diff --git a/episodes/c1_p002_e038/data.npz b/episodes/c1_p002_e038/data.npz new file mode 100644 index 0000000000000000000000000000000000000000..adae96314945bedf7dffe1d7d1ddba330e708a88 --- /dev/null +++ b/episodes/c1_p002_e038/data.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:48b74c8ac92b6f3b901ca3b6272a2e60c404fc52fa6b5669517692beaed3b081 +size 203027 diff --git a/episodes/c1_p002_e038/device_events.jsonl b/episodes/c1_p002_e038/device_events.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..08f266e0bbd73fd80d40baed82756ea2709e3614 --- /dev/null +++ b/episodes/c1_p002_e038/device_events.jsonl @@ -0,0 +1,40 @@ +{"env_id": 3, "seq": 1, "step": 127, "t": 0.635, "topic": "conveyor_1.belt.station.pick.captured", "source": "conveyor_1.belt", "data": {"rider": "carrier_4"}, "cause": null} +{"env_id": 3, "seq": 2, "step": 127, "t": 0.635, "topic": "conveyor_1.belt.state.changed", "source": "conveyor_1.belt", "data": {"from": "running", "to": "at_station"}, "cause": null} +{"env_id": 3, "seq": 3, "step": 132, "t": 0.66, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_4"}, "cause": null} +{"env_id": 3, "seq": 4, "step": 1932, "t": 9.66, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_4"}, "cause": null} +{"env_id": 3, "seq": 5, "step": 2003, "t": 10.015, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_4"}, "cause": null} +{"env_id": 3, "seq": 6, "step": 2052, "t": 10.26, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_4"}, "cause": null} +{"env_id": 3, "seq": 7, "step": 2075, "t": 10.375, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_4"}, "cause": null} +{"env_id": 3, "seq": 8, "step": 2116, "t": 10.58, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_4"}, "cause": null} +{"env_id": 3, "seq": 9, "step": 6614, "t": 33.07, "topic": "a4s_sealer_1.plate_present.present", "source": "a4s_sealer_1.plate_present", "data": {"object": "plate_4"}, "cause": null} +{"env_id": 3, "seq": 10, "step": 7224, "t": 36.12, "topic": "a4s_sealer_1.command.started", "source": "a4s_sealer_1", "data": {"command_id": "task-3-1", "name": "seal", "source": "task"}, "cause": "task-3-1"} +{"env_id": 3, "seq": 11, "step": 7224, "t": 36.12, "topic": "a4s_sealer_1.seal.started", "source": "a4s_sealer_1", "data": {"dwell": 4.916709014844009}, "cause": "task-3-1"} +{"env_id": 3, "seq": 12, "step": 7224, "t": 36.12, "topic": "a4s_sealer_1.drawer.command.started", "source": "a4s_sealer_1.drawer", "data": {"command_id": "program-3-2", "name": "close", "source": "program:seal"}, "cause": "program-3-2"} +{"env_id": 3, "seq": 13, "step": 7224, "t": 36.12, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "at_out", "to": "moving"}, "cause": null} +{"env_id": 3, "seq": 14, "step": 7224, "t": 36.12, "topic": "a4s_sealer_1.drawer.moving", "source": "a4s_sealer_1.drawer", "data": {"target": 0.3, "goal": "in"}, "cause": "program-3-2"} +{"env_id": 3, "seq": 15, "step": 7643, "t": 38.215, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "moving", "to": "at_in"}, "cause": null} +{"env_id": 3, "seq": 16, "step": 7643, "t": 38.215, "topic": "a4s_sealer_1.drawer.reached", "source": "a4s_sealer_1.drawer", "data": {"position": "in", "q": 0.2999999523162842}, "cause": "program-3-2"} +{"env_id": 3, "seq": 17, "step": 7643, "t": 38.215, "topic": "a4s_sealer_1.drawer.at_in", "source": "a4s_sealer_1.drawer", "data": {"q": 0.2999999523162842}, "cause": "program-3-2"} +{"env_id": 3, "seq": 18, "step": 7643, "t": 38.215, "topic": "a4s_sealer_1.drawer.command.succeeded", "source": "a4s_sealer_1.drawer", "data": {"command_id": "program-3-2", "name": "close", "source": "program:seal", "result": {"position": "in"}}, "cause": "program-3-2"} +{"env_id": 3, "seq": 19, "step": 7643, "t": 38.215, "topic": "labware.plate_4.changed", "source": "labware.plate_4", "data": {"key": "sealed", "value": true}, "cause": "task-3-1"} +{"env_id": 3, "seq": 20, "step": 7643, "t": 38.215, "topic": "a4s_sealer_1.sealed", "source": "a4s_sealer_1", "data": {"plate": "plate_4"}, "cause": "task-3-1"} +{"env_id": 3, "seq": 21, "step": 7643, "t": 38.215, "topic": "a4s_sealer_1.heater.command.started", "source": "a4s_sealer_1.heater", "data": {"command_id": "program-3-3", "name": "run", "source": "program:seal"}, "cause": "program-3-3"} +{"env_id": 3, "seq": 22, "step": 7643, "t": 38.215, "topic": "a4s_sealer_1.heater.state.changed", "source": "a4s_sealer_1.heater", "data": {"from": "ready", "to": "running"}, "cause": null} +{"env_id": 3, "seq": 23, "step": 7643, "t": 38.215, "topic": "a4s_sealer_1.heater.started", "source": "a4s_sealer_1.heater", "data": {"duration": 4.916709014844009}, "cause": "program-3-3"} +{"env_id": 3, "seq": 24, "step": 8627, "t": 43.135, "topic": "a4s_sealer_1.heater.state.changed", "source": "a4s_sealer_1.heater", "data": {"from": "running", "to": "ready"}, "cause": null} +{"env_id": 3, "seq": 25, "step": 8627, "t": 43.135, "topic": "a4s_sealer_1.heater.finished", "source": "a4s_sealer_1.heater", "data": {"elapsed": 4.920000000002517}, "cause": "program-3-3"} +{"env_id": 3, "seq": 26, "step": 8627, "t": 43.135, "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": 4.920000000002517}}, "cause": "program-3-3"} +{"env_id": 3, "seq": 27, "step": 8627, "t": 43.135, "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": 28, "step": 8627, "t": 43.135, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "at_in", "to": "moving"}, "cause": null} +{"env_id": 3, "seq": 29, "step": 8627, "t": 43.135, "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": 30, "step": 9046, "t": 45.23, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "moving", "to": "at_out"}, "cause": null} +{"env_id": 3, "seq": 31, "step": 9046, "t": 45.23, "topic": "a4s_sealer_1.drawer.reached", "source": "a4s_sealer_1.drawer", "data": {"position": "out", "q": 1.6135173197540098e-08}, "cause": "program-3-4"} +{"env_id": 3, "seq": 32, "step": 9046, "t": 45.23, "topic": "a4s_sealer_1.drawer.at_out", "source": "a4s_sealer_1.drawer", "data": {"q": 1.6135173197540098e-08}, "cause": "program-3-4"} +{"env_id": 3, "seq": 33, "step": 9046, "t": 45.23, "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": 34, "step": 9046, "t": 45.23, "topic": "a4s_sealer_1.seal.finished", "source": "a4s_sealer_1", "data": {}, "cause": "task-3-1"} +{"env_id": 3, "seq": 35, "step": 9046, "t": 45.23, "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": 36, "step": 9627, "t": 48.135, "topic": "a4s_sealer_1.plate_present.absent", "source": "a4s_sealer_1.plate_present", "data": {"object": "plate_4"}, "cause": null} +{"env_id": 3, "seq": 37, "step": 11872, "t": 59.36, "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": 38, "step": 11872, "t": 59.36, "topic": "conveyor_1.belt.station.pick.released", "source": "conveyor_1.belt", "data": {"rider": "carrier_4"}, "cause": "task-3-5"} +{"env_id": 3, "seq": 39, "step": 11872, "t": 59.36, "topic": "conveyor_1.belt.state.changed", "source": "conveyor_1.belt", "data": {"from": "at_station", "to": "running"}, "cause": null} +{"env_id": 3, "seq": 40, "step": 11872, "t": 59.36, "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/c1_p002_e038/env.mp4 b/episodes/c1_p002_e038/env.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..45498a001e8eb4e7e10356d6bb75c0823dc7006c --- /dev/null +++ b/episodes/c1_p002_e038/env.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:b7c6aace921a116ee52e099e3fd19712059867b5c78cf2e2d4d4c80873109a21 +size 1385210 diff --git a/episodes/c1_p002_e038/meta.json b/episodes/c1_p002_e038/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..6c0752bc931ccfbc404922c160c89a3c04276bd7 --- /dev/null +++ b/episodes/c1_p002_e038/meta.json @@ -0,0 +1,32 @@ +{ + "source": "raw/c1_p002/magicsim/38", + "fps": 25, + "frames": 1300, + "kept_ticks": "even", + "video_frames": { + "wrist": 1300, + "env": 1300 + }, + "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": "v1" +} \ No newline at end of file diff --git a/episodes/c1_p002_e038/scene_snapshot.json b/episodes/c1_p002_e038/scene_snapshot.json new file mode 100644 index 0000000000000000000000000000000000000000..3911566b347a757b127a4353a6a910d33c7f5a84 --- /dev/null +++ b/episodes/c1_p002_e038/scene_snapshot.json @@ -0,0 +1,1558 @@ +{ + "trajectory_id": 38, + "env_id": 3, + "run_id": "c1_p002", + "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": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_96_clear/plate_96_clear.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 0.9605 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/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": "$MAGICSIM_ASSETS/Bio/CAD/plates/pcr_96_blue/pcr_96_blue.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.0965 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_96_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": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_12_clear/plate_12_clear.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.2325 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "a4s_sealer": [ + { + "asset": "$MAGICSIM_ASSETS/Articulated/A4SSealer/Object.usd", + "pose": { + "pos": [ + 0.5042552947998047, + 0.08044242858886719, + 0.8999999761581421 + ], + "ori": [ + -0.7036067247390747, + 0.0, + 0.0, + 0.710589587688446 + ], + "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": [ + 7.064751561536298e-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": 0.24559556059052806, + "direction": [ + 1.0, + 0.0, + 0.0 + ], + "enabled": true, + "drive": "surface_velocity", + "lines": null, + "station_line": null, + "riders": [ + "carrier" + ], + "stations": { + "pick": { + "position": -0.1639797253157562, + "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": 0.24559556059052806, + "holds": [], + "station": "pick", + "rider": "carrier_4", + "arrived": true, + "applied_speed": 0.0 + } + } + } + ], + "carrier": [ + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + -1.394796371459961, + 0.757049560546875, + 0.8999999761581421 + ], + "ori": [ + -0.7436975836753845, + -6.555827525289715e-08, + -6.18569373500577e-08, + 0.6685162782669067 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -5.021943971783571e-11, + -7.321832029560937e-11, + 0.0 + ], + "angular_velocity": [ + 4.416019550035344e-09, + 4.854243229601707e-09, + -1.7651071715363287e-09 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + 0.2541618347167969, + 1.1519460678100586, + 0.8999999761581421 + ], + "ori": [ + -0.015627844259142876, + 2.888689565327951e-10, + 3.0453448651712733e-09, + 0.9998779892921448 + ], + "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": [ + -5.042206652206005e-10, + -2.690041966957324e-09, + 0.0 + ], + "angular_velocity": [ + 1.43160548304877e-07, + -3.173344964579883e-08, + 3.8729273121873575e-09 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + 1.6385183334350586, + 0.9945039749145508, + 0.9000085592269897 + ], + "ori": [ + 0.4781608581542969, + -0.00011989906488452107, + -9.419249545317143e-05, + 0.878272294998169 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 0.0005619212752208114, + 9.003763807413634e-06, + -0.0014677755534648895 + ], + "angular_velocity": [ + -0.0013816639548167586, + 0.047933876514434814, + 0.0002788789279293269 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + -0.013776779174804688, + 0.4465799331665039, + 0.8999999761581421 + ], + "ori": [ + 0.9999978542327881, + 1.9314181365359673e-09, + 7.273200264279467e-09, + 0.002061441307887435 + ], + "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": [ + -1.5448078372060081e-09, + -1.495319068567369e-08, + 7.450580596923828e-09 + ], + "angular_velocity": [ + 4.760708804951719e-07, + -4.345334758681929e-09, + 4.285595522901531e-08 + ] + } + } + ], + "plate": [ + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_48_clear/Object.usd", + "pose": { + "pos": [ + -1.3894681930541992, + 0.753570556640625, + 0.9179999828338623 + ], + "ori": [ + -0.7010731101036072, + -6.038091271420853e-08, + -6.677409203348361e-08, + 0.7130894064903259 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -9.977943804528877e-09, + 5.055613883087062e-08, + 9.313225746154785e-08 + ], + "angular_velocity": [ + -2.0805355234188028e-06, + -1.0164366130993585e-06, + 1.250135284180942e-07 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_384_white/Object.usd", + "pose": { + "pos": [ + 0.2507963180541992, + 1.1455612182617188, + 0.9180000424385071 + ], + "ori": [ + -0.11466468125581741, + 1.945541505676829e-09, + 2.5891657706722526e-09, + 0.9934042692184448 + ], + "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": [ + 1.132941740422666e-08, + -1.662348125819335e-08, + -5.315989255905151e-06 + ], + "angular_velocity": [ + -6.859892209831742e-07, + 1.1963826409555622e-06, + 1.292271321062799e-07 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_96_clear/Object.usd", + "pose": { + "pos": [ + 1.6361446380615234, + 0.9783058166503906, + 0.9179999828338623 + ], + "ori": [ + 0.43575388193130493, + -7.688553887419403e-05, + -6.083773769205436e-05, + 0.9000659584999084 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 0.001141501939855516, + 4.259481647750363e-05, + -0.0012851506471633911 + ], + "angular_velocity": [ + -0.0008854478364810348, + 0.04789681360125542, + 0.0003621900104917586 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/reservoir_12ch/Object.usd", + "pose": { + "pos": [ + 9.34600830078125e-05, + 0.4420642852783203, + 0.9179999828338623 + ], + "ori": [ + 0.9969193935394287, + -4.800084774103652e-09, + 8.991218436449344e-09, + -0.07843364030122757 + ], + "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": [ + -7.754753994504426e-08, + -9.992938032610255e-08, + -2.507120370864868e-06 + ], + "angular_velocity": [ + 1.2699667877313914e-06, + -2.7593971481110202e-06, + 2.5805238834664124e-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": 7.5399999999998615, + "step": 1508, + "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": 7.064751561536298e-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": 0.24559556059052806, + "holds": [], + "station": "pick", + "rider": "carrier_4", + "arrived": true, + "settle_count": 1380, + "released": { + "pick": [] + }, + "last_pos": { + "carrier_1": [ + -1.5447963774204254, + 0.30704957246780396, + 0.0 + ], + "carrier_2": [ + 0.1041618287563324, + 0.7019460797309875, + 0.0 + ], + "carrier_3": [ + 1.4885183274745941, + 0.5445039868354797, + 8.64267349243164e-06 + ], + "carrier_4": [ + -0.16377678513526917, + -0.0034200549125671387, + 0.0 + ] + }, + "command": 0.0 + }, + "belt": { + "target_speed": 0.0, + "command_speed": 0.0 + }, + "seen": { + "state": "at_station", + "station": "pick", + "rider": "carrier_4", + "arrived": true + } + } + }, + "queues": {}, + "program": null, + "sensors": {}, + "interlocks": {} + } + }, + "zones": {}, + "labware": { + "plate_1": { + "sealed": false + }, + "plate_2": { + "sealed": false + }, + "plate_3": { + "sealed": false + }, + "plate_4": { + "sealed": false + } + }, + "rules": {}, + "records": [], + "bus": { + "seq": 3, + "queue": [] + } + } + ], + "drives": [ + null, + null, + null, + {} + ] + }, + "artifacts": [ + {}, + {}, + {}, + { + "ceiling": { + "type": "rect", + "pose": { + "pos": [ + 0.3248928545709987, + 0.10567782679414395, + 2.9917821882027007 + ], + "ori": [ + -12.939728763385851, + -4.366201532061078, + 29.9099381332313 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "color_temperature": 5689.137539713256, + "color": [ + 0.9419639404906732, + 0.9778449842978219, + 0.9734436692724092 + ], + "intensity": 5263.635990443103, + "width": 2.3651263918835004, + "height": 0.9317180760106646 + } + }, + "key": { + "type": "disk", + "pose": { + "pos": [ + 0.7853889576376663, + -1.0713652475182567, + 1.618545094505618 + ], + "ori": [ + -38.974040372462525, + -26.392364394922147, + -36.168475686564996 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "color_temperature": 6712.752624089941, + "color": [ + 0.998868005479413, + 0.8952128596983505, + 0.831211645010526 + ], + "intensity": 7327.059074728842, + "radius": 0.3269754854762262 + } + } + } + ], + "background": { + "type": "dome", + "pose": { + "pos": null, + "ori": null, + "scale": null + }, + "dr": { + "intensity": 410.122508947093, + "texture": null, + "color": [ + 0.92, + 0.94, + 0.96 + ] + } + } + }, + "robots": { + "UR5e": { + "root_pose": [ + [ + 11.0, + -11.0, + 0.9150000214576721, + 1.0, + 0.0, + 0.0, + 0.0 + ], + [ + 11.0, + 11.0, + 0.9150000214576721, + 1.0, + 0.0, + 0.0, + 0.0 + ], + [ + -11.0, + -11.0, + 0.9150000214576721, + 1.0, + 0.0, + 0.0, + 0.0 + ], + [ + -11.0, + 11.0, + 0.9150000214576721, + 1.0, + 0.0, + 0.0, + 0.0 + ] + ], + "root_vel": [ + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + ], + "joint_pos": [ + [ + 2.805324077606201, + -1.6672203540802002, + 1.8987360000610352, + -1.8035098314285278, + -1.5720125436782837, + 4.376666069030762, + 0.017999986186623573, + 0.017999986186623573 + ], + [ + 1.710687518119812, + -1.4245134592056274, + 2.051610231399536, + -2.198317766189575, + -1.5710877180099487, + 0.27431225776672363, + 0.007163249421864748, + 0.006518310867249966 + ], + [ + 2.6073670387268066, + -1.8247501850128174, + 2.6264681816101074, + -2.3718886375427246, + -1.5685328245162964, + 4.180075168609619, + 0.018000027164816856, + 0.01799997128546238 + ], + [ + 0.9141015410423279, + -1.719399333000183, + 2.0905003547668457, + -1.9419009685516357, + -1.5707999467849731, + 2.4849002361297607, + 0.017999999225139618, + 0.017999999225139618 + ] + ], + "joint_vel": [ + [ + 2.9615841029562162e-12, + 3.405938059586333e-06, + -9.685282957583308e-12, + -1.4985454283716892e-12, + -3.4059778499795357e-06, + 1.3623913218907546e-05, + 1.8192886841461586e-07, + 1.8194158712958597e-07 + ], + [ + 0.013902254402637482, + 0.005032578948885202, + -0.002122150734066963, + -0.002293095225468278, + 0.00013492221478372812, + -0.03451266139745712, + -0.008513645268976688, + 0.00022686882584821433 + ], + [ + -0.014310937374830246, + -0.028537597507238388, + 0.017232008278369904, + 0.011159000918269157, + -2.4190303520299494e-05, + -0.014441684819757938, + -3.5588166156230727e-06, + 3.5587297588790534e-06 + ], + [ + 5.108948244014755e-06, + 3.405936467970605e-06, + -9.285655577784269e-12, + -1.444201420779112e-12, + 1.1713413984419663e-13, + 1.77253459306137e-12, + -4.1304389379256956e-14, + 2.743993183715321e-13 + ] + ] + } + }, + "cameras": { + "cameras": { + "camera0": [ + [ + 0.05204639583826065, + 0.004683563020080328, + -0.029027361422777176, + -0.2754518687725067, + 0.6519542336463928, + 0.6456938982009888, + -0.28663796186447144 + ], + [ + 0.049504298716783524, + -0.0027830773033201694, + -0.02729211561381817, + -0.2774341404438019, + 0.641599714756012, + 0.660580039024353, + -0.273887038230896 + ], + [ + 0.0511973574757576, + -0.0005900055984966457, + -0.02992977574467659, + -0.2687913477420807, + 0.6602877974510193, + 0.6361728310585022, + -0.2950514853000641 + ], + [ + 0.050456106662750244, + 0.003465687157586217, + -0.0291163120418787, + -0.2723312973976135, + 0.6488352417945862, + 0.6549003720283508, + -0.27559757232666016 + ] + ], + "camera1": [ + [ + 0.05212201178073883, + 0.5881986618041992, + 1.9551379680633545, + 0.0452609546482563, + 0.02710862085223198, + 0.28588199615478516, + 0.9568113684654236 + ], + [ + 0.039116594940423965, + 0.6017328500747681, + 1.967415690422058, + 0.051729027181863785, + 0.004936817567795515, + 0.2826876938343048, + 0.9578034281730652 + ], + [ + 0.05495515465736389, + 0.560409426689148, + 1.9339650869369507, + 0.031067708507180214, + -0.0020412432495504618, + 0.2695252001285553, + 0.962489902973175 + ], + [ + 0.04976149648427963, + 0.5918372273445129, + 1.9442660808563232, + 0.05959370732307434, + 0.02403578720986843, + 0.2793743312358856, + 0.9580296874046326 + ] + ] + } + } + } +} \ No newline at end of file diff --git a/episodes/c1_p002_e038/wrist.mp4 b/episodes/c1_p002_e038/wrist.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..acce882a7070efc994cd5d2e18c6e4f36f77d322 --- /dev/null +++ b/episodes/c1_p002_e038/wrist.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:e2075f33d3fcec8aa1d33bd783cfe08032ac5919b5a834fe9732f828e950a54b +size 6442767 diff --git a/episodes/c1_p002_e039/data.npz b/episodes/c1_p002_e039/data.npz new file mode 100644 index 0000000000000000000000000000000000000000..b0d6d3e4ba1c0c2b0697f123f0c757f8e48679f3 --- /dev/null +++ b/episodes/c1_p002_e039/data.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:37aacafa5f43f75c433daf3794bc9f677eaa3d773740e277c778966931ebadb9 +size 203269 diff --git a/episodes/c1_p002_e039/device_events.jsonl b/episodes/c1_p002_e039/device_events.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..dc68113cccd353947e217eb06bff4765b1bb1c2b --- /dev/null +++ b/episodes/c1_p002_e039/device_events.jsonl @@ -0,0 +1,35 @@ +{"env_id": 1, "seq": 1, "step": 116, "t": 0.58, "topic": "conveyor_1.belt.station.pick.captured", "source": "conveyor_1.belt", "data": {"rider": "carrier_3"}, "cause": null} +{"env_id": 1, "seq": 2, "step": 116, "t": 0.58, "topic": "conveyor_1.belt.state.changed", "source": "conveyor_1.belt", "data": {"from": "running", "to": "at_station"}, "cause": null} +{"env_id": 1, "seq": 3, "step": 121, "t": 0.605, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_3"}, "cause": null} +{"env_id": 1, "seq": 4, "step": 5696, "t": 28.48, "topic": "a4s_sealer_1.plate_present.present", "source": "a4s_sealer_1.plate_present", "data": {"object": "plate_3"}, "cause": null} +{"env_id": 1, "seq": 5, "step": 6312, "t": 31.56, "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": 6312, "t": 31.56, "topic": "a4s_sealer_1.seal.started", "source": "a4s_sealer_1", "data": {"dwell": 1.5620011449821587}, "cause": "task-1-1"} +{"env_id": 1, "seq": 7, "step": 6312, "t": 31.56, "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": 6312, "t": 31.56, "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": 6312, "t": 31.56, "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": 6731, "t": 33.655, "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": 6731, "t": 33.655, "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": 6731, "t": 33.655, "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": 6731, "t": 33.655, "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": 6731, "t": 33.655, "topic": "labware.plate_3.changed", "source": "labware.plate_3", "data": {"key": "sealed", "value": true}, "cause": "task-1-1"} +{"env_id": 1, "seq": 15, "step": 6731, "t": 33.655, "topic": "a4s_sealer_1.sealed", "source": "a4s_sealer_1", "data": {"plate": "plate_3"}, "cause": "task-1-1"} +{"env_id": 1, "seq": 16, "step": 6731, "t": 33.655, "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": 6731, "t": 33.655, "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": 6731, "t": 33.655, "topic": "a4s_sealer_1.heater.started", "source": "a4s_sealer_1.heater", "data": {"duration": 1.5620011449821587}, "cause": "program-1-3"} +{"env_id": 1, "seq": 19, "step": 7044, "t": 35.22, "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": 7044, "t": 35.22, "topic": "a4s_sealer_1.heater.finished", "source": "a4s_sealer_1.heater", "data": {"elapsed": 1.5650000000008006}, "cause": "program-1-3"} +{"env_id": 1, "seq": 21, "step": 7044, "t": 35.22, "topic": "a4s_sealer_1.heater.command.succeeded", "source": "a4s_sealer_1.heater", "data": {"command_id": "program-1-3", "name": "run", "source": "program:seal", "result": {"elapsed": 1.5650000000008006}}, "cause": "program-1-3"} +{"env_id": 1, "seq": 22, "step": 7044, "t": 35.22, "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": 7044, "t": 35.22, "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": 7044, "t": 35.22, "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": 7464, "t": 37.32, "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": 7464, "t": 37.32, "topic": "a4s_sealer_1.drawer.reached", "source": "a4s_sealer_1.drawer", "data": {"position": "out", "q": 3.9100617188481124e-10}, "cause": "program-1-4"} +{"env_id": 1, "seq": 27, "step": 7464, "t": 37.32, "topic": "a4s_sealer_1.drawer.at_out", "source": "a4s_sealer_1.drawer", "data": {"q": 3.9100617188481124e-10}, "cause": "program-1-4"} +{"env_id": 1, "seq": 28, "step": 7464, "t": 37.32, "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": 7464, "t": 37.32, "topic": "a4s_sealer_1.seal.finished", "source": "a4s_sealer_1", "data": {}, "cause": "task-1-1"} +{"env_id": 1, "seq": 30, "step": 7464, "t": 37.32, "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": 8035, "t": 40.175, "topic": "a4s_sealer_1.plate_present.absent", "source": "a4s_sealer_1.plate_present", "data": {"object": "plate_3"}, "cause": null} +{"env_id": 1, "seq": 32, "step": 10252, "t": 51.26, "topic": "conveyor_1.belt.command.started", "source": "conveyor_1.belt", "data": {"command_id": "task-1-5", "name": "release", "source": "task"}, "cause": "task-1-5"} +{"env_id": 1, "seq": 33, "step": 10252, "t": 51.26, "topic": "conveyor_1.belt.station.pick.released", "source": "conveyor_1.belt", "data": {"rider": "carrier_3"}, "cause": "task-1-5"} +{"env_id": 1, "seq": 34, "step": 10252, "t": 51.26, "topic": "conveyor_1.belt.state.changed", "source": "conveyor_1.belt", "data": {"from": "at_station", "to": "running"}, "cause": null} +{"env_id": 1, "seq": 35, "step": 10252, "t": 51.26, "topic": "conveyor_1.belt.command.succeeded", "source": "conveyor_1.belt", "data": {"command_id": "task-1-5", "name": "release", "source": "task", "result": {"state": "running"}}, "cause": "task-1-5"} diff --git a/episodes/c1_p002_e039/env.mp4 b/episodes/c1_p002_e039/env.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..a5d37fc24f17318507bee31e5f5f58b9fded792c --- /dev/null +++ b/episodes/c1_p002_e039/env.