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},
|
| 224 |
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|
| 225 |
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},
|
| 226 |
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{
|
| 227 |
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"asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_48_clear/plate_48_clear.usd",
|
| 228 |
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"pose": {
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| 229 |
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|
| 230 |
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| 231 |
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],
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| 235 |
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0.0
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],
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},
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},
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},
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|
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},
|
| 261 |
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{
|
| 262 |
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"asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_48_clear/plate_48_clear.usd",
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| 263 |
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|
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0.0007582114194519818,
|
| 1542 |
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0.26116567850112915,
|
| 1543 |
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0.965018630027771
|
| 1544 |
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],
|
| 1545 |
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[
|
| 1546 |
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0.0595659501850605,
|
| 1547 |
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0.592101514339447,
|
| 1548 |
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1.963683843612671,
|
| 1549 |
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0.03787320852279663,
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| 1550 |
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0.011003989726305008,
|
| 1551 |
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0.28362250328063965,
|
| 1552 |
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0.9581246376037598
|
| 1553 |
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|
| 1554 |
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]
|
| 1555 |
+
}
|
| 1556 |
+
}
|
| 1557 |
+
}
|
| 1558 |
+
}
|
episodes/c2_p011_e021/wrist.mp4
ADDED
|
@@ -0,0 +1,3 @@
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|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
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| 2 |
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oid sha256:bbda821e00de84dcb2919b8699243dbf0bafca2d577371eeef49d66d43b3e89c
|
| 3 |
+
size 7265488
|
episodes/c9_p011_e024/data.npz
ADDED
|
@@ -0,0 +1,3 @@
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|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
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oid sha256:3114ae84f70ff77af957184b859fc13feff6e4cccbba3c09d89d11aa97ee7ed7
|
| 3 |
+
size 188915
|
episodes/c9_p011_e024/device_events.jsonl
ADDED
|
@@ -0,0 +1,35 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{"env_id": 3, "seq": 1, "step": 82, "t": 0.41, "topic": "conveyor_1.belt.station.pick.captured", "source": "conveyor_1.belt", "data": {"rider": "carrier_1"}, "cause": null}
|
| 2 |
+
{"env_id": 3, "seq": 2, "step": 82, "t": 0.41, "topic": "conveyor_1.belt.state.changed", "source": "conveyor_1.belt", "data": {"from": "running", "to": "at_station"}, "cause": null}
|
| 3 |
+
{"env_id": 3, "seq": 3, "step": 87, "t": 0.435, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_1"}, "cause": null}
|
| 4 |
+
{"env_id": 3, "seq": 4, "step": 6229, "t": 31.145, "topic": "a4s_sealer_1.plate_present.present", "source": "a4s_sealer_1.plate_present", "data": {"object": "plate_1"}, "cause": null}
|
| 5 |
+
{"env_id": 3, "seq": 5, "step": 6836, "t": 34.18, "topic": "a4s_sealer_1.command.started", "source": "a4s_sealer_1", "data": {"command_id": "task-3-1", "name": "seal", "source": "task"}, "cause": "task-3-1"}
|
| 6 |
+
{"env_id": 3, "seq": 6, "step": 6836, "t": 34.18, "topic": "a4s_sealer_1.seal.started", "source": "a4s_sealer_1", "data": {"dwell": 2.2999050616709034}, "cause": "task-3-1"}
|
| 7 |
+
{"env_id": 3, "seq": 7, "step": 6836, "t": 34.18, "topic": "a4s_sealer_1.drawer.command.started", "source": "a4s_sealer_1.drawer", "data": {"command_id": "program-3-2", "name": "close", "source": "program:seal"}, "cause": "program-3-2"}
|
| 8 |
+
{"env_id": 3, "seq": 8, "step": 6836, "t": 34.18, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "at_out", "to": "moving"}, "cause": null}
|
| 9 |
+
{"env_id": 3, "seq": 9, "step": 6836, "t": 34.18, "topic": "a4s_sealer_1.drawer.moving", "source": "a4s_sealer_1.drawer", "data": {"target": 0.3, "goal": "in"}, "cause": "program-3-2"}
|
| 10 |
+
{"env_id": 3, "seq": 10, "step": 7255, "t": 36.275, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "moving", "to": "at_in"}, "cause": null}
|
| 11 |
+
{"env_id": 3, "seq": 11, "step": 7255, "t": 36.275, "topic": "a4s_sealer_1.drawer.reached", "source": "a4s_sealer_1.drawer", "data": {"position": "in", "q": 0.30000001192092896}, "cause": "program-3-2"}
|
| 12 |
+
{"env_id": 3, "seq": 12, "step": 7255, "t": 36.275, "topic": "a4s_sealer_1.drawer.at_in", "source": "a4s_sealer_1.drawer", "data": {"q": 0.30000001192092896}, "cause": "program-3-2"}
|
| 13 |
+
{"env_id": 3, "seq": 13, "step": 7255, "t": 36.275, "topic": "a4s_sealer_1.drawer.command.succeeded", "source": "a4s_sealer_1.drawer", "data": {"command_id": "program-3-2", "name": "close", "source": "program:seal", "result": {"position": "in"}}, "cause": "program-3-2"}
|
| 14 |
+
{"env_id": 3, "seq": 14, "step": 7255, "t": 36.275, "topic": "labware.plate_1.changed", "source": "labware.plate_1", "data": {"key": "sealed", "value": true}, "cause": "task-3-1"}
|
| 15 |
+
{"env_id": 3, "seq": 15, "step": 7255, "t": 36.275, "topic": "a4s_sealer_1.sealed", "source": "a4s_sealer_1", "data": {"plate": "plate_1"}, "cause": "task-3-1"}
|
| 16 |
+
{"env_id": 3, "seq": 16, "step": 7255, "t": 36.275, "topic": "a4s_sealer_1.heater.command.started", "source": "a4s_sealer_1.heater", "data": {"command_id": "program-3-3", "name": "run", "source": "program:seal"}, "cause": "program-3-3"}
|
| 17 |
+
{"env_id": 3, "seq": 17, "step": 7255, "t": 36.275, "topic": "a4s_sealer_1.heater.state.changed", "source": "a4s_sealer_1.heater", "data": {"from": "ready", "to": "running"}, "cause": null}
|
| 18 |
+
{"env_id": 3, "seq": 18, "step": 7255, "t": 36.275, "topic": "a4s_sealer_1.heater.started", "source": "a4s_sealer_1.heater", "data": {"duration": 2.2999050616709034}, "cause": "program-3-3"}
|
| 19 |
+
{"env_id": 3, "seq": 19, "step": 7715, "t": 38.575, "topic": "a4s_sealer_1.heater.state.changed", "source": "a4s_sealer_1.heater", "data": {"from": "running", "to": "ready"}, "cause": null}
|
| 20 |
+
{"env_id": 3, "seq": 20, "step": 7715, "t": 38.575, "topic": "a4s_sealer_1.heater.finished", "source": "a4s_sealer_1.heater", "data": {"elapsed": 2.3000000000011767}, "cause": "program-3-3"}
|
| 21 |
+
{"env_id": 3, "seq": 21, "step": 7715, "t": 38.575, "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": 2.3000000000011767}}, "cause": "program-3-3"}
|
| 22 |
+