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:3c54bc1249bd179fbfc28008e38eb8dfcc6e88f7bc7b8bc49939abd615fc5654 +size 1450232 diff --git a/episodes/c1_p002_e039/meta.json b/episodes/c1_p002_e039/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..f05dbad826dcda0604d830b13c1521013166ad9c --- /dev/null +++ b/episodes/c1_p002_e039/meta.json @@ -0,0 +1,32 @@ +{ + "source": "raw/c1_p002/magicsim/39", + "fps": 25, + "frames": 1263, + "kept_ticks": "even", + "video_frames": { + "wrist": 1263, + "env": 1263 + }, + "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": "v1" +} \ No newline at end of file diff --git a/episodes/c1_p002_e039/scene_snapshot.json b/episodes/c1_p002_e039/scene_snapshot.json new file mode 100644 index 0000000000000000000000000000000000000000..a78868dcc2c15e31d6fb9e481c03148b3fa3226b --- /dev/null +++ b/episodes/c1_p002_e039/scene_snapshot.json @@ -0,0 +1,1558 @@ +{ + "trajectory_id": 39, + "env_id": 1, + "run_id": "c1_p002", + "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": "$MAGICSIM_ASSETS/Bio/CAD/plates/pcr_384_red/pcr_384_red.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.0285 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/pcr_384_red/pcr_384_red.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.0965 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_96_clear/plate_96_clear.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.1645 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_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": [ + 0.5021162033081055, + 0.09942340850830078, + 0.8999999761581421 + ], + "ori": [ + -0.6914200782775879, + 0.0, + 0.0, + 0.7224529385566711 + ], + "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": [ + 1.3456655494764602e-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": 0.2732997923810456, + "direction": [ + 1.0, + 0.0, + 0.0 + ], + "enabled": true, + "drive": "surface_velocity", + "lines": null, + "station_line": null, + "riders": [ + "carrier" + ], + "stations": { + "pick": { + "position": -0.18108724860586248, + "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": 0.2732997923810456, + "holds": [], + "station": "pick", + "rider": "carrier_3", + "arrived": true, + "applied_speed": 0.0 + } + } + } + ], + "carrier": [ + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + 1.6373510360717773, + 0.9963951110839844, + 0.8999999761581421 + ], + "ori": [ + 0.4720803201198578, + -1.789446102407055e-08, + 8.631567283146069e-08, + 0.8815554976463318 + ], + "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": [ + -8.468874490574763e-10, + -1.1273462163785553e-09, + 0.0 + ], + "angular_velocity": [ + 8.625032421605283e-08, + -5.253681933936605e-08, + -6.101778637912503e-09 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + 0.6035499572753906, + 1.1527442932128906, + 0.8999999761581421 + ], + "ori": [ + -0.00948040746152401, + 6.632639770742799e-09, + 5.386844303956195e-09, + 0.9999551177024841 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -7.200289253717074e-10, + -6.03179728386749e-11, + 1.1175870895385742e-08 + ], + "angular_velocity": [ + -1.3496077144736773e-08, + -6.906405758400069e-08, + -8.433305609401032e-09 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + -0.03069305419921875, + 0.44657325744628906, + 0.8999999761581421 + ], + "ori": [ + 0.9999950528144836, + 1.193591225856494e-09, + -3.922036917458627e-09, + 0.0031569136772304773 + ], + "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": [ + 1.9256063410466595e-10, + 1.7321304390804926e-09, + 7.450580596923828e-09 + ], + "angular_velocity": [ + -1.1635232510798232e-07, + 1.834474971929012e-08, + -1.0222267476933666e-08 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + -1.35198974609375, + 0.6273012161254883, + 0.8999999761581421 + ], + "ori": [ + -0.8607299327850342, + 5.718729312320647e-08, + 1.4036045214993464e-08, + 0.5090619921684265 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 2.0390302779560443e-09, + 2.077285898849368e-09, + 1.1175870895385742e-08 + ], + "angular_velocity": [ + -1.821827027015388e-07, + 5.887704901397228e-08, + 2.4326709535671398e-08 + ] + } + } + ], + "plate": [ + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_12_clear/Object.usd", + "pose": { + "pos": [ + 1.6363162994384766, + 1.0085554122924805, + 0.9179999828338623 + ], + "ori": [ + 0.4844856262207031, + -2.32699779445511e-08, + 8.296890996462025e-08, + 0.8747993111610413 + ], + "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": [ + 7.896838738474798e-10, + -9.390994648583728e-08, + 4.842877388000488e-08 + ], + "angular_velocity": [ + 1.4130696399661247e-06, + 8.874986860973877e-07, + 3.5888339766643185e-07 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_96_white/Object.usd", + "pose": { + "pos": [ + 0.6085777282714844, + 1.1588964462280273, + 0.9180000424385071 + ], + "ori": [ + -0.07598050683736801, + 6.222043769099628e-09, + 4.456086166726436e-09, + 0.9971094131469727 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -6.174638578215763e-10, + -5.0135078311086545e-09, + -6.012618541717529e-06 + ], + "angular_velocity": [ + -7.820229370736342e-07, + 1.5628942264811485e-06, + -1.0370423808581108e-07 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/pcr_384_red/Object.usd", + "pose": { + "pos": [ + -0.03684520721435547, + 0.43682193756103516, + 0.9179999828338623 + ], + "ori": [ + 0.9993336200714111, + 2.3798898407534352e-09, + -4.008429588253648e-09, + -0.036500900983810425 + ], + "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": [ + -6.011145359252623e-09, + 1.8239207477677155e-08, + -5.755573511123657e-06 + ], + "angular_velocity": [ + -7.910307431302499e-08, + -1.6211613456107443e-06, + 2.240308205614383e-08 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/deep_well_96_1ml/Object.usd", + "pose": { + "pos": [ + -1.3552780151367188, + 0.6194124221801758, + 0.9179999828338623 + ], + "ori": [ + -0.8659104704856873, + 6.389249307403588e-08, + 1.566882268377867e-08, + 0.5001991987228394 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -2.3121515368984547e-08, + 1.5711975720478222e-07, + 2.644956111907959e-07 + ], + "angular_velocity": [ + -4.329885996412486e-06, + -2.310680429218337e-06, + 4.988655177839973e-07 + ] + } + } + ], + "deco_hub_west": [ + { + "asset": "$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": 0.9000000000000007, + "step": 180, + "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": 1.3456655494764602e-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": 0.2732997923810456, + "holds": [], + "station": "pick", + "rider": "carrier_3", + "arrived": true, + "settle_count": 63, + "released": { + "pick": [] + }, + "last_pos": { + "carrier_1": [ + 1.4873510301113129, + 0.5463951230049133, + 0.0 + ], + "carrier_2": [ + 0.45354995131492615, + 0.7027443051338196, + 0.0 + ], + "carrier_3": [ + -0.18069306015968323, + -0.0034267306327819824, + 0.0 + ], + "carrier_4": [ + -1.5019897520542145, + 0.17730122804641724, + 0.0 + ] + }, + "command": 0.0 + }, + "belt": { + "target_speed": 0.0, + "command_speed": 0.0 + }, + "seen": { + "state": "at_station", + "station": "pick", + "rider": "carrier_3", + "arrived": true + } + } + }, + "queues": {}, + "program": null, + "sensors": {}, + "interlocks": {} + } + }, + "zones": {}, + "labware": { + "plate_1": { + "sealed": false + }, + "plate_2": { + "sealed": false + }, + "plate_3": { + "sealed": false + }, + "plate_4": { + "sealed": false + } + }, + "rules": {}, + "records": [], + "bus": { + "seq": 3, + "queue": [] + } + }, + null, + null + ], + "drives": [ + null, + {}, + null, + null + ] + }, + "artifacts": [ + {}, + { + "ceiling": { + "type": "rect", + "pose": { + "pos": [ + -0.20111748769819165, + 0.4905690172245539, + 2.980008283222877 + ], + "ori": [ + -11.689516751808146, + -10.304159612556816, + -29.03864933786778 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "color_temperature": 4490.789341371923, + "color": [ + 0.9889967687672532, + 0.8873673969821687, + 0.9658985877060663 + ], + "intensity": 12647.547814864634, + "width": 1.654524421772003, + "height": 0.848396980713308 + } + }, + "key": { + "type": "disk", + "pose": { + "pos": [ + -0.18603582694057663, + -0.4126602178333808, + 2.7417592819333025 + ], + "ori": [ + 33.25398894983415, + 36.390618009871275, + 7.832211339492233 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "color_temperature": 4692.541754242353, + "color": [ + 0.947267237490628, + 0.8637321982374137, + 0.9218654372148731 + ], + "intensity": 4183.059057638735, + "radius": 0.4650030960525159 + } + } + }, + {}, + {} + ], + "background": { + "type": "dome", + "pose": { + "pos": null, + "ori": null, + "scale": null + }, + "dr": { + "intensity": 410.122508947093, + "texture": null, + "color": [ + 0.92, + 0.94, + 0.96 + ] + } + } + }, + "robots": { + "UR5e": { + "root_pose": [ + [ + 11.0, + -11.0, + 0.9150000214576721, + 1.0, + 0.0, + 0.0, + 0.0 + ], + [ + 11.0, + 11.0, + 0.9150000214576721, + 1.0, + 0.0, + 0.0, + 0.0 + ], + [ + -11.0, + -11.0, + 0.9150000214576721, + 1.0, + 0.0, + 0.0, + 0.0 + ], + [ + -11.0, + 11.0, + 0.9150000214576721, + 1.0, + 0.0, + 0.0, + 0.0 + ] + ], + "root_vel": [ + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + ], + "joint_pos": [ + [ + 2.5772805213928223, + -2.1719741821289062, + 2.2127599716186523, + -1.6125743389129639, + -1.571374773979187, + 4.1485819816589355, + 0.018000105395913124, + 0.017999893054366112 + ], + [ + 0.9140999913215637, + -1.7194000482559204, + 2.0905001163482666, + -1.9419000148773193, + -1.5707999467849731, + 2.4848999977111816, + 0.017999999225139618, + 0.017999999225139618 + ], + [ + 2.743849039077759, + -1.5318883657455444, + 2.3964014053344727, + -2.435293436050415, + -1.5707377195358276, + 4.3147077560424805, + 0.007700733374804258, + 0.006993353366851807 + ], + [ + 0.9465645551681519, + -1.5754209756851196, + 2.173737049102783, + -2.169053792953491, + -1.5708215236663818, + 2.674309492111206, + 0.00773986428976059, + 0.00717815151438117 + ] + ], + "joint_vel": [ + [ + 0.018829939886927605, + 0.03333877772092819, + -0.013098353520035744, + -0.019205626100301743, + 0.00012510917440522462, + 0.018883416429162025, + 6.475521331594791e-06, + -6.475013378803851e-06 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + [ + -0.008682954125106335, + -0.019932081922888756, + 0.021081063896417618, + -0.0016063069924712181, + -0.0021575167775154114, + -0.003352686297148466, + -0.00914554949849844, + 0.0003083252813667059 + ], + [ + 0.0001626425510039553, + 5.108706318424083e-05, + -0.00041885822429321706, + -0.0009075797279365361, + 0.0008573774248361588, + 0.003781435079872608, + -0.006954918149858713, + 0.0002729263505898416 + ] + ] + } + }, + "cameras": { + "cameras": { + "camera0": [ + [ + 0.04817098751664162, + 0.0020638182759284973, + -0.03268161043524742, + -0.27412518858909607, + 0.6496587991714478, + 0.6473388075828552, + -0.2893981337547302 + ], + [ + 0.05344310775399208, + -0.0037880796007812023, + -0.03024565987288952, + -0.2776488959789276, + 0.6381821632385254, + 0.6612753868103027, + -0.2799098491668701 + ], + [ + 0.05235227569937706, + -0.004668363370001316, + -0.03130839765071869, + -0.2726859748363495, + 0.6569366455078125, + 0.6382614374160767, + -0.2944468557834625 + ], + [ + 0.052006833255290985, + 0.003531338647007942, + -0.028212158009409904, + -0.26781022548675537, + 0.6450213193893433, + 0.6600773334503174, + -0.2766280770301819 + ] + ], + "camera1": [ + [ + 0.05212201178073883, + 0.5881986618041992, + 1.9551379680633545, + 0.0452609546482563, + 0.02710862085223198, + 0.28588199615478516, + 0.9568113684654236 + ], + [ + 0.039116594940423965, + 0.6017328500747681, + 1.967415690422058, + 0.051729027181863785, + 0.004936817567795515, + 0.2826876938343048, + 0.9578034281730652 + ], + [ + 0.05495515465736389, + 0.560409426689148, + 1.9339650869369507, + 0.031067708507180214, + -0.0020412432495504618, + 0.2695252001285553, + 0.962489902973175 + ], + [ + 0.04976149648427963, + 0.5918372273445129, + 1.9442660808563232, + 0.05959370732307434, + 0.02403578720986843, + 0.2793743312358856, + 0.9580296874046326 + ] + ] + } + } + } +} \ No newline at end of file diff --git a/episodes/c1_p002_e039/wrist.mp4 b/episodes/c1_p002_e039/wrist.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..a195977e49e709e296f6ce140b954835bb7f80e3 --- /dev/null +++ b/episodes/c1_p002_e039/wrist.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:1e1443f52ec56bf287c3c98df9f292e8c4d8396752a67d94b789d2264aa3a667 +size 8745209 diff --git a/episodes/c2_p004_e025/data.npz b/episodes/c2_p004_e025/data.npz new file mode 100644 index 0000000000000000000000000000000000000000..e9945ed7865128335fe2813a8fd2609ffb76ed05 --- /dev/null +++ b/episodes/c2_p004_e025/data.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:3dfbcae42a9d3c761994b30555904f18fda57f05712fb15138e55e301c68ec52 +size 203750 diff --git a/episodes/c2_p004_e025/device_events.jsonl b/episodes/c2_p004_e025/device_events.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..48bbcd3c6a09f34dbb5f9a81b848e2390158405d --- /dev/null +++ b/episodes/c2_p004_e025/device_events.jsonl @@ -0,0 +1,36 @@ +{"env_id": 2, "seq": 1, "step": 121, "t": 0.605, "topic": "conveyor_1.belt.station.pick.captured", "source": "conveyor_1.belt", "data": {"rider": "carrier_4"}, "cause": null} +{"env_id": 2, "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} +{"env_id": 2, "seq": 3, "step": 126, "t": 0.63, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_4"}, "cause": null} +{"env_id": 2, "seq": 4, "step": 1536, "t": 7.68, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_4"}, "cause": null} +{"env_id": 2, "seq": 5, "step": 6299, "t": 31.495, "topic": "a4s_sealer_1.plate_present.present", "source": "a4s_sealer_1.plate_present", "data": {"object": "plate_4"}, "cause": null} +{"env_id": 2, "seq": 6, "step": 6908, "t": 34.54, "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": 6908, "t": 34.54, "topic": "a4s_sealer_1.seal.started", "source": "a4s_sealer_1", "data": {"dwell": 4.068175745501202}, "cause": "task-2-1"} +{"env_id": 2, "seq": 8, "step": 6908, "t": 34.54, "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": 6908, "t": 34.54, "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": 6908, "t": 34.54, "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": 7327, "t": 36.635, "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": 7327, "t": 36.635, "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": 7327, "t": 36.635, "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": 7327, "t": 36.635, "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": 7327, "t": 36.635, "topic": "labware.plate_4.changed", "source": "labware.plate_4", "data": {"key": "sealed", "value": true}, "cause": "task-2-1"} +{"env_id": 2, "seq": 16, "step": 7327, "t": 36.635, "topic": "a4s_sealer_1.sealed", "source": "a4s_sealer_1", "data": {"plate": "plate_4"}, "cause": "task-2-1"} +{"env_id": 2, "seq": 17, "step": 7327, "t": 36.635, "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": 7327, "t": 36.635, "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": 7327, "t": 36.635, "topic": "a4s_sealer_1.heater.started", "source": "a4s_sealer_1.heater", "data": {"duration": 4.068175745501202}, "cause": "program-2-3"} +{"env_id": 2, "seq": 20, "step": 8141, "t": 40.705, "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": 8141, "t": 40.705, "topic": "a4s_sealer_1.heater.finished", "source": "a4s_sealer_1.heater", "data": {"elapsed": 4.070000000002082}, "cause": "program-2-3"} +{"env_id": 2, "seq": 22, "step": 8141, "t": 40.705, "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": 4.070000000002082}}, "cause": "program-2-3"} +{"env_id": 2, "seq": 23, "step": 8141, "t": 40.705, "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": 8141, "t": 40.705, "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": 8141, "t": 40.705, "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": 8561, "t": 42.805, "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": 8561, "t": 42.805, "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": 28, "step": 8561, "t": 42.805, "topic": "a4s_sealer_1.drawer.at_out", "source": "a4s_sealer_1.drawer", "data": {"q": 0.0}, "cause": "program-2-4"} +{"env_id": 2, "seq": 29, "step": 8561, "t": 42.805, "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": 8561, "t": 42.805, "topic": "a4s_sealer_1.seal.finished", "source": "a4s_sealer_1", "data": {}, "cause": "task-2-1"} +{"env_id": 2, "seq": 31, "step": 8561, "t": 42.805, "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": 9143, "t": 45.715, "topic": "a4s_sealer_1.plate_present.absent", "source": "a4s_sealer_1.plate_present", "data": {"object": "plate_4"}, "cause": null} +{"env_id": 2, "seq": 33, "step": 11396, "t": 56.98, "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": 11396, "t": 56.98, "topic": "conveyor_1.belt.station.pick.released", "source": "conveyor_1.belt", "data": {"rider": "carrier_4"}, "cause": "task-2-5"} +{"env_id": 2, "seq": 35, "step": 11396, "t": 56.98, "topic": "conveyor_1.belt.state.changed", "source": "conveyor_1.belt", "data": {"from": "at_station", "to": "running"}, "cause": null} +{"env_id": 2, "seq": 36, "step": 11396, "t": 56.98, "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/c2_p004_e025/env.mp4 b/episodes/c2_p004_e025/env.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..86cc43e94d4018ff35e08ccc9b2752313a2ee773 --- /dev/null +++ b/episodes/c2_p004_e025/env.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:7e983d2f33c2f54bd429685d82da340f24855b90d1cae5856f57531f244156ed +size 1200314 diff --git a/episodes/c2_p004_e025/meta.json b/episodes/c2_p004_e025/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..7a391798d181e0785871a8f4dd46713f32448b7c --- /dev/null +++ b/episodes/c2_p004_e025/meta.json @@ -0,0 +1,32 @@ +{ + "source": "raw/c2_p004/magicsim/25", + "fps": 25, + "frames": 1289, + "kept_ticks": "even", + "video_frames": { + "wrist": 1289, + "env": 1289 + }, + "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": "v1" +} \ No newline at end of file diff --git a/episodes/c2_p004_e025/scene_snapshot.json b/episodes/c2_p004_e025/scene_snapshot.json new file mode 100644 index 0000000000000000000000000000000000000000..77f6f2f3725d464c2e5d1226993fdca5ae2742ac --- /dev/null +++ b/episodes/c2_p004_e025/scene_snapshot.json @@ -0,0 +1,1558 @@ +{ + "trajectory_id": 25, + "env_id": 2, + "run_id": "c2_p004", + "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": "$MAGICSIM_ASSETS/Bio/CAD/plates/pcr_96_blue/pcr_96_blue.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 0.9605 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_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": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_48_clear/plate_48_clear.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.0965 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_96_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": "$MAGICSIM_ASSETS/Bio/CAD/plates/deep_well_24_10ml/deep_well_24_10ml.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.2325 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "a4s_sealer": [ + { + "asset": "$MAGICSIM_ASSETS/Articulated/A4SSealer/Object.usd", + "pose": { + "pos": [ + 0.49597930908203125, + 0.11912250518798828, + 0.8999999761581421 + ], + "ori": [ + 0.7368243932723999, + 0.0, + 0.0, + -0.6760841608047485 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "articulation", + "solver_position_iteration_count": 16.0, + "solver_velocity_iteration_count": 1.0, + "enabled_self_collisions": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "joint_position": [ + 0.0 + ], + "joint_velocity": [ + 0.0 + ], + "linear_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "angular_velocity": [ + 0.0, + 0.0, + 0.0 + ] + } + } + ], + "conveyor": [ + { + "asset": "Cube", + "pose": { + "pos": [ + 0.15, + 0.45, + 0.9 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "conveyor", + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9 + }, + "ratio": 1.0 + }, + "primitive_params": { + "size": [ + 2.4, + 0.076, + 0.03 + ] + }, + "conveyor": { + "speed": 0.25257986403003685, + "direction": [ + 1.0, + 0.0, + 0.0 + ], + "enabled": true, + "drive": "surface_velocity", + "lines": null, + "station_line": null, + "riders": [ + "carrier" + ], + "stations": { + "pick": { + "position": -0.18273403535863467, + "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": 0.25257986403003685, + "holds": [], + "station": "pick", + "rider": "carrier_4", + "arrived": true, + "applied_speed": 0.0 + } + } + } + ], + "carrier": [ + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + -1.317544937133789, + 0.577580451965332, + 0.8999999761581421 + ], + "ori": [ + -0.9009981751441956, + 3.0487210977980794e-08, + -2.8533253981777307e-08, + 0.4338228106498718 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -3.05896712404774e-08, + -1.355796097612938e-08, + -3.725290298461914e-09 + ], + "angular_velocity": [ + 1.0303523367838352e-06, + -1.9453234472166514e-06, + -1.2493295287185902e-07 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + 0.14316844940185547, + 1.1499996185302734, + 0.8999999761581421 + ], + "ori": [ + -1.7396600014762953e-05, + -9.781268017761136e-10, + -7.414131530936174e-10, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -2.661187936681131e-10, + -4.215888749214969e-10, + 3.725290298461914e-09 + ], + "angular_velocity": [ + 5.294151605994557e-08, + -3.7178882195121332e-09, + -7.977853933027745e-09 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + 1.4292373657226562, + 0.46236419677734375, + 0.8999999761581421 + ], + "ori": [ + 0.9941763877868652, + -2.139105781395756e-08, + 1.2899238299723947e-07, + 0.10776542127132416 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 3.418657024134575e-10, + -2.7007490688291114e-10, + 0.0 + ], + "angular_velocity": [ + -4.7007262082843226e-08, + 1.8703062210079224e-08, + 9.083919394470286e-09 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + -0.03280448913574219, + 0.44641971588134766, + 0.8999999761581421 + ], + "ori": [ + 0.9999969601631165, + 5.6967166983667994e-08, + -2.4272065246577768e-08, + 0.0025011689867824316 + ], + "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": [ + 1.3588305591838434e-07, + 3.1944591682986356e-07, + 1.2665987014770508e-07 + ], + "angular_velocity": [ + -1.2640350178116933e-05, + 4.105558673472842e-06, + -1.8879426306739333e-06 + ] + } + } + ], + "plate": [ + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_24_clear/Object.usd", + "pose": { + "pos": [ + -1.3080196380615234, + 0.5753345489501953, + 0.9179999828338623 + ], + "ori": [ + -0.9116398096084595, + 4.09354584007815e-07, + -1.0808726358391141e-07, + 0.41099032759666443 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -2.090634779960965e-06, + -7.095610271790065e-06, + -2.5853514671325684e-06 + ], + "angular_velocity": [ + 0.00011306168744340539, + -0.00011858740617753938, + -4.867940879194066e-05 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_384_black/Object.usd", + "pose": { + "pos": [ + 0.15091991424560547, + 1.1500930786132812, + 0.9180000424385071 + ], + "ori": [ + -0.007377206347882748, + 4.957407817585135e-10, + -6.360278970163336e-10, + 0.9999728202819824 + ], + "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": [ + 1.2060212384312763e-08, + -1.1371286134931324e-08, + -5.297362804412842e-06 + ], + "angular_velocity": [ + -2.9485485697478e-07, + 1.4953114941818058e-06, + 4.745637482983511e-08 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_1536_black/Object.usd", + "pose": { + "pos": [ + 1.4265851974487305, + 0.4662637710571289, + 0.9180000424385071 + ], + "ori": [ + 0.9901040196418762, + -2.0954697532715727e-08, + 1.2811810279345082e-07, + 0.14033561944961548 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 1.8088478270783526e-08, + -7.837483551043078e-09, + -5.509704351425171e-06 + ], + "angular_velocity": [ + 1.2346686162345577e-06, + -8.220033009820327e-07, + -1.7963392906494846e-07 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/deep_well_24_10ml/Object.usd", + "pose": { + "pos": [ + -0.04597759246826172, + 0.4575347900390625, + 0.9179999232292175 + ], + "ori": [ + 0.9987549781799316, + 1.2315520052652573e-06, + -7.014587026787922e-07, + -0.04988464340567589 + ], + "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": [ + 4.432074547366938e-06, + 9.565781510900706e-06, + -7.64802098274231e-06 + ], + "angular_velocity": [ + 0.00025816092966124415, + 6.129621397121809e-06, + 1.1489863027236424e-05 + ] + } + } + ], + "deco_hub_west": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/hub_c.usd", + "pose": { + "pos": [ + -3.36, + 0.0, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_hub_east": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/hub_a.usd", + "pose": { + "pos": [ + 3.36, + 0.0, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_hub_back": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/hub_e.usd", + "pose": { + "pos": [ + -3.0, + -2.1, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_bench_east": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/bench_a.usd", + "pose": { + "pos": [ + 2.6, + -2.5, + 0.0 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_bench_gap": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/bench_b.usd", + "pose": { + "pos": [ + -0.1, + -2.9, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ] + }, + {} + ], + "devices": { + "hub": [ + null, + null, + { + "t": 5.599999999999903, + "step": 1120, + "counter": 0, + "devices": { + "a4s_sealer_1": { + "mode": "auto", + "units": { + "drawer": { + "state": "at_out", + "active": null, + "target": 