{"env_id": 3, "seq": 22, "step": 7715, "t": 38.575, "topic": "a4s_sealer_1.drawer.command.started", "source": "a4s_sealer_1.drawer", "data": {"command_id": "program-3-4", "name": "open", "source": "program:seal"}, "cause": "program-3-4"}
|
| 23 |
+
{"env_id": 3, "seq": 23, "step": 7715, "t": 38.575, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "at_in", "to": "moving"}, "cause": null}
|
| 24 |
+
{"env_id": 3, "seq": 24, "step": 7715, "t": 38.575, "topic": "a4s_sealer_1.drawer.moving", "source": "a4s_sealer_1.drawer", "data": {"target": 0.0, "goal": "out"}, "cause": "program-3-4"}
|
| 25 |
+
{"env_id": 3, "seq": 25, "step": 8135, "t": 40.675, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "moving", "to": "at_out"}, "cause": null}
|
| 26 |
+
{"env_id": 3, "seq": 26, "step": 8135, "t": 40.675, "topic": "a4s_sealer_1.drawer.reached", "source": "a4s_sealer_1.drawer", "data": {"position": "out", "q": 5.724174023669093e-09}, "cause": "program-3-4"}
|
| 27 |
+
{"env_id": 3, "seq": 27, "step": 8135, "t": 40.675, "topic": "a4s_sealer_1.drawer.at_out", "source": "a4s_sealer_1.drawer", "data": {"q": 5.724174023669093e-09}, "cause": "program-3-4"}
|
| 28 |
+
{"env_id": 3, "seq": 28, "step": 8135, "t": 40.675, "topic": "a4s_sealer_1.drawer.command.succeeded", "source": "a4s_sealer_1.drawer", "data": {"command_id": "program-3-4", "name": "open", "source": "program:seal", "result": {"position": "out"}}, "cause": "program-3-4"}
|
| 29 |
+
{"env_id": 3, "seq": 29, "step": 8135, "t": 40.675, "topic": "a4s_sealer_1.seal.finished", "source": "a4s_sealer_1", "data": {}, "cause": "task-3-1"}
|
| 30 |
+
{"env_id": 3, "seq": 30, "step": 8135, "t": 40.675, "topic": "a4s_sealer_1.command.succeeded", "source": "a4s_sealer_1", "data": {"command_id": "task-3-1", "name": "seal", "source": "task"}, "cause": "task-3-1"}
|
| 31 |
+
{"env_id": 3, "seq": 31, "step": 8719, "t": 43.595, "topic": "a4s_sealer_1.plate_present.absent", "source": "a4s_sealer_1.plate_present", "data": {"object": "plate_1"}, "cause": null}
|
| 32 |
+
{"env_id": 3, "seq": 32, "step": 10464, "t": 52.32, "topic": "conveyor_1.belt.command.started", "source": "conveyor_1.belt", "data": {"command_id": "task-3-5", "name": "release", "source": "task"}, "cause": "task-3-5"}
|
| 33 |
+
{"env_id": 3, "seq": 33, "step": 10464, "t": 52.32, "topic": "conveyor_1.belt.station.pick.released", "source": "conveyor_1.belt", "data": {"rider": "carrier_1"}, "cause": "task-3-5"}
|
| 34 |
+
{"env_id": 3, "seq": 34, "step": 10464, "t": 52.32, "topic": "conveyor_1.belt.state.changed", "source": "conveyor_1.belt", "data": {"from": "at_station", "to": "running"}, "cause": null}
|
| 35 |
+
{"env_id": 3, "seq": 35, "step": 10464, "t": 52.32, "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"}
|
episodes/c9_p011_e024/env.mp4
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
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| 2 |
+
oid sha256:3b0b569750760d7a4a7a8e8a1eee61ee5fab0205c7ea65f8842217f5b7b2ec5f
|
| 3 |
+
size 1245543
|
episodes/c9_p011_e024/meta.json
ADDED
|
@@ -0,0 +1,32 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
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|
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|
|
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|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"source": "raw/c9_p011/magicsim/24",
|
| 3 |
+
"fps": 25,
|
| 4 |
+
"frames": 1175,
|
| 5 |
+
"kept_ticks": "even",
|
| 6 |
+
"video_frames": {
|
| 7 |
+
"wrist": 1175,
|
| 8 |
+
"env": 1175
|
| 9 |
+
},
|
| 10 |
+
"joint_target_source": "joint_pos_target",
|
| 11 |
+
"fk_vs_recorded_eef_max_m": 0.0,
|
| 12 |
+
"curobo_joints": [
|
| 13 |
+
"shoulder_pan_joint",
|
| 14 |
+
"shoulder_lift_joint",
|
| 15 |
+
"elbow_joint",
|
| 16 |
+
"wrist_1_joint",
|
| 17 |
+
"wrist_2_joint",
|
| 18 |
+
"wrist_3_joint"
|
| 19 |
+
],
|
| 20 |
+
"joint_order": [
|
| 21 |
+
"shoulder_pan",
|
| 22 |
+
"shoulder_lift",
|
| 23 |
+
"elbow",
|
| 24 |
+
"wrist_1",
|
| 25 |
+
"wrist_2",
|
| 26 |
+
"wrist_3",
|
| 27 |
+
"finger_left",
|
| 28 |
+
"finger_right"
|
| 29 |
+
],
|
| 30 |
+
"frames_note": "eef / actions in the robot base frame; camera_pose = local pose (wrist: in plate_gripper_base, env: env frame), pos + quat wxyz",
|
| 31 |
+
"dr_version": "v2"
|
| 32 |
+
}
|
episodes/c9_p011_e024/scene_snapshot.json
ADDED
|
@@ -0,0 +1,1558 @@
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| 1 |
+
{
|
| 2 |
+
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|
| 3 |
+
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|
| 4 |
+
"run_id": "c9_p011",
|
| 5 |
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"task_type": "BioPlateCell",
|
| 6 |
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|
| 7 |
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|
| 8 |
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|
| 9 |
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|
| 10 |
+
"decimation": 4
|
| 11 |
+
},
|
| 12 |
+
"restore_interface": {
|
| 13 |
+
"scene": "scene_manager.reset_to(snapshot['scene'], env_ids=[env_id])",
|
| 14 |
+
"robots": "robot_manager.set_state({'robots': snapshot['robots']}, env_ids=[env_id])"
|
| 15 |
+
},
|
| 16 |
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"snapshot": {
|
| 17 |
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|
| 18 |
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"scene": {
|
| 19 |
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|
| 20 |
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{},
|
| 21 |
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{},
|
| 22 |
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{},
|
| 23 |
+
{
|
| 24 |
+
"rac_cell": [
|
| 25 |
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{
|
| 26 |
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"asset": "$MAGICSIM_ASSETS/Bio/Lab/rac_cell.usd",
|
| 27 |
+
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|
| 28 |
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|
| 29 |
+
0.0,
|
| 30 |
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0.0,
|
| 31 |
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|
| 32 |
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],
|
| 33 |
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|
| 34 |
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1.0,
|
| 35 |
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0.0,
|
| 36 |
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|
| 37 |
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0.0
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| 38 |
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],
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| 39 |
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| 40 |
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| 41 |
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| 42 |
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| 43 |
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]
|
| 44 |
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},
|
| 45 |
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| 46 |
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|
| 47 |
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| 48 |
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| 49 |
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|
| 50 |
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},
|
| 51 |
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|
| 52 |
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"type": "geometry",
|
| 53 |
+
"collision": false,
|
| 54 |
+
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|