0.0, + "goal_name": "out", + "profile": null, + "q_start": null, + "reversing": false, + "blocked_for": 0.0, + "settled_for": 0.0, + "last_q": 0.0 + }, + "heater": { + "state": "ready", + "active": null, + "duration": 0.0, + "t_start": null, + "elapsed": 0.0 + } + }, + "queues": {}, + "program": null, + "sensors": { + "plate_present": { + "occupants": [], + "pending": {} + } + }, + "interlocks": {} + }, + "conveyor_1": { + "mode": "auto", + "units": { + "belt": { + "state": "at_station", + "active": null, + "controller": { + "speed": 0.25257986403003685, + "holds": [], + "station": "pick", + "rider": "carrier_4", + "arrived": true, + "settle_count": 998, + "released": { + "pick": [] + }, + "last_pos": { + "carrier_1": [ + -1.4675449430942535, + 0.127580463886261, + 0.0 + ], + "carrier_2": [ + -0.006831556558609009, + 0.6999996304512024, + 0.0 + ], + "carrier_3": [ + 1.2792373597621918, + 0.012364208698272705, + 0.0 + ], + "carrier_4": [ + -0.18280449509620667, + -0.0035802721977233887, + 0.0 + ] + }, + "command": 0.0 + }, + "belt": { + "target_speed": 0.0, + "command_speed": 0.0 + }, + "seen": { + "state": "at_station", + "station": "pick", + "rider": "carrier_4", + "arrived": true + } + } + }, + "queues": {}, + "program": null, + "sensors": {}, + "interlocks": {} + } + }, + "zones": {}, + "labware": { + "plate_1": { + "sealed": false + }, + "plate_2": { + "sealed": false + }, + "plate_3": { + "sealed": false + }, + "plate_4": { + "sealed": false + } + }, + "rules": {}, + "records": [], + "bus": { + "seq": 3, + "queue": [] + } + }, + null + ], + "drives": [ + null, + null, + {}, + null + ] + }, + "artifacts": [ + {}, + {}, + { + "ceiling": { + "type": "rect", + "pose": { + "pos": [ + 0.11078707548304012, + 0.40901081399718886, + 2.8881061367537146 + ], + "ori": [ + -11.19741390567879, + 5.065982338778213, + 0.7889707025285055 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "color_temperature": 6758.613133981591, + "color": [ + 0.845632988775838, + 0.9505230921413061, + 0.8749381592819078 + ], + "intensity": 11394.735758142539, + "width": 2.070771714817111, + "height": 1.8703428635545563 + } + }, + "key": { + "type": "disk", + "pose": { + "pos": [ + 1.5874073817269547, + 0.06542966956787621, + 2.53443816951905 + ], + "ori": [ + 15.769231492091897, + -31.7907837221897, + -20.21153181817292 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "color_temperature": 6584.115185210337, + "color": [ + 0.8818927913142264, + 0.8158110088336147, + 0.763476655534904 + ], + "intensity": 2802.1713422651583, + "radius": 0.26640691305675845 + } + } + }, + {} + ], + "background": { + "type": "dome", + "pose": { + "pos": null, + "ori": null, + "scale": null + }, + "dr": { + "intensity": 1113.8480004500743, + "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": [ + [ + -0.01132151111960411, + -1.9205188751220703, + 2.5254931449890137, + -2.175736427307129, + -1.5707905292510986, + 4.723377704620361, + 0.01799999177455902, + 0.018000006675720215 + ], + [ + 1.6772241592407227, + -1.250364899635315, + 2.1868464946746826, + -2.507598876953125, + -1.5712862014770508, + 0.10331232845783234, + 0.01799999177455902, + 0.017999989911913872 + ], + [ + 0.9141015410423279, + -1.719399333000183, + 2.0905001163482666, + -1.9419007301330566, + -1.5707999467849731, + 2.4849002361297607, + 0.018000001087784767, + 0.01799999736249447 + ], + [ + 0.9109798669815063, + -1.4012587070465088, + 2.0782322883605957, + -2.247800827026367, + -1.5707952976226807, + 2.4404397010803223, + 0.007654869928956032, + 0.007019739598035812 + ] + ], + "joint_vel": [ + [ + -6.720734381815419e-05, + 0.016449211165308952, + 0.015043684281408787, + -0.030547700822353363, + -1.0968778042297345e-05, + 4.1022794903256e-05, + 1.305543491980643e-06, + -1.3056192074145656e-06 + ], + [ + -2.421136445355295e-14, + 3.4059194149449468e-06, + 6.811930234107422e-06, + -5.277410886767031e-12, + -3.405978986847913e-06, + -6.386212021425308e-07, + 1.0396303906645699e-07, + 1.2995126041914773e-07 + ], + [ + 2.1828054204756962e-38, + -2.30427081214245e-38, + -1.890759125967604e-38, + -3.1755927602215796e-37, + 5.299193320579552e-37, + -5.478762656238517e-37, + -2.5990400942532688e-08, + 2.599039028439165e-08 + ], + [ + 0.00023858685744926333, + -0.01465543918311596, + -0.010388285852968693, + 0.0230779480189085, + 0.000617830315604806, + 0.001829120796173811, + -0.008138416334986687, + 0.00021988766093272716 + ] + ] + } + }, + "cameras": { + "cameras": { + "camera0": [ + [ + 0.04931510239839554, + 0.0016258900286629796, + -0.030551595613360405, + -0.27235010266304016, + 0.6550842523574829, + 0.6482079029083252, + -0.2766162157058716 + ], + [ + 0.04310305044054985, + -7.017216557869688e-05, + -0.03267296776175499, + -0.2845763862133026, + 0.6496391892433167, + 0.6502261161804199, + -0.27238065004348755 + ], + [ + 0.04702452942728996, + -0.0013976491754874587, + -0.031462155282497406, + -0.2708049416542053, + 0.6500124931335449, + 0.6540803909301758, + -0.27627384662628174 + ], + [ + 0.051576148718595505, + 0.002480685943737626, + -0.03112511709332466, + -0.28803375363349915, + 0.6480408310890198, + 0.6511802077293396, + -0.27026647329330444 + ] + ], + "camera1": [ + [ + 0.03998029977083206, + 0.5764431953430176, + 1.9523237943649292, + 0.04990966245532036, + 0.009701253846287727, + 0.26734429597854614, + 0.9622587561607361 + ], + [ + 0.05637913942337036, + 0.6043341159820557, + 1.9690872430801392, + 0.022853504866361618, + 0.006928489543497562, + 0.2621304392814636, + 0.9647369384765625 + ], + [ + 0.04193825647234917, + 0.565913736820221, + 1.969712257385254, + 0.041313447058200836, + -0.004954589530825615, + 0.27820146083831787, + 0.9596210718154907 + ], + [ + 0.06238627806305885, + 0.5750213265419006, + 1.9380197525024414, + 0.05472109466791153, + 0.0083863390609622, + 0.2678448259830475, + 0.9618702530860901 + ] + ] + } + } + } +} \ No newline at end of file diff --git a/episodes/c2_p004_e025/wrist.mp4 b/episodes/c2_p004_e025/wrist.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..4f276b9e1a285cb26c655125235fe5b55a2f0f3e --- /dev/null +++ b/episodes/c2_p004_e025/wrist.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:f8957a742ec967c6f3b41e670a94f58698637216f3f557d1f0d98d95964d4bd3 +size 7216064 diff --git a/episodes/c2_p004_e026/data.npz b/episodes/c2_p004_e026/data.npz new file mode 100644 index 0000000000000000000000000000000000000000..62ec9eb565e6b52090a3fcd1d5918f3bf182b55e --- /dev/null +++ b/episodes/c2_p004_e026/data.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:f184dc181730f71ab44496521dbdcca026c34604d9a8ac94590f4efd5ca7b795 +size 204875 diff --git a/episodes/c2_p004_e026/device_events.jsonl b/episodes/c2_p004_e026/device_events.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..ce8028cc76546e25512e3fc860cf1e680f745dbf --- /dev/null +++ b/episodes/c2_p004_e026/device_events.jsonl @@ -0,0 +1,35 @@ +{"env_id": 1, "seq": 1, "step": 94, "t": 0.47, "topic": "conveyor_1.belt.station.pick.captured", "source": "conveyor_1.belt", "data": {"rider": "carrier_2"}, "cause": null} +{"env_id": 1, "seq": 2, "step": 94, "t": 0.47, "topic": "conveyor_1.belt.state.changed", "source": "conveyor_1.belt", "data": {"from": "running", "to": "at_station"}, "cause": null} +{"env_id": 1, "seq": 3, "step": 99, "t": 0.495, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_2"}, "cause": null} +{"env_id": 1, "seq": 4, "step": 5891, "t": 29.455, "topic": "a4s_sealer_1.plate_present.present", "source": "a4s_sealer_1.plate_present", "data": {"object": "plate_2"}, "cause": null} +{"env_id": 1, "seq": 5, "step": 6500, "t": 32.5, "topic": "a4s_sealer_1.command.started", "source": "a4s_sealer_1", "data": {"command_id": "task-1-1", "name": "seal", "source": "task"}, "cause": "task-1-1"} +{"env_id": 1, "seq": 6, "step": 6500, "t": 32.5, "topic": "a4s_sealer_1.seal.started", "source": "a4s_sealer_1", "data": {"dwell": 4.127951566417173}, "cause": "task-1-1"} +{"env_id": 1, "seq": 7, "step": 6500, "t": 32.5, "topic": "a4s_sealer_1.drawer.command.started", "source": "a4s_sealer_1.drawer", "data": {"command_id": "program-1-2", "name": "close", "source": "program:seal"}, "cause": "program-1-2"} +{"env_id": 1, "seq": 8, "step": 6500, "t": 32.5, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "at_out", "to": "moving"}, "cause": null} +{"env_id": 1, "seq": 9, "step": 6500, "t": 32.5, "topic": "a4s_sealer_1.drawer.moving", "source": "a4s_sealer_1.drawer", "data": {"target": 0.3, "goal": "in"}, "cause": "program-1-2"} +{"env_id": 1, "seq": 10, "step": 6919, "t": 34.595, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "moving", "to": "at_in"}, "cause": null} +{"env_id": 1, "seq": 11, "step": 6919, "t": 34.595, "topic": "a4s_sealer_1.drawer.reached", "source": "a4s_sealer_1.drawer", "data": {"position": "in", "q": 0.30000001192092896}, "cause": "program-1-2"} +{"env_id": 1, "seq": 12, "step": 6919, "t": 34.595, "topic": "a4s_sealer_1.drawer.at_in", "source": "a4s_sealer_1.drawer", "data": {"q": 0.30000001192092896}, "cause": "program-1-2"} +{"env_id": 1, "seq": 13, "step": 6919, "t": 34.595, "topic": "a4s_sealer_1.drawer.command.succeeded", "source": "a4s_sealer_1.drawer", "data": {"command_id": "program-1-2", "name": "close", "source": "program:seal", "result": {"position": "in"}}, "cause": "program-1-2"} +{"env_id": 1, "seq": 14, "step": 6919, "t": 34.595, "topic": "labware.plate_2.changed", "source": "labware.plate_2", "data": {"key": "sealed", "value": true}, "cause": "task-1-1"} +{"env_id": 1, "seq": 15, "step": 6919, "t": 34.595, "topic": "a4s_sealer_1.sealed", "source": "a4s_sealer_1", "data": {"plate": "plate_2"}, "cause": "task-1-1"} +{"env_id": 1, "seq": 16, "step": 6919, "t": 34.595, "topic": "a4s_sealer_1.heater.command.started", "source": "a4s_sealer_1.heater", "data": {"command_id": "program-1-3", "name": "run", "source": "program:seal"}, "cause": "program-1-3"} +{"env_id": 1, "seq": 17, "step": 6919, "t": 34.595, "topic": "a4s_sealer_1.heater.state.changed", "source": "a4s_sealer_1.heater", "data": {"from": "ready", "to": "running"}, "cause": null} +{"env_id": 1, "seq": 18, "step": 6919, "t": 34.595, "topic": "a4s_sealer_1.heater.started", "source": "a4s_sealer_1.heater", "data": {"duration": 4.127951566417173}, "cause": "program-1-3"} +{"env_id": 1, "seq": 19, "step": 7745, "t": 38.725, "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": 7745, "t": 38.725, "topic": "a4s_sealer_1.heater.finished", "source": "a4s_sealer_1.heater", "data": {"elapsed": 4.130000000002113}, "cause": "program-1-3"} +{"env_id": 1, "seq": 21, "step": 7745, "t": 38.725, "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": 4.130000000002113}}, "cause": "program-1-3"} +{"env_id": 1, "seq": 22, "step": 7745, "t": 38.725, "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": 7745, "t": 38.725, "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": 7745, "t": 38.725, "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": 8165, "t": 40.825, "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": 8165, "t": 40.825, "topic": "a4s_sealer_1.drawer.reached", "source": "a4s_sealer_1.drawer", "data": {"position": "out", "q": 0.0}, "cause": "program-1-4"} +{"env_id": 1, "seq": 27, "step": 8165, "t": 40.825, "topic": "a4s_sealer_1.drawer.at_out", "source": "a4s_sealer_1.drawer", "data": {"q": 0.0}, "cause": "program-1-4"} +{"env_id": 1, "seq": 28, "step": 8165, "t": 40.825, "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": 8165, "t": 40.825, "topic": "a4s_sealer_1.seal.finished", "source": "a4s_sealer_1", "data": {}, "cause": "task-1-1"} +{"env_id": 1, "seq": 30, "step": 8165, "t": 40.825, "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": 8747, "t": 43.735, "topic": "a4s_sealer_1.plate_present.absent", "source": "a4s_sealer_1.plate_present", "data": {"object": "plate_2"}, "cause": null} +{"env_id": 1, "seq": 32, "step": 11008, "t": 55.04, "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": 11008, "t": 55.04, "topic": "conveyor_1.belt.station.pick.released", "source": "conveyor_1.belt", "data": {"rider": "carrier_2"}, "cause": "task-1-5"} +{"env_id": 1, "seq": 34, "step": 11008, "t": 55.04, "topic": "conveyor_1.belt.state.changed", "source": "conveyor_1.belt", "data": {"from": "at_station", "to": "running"}, "cause": null} +{"env_id": 1, "seq": 35, "step": 11008, "t": 55.04, "topic": "conveyor_1.belt.command.succeeded", "source": "conveyor_1.belt", "data": {"command_id": "task-1-5", "name": "release", "source": "task", "result": {"state": "running"}}, "cause": "task-1-5"} diff --git a/episodes/c2_p004_e026/env.mp4 b/episodes/c2_p004_e026/env.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..f8e747a604885c38a96abe761b19d1d7c1622466 --- /dev/null +++ b/episodes/c2_p004_e026/env.