| 55 |
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"static_friction": 0.6,
|
| 56 |
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|
| 57 |
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"restitution": 0.0
|
| 58 |
+
},
|
| 59 |
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|
| 60 |
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},
|
| 61 |
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|
| 62 |
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},
|
| 63 |
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|
| 64 |
+
}
|
| 65 |
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],
|
| 66 |
+
"robot_mount": [
|
| 67 |
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{
|
| 68 |
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"asset": "Cube",
|
| 69 |
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|
| 70 |
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|
| 71 |
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0.0,
|
| 72 |
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| 73 |
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|
| 74 |
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],
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| 75 |
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|
| 76 |
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|
| 77 |
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| 78 |
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| 79 |
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| 80 |
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],
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| 81 |
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| 82 |
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| 83 |
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|
| 84 |
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| 85 |
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]
|
| 86 |
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},
|
| 87 |
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|
| 88 |
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|
| 89 |
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|
| 90 |
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|
| 91 |
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|
| 92 |
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|
| 93 |
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0.58
|
| 94 |
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],
|
| 95 |
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|
| 96 |
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},
|
| 97 |
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|
| 98 |
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"type": "geometry",
|
| 99 |
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|
| 100 |
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"ratio": 1.0
|
| 101 |
+
},
|
| 102 |
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|
| 103 |
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|
| 104 |
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|
| 105 |
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0.2,
|
| 106 |
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|
| 107 |
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]
|
| 108 |
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}
|
| 109 |
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},
|
| 110 |
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|
| 111 |
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}
|
| 112 |
+
],
|
| 113 |
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|
| 114 |
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{
|
| 115 |
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"asset": "$MAGICSIM_ASSETS/Bio/Lab/plate_hotel.usd",
|
| 116 |
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|
| 117 |
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|
| 118 |
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|
| 119 |
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| 120 |
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|
| 121 |
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],
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| 122 |
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| 123 |
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|
| 124 |
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| 125 |
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| 126 |
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| 127 |
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],
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| 128 |
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| 129 |
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| 130 |
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| 131 |
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| 132 |
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]
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| 133 |
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| 134 |
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| 135 |
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| 136 |
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| 137 |
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| 138 |
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| 139 |
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},
|
| 140 |
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|
| 141 |
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|
| 142 |
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|
| 143 |
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|
| 144 |
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|
| 145 |
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|
| 146 |
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|
| 147 |
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},
|
| 148 |
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|
| 149 |
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},
|
| 150 |
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|
| 151 |
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},
|
| 152 |
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|
| 153 |
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}
|
| 154 |
+
],
|
| 155 |
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|
| 156 |
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{
|
| 157 |
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"asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_48_clear/plate_48_clear.usd",
|
| 158 |
+
"pose": {
|
| 159 |
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|
| 160 |
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|
| 161 |
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0.02,
|
| 162 |
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|
| 163 |
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],
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| 164 |
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|
| 165 |
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1.0,
|
| 166 |
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0.0,
|
| 167 |
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0.0,
|
| 168 |
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0.0
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| 169 |
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],
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| 170 |
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| 171 |
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1.0,
|
| 172 |
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1.0,
|
| 173 |
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1.0
|
| 174 |
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]
|
| 175 |
+
},
|
| 176 |
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| 177 |
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|
| 178 |
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|
| 179 |
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|
| 180 |
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|
| 181 |
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},
|
| 182 |
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|
| 183 |
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|
| 184 |
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|
| 185 |
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"ratio": 1.0
|
| 186 |
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},
|
| 187 |
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|
| 188 |
+
},
|
| 189 |
+
"type_specific": {}
|
| 190 |
+
},
|
| 191 |
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{
|
| 192 |
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"asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_96_white/plate_96_white.usd",
|
| 193 |
+
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|
| 194 |
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|
| 195 |
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|
| 196 |
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| 197 |
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| 198 |
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],
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| 199 |
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| 200 |
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|
| 201 |
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],
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| 205 |
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| 206 |
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| 207 |
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]
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| 210 |
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},
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| 211 |
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| 212 |
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| 213 |
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|
| 214 |
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| 215 |
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| 216 |
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},
|
| 217 |
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| 218 |
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| 219 |
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|
| 220 |
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|
| 221 |
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},
|
| 222 |
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|
| 223 |
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},
|
| 224 |
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"type_specific": {}
|
| 225 |
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},
|
| 226 |
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{
|
| 227 |
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"asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_96_black/plate_96_black.usd",
|
| 228 |
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"pose": {
|
| 229 |
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"pos": [
|
| 230 |
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|
| 231 |
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| 232 |
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| 233 |
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],
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| 234 |
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| 235 |
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1.0,
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| 236 |
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0.0,
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0.0,
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0.0
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],
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1.0
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]
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},
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| 246 |
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| 247 |
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| 248 |
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},
|
| 252 |
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|
| 253 |
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"type": "geometry",
|
| 254 |
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|
| 255 |
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|
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},
|
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},
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|
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},
|
| 261 |
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{
|
| 262 |
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"asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_96_black/plate_96_black.usd",
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| 263 |
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| 264 |
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| 1555 |
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|
| 1556 |
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}
|
| 1557 |
+
}
|
| 1558 |
+
}
|
episodes/c9_p011_e024/wrist.mp4
ADDED
|
@@ -0,0 +1,3 @@
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|
| 1 |
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version https://git-lfs.github.com/spec/v1
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| 3 |
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size 6601025
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episodes/c9_p011_e025/data.npz
ADDED
|
@@ -0,0 +1,3 @@
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| 1 |
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version https://git-lfs.github.com/spec/v1
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| 3 |
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size 191666
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episodes/c9_p011_e025/device_events.jsonl
ADDED
|
@@ -0,0 +1,37 @@
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|
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|
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|
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|
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|
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|
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|
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|
|
|
|
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|
|
|
|
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|
|
|
|
|
|
|
|
|
|
| 1 |
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{"env_id": 0, "seq": 1, "step": 121, "t": 0.605, "topic": "conveyor_1.belt.station.pick.captured", "source": "conveyor_1.belt", "data": {"rider": "carrier_3"}, "cause": null}
|
| 2 |
+
{"env_id": 0, "seq": 2, "step": 121, "t": 0.605, "topic": "conveyor_1.belt.state.changed", "source": "conveyor_1.belt", "data": {"from": "running", "to": "at_station"}, "cause": null}