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:22b5efe519ada138b2bdb4700426c7e4faa1dcf8fbebb193b7145358d3dba841 +size 1287113 diff --git a/episodes/c2_p004_e026/meta.json b/episodes/c2_p004_e026/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..f11160ffc7ed74db86f1959be0722e63866d0019 --- /dev/null +++ b/episodes/c2_p004_e026/meta.json @@ -0,0 +1,32 @@ +{ + "source": "raw/c2_p004/magicsim/26", + "fps": 25, + "frames": 1322, + "kept_ticks": "even", + "video_frames": { + "wrist": 1322, + "env": 1322 + }, + "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": "v1" +} \ No newline at end of file diff --git a/episodes/c2_p004_e026/scene_snapshot.json b/episodes/c2_p004_e026/scene_snapshot.json new file mode 100644 index 0000000000000000000000000000000000000000..365ac081aeb501a85176147c83d91cf878b199b3 --- /dev/null +++ b/episodes/c2_p004_e026/scene_snapshot.json @@ -0,0 +1,1558 @@ +{ + "trajectory_id": 26, + "env_id": 1, + "run_id": "c2_p004", + "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/pcr_96_blue/pcr_96_blue.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 0.9605 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_96_black/plate_96_black.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.0285 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/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": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_96_clear/plate_96_clear.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.1645 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_96_white/plate_96_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": [ + 0.5056638717651367, + 0.0655527114868164, + 0.8999999761581421 + ], + "ori": [ + -0.6778824329376221, + 0.0, + 0.0, + 0.735170304775238 + ], + "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": [ + 2.691331749474224e-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": 0.2602818444960451, + "direction": [ + 1.0, + 0.0, + 0.0 + ], + "enabled": true, + "drive": "surface_velocity", + "lines": null, + "station_line": null, + "riders": [ + "carrier" + ], + "stations": { + "pick": { + "position": -0.23359920360236636, + "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": 0.2602818444960451, + "holds": [], + "station": "pick", + "rider": "carrier_2", + "arrived": true, + "applied_speed": 0.0 + } + } + } + ], + "carrier": [ + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + 0.25743675231933594, + 1.1499996185302734, + 0.8999999761581421 + ], + "ori": [ + 4.534546405920992e-06, + -4.050182411674541e-10, + -1.3660078623800587e-09, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -6.417767428601451e-10, + -7.533393908687458e-10, + 0.0 + ], + "angular_velocity": [ + 9.102424769480422e-08, + -3.954661309535368e-08, + -7.3723871452102685e-09 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + -0.0835256576538086, + 0.4499969482421875, + 0.8999999761581421 + ], + "ori": [ + 1.0, + 5.421647575332145e-10, + 2.256379527665331e-09, + 1.2827985074181925e-06 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 4.806466336049198e-10, + 7.035287907797283e-10, + 0.0 + ], + "angular_velocity": [ + -4.043876700166038e-08, + 4.849652768257329e-08, + -7.740116991783452e-09 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + 1.284184455871582, + 0.44988536834716797, + 0.8999999761581421 + ], + "ori": [ + 0.9999996423721313, + -7.107083810353743e-09, + -1.440981378664219e-07, + 0.0008872754988260567 + ], + "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": [ + -1.4759509170403362e-09, + 3.993612551767001e-08, + 1.4901161193847656e-08 + ], + "angular_velocity": [ + -1.2190261031719274e-06, + 2.653202102465002e-07, + -2.118092652381165e-07 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + -1.392848014831543, + 0.855473518371582, + 0.8999999761581421 + ], + "ori": [ + -0.6420952677726746, + -4.9658254397400015e-08, + 8.3936519956751e-08, + 0.7666248679161072 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -2.6642936745702173e-09, + -8.335538925763331e-10, + 7.450580596923828e-09 + ], + "angular_velocity": [ + 3.0137595530277395e-08, + -1.9819495378214924e-07, + -4.0124916722561466e-09 + ] + } + } + ], + "plate": [ + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_12_clear/Object.usd", + "pose": { + "pos": [ + 0.26050281524658203, + 1.1422595977783203, + 0.9179999828338623 + ], + "ori": [ + -0.04296940937638283, + -2.6303654809822774e-09, + 1.2033797291977066e-09, + 0.9990764260292053 + ], + "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": [ + 2.4267208686978847e-08, + 1.4906664347336118e-08, + 9.313225746154785e-08 + ], + "angular_velocity": [ + -8.903147090677521e-07, + 1.4791776266065426e-06, + 8.173943655265248e-08 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_96_white/Object.usd", + "pose": { + "pos": [ + -0.07882881164550781, + 0.4599027633666992, + 0.9180000424385071 + ], + "ori": [ + 0.9999956488609314, + 2.5239841328073e-09, + 2.1267745342612443e-09, + 0.002966218162328005 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -5.818866721796212e-09, + -5.257527746493906e-10, + -5.379319190979004e-06 + ], + "angular_velocity": [ + 8.951566883297346e-07, + -1.6083627087937202e-06, + -4.2009475009763264e-08 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/pcr_384_red/Object.usd", + "pose": { + "pos": [ + 1.2804689407348633, + 0.4515409469604492, + 0.9179999828338623 + ], + "ori": [ + 0.9967266917228699, + 2.570384367572842e-07, + -9.688724844636454e-08, + 0.08084557950496674 + ], + "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": [ + -3.1530294108961243e-06, + 8.450563200312899e-07, + -6.0051679611206055e-06 + ], + "angular_velocity": [ + 5.5476561101386324e-05, + 8.378391612495761e-06, + 3.931302126147784e-05 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/deep_well_96_1ml/Object.usd", + "pose": { + "pos": [ + -1.3838481903076172, + 0.8606643676757812, + 0.9179999828338623 + ], + "ori": [ + -0.6600686311721802, + -4.674645737168248e-08, + 8.612733637392012e-08, + 0.7512053847312927 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -1.3602041804006149e-07, + 7.742373497876542e-08, + 2.421438694000244e-07 + ], + "angular_velocity": [ + -3.7226977838145103e-06, + -4.592004188452847e-06, + -2.1847023390364484e-07 + ] + } + } + ], + "deco_hub_west": [ + { + "asset": "$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": 2.3199999999999728, + "step": 464, + "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": 2.691331749474224e-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": 0.2602818444960451, + "holds": [], + "station": "pick", + "rider": "carrier_2", + "arrived": true, + "settle_count": 369, + "released": { + "pick": [] + }, + "last_pos": { + "carrier_1": [ + 0.10743674635887146, + 0.6999996304512024, + 0.0 + ], + "carrier_2": [ + -0.23352566361427307, + -3.039836883544922e-06, + 0.0 + ], + "carrier_3": [ + 1.1341844499111176, + -0.00011461973190307617, + 0.0 + ], + "carrier_4": [ + -1.5428480207920074, + 0.405473530292511, + 0.0 + ] + }, + "command": 0.0 + }, + "belt": { + "target_speed": 0.0, + "command_speed": 0.0 + }, + "seen": { + "state": "at_station", + "station": "pick", + "rider": "carrier_2", + "arrived": true + } + } + }, + "queues": {}, + "program": null, + "sensors": {}, + "interlocks": {} + } + }, + "zones": {}, + "labware": { + "plate_1": { + "sealed": false + }, + "plate_2": { + "sealed": false + }, + "plate_3": { + "sealed": false + }, + "plate_4": { + "sealed": false + } + }, + "rules": {}, + "records": [], + "bus": { + "seq": 3, + "queue": [] + } + }, + null, + null + ], + "drives": [ + null, + {}, + null, + null + ] + }, + "artifacts": [ + {}, + { + "ceiling": { + "type": "rect", + "pose": { + "pos": [ + -0.13658294978326824, + 0.238824085740724, + 2.756810218740859 + ], + "ori": [ + 0.28688416922557636, + -11.22609396832054, + 2.911977055270242 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "color_temperature": 6725.2829587581855, + "color": [ + 0.9857953316416687, + 0.8092557538312003, + 0.9523194119535272 + ], + "intensity": 14770.740262484123, + "width": 1.5248309676700273, + "height": 0.9407456857438385 + } + }, + "key": { + "type": "disk", + "pose": { + "pos": [ + 1.2346671159339668, + 0.6491764335471162, + 2.1127486460484817 + ], + "ori": [ + -6.084091725104685, + -24.701758708469768, + 23.78995252994003 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "color_temperature": 5585.876759265786, + "color": [ + 0.7581160588848268, + 0.9173409369189051, + 0.9938907935228711 + ], + "intensity": 6378.619302517949, + "radius": 0.2742669046590971 + } + } + }, + {}, + {} + ], + "background": { + "type": "dome", + "pose": { + "pos": null, + "ori": null, + "scale": null + }, + "dr": { + "intensity": 1113.8480004500743, + "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": [ + [ + -0.011214829050004482, + -2.0623269081115723, + 2.364006996154785, + -1.8726589679718018, + -1.5706778764724731, + 4.723184108734131, + 0.0077830166555941105, + 0.007078756112605333 + ], + [ + 0.9140999913215637, + -1.7194000482559204, + 2.0905001163482666, + -1.9419000148773193, + -1.5707999467849731, + 2.4848999977111816, + 0.017999999225139618, + 0.017999999225139618 + ], + [ + 1.064939260482788, + -1.5486286878585815, + 2.14666485786438, + -2.1688010692596436, + -1.5707863569259644, + 2.735671281814575, + 0.007774100638926029, + 0.007267457898706198 + ], + [ + 2.3041329383850098, + -2.4683620929718018, + 2.2918825149536133, + -1.3943250179290771, + -1.5716207027435303, + 3.873812675476074, + 0.007667248602956533, + 0.0070104156620800495 + ] + ], + "joint_vel": [ + [ + -0.00024745595874264836, + 0.0003564664220903069, + 0.002730134641751647, + 0.0001182294508907944, + -0.004372759722173214, + 0.009612295776605606, + -0.005050253123044968, + 0.0001809503446565941 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + [ + 0.0003506271750666201, + 2.5723797079990618e-05, + -0.000383616890758276, + 0.0003926528734154999, + -0.00013262424909044057, + -0.0006441233563236892, + -0.006154767237603664, + 0.0002944345469586551 + ], + [ + 0.014346906915307045, + -0.010791384615004063, + 0.002221350558102131, + 0.007403306197375059, + -0.000596947327721864, + 0.016553055495023727, + -0.008487117476761341, + 0.00028454873245209455 + ] + ] + } + }, + "cameras": { + "cameras": { + "camera0": [ + [ + 0.05185844004154205, + 0.0006534323911182582, + -0.0311395563185215, + -0.2635475993156433, + 0.6553165912628174, + 0.6496299505233765, + -0.2812182605266571 + ], + [ + 0.046269409358501434, + 1.88237368092814e-06, + -0.03317727521061897, + -0.2811017632484436, + 0.6558070778846741, + 0.6460202932357788, + -0.2712133228778839 + ], + [ + 0.047817450016736984, + 0.0020482190884649754, + -0.02991560287773609, + -0.26881474256515503, + 0.6498602032661438, + 0.6547731161117554, + -0.2769342064857483 + ], + [ + 0.052753996104002, + 0.004784891381859779, + -0.029370028525590897, + -0.2879868447780609, + 0.6502543091773987, + 0.6491371989250183, + -0.269914448261261 + ] + ], + "camera1": [ + [ + 0.03998029977083206, + 0.5764431953430176, + 1.9523237943649292, + 0.04990966245532036, + 0.009701253846287727, + 0.26734429597854614, + 0.9622587561607361 + ], + [ + 0.05637913942337036, + 0.6043341159820557, + 1.9690872430801392, + 0.022853504866361618, + 0.006928489543497562, + 0.2621304392814636, + 0.9647369384765625 + ], + [ + 0.04193825647234917, + 0.565913736820221, + 1.969712257385254, + 0.041313447058200836, + -0.004954589530825615, + 0.27820146083831787, + 0.9596210718154907 + ], + [ + 0.06238627806305885, + 0.5750213265419006, + 1.9380197525024414, + 0.05472109466791153, + 0.0083863390609622, + 0.2678448259830475, + 0.9618702530860901 + ] + ] + } + } + } +} \ No newline at end of file diff --git a/episodes/c2_p004_e026/wrist.mp4 b/episodes/c2_p004_e026/wrist.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..078a396e4ae2ea3df728bf24d0b8a0f513b1e1d3 --- /dev/null +++ b/episodes/c2_p004_e026/wrist.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:6b31b217a8cca36a34281ae450c4e018041512135b5030a5ae1c0dc7385b3437 +size 7281820 diff --git a/episodes/c2_p004_e027/data.npz b/episodes/c2_p004_e027/data.npz new file mode 100644 index 0000000000000000000000000000000000000000..58761540e6bdb527da0d48eb39f61eb66983429d --- /dev/null +++ b/episodes/c2_p004_e027/data.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:050ba68851209fc1b36b28768e8e07250488cf701e9777da2afaa413487c33d5 +size 187161 diff --git a/episodes/c2_p004_e027/device_events.jsonl b/episodes/c2_p004_e027/device_events.