|
| 3 |
+
{"env_id": 0, "seq": 3, "step": 126, "t": 0.63, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_3"}, "cause": null}
|
| 4 |
+
{"env_id": 0, "seq": 4, "step": 930, "t": 4.65, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_3"}, "cause": null}
|
| 5 |
+
{"env_id": 0, "seq": 5, "step": 937, "t": 4.685, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_3"}, "cause": null}
|
| 6 |
+
{"env_id": 0, "seq": 6, "step": 5806, "t": 29.03, "topic": "a4s_sealer_1.plate_present.present", "source": "a4s_sealer_1.plate_present", "data": {"object": "plate_3"}, "cause": null}
|
| 7 |
+
{"env_id": 0, "seq": 7, "step": 6420, "t": 32.1, "topic": "a4s_sealer_1.command.started", "source": "a4s_sealer_1", "data": {"command_id": "task-0-1", "name": "seal", "source": "task"}, "cause": "task-0-1"}
|
| 8 |
+
{"env_id": 0, "seq": 8, "step": 6420, "t": 32.1, "topic": "a4s_sealer_1.seal.started", "source": "a4s_sealer_1", "data": {"dwell": 3.2492807472806637}, "cause": "task-0-1"}
|
| 9 |
+
{"env_id": 0, "seq": 9, "step": 6420, "t": 32.1, "topic": "a4s_sealer_1.drawer.command.started", "source": "a4s_sealer_1.drawer", "data": {"command_id": "program-0-2", "name": "close", "source": "program:seal"}, "cause": "program-0-2"}
|
| 10 |
+
{"env_id": 0, "seq": 10, "step": 6420, "t": 32.1, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "at_out", "to": "moving"}, "cause": null}
|
| 11 |
+
{"env_id": 0, "seq": 11, "step": 6420, "t": 32.1, "topic": "a4s_sealer_1.drawer.moving", "source": "a4s_sealer_1.drawer", "data": {"target": 0.3, "goal": "in"}, "cause": "program-0-2"}
|
| 12 |
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{"env_id": 0, "seq": 12, "step": 6839, "t": 34.195, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "moving", "to": "at_in"}, "cause": null}
|
| 13 |
+
{"env_id": 0, "seq": 13, "step": 6839, "t": 34.195, "topic": "a4s_sealer_1.drawer.reached", "source": "a4s_sealer_1.drawer", "data": {"position": "in", "q": 0.30000001192092896}, "cause": "program-0-2"}
|
| 14 |
+
{"env_id": 0, "seq": 14, "step": 6839, "t": 34.195, "topic": "a4s_sealer_1.drawer.at_in", "source": "a4s_sealer_1.drawer", "data": {"q": 0.30000001192092896}, "cause": "program-0-2"}
|
| 15 |
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{"env_id": 0, "seq": 15, "step": 6839, "t": 34.195, "topic": "a4s_sealer_1.drawer.command.succeeded", "source": "a4s_sealer_1.drawer", "data": {"command_id": "program-0-2", "name": "close", "source": "program:seal", "result": {"position": "in"}}, "cause": "program-0-2"}
|
| 16 |
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{"env_id": 0, "seq": 16, "step": 6839, "t": 34.195, "topic": "labware.plate_3.changed", "source": "labware.plate_3", "data": {"key": "sealed", "value": true}, "cause": "task-0-1"}
|
| 17 |
+
{"env_id": 0, "seq": 17, "step": 6839, "t": 34.195, "topic": "a4s_sealer_1.sealed", "source": "a4s_sealer_1", "data": {"plate": "plate_3"}, "cause": "task-0-1"}
|
| 18 |
+
{"env_id": 0, "seq": 18, "step": 6839, "t": 34.195, "topic": "a4s_sealer_1.heater.command.started", "source": "a4s_sealer_1.heater", "data": {"command_id": "program-0-3", "name": "run", "source": "program:seal"}, "cause": "program-0-3"}
|
| 19 |
+
{"env_id": 0, "seq": 19, "step": 6839, "t": 34.195, "topic": "a4s_sealer_1.heater.state.changed", "source": "a4s_sealer_1.heater", "data": {"from": "ready", "to": "running"}, "cause": null}
|
| 20 |
+
{"env_id": 0, "seq": 20, "step": 6839, "t": 34.195, "topic": "a4s_sealer_1.heater.started", "source": "a4s_sealer_1.heater", "data": {"duration": 3.2492807472806637}, "cause": "program-0-3"}
|
| 21 |
+
{"env_id": 0, "seq": 21, "step": 7489, "t": 37.445, "topic": "a4s_sealer_1.heater.state.changed", "source": "a4s_sealer_1.heater", "data": {"from": "running", "to": "ready"}, "cause": null}
|
| 22 |
+
{"env_id": 0, "seq": 22, "step": 7489, "t": 37.445, "topic": "a4s_sealer_1.heater.finished", "source": "a4s_sealer_1.heater", "data": {"elapsed": 3.2500000000016627}, "cause": "program-0-3"}
|
| 23 |
+
{"env_id": 0, "seq": 23, "step": 7489, "t": 37.445, "topic": "a4s_sealer_1.heater.command.succeeded", "source": "a4s_sealer_1.heater", "data": {"command_id": "program-0-3", "name": "run", "source": "program:seal", "result": {"elapsed": 3.2500000000016627}}, "cause": "program-0-3"}
|
| 24 |
+
{"env_id": 0, "seq": 24, "step": 7489, "t": 37.445, "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"}
|
| 25 |
+
{"env_id": 0, "seq": 25, "step": 7489, "t": 37.445, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "at_in", "to": "moving"}, "cause": null}
|
| 26 |
+
{"env_id": 0, "seq": 26, "step": 7489, "t": 37.445, "topic": "a4s_sealer_1.drawer.moving", "source": "a4s_sealer_1.drawer", "data": {"target": 0.0, "goal": "out"}, "cause": "program-0-4"}
|
| 27 |
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{"env_id": 0, "seq": 27, "step": 7909, "t": 39.545, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "moving", "to": "at_out"}, "cause": null}
|
| 28 |
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{"env_id": 0, "seq": 28, "step": 7909, "t": 39.545, "topic": "a4s_sealer_1.drawer.reached", "source": "a4s_sealer_1.drawer", "data": {"position": "out", "q": 0.0}, "cause": "program-0-4"}
|
| 29 |
+
{"env_id": 0, "seq": 29, "step": 7909, "t": 39.545, "topic": "a4s_sealer_1.drawer.at_out", "source": "a4s_sealer_1.drawer", "data": {"q": 0.0}, "cause": "program-0-4"}
|
| 30 |
+
{"env_id": 0, "seq": 30, "step": 7909, "t": 39.545, "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"}
|
| 31 |
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{"env_id": 0, "seq": 31, "step": 7909, "t": 39.545, "topic": "a4s_sealer_1.seal.finished", "source": "a4s_sealer_1", "data": {}, "cause": "task-0-1"}
|
| 32 |
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{"env_id": 0, "seq": 32, "step": 7909, "t": 39.545, "topic": "a4s_sealer_1.command.succeeded", "source": "a4s_sealer_1", "data": {"command_id": "task-0-1", "name": "seal", "source": "task"}, "cause": "task-0-1"}
|
| 33 |
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{"env_id": 0, "seq": 33, "step": 8490, "t": 42.45, "topic": "a4s_sealer_1.plate_present.absent", "source": "a4s_sealer_1.plate_present", "data": {"object": "plate_3"}, "cause": null}
|
| 34 |
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{"env_id": 0, "seq": 34, "step": 10224, "t": 51.12, "topic": "conveyor_1.belt.command.started", "source": "conveyor_1.belt", "data": {"command_id": "task-0-5", "name": "release", "source": "task"}, "cause": "task-0-5"}
|
| 35 |
+
{"env_id": 0, "seq": 35, "step": 10224, "t": 51.12, "topic": "conveyor_1.belt.station.pick.released", "source": "conveyor_1.belt", "data": {"rider": "carrier_3"}, "cause": "task-0-5"}
|
| 36 |
+
{"env_id": 0, "seq": 36, "step": 10224, "t": 51.12, "topic": "conveyor_1.belt.state.changed", "source": "conveyor_1.belt", "data": {"from": "at_station", "to": "running"}, "cause": null}
|
| 37 |
+
{"env_id": 0, "seq": 37, "step": 10224, "t": 51.12, "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"}
|
episodes/c9_p011_e025/env.mp4
ADDED
|
@@ -0,0 +1,3 @@
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|
|
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|
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|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
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| 2 |
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oid sha256:d955a45459f61761d33539741cf855a1b8bcac6f5be88a0e3134e12a227571ab
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| 3 |
+
size 1266553