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..780dea334e02dec03d50762b789a792704a367e3 --- /dev/null +++ b/episodes/c2_p004_e027/device_events.jsonl @@ -0,0 +1,35 @@ +{"env_id": 0, "seq": 1, "step": 74, "t": 0.37, "topic": "conveyor_1.belt.station.pick.captured", "source": "conveyor_1.belt", "data": {"rider": "carrier_3"}, "cause": null} +{"env_id": 0, "seq": 2, "step": 74, "t": 0.37, "topic": "conveyor_1.belt.state.changed", "source": "conveyor_1.belt", "data": {"from": "running", "to": "at_station"}, "cause": null} +{"env_id": 0, "seq": 3, "step": 79, "t": 0.395, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_3"}, "cause": null} +{"env_id": 0, "seq": 4, "step": 6954, "t": 34.77, "topic": "a4s_sealer_1.plate_present.present", "source": "a4s_sealer_1.plate_present", "data": {"object": "plate_3"}, "cause": null} +{"env_id": 0, "seq": 5, "step": 7564, "t": 37.82, "topic": "a4s_sealer_1.command.started", "source": "a4s_sealer_1", "data": {"command_id": "task-0-1", "name": "seal", "source": "task"}, "cause": "task-0-1"} +{"env_id": 0, "seq": 6, "step": 7564, "t": 37.82, "topic": "a4s_sealer_1.seal.started", "source": "a4s_sealer_1", "data": {"dwell": 3.2518528010448726}, "cause": "task-0-1"} +{"env_id": 0, "seq": 7, "step": 7564, "t": 37.82, "topic": "a4s_sealer_1.drawer.command.started", "source": "a4s_sealer_1.drawer", "data": {"command_id": "program-0-2", "name": "close", "source": "program:seal"}, "cause": "program-0-2"} +{"env_id": 0, "seq": 8, "step": 7564, "t": 37.82, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "at_out", "to": "moving"}, "cause": null} +{"env_id": 0, "seq": 9, "step": 7564, "t": 37.82, "topic": "a4s_sealer_1.drawer.moving", "source": "a4s_sealer_1.drawer", "data": {"target": 0.3, "goal": "in"}, "cause": "program-0-2"} +{"env_id": 0, "seq": 10, "step": 7983, "t": 39.915, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "moving", "to": "at_in"}, "cause": null} +{"env_id": 0, "seq": 11, "step": 7983, "t": 39.915, "topic": "a4s_sealer_1.drawer.reached", "source": "a4s_sealer_1.drawer", "data": {"position": "in", "q": 0.30000001192092896}, "cause": "program-0-2"} +{"env_id": 0, "seq": 12, "step": 7983, "t": 39.915, "topic": "a4s_sealer_1.drawer.at_in", "source": "a4s_sealer_1.drawer", "data": {"q": 0.30000001192092896}, "cause": "program-0-2"} +{"env_id": 0, "seq": 13, "step": 7983, "t": 39.915, "topic": "a4s_sealer_1.drawer.command.succeeded", "source": "a4s_sealer_1.drawer", "data": {"command_id": "program-0-2", "name": "close", "source": "program:seal", "result": {"position": "in"}}, "cause": "program-0-2"} +{"env_id": 0, "seq": 14, "step": 7983, "t": 39.915, "topic": "labware.plate_3.changed", "source": "labware.plate_3", "data": {"key": "sealed", "value": true}, "cause": "task-0-1"} +{"env_id": 0, "seq": 15, "step": 7983, "t": 39.915, "topic": "a4s_sealer_1.sealed", "source": "a4s_sealer_1", "data": {"plate": "plate_3"}, "cause": "task-0-1"} +{"env_id": 0, "seq": 16, "step": 7983, "t": 39.915, "topic": "a4s_sealer_1.heater.command.started", "source": "a4s_sealer_1.heater", "data": {"command_id": "program-0-3", "name": "run", "source": "program:seal"}, "cause": "program-0-3"} +{"env_id": 0, "seq": 17, "step": 7983, "t": 39.915, "topic": "a4s_sealer_1.heater.state.changed", "source": "a4s_sealer_1.heater", "data": {"from": "ready", "to": "running"}, "cause": null} +{"env_id": 0, "seq": 18, "step": 7983, "t": 39.915, "topic": "a4s_sealer_1.heater.started", "source": "a4s_sealer_1.heater", "data": {"duration": 3.2518528010448726}, "cause": "program-0-3"} +{"env_id": 0, "seq": 19, "step": 8634, "t": 43.17, "topic": "a4s_sealer_1.heater.state.changed", "source": "a4s_sealer_1.heater", "data": {"from": "running", "to": "ready"}, "cause": null} +{"env_id": 0, "seq": 20, "step": 8634, "t": 43.17, "topic": "a4s_sealer_1.heater.finished", "source": "a4s_sealer_1.heater", "data": {"elapsed": 3.2550000000016652}, "cause": "program-0-3"} +{"env_id": 0, "seq": 21, "step": 8634, "t": 43.17, "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": 3.2550000000016652}}, "cause": "program-0-3"} +{"env_id": 0, "seq": 22, "step": 8634, "t": 43.17, "topic": "a4s_sealer_1.drawer.command.started", "source": "a4s_sealer_1.drawer", "data": {"command_id": "program-0-4", "name": "open", "source": "program:seal"}, "cause": "program-0-4"} +{"env_id": 0, "seq": 23, "step": 8634, "t": 43.17, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "at_in", "to": "moving"}, "cause": null} +{"env_id": 0, "seq": 24, "step": 8634, "t": 43.17, "topic": "a4s_sealer_1.drawer.moving", "source": "a4s_sealer_1.drawer", "data": {"target": 0.0, "goal": "out"}, "cause": "program-0-4"} +{"env_id": 0, "seq": 25, "step": 9054, "t": 45.27, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "moving", "to": "at_out"}, "cause": null} +{"env_id": 0, "seq": 26, "step": 9054, "t": 45.27, "topic": "a4s_sealer_1.drawer.reached", "source": "a4s_sealer_1.drawer", "data": {"position": "out", "q": 6.316238088110993e-10}, "cause": "program-0-4"} +{"env_id": 0, "seq": 27, "step": 9054, "t": 45.27, "topic": "a4s_sealer_1.drawer.at_out", "source": "a4s_sealer_1.drawer", "data": {"q": 6.316238088110993e-10}, "cause": "program-0-4"} +{"env_id": 0, "seq": 28, "step": 9054, "t": 45.27, "topic": "a4s_sealer_1.drawer.command.succeeded", "source": "a4s_sealer_1.drawer", "data": {"command_id": "program-0-4", "name": "open", "source": "program:seal", "result": {"position": "out"}}, "cause": "program-0-4"} +{"env_id": 0, "seq": 29, "step": 9054, "t": 45.27, "topic": "a4s_sealer_1.seal.finished", "source": "a4s_sealer_1", "data": {}, "cause": "task-0-1"} +{"env_id": 0, "seq": 30, "step": 9054, "t": 45.27, "topic": "a4s_sealer_1.command.succeeded", "source": "a4s_sealer_1", "data": {"command_id": "task-0-1", "name": "seal", "source": "task"}, "cause": "task-0-1"} +{"env_id": 0, "seq": 31, "step": 9635, "t": 48.175, "topic": "a4s_sealer_1.plate_present.absent", "source": "a4s_sealer_1.plate_present", "data": {"object": "plate_3"}, "cause": null} +{"env_id": 0, "seq": 32, "step": 11356, "t": 56.78, "topic": "conveyor_1.belt.command.started", "source": "conveyor_1.belt", "data": {"command_id": "task-0-5", "name": "release", "source": "task"}, "cause": "task-0-5"} +{"env_id": 0, "seq": 33, "step": 11356, "t": 56.78, "topic": "conveyor_1.belt.station.pick.released", "source": "conveyor_1.belt", "data": {"rider": "carrier_3"}, "cause": "task-0-5"} +{"env_id": 0, "seq": 34, "step": 11356, "t": 56.78, "topic": "conveyor_1.belt.state.changed", "source": "conveyor_1.belt", "data": {"from": "at_station", "to": "running"}, "cause": null} +{"env_id": 0, "seq": 35, "step": 11356, "t": 56.78, "topic": "conveyor_1.belt.command.succeeded", "source": "conveyor_1.belt", "data": {"command_id": "task-0-5", "name": "release", "source": "task", "result": {"state": "running"}}, "cause": "task-0-5"} diff --git a/episodes/c2_p004_e027/env.mp4 b/episodes/c2_p004_e027/env.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..158994ed37b0c3eeb930badcfa31b601344e38c9 --- /dev/null +++ b/episodes/c2_p004_e027/env.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:5b6cc63ddd42d8a5c26069016cac8e5fd1d66a58eeb5309196fe13ee0844c18c +size 1242962 diff --git a/episodes/c2_p004_e027/meta.json b/episodes/c2_p004_e027/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..8c48cbecbfbfceda1be344ffadbb7111dd782233 --- /dev/null +++ b/episodes/c2_p004_e027/meta.json @@ -0,0 +1,32 @@ +{ + "source": "raw/c2_p004/magicsim/27", + "fps": 25, + "frames": 1224, + "kept_ticks": "even", + "video_frames": { + "wrist": 1224, + "env": 1224 + }, + "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": "v1" +} \ No newline at end of file diff --git a/episodes/c2_p004_e027/scene_snapshot.json b/episodes/c2_p004_e027/scene_snapshot.json new file mode 100644 index 0000000000000000000000000000000000000000..b8a3d714c9035f2535f82cba2c96e0801af124b0 --- /dev/null +++ b/episodes/c2_p004_e027/scene_snapshot.json @@ -0,0 +1,1558 @@ +{ + "trajectory_id": 27, + "env_id": 0, + "run_id": "c2_p004", + "task_type": "BioPlateCell", + "success": true, + "timing": { + "fps": 50.0, + "sim_dt": 0.005, + "decimation": 4 + }, + "restore_interface": { + "scene": "scene_manager.reset_to(snapshot['scene'], env_ids=[env_id])", + "robots": "robot_manager.set_state({'robots': snapshot['robots']}, env_ids=[env_id])" + }, + "snapshot": { + "env_id": 0, + "scene": { + "objects": [ + { + "rac_cell": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/rac_cell.usd", + "pose": { + "pos": [ + 0.0, + 0.0, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "physics_material": { + "static_friction": 0.6, + "dynamic_friction": 0.5, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "robot_mount": [ + { + "asset": "Cube", + "pose": { + "pos": [ + 0.0, + 0.0, + 0.9075 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": "color", + "value": [ + 0.55, + 0.56, + 0.58 + ], + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": { + "size": [ + 0.2, + 0.2, + 0.015 + ] + } + }, + "type_specific": {} + } + ], + "plate_rack": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/plate_hotel.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 0.9 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "physics_material": { + "static_friction": 0.6, + "dynamic_friction": 0.5, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "hotel_plate": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_96_clear/plate_96_clear.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 0.9605 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_12_clear/plate_12_clear.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.0285 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/deep_well_24_10ml/deep_well_24_10ml.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.0965 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/pcr_96_blue/pcr_96_blue.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": [ + 0.48386573791503906, + 0.05235576629638672, + 0.8999999761581421 + ], + "ori": [ + -0.687605082988739, + 0.0, + 0.0, + 0.7260848879814148 + ], + "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": [ + 2.0184997336775146e-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": 0.17938910881360742, + "direction": [ + 1.0, + 0.0, + 0.0 + ], + "enabled": true, + "drive": "surface_velocity", + "lines": null, + "station_line": null, + "riders": [ + "carrier" + ], + "stations": { + "pick": { + "position": -0.12407624897432395, + "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": 0.17938910881360742, + "holds": [], + "station": "pick", + "rider": "carrier_3", + "arrived": true, + "applied_speed": 0.0 + } + } + } + ], + "carrier": [ + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + 1.6564702987670898, + 0.9668502807617188, + 0.8999999761581421 + ], + "ori": [ + 0.5116429328918457, + 1.8229513898404548e-08, + 6.248927597596321e-09, + 0.8591981530189514 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 1.2381575764663921e-08, + -1.9421664276819683e-09, + -1.862645149230957e-08 + ], + "angular_velocity": [ + 9.706807446718813e-08, + 7.531191954512906e-07, + 3.334328724236002e-08 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + -1.3778657913208008, + 0.6802587509155273, + 0.8999999761581421 + ], + "ori": [ + -0.8187666535377502, + 7.630265486113785e-08, + 8.825029595982414e-08, + 0.5741264224052429 + ], + "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": [ + -1.049160314181563e-09, + 6.170075561584554e-10, + 3.725290298461914e-09 + ], + "angular_velocity": [ + -7.941043378423274e-08, + -1.0313152642993373e-07, + 3.0794016225854648e-09 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + 0.026243209838867188, + 0.45000362396240234, + 0.8999999761581421 + ], + "ori": [ + 1.0, + 4.126225583434007e-09, + -3.220211319820976e-10, + 8.094457007246092e-05 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -2.577293933825331e-10, + -1.2581904962338797e-10, + 3.725290298461914e-09 + ], + "angular_velocity": [ + 5.4467559351678574e-08, + -2.550337718787432e-08, + -1.451149334030788e-08 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + -0.012629508972167969, + 1.1500024795532227, + 0.8999999761581421 + ], + "ori": [ + 6.103989107941743e-06, + -4.933742997481616e-11, + 5.692884386121477e-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": [ + 1.8859918071711945e-09, + 2.030862766844166e-08, + 2.2351741790771484e-08 + ], + "angular_velocity": [ + -6.958903213671874e-07, + -1.6869240226924376e-08, + 4.905468031779492e-08 + ] + } + } + ], + "plate": [ + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_6_clear/Object.usd", + "pose": { + "pos": [ + 1.6469602584838867, + 0.9631290435791016, + 0.9179999828338623 + ], + "ori": [ + 0.4960336983203888, + 1.845332953109846e-08, + 2.3769928247929784e-09, + 0.8683032989501953 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 9.409324519538131e-08, + -1.562940354915554e-08, + 7.078051567077637e-08 + ], + "angular_velocity": [ + 6.07692754783784e-07, + 4.409448138176231e-06, + -2.4436520362769443e-08 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_96_black/Object.usd", + "pose": { + "pos": [ + -1.3730497360229492, + 