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episodes/c9_p011_e025/meta.json
ADDED
|
@@ -0,0 +1,32 @@
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|
|
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|
|
|
|
| 1 |
+
{
|
| 2 |
+
"source": "raw/c9_p011/magicsim/25",
|
| 3 |
+
"fps": 25,
|
| 4 |
+
"frames": 1224,
|
| 5 |
+
"kept_ticks": "even",
|
| 6 |
+
"video_frames": {
|
| 7 |
+
"wrist": 1224,
|
| 8 |
+
"env": 1224
|
| 9 |
+
},
|
| 10 |
+
"joint_target_source": "joint_pos_target",
|
| 11 |
+
"fk_vs_recorded_eef_max_m": 0.0,
|
| 12 |
+
"curobo_joints": [
|
| 13 |
+
"shoulder_pan_joint",
|
| 14 |
+
"shoulder_lift_joint",
|
| 15 |
+
"elbow_joint",
|
| 16 |
+
"wrist_1_joint",
|
| 17 |
+
"wrist_2_joint",
|
| 18 |
+
"wrist_3_joint"
|
| 19 |
+
],
|
| 20 |
+
"joint_order": [
|
| 21 |
+
"shoulder_pan",
|
| 22 |
+
"shoulder_lift",
|
| 23 |
+
"elbow",
|
| 24 |
+
"wrist_1",
|
| 25 |
+
"wrist_2",
|
| 26 |
+
"wrist_3",
|
| 27 |
+
"finger_left",
|
| 28 |
+
"finger_right"
|
| 29 |
+
],
|
| 30 |
+
"frames_note": "eef / actions in the robot base frame; camera_pose = local pose (wrist: in plate_gripper_base, env: env frame), pos + quat wxyz",
|
| 31 |
+
"dr_version": "v2"
|
| 32 |
+
}
|
episodes/c9_p011_e025/scene_snapshot.json
ADDED
|
@@ -0,0 +1,1558 @@
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|
| 1 |
+
{
|
| 2 |
+
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|
| 3 |
+
"env_id": 0,
|
| 4 |
+
"run_id": "c9_p011",
|
| 5 |
+
"task_type": "BioPlateCell",
|
| 6 |
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"success": true,
|
| 7 |
+
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|
| 8 |
+
"fps": 50.0,
|
| 9 |
+
"sim_dt": 0.005,
|
| 10 |
+
"decimation": 4
|
| 11 |
+
},
|
| 12 |
+
"restore_interface": {
|
| 13 |
+
"scene": "scene_manager.reset_to(snapshot['scene'], env_ids=[env_id])",
|
| 14 |
+
"robots": "robot_manager.set_state({'robots': snapshot['robots']}, env_ids=[env_id])"
|
| 15 |
+
},
|
| 16 |
+
"snapshot": {
|
| 17 |
+
"env_id": 0,
|
| 18 |
+
"scene": {
|
| 19 |
+
"objects": [
|
| 20 |
+
{
|
| 21 |
+
"rac_cell": [
|
| 22 |
+
{
|
| 23 |
+
"asset": "$MAGICSIM_ASSETS/Bio/Lab/rac_cell.usd",
|
| 24 |
+
"pose": {
|
| 25 |
+
"pos": [
|
| 26 |
+
0.0,
|
| 27 |
+
0.0,
|
| 28 |
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0.0
|
| 29 |
+
],
|
| 30 |
+
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|
| 31 |
+
1.0,
|
| 32 |
+
0.0,
|
| 33 |
+
0.0,
|
| 34 |
+
0.0
|
| 35 |
+
],
|
| 36 |
+
"scale": [
|
| 37 |
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1.0,
|
| 38 |
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1.0,
|
| 39 |
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1.0
|
| 40 |
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]
|
| 41 |
+
},
|
| 42 |
+
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|
| 43 |
+
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|
| 44 |
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|
| 45 |
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|
| 46 |
+
"visible": true
|
| 47 |
+
},
|
| 48 |
+
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|
| 49 |
+
"type": "geometry",
|
| 50 |
+
"collision": false,
|
| 51 |
+
"physics_material": {
|
| 52 |
+
"static_friction": 0.6,
|
| 53 |
+
"dynamic_friction": 0.5,
|
| 54 |
+
"restitution": 0.0
|
| 55 |
+
},
|
| 56 |
+
"ratio": 1.0
|
| 57 |
+
},
|
| 58 |
+
"primitive_params": null
|
| 59 |
+
},
|
| 60 |
+
"type_specific": {}
|
| 61 |
+
}
|
| 62 |
+
],
|
| 63 |
+
"robot_mount": [
|
| 64 |
+
{
|
| 65 |
+
"asset": "Cube",
|
| 66 |
+
"pose": {
|
| 67 |
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"pos": [
|
| 68 |
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0.0,
|
| 69 |
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0.0,
|
| 70 |
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|
| 71 |
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],
|
| 72 |
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|
| 73 |
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1.0,
|
| 74 |
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0.0,
|
| 75 |
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0.0,
|
| 76 |
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0.0
|
| 77 |
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],
|
| 78 |
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|
| 79 |
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1.0,
|
| 80 |
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1.0,
|
| 81 |
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|
| 82 |
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]
|
| 83 |
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},
|
| 84 |
+
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|
| 85 |
+
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|
| 86 |
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"kind": "color",
|
| 87 |
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|
| 88 |
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0.55,
|
| 89 |
+
0.56,
|
| 90 |
+
0.58
|
| 91 |
+
],
|
| 92 |
+
"visible": true
|
| 93 |
+
},
|
| 94 |
+
"physics": {
|
| 95 |
+
"type": "geometry",
|
| 96 |
+
"collision": false,
|
| 97 |
+
"ratio": 1.0
|
| 98 |
+
},
|
| 99 |
+
"primitive_params": {
|
| 100 |
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"size": [
|
| 101 |
+
0.2,
|
| 102 |
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0.2,
|
| 103 |
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0.015
|
| 104 |
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]
|
| 105 |
+
}
|
| 106 |
+
},
|
| 107 |
+
"type_specific": {}
|
| 108 |
+
}
|
| 109 |
+
],
|
| 110 |
+
"plate_rack": [
|
| 111 |
+
{
|
| 112 |
+
"asset": "$MAGICSIM_ASSETS/Bio/Lab/plate_hotel.usd",
|
| 113 |
+
"pose": {
|
| 114 |
+
"pos": [
|
| 115 |
+
-0.6,
|
| 116 |
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0.02,
|
| 117 |
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|
| 118 |
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],
|
| 119 |
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|
| 120 |
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|
| 121 |
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|
| 122 |
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0.0,
|
| 123 |
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| 124 |
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],
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| 125 |
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|
| 126 |
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|
| 127 |
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|
| 128 |
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|
| 129 |
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]
|
| 130 |
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},
|
| 131 |
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|
| 132 |
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|
| 133 |
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|
| 134 |
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|
| 135 |
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|
| 136 |
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},
|
| 137 |
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|
| 138 |
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"type": "geometry",
|
| 139 |
+
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|
| 140 |
+
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|
| 141 |
+
"static_friction": 0.6,
|
| 142 |
+
"dynamic_friction": 0.5,
|
| 143 |
+
"restitution": 0.0
|
| 144 |
+
},
|
| 145 |
+
"ratio": 1.0
|
| 146 |
+
},
|
| 147 |
+
"primitive_params": null
|
| 148 |
+
},
|
| 149 |
+
"type_specific": {}
|
| 150 |
+
}
|
| 151 |
+
],
|
| 152 |
+
"hotel_plate": [
|
| 153 |
+
{
|
| 154 |
+
"asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_96_clear/plate_96_clear.usd",
|
| 155 |
+
"pose": {
|
| 156 |
+
"pos": [
|
| 157 |
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-0.6,
|
| 158 |
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0.02,
|
| 159 |
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0.9605
|
| 160 |
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],
|
| 161 |
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|
| 162 |
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1.0,
|
| 163 |
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0.0,
|
| 164 |
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0.0,
|
| 165 |
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0.0
|
| 166 |
+
],
|
| 167 |
+
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| 168 |
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1.0,
|
| 169 |
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1.0,
|
| 170 |
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1.0
|
| 171 |
+
]
|
| 172 |
+
},
|
| 173 |
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"dr": {
|
| 174 |
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|
| 175 |
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|
| 176 |
+
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|
| 177 |
+
"visible": true
|
| 178 |
+
},
|
| 179 |
+
"physics": {
|
| 180 |
+
"type": "geometry",
|
| 181 |
+
"collision": false,
|
| 182 |
+
"ratio": 1.0
|
| 183 |
+
},
|
| 184 |
+
"primitive_params": null
|
| 185 |
+
},
|
| 186 |
+
"type_specific": {}
|
| 187 |
+
},
|
| 188 |
+
{
|
| 189 |
+
"asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_96_white/plate_96_white.usd",
|
| 190 |
+
"pose": {
|
| 191 |
+
"pos": [
|
| 192 |
+
-0.6,
|
| 193 |
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0.02,
|
| 194 |
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1.0285
|
| 195 |
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],
|
| 196 |
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|
| 197 |
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6.123234262925839e-17,
|
| 198 |
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0.0,
|
| 199 |
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0.0,
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| 200 |
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1.0
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| 201 |
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],
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| 202 |
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|
| 203 |
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1.0,
|
| 204 |
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1.0,
|
| 205 |
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1.0
|
| 206 |
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]
|
| 207 |
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},
|
| 208 |
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|
| 209 |
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|
| 210 |
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|
| 211 |
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|
| 212 |
+
"visible": true
|
| 213 |
+
},
|
| 214 |
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|
| 215 |
+
"type": "geometry",
|
| 216 |
+
"collision": false,
|
| 217 |
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"ratio": 1.0
|
| 218 |
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},
|
| 219 |
+
"primitive_params": null
|
| 220 |
+
},
|
| 221 |
+
"type_specific": {}
|
| 222 |
+
},
|
| 223 |
+
{
|
| 224 |
+
"asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_384_white/plate_384_white.usd",
|
| 225 |
+
"pose": {
|
| 226 |
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"pos": [
|
| 227 |
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-0.6,
|
| 228 |
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0.02,
|
| 229 |
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1.0965
|
| 230 |
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],
|
| 231 |
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|
| 232 |
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1.0,
|
| 233 |
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0.0,
|
| 234 |
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0.0,
|
| 235 |
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0.0
|
| 236 |
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],
|
| 237 |
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"scale": [
|
| 238 |
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1.0,
|
| 239 |
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1.0,
|
| 240 |
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1.0
|
| 241 |
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]
|
| 242 |
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},
|
| 243 |
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|
| 244 |
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|
| 245 |
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|
| 246 |
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|
| 247 |
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"visible": true
|
| 248 |
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},
|
| 249 |
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"physics": {
|
| 250 |
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"type": "geometry",
|
| 251 |
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"collision": false,
|
| 252 |
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"ratio": 1.0
|
| 253 |
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| 1526 |
+
],
|
| 1527 |
+
[
|
| 1528 |
+
0.03113679401576519,
|
| 1529 |
+
0.5641760230064392,
|
| 1530 |
+
1.9314193725585938,
|
| 1531 |
+
0.0490107424557209,
|
| 1532 |
+
0.01923254132270813,
|
| 1533 |
+
0.258695125579834,
|
| 1534 |
+
0.9645231366157532
|
| 1535 |
+
],
|
| 1536 |
+
[
|
| 1537 |
+
0.030269090086221695,
|
| 1538 |
+
0.5638003945350647,
|
| 1539 |
+
1.945400357246399,
|
| 1540 |
+
0.05287403613328934,
|
| 1541 |
+
6.735515489708632e-05,
|
| 1542 |
+
0.27083620429039,
|
| 1543 |
+
0.9611722230911255
|
| 1544 |
+
],
|
| 1545 |
+
[
|
| 1546 |
+
0.06940048933029175,
|
| 1547 |
+
0.5553159117698669,
|
| 1548 |
+
1.9508566856384277,
|
| 1549 |
+
0.029427429661154747,
|
| 1550 |
+
-0.00034376358962617815,
|
| 1551 |
+
0.2585162818431854,
|
| 1552 |
+
0.9655585289001465
|
| 1553 |
+
]
|
| 1554 |
+
]
|
| 1555 |
+
}
|
| 1556 |
+
}
|
| 1557 |
+
}
|
| 1558 |
+
}
|
episodes/c9_p011_e025/wrist.mp4
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:9af28a56adbddc629cc12f4fd8e03ad806a93f46712a522d6a8137a1831e21c8
|
| 3 |
+
size 8571858
|
index/episodes.csv
CHANGED
|
@@ -2998,3 +2998,6 @@ c8_p010_e010,2,True,-0.06840705871582031,0.4474830627441406,0.011804560184964149
|
|
| 2998 |
c8_p010_e011,1,True,0.07155132293701172,0.44758129119873047,0.005436427712544487,0.006768338479193285,8.131253348868285,plate_96_white,0.47631263732910156,0.08839702606201172,-94.74114884331077,0.21201422432934677,510.87361802021167,rect,-0.4639794194721457,-0.06552846442330595,2.9169044824421047,13728.13121792208,5987.385981102466,sphere,-0.860670623930698,0.5896687234829299,2.4526092213040127,2748.497990135143,7062.001454543806,0.04719582200050354,-0.0006860541761852801,-0.028283266350626945,-0.2926465570926666,0.6391043066978455,0.6563034057617188,-0.27417054772377014,0.046406347304582596,0.5589357018470764,1.9551457166671753,0.04466671496629715,0.027389148250222206,0.27901312708854675,0.9588568210601807,1177,1,,2.046858787536621,0.26958562155257065,0.0,0.00725861731916666,0.5446049277824979,12,release,0.04229551553726196,"Pre-grasping the small plate, moving the arm toward it; the ",v2,True,False
|
| 2999 |
c9_p011_e022,1,True,0.12046146392822266,0.45000362396240234,0.004823510647056774,-0.008413007811798963,4.295552682636725,plate_12_clear,0.5227231979370117,0.11492919921875,-88.80199811353675,0.18558280591728557,503.9476037566709,rect,-0.28792291204638887,0.42752785210648814,2.940369842318688,11291.887731286464,5028.740788506513,disk,1.6178093194320757,-0.7522689336872814,2.389761686995635,6190.255965745984,4649.074501469709,0.050606757402420044,-0.0009041298762895167,-0.027861742302775383,-0.26906678080558777,0.6538013219833374,0.6497830748558044,-0.27915748953819275,0.03113679401576519,0.5641760230064392,1.9314193725585938,0.0490107424557209,0.01923254132270813,0.258695125579834,0.9645231366157532,1244,1,,2.0888235569000244,0.28579915125597377,0.0,0.007368141785264015,0.5168810289389068,12,release,0.04205352067947388,"Pre-grasping the small plate, moving the arm toward it; the ",v2,True,False
|
| 3000 |
c9_p011_e023,2,True,-0.048911094665527344,0.45000171661376953,-0.010944427666752132,0.002485005696323325,5.331595841972273,plate_1536_black,0.5055665969848633,0.09293270111083984,-85.08654863577858,0.18778829626842264,503.9476037566709,rect,-0.11417021573985281,0.11969405135893252,2.842298627139939,12157.632711981147,6597.787369357127,disk,0.39962033482840775,0.8615248163592459,2.7430109756741223,6410.892660393375,7161.483964782167,0.05223856493830681,-0.0018375231884419918,-0.025835998356342316,-0.28294214606285095,0.6534067988395691,0.6464962363243103,-0.27394503355026245,0.030269090086221695,0.5638003945350647,1.945400357246399,0.05287403613328934,6.735515489708632e-05,0.27083620429039,0.9611722230911255,1165,1,,2.1189441680908203,0.26005906700658094,0.0,0.007374486420303583,0.5502145922746781,12,release,0.042189836502075195,"Pre-grasping the small plate, moving the arm toward it; the ",v2,True,False
|
|
|
|
|
|
|
|
|
|
|
|
| 2998 |
c8_p010_e011,1,True,0.07155132293701172,0.44758129119873047,0.005436427712544487,0.006768338479193285,8.131253348868285,plate_96_white,0.47631263732910156,0.08839702606201172,-94.74114884331077,0.21201422432934677,510.87361802021167,rect,-0.4639794194721457,-0.06552846442330595,2.9169044824421047,13728.13121792208,5987.385981102466,sphere,-0.860670623930698,0.5896687234829299,2.4526092213040127,2748.497990135143,7062.001454543806,0.04719582200050354,-0.0006860541761852801,-0.028283266350626945,-0.2926465570926666,0.6391043066978455,0.6563034057617188,-0.27417054772377014,0.046406347304582596,0.5589357018470764,1.9551457166671753,0.04466671496629715,0.027389148250222206,0.27901312708854675,0.9588568210601807,1177,1,,2.046858787536621,0.26958562155257065,0.0,0.00725861731916666,0.5446049277824979,12,release,0.04229551553726196,"Pre-grasping the small plate, moving the arm toward it; the ",v2,True,False
|
| 2999 |
c9_p011_e022,1,True,0.12046146392822266,0.45000362396240234,0.004823510647056774,-0.008413007811798963,4.295552682636725,plate_12_clear,0.5227231979370117,0.11492919921875,-88.80199811353675,0.18558280591728557,503.9476037566709,rect,-0.28792291204638887,0.42752785210648814,2.940369842318688,11291.887731286464,5028.740788506513,disk,1.6178093194320757,-0.7522689336872814,2.389761686995635,6190.255965745984,4649.074501469709,0.050606757402420044,-0.0009041298762895167,-0.027861742302775383,-0.26906678080558777,0.6538013219833374,0.6497830748558044,-0.27915748953819275,0.03113679401576519,0.5641760230064392,1.9314193725585938,0.0490107424557209,0.01923254132270813,0.258695125579834,0.9645231366157532,1244,1,,2.0888235569000244,0.28579915125597377,0.0,0.007368141785264015,0.5168810289389068,12,release,0.04205352067947388,"Pre-grasping the small plate, moving the arm toward it; the ",v2,True,False
|
| 3000 |
c9_p011_e023,2,True,-0.048911094665527344,0.45000171661376953,-0.010944427666752132,0.002485005696323325,5.331595841972273,plate_1536_black,0.5055665969848633,0.09293270111083984,-85.08654863577858,0.18778829626842264,503.9476037566709,rect,-0.11417021573985281,0.11969405135893252,2.842298627139939,12157.632711981147,6597.787369357127,disk,0.39962033482840775,0.8615248163592459,2.7430109756741223,6410.892660393375,7161.483964782167,0.05223856493830681,-0.0018375231884419918,-0.025835998356342316,-0.28294214606285095,0.6534067988395691,0.6464962363243103,-0.27394503355026245,0.030269090086221695,0.5638003945350647,1.945400357246399,0.05287403613328934,6.735515489708632e-05,0.27083620429039,0.9611722230911255,1165,1,,2.1189441680908203,0.26005906700658094,0.0,0.007374486420303583,0.5502145922746781,12,release,0.042189836502075195,"Pre-grasping the small plate, moving the arm toward it; the ",v2,True,False
|
| 3001 |
+
c2_p011_e021,3,True,-0.1421823501586914,0.4474668502807617,-0.002843595304862353,-0.011134168527281947,11.21424378456959,plate_96_clear,0.48239707946777344,0.11338615417480469,-91.06423776343438,0.2914858201548547,720.2415330973049,rect,-0.3210124119553106,-0.4111370850096696,2.9209909936452374,5812.234169463351,6147.259915808987,disk,-1.1000855775207483,0.8477018540771362,2.660202414195499,2101.4998783209535,3448.4370782026103,0.051933493465185165,0.0011576215038076043,-0.03484774008393288,-0.2778071165084839,0.652496874332428,0.641257643699646,-0.2930181920528412,0.0595659501850605,0.592101514339447,1.963683843612671,0.03787320852279663,0.011003989726305008,0.28362250328063965,0.9581246376037598,1156,1,,2.1682310104370117,0.28679558825729246,0.0,0.007256911601871252,0.551038062283737,12,release,0.04229569435119629,"Pre-grasping the small plate, moving the arm toward it; the ",v2,True,False
|
| 3002 |
+
c9_p011_e024,3,True,0.0780029296875,0.45000362396240234,-0.011899837053085161,-0.001511494793227434,-3.4880579292712923,plate_48_clear,0.5216436386108398,0.11292362213134766,-87.43239555807246,0.21636523467276625,1221.6435406058658,rect,0.8442861323800385,0.10889177419039964,3.0885261675575313,9146.580359823814,6521.983867988158,sphere,1.5937766849133639,1.1100753465786946,1.8136105870959198,4926.621284137886,3803.5082509258445,0.04664454609155655,-0.002499091438949108,-0.030004329979419708,-0.26975104212760925,0.6457809209823608,0.6584867835044861,-0.2767608165740967,0.06940048933029175,0.5553159117698669,1.9508566856384277,0.029427429661154747,-0.00034376358962617815,0.2585162818431854,0.9655585289001465,1175,1,,2.117086172103882,0.27777299822394874,0.0,0.007344224955886602,0.5497872340425531,12,release,0.04248678684234619,"Pre-grasping the small plate, moving the arm toward it; the ",v2,True,False
|
| 3003 |
+
c9_p011_e025,0,True,-0.14585113525390625,0.4474372863769531,-0.0034318528888725337,-0.0028895792285232756,3.693023463290956,pcr_96_blue,0.4791736602783203,0.06023120880126953,-88.05324592295906,0.2943672412936287,1221.6435406058658,rect,0.8584091555488428,0.3992752402296874,3.089332126569818,15016.575554484765,3592.591006033597,disk,-1.3058901600234791,0.7341636309811352,1.9933855206404951,6897.976499251389,6824.486447171415,0.04741748049855232,-0.0014336341992020607,-0.028856292366981506,-0.2717597186565399,0.661049485206604,0.6337978839874268,-0.2957371771335602,0.04092629253864288,0.5859920978546143,1.9377214908599854,0.04901083558797836,0.005593631416559219,0.2688628137111664,0.9619144797325134,1224,1,,2.1236226558685303,0.26847331420215204,0.0,0.006877201609313488,0.5171568627450981,12,release,0.042318105697631836,"Pre-grasping the small plate, moving the arm toward it; the ",v2,True,False
|