0.6683158874511719, + 0.9180000424385071 + ], + "ori": [ + -0.8502413630485535, + 7.952639435870879e-08, + 8.545298157969228e-08, + 0.5263931155204773 + ], + "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": [ + -1.8093455622647525e-08, + 4.602911474194116e-08, + -5.375593900680542e-06 + ], + "angular_velocity": [ + -1.7061939843188156e-06, + -1.8051716779154958e-06, + 1.2623270606582082e-07 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/pcr_96_blue/Object.usd", + "pose": { + "pos": [ + 0.031258583068847656, + 0.44097137451171875, + 0.9180000424385071 + ], + "ori": [ + 0.9995462894439697, + 4.046682544611713e-09, + -9.835430248017474e-10, + 0.030121516436338425 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -1.3612540428198372e-08, + 9.630891639744732e-09, + -5.6438148021698e-06 + ], + "angular_velocity": [ + 4.522693757280649e-07, + -1.9754540971916867e-06, + 3.642163681760735e-09 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/deep_well_96_2ml/Object.usd", + "pose": { + "pos": [ + -0.02512836456298828, + 1.1385507583618164, + 0.9179999828338623 + ], + "ori": [ + 0.08569613099098206, + -9.42816269500213e-10, + 9.331006189938762e-09, + 0.9963213801383972 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 8.676414608999039e-08, + 1.5954690013586514e-07, + -1.1101365089416504e-06 + ], + "angular_velocity": [ + -3.661902155727148e-06, + 3.14847193294554e-06, + 1.3892639572077314e-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": 8.05999999999986, + "step": 1612, + "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": 2.0184997336775146e-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": 0.17938910881360742, + "holds": [], + "station": "pick", + "rider": "carrier_3", + "arrived": true, + "settle_count": 1537, + "released": { + "pick": [] + }, + "last_pos": { + "carrier_1": [ + 1.5064702928066254, + 0.5168502926826477, + 0.0 + ], + "carrier_2": [ + -1.5278657972812653, + 0.2302587628364563, + 0.0 + ], + "carrier_3": [ + -0.12375679612159729, + 3.635883331298828e-06, + 0.0 + ], + "carrier_4": [ + -0.16262951493263245, + 0.7000024914741516, + 0.0 + ] + }, + "command": 0.0 + }, + "belt": { + "target_speed": 0.0, + "command_speed": 0.0 + }, + "seen": { + "state": "at_station", + "station": "pick", + "rider": "carrier_3", + "arrived": true + } + } + }, + "queues": {}, + "program": null, + "sensors": {}, + "interlocks": {} + } + }, + "zones": {}, + "labware": { + "plate_1": { + "sealed": false + }, + "plate_2": { + "sealed": false + }, + "plate_3": { + "sealed": false + }, + "plate_4": { + "sealed": false + } + }, + "rules": {}, + "records": [], + "bus": { + "seq": 3, + "queue": [] + } + }, + null, + null, + null + ], + "drives": [ + {}, + null, + null, + null + ] + }, + "artifacts": [ + { + "ceiling": { + "type": "rect", + "pose": { + "pos": [ + 0.32606192375096377, + 0.212599030304915, + 2.834553131218842 + ], + "ori": [ + -9.0916893539751, + 7.342763952727346, + -21.030259063982342 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "color_temperature": 4095.6030410228664, + "color": [ + 0.9836343105771647, + 0.8753972255723319, + 0.9797934191353671 + ], + "intensity": 12832.940551216294, + "width": 1.868965052649176, + "height": 1.0011934862465297 + } + }, + "key": { + "type": "sphere", + "pose": { + "pos": [ + -0.05771768562787871, + -0.08699007291173078, + 2.3322518067627342 + ], + "ori": [ + 28.077582908962114, + -28.743249871333596, + -17.17932520237622 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "color_temperature": 6016.232775989161, + "color": [ + 0.8201525901260528, + 0.7799955345640048, + 0.7754279170361305 + ], + "intensity": 4265.2763667359495, + "radius": 0.24680155138315885 + } + } + }, + {}, + {}, + {} + ], + "background": { + "type": "dome", + "pose": { + "pos": null, + "ori": null, + "scale": null + }, + "dr": { + "intensity": 1101.9346955654219, + "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": [ + [ + 0.9141018986701965, + -1.719398856163025, + 2.090501070022583, + -1.9419012069702148, + -1.5707999467849731, + 2.4849002361297607, + 0.017999999225139618, + 0.017999999225139618 + ], + [ + 2.531428098678589, + -2.2523834705352783, + 2.24421763420105, + -1.5625417232513428, + -1.5707308053970337, + 4.100534915924072, + 0.01799999177455902, + 0.018000006675720215 + ], + [ + 2.593778371810913, + -1.8420393466949463, + 2.647331953048706, + -2.3759210109710693, + -1.5708088874816895, + 4.16467809677124, + 0.007833428680896759, + 0.007250070571899414 + ], + [ + 0.5684188604354858, + -2.235023260116577, + 2.4054627418518066, + -1.7409889698028564, + -1.5697908401489258, + 4.253647804260254, + 0.007681200746446848, + 0.00707525759935379 + ] + ], + "joint_vel": [ + [ + -2.5034163433999713e-38, + 1.6805615537219527e-38, + 3.7825148554030356e-38, + 5.29454863274164e-37, + -4.1984695653205855e-38, + 2.771125334595179e-37, + 1.0332924884285166e-37, + -4.0943183372193364e-38 + ], + [ + 6.811904313508421e-06, + -1.5839303338979066e-13, + -1.1840707450985755e-13, + -1.2959663724110282e-13, + -1.8476886687324168e-13, + -1.362391503789695e-05, + 1.0394419547310463e-07, + -1.0393919325224488e-07 + ], + [ + -0.015077963471412659, + -0.02989352121949196, + 0.015717487782239914, + 0.011775446124374866, + -0.0004572556645143777, + -0.014157058671116829, + -0.00689655402675271, + 0.0003916862769983709 + ], + [ + -0.07307727634906769, + 0.00147213414311409, + 0.005355012137442827, + -0.006257710512727499, + 0.0009901156881824136, + 0.0029608288314193487, + -0.007249888032674789, + 1.7689380911178887e-05 + ] + ] + } + }, + "cameras": { + "cameras": { + "camera0": [ + [ + 0.049208592623472214, + 0.003275943687185645, + -0.03156346082687378, + -0.26564741134643555, + 0.654142439365387, + 0.6521368026733398, + -0.2761281132698059 + ], + [ + 0.04618002101778984, + -0.0009729214361868799, + -0.03167914226651192, + -0.2901361882686615, + 0.6522427797317505, + 0.6457610130310059, + -0.2709115147590637 + ], + [ + 0.048968829214572906, + -0.0005161800072528422, + -0.03100522793829441, + -0.269966185092926, + 0.6534445285797119, + 0.6509398221969604, + -0.27641603350639343 + ], + [ + 0.05290256440639496, + 0.0022318672854453325, + -0.030367979779839516, + -0.279902845621109, + 0.6530125141143799, + 0.6482347846031189, + -0.27389904856681824 + ] + ], + "camera1": [ + [ + 0.03998029977083206, + 0.5764431953430176, + 1.9523237943649292, + 0.04990966245532036, + 0.009701253846287727, + 0.26734429597854614, + 0.9622587561607361 + ], + [ + 0.05637913942337036, + 0.6043341159820557, + 1.9690872430801392, + 0.022853504866361618, + 0.006928489543497562, + 0.2621304392814636, + 0.9647369384765625 + ], + [ + 0.04193825647234917, + 0.565913736820221, + 1.969712257385254, + 0.041313447058200836, + -0.004954589530825615, + 0.27820146083831787, + 0.9596210718154907 + ], + [ + 0.06238627806305885, + 0.5750213265419006, + 1.9380197525024414, + 0.05472109466791153, + 0.0083863390609622, + 0.2678448259830475, + 0.9618702530860901 + ] + ] + } + } + } +} \ No newline at end of file diff --git a/episodes/c2_p004_e027/wrist.mp4 b/episodes/c2_p004_e027/wrist.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..eb914bf5713c176d04f4df18e6eb0edf147e84e9 --- /dev/null +++ b/episodes/c2_p004_e027/wrist.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:2fc5fb0d6e9550e80ef17d34ed0aa26a282e4acc0277a257eab2fa431ea89cdb +size 7802983 diff --git a/episodes/c3_p002_e031/data.npz b/episodes/c3_p002_e031/data.npz new file mode 100644 index 0000000000000000000000000000000000000000..6fd13a914c1ec6b70e4759607fc85567efb5c99c --- /dev/null +++ b/episodes/c3_p002_e031/data.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:f3b1aa8e0d8d3e573af3038ef41a0f02f625e9caf0c156e8ee8b5b17c1e88822 +size 188317 diff --git a/episodes/c3_p002_e031/device_events.jsonl b/episodes/c3_p002_e031/device_events.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..97294306f5084989a2aabcdda3c8681a15ac9ad8 --- /dev/null +++ b/episodes/c3_p002_e031/device_events.jsonl @@ -0,0 +1,38 @@ +{"env_id": 1, "seq": 1, "step": 177, "t": 0.885, "topic": "conveyor_1.belt.station.pick.captured", "source": "conveyor_1.belt", "data": {"rider": "carrier_4"}, "cause": null} +{"env_id": 1, "seq": 2, "step": 177, "t": 0.885, "topic": "conveyor_1.belt.state.changed", "source": "conveyor_1.belt", "data": {"from": "running", "to": "at_station"}, "cause": null} +{"env_id": 1, "seq": 3, "step": 182, "t": 0.91, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_4"}, "cause": null} +{"env_id": 1, "seq": 4, "step": 2183, "t": 10.915, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_4"}, "cause": null} +{"env_id": 1, "seq": 5, "step": 2243, "t": 11.215, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_4"}, "cause": null} +{"env_id": 1, "seq": 6, "step": 2318, "t": 11.59, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_4"}, "cause": null} +{"env_id": 1, "seq": 7, "step": 7227, "t": 36.135, "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": 7840, "t": 39.2, "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": 7840, "t": 39.2, "topic": "a4s_sealer_1.seal.started", "source": "a4s_sealer_1", "data": {"dwell": 3.189174748330273}, "cause": "task-1-1"} +{"env_id": 1, "seq": 10, "step": 7840, "t": 39.2, "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": 7840, "t": 39.2, "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": 7840, "t": 39.2, "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": 8259, "t": 41.295, "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": 8259, "t": 41.295, "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": 8259, "t": 41.295, "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": 8259, "t": 41.295, "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": 8259, "t": 41.295, "topic": "labware.plate_4.changed", "source": "labware.plate_4", "data": {"key": "sealed", "value": true}, "cause": "task-1-1"} +{"env_id": 1, "seq": 18, "step": 8259, "t": 41.295, "topic": "a4s_sealer_1.sealed", "source": "a4s_sealer_1", "data": {"plate": "plate_4"}, "cause": "task-1-1"} +{"env_id": 1, "seq": 19, "step": 8259, "t": 41.295, "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": 8259, "t": 41.295, "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": 8259, "t": 41.295, "topic": "a4s_sealer_1.heater.started", "source": "a4s_sealer_1.heater", "data": {"duration": 3.189174748330273}, "cause": "program-1-3"} +{"env_id": 1, "seq": 22, "step": 8897, "t": 44.485, "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": 8897, "t": 44.485, "topic": "a4s_sealer_1.heater.finished", "source": "a4s_sealer_1.heater", "data": {"elapsed": 3.190000000001632}, "cause": "program-1-3"} +{"env_id": 1, "seq": 24, "step": 8897, "t": 44.485, "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": 3.190000000001632}}, "cause": "program-1-3"} +{"env_id": 1, "seq": 25, "step": 8897, "t": 44.485, "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": 8897, "t": 44.485, "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": 8897, "t": 44.485, "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": 9317, "t": 46.585, "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": 9317, "t": 46.585, "topic": "a4s_sealer_1.drawer.reached", "source": "a4s_sealer_1.drawer", "data": {"position": "out", "q": 6.871124225149572e-10}, "cause": "program-1-4"} +{"env_id": 1, "seq": 30, "step": 9317, "t": 46.585, "topic": "a4s_sealer_1.drawer.at_out", "source": "a4s_sealer_1.drawer", "data": {"q": 6.871124225149572e-10}, "cause": "program-1-4"} +{"env_id": 1, "seq": 31, "step": 9317, "t": 46.585, "topic": "a4s_sealer_1.drawer.command.succeeded", "source": "a4s_sealer_1.drawer", "data": {"command_id": "program-1-4", "name": "open", "source": "program:seal", "result": {"position": "out"}}, "cause": "program-1-4"} +{"env_id": 1, "seq": 32, "step": 9317, "t": 46.585, "topic": "a4s_sealer_1.seal.finished", "source": "a4s_sealer_1", "data": {}, "cause": "task-1-1"} +{"env_id": 1, "seq": 33, "step": 9317, "t": 46.585, "topic": "a4s_sealer_1.command.succeeded", "source": "a4s_sealer_1", "data": {"command_id": "task-1-1", "name": "seal", "source": "task"}, "cause": "task-1-1"} +{"env_id": 1, "seq": 34, "step": 9900, "t": 49.5, "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": 11600, "t": 58.0, "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": 11600, "t": 58.0, "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": 11600, "t": 58.0, "topic": "conveyor_1.belt.state.changed", "source": "conveyor_1.belt", "data": {"from": "at_station", "to": "running"}, "cause": null} +{"env_id": 1, "seq": 38, "step": 11600, "t": 58.0, "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/c3_p002_e031/env.mp4 b/episodes/c3_p002_e031/env.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..59152df3531b14015a051e3a672e35371b6c2c39 --- /dev/null +++ b/episodes/c3_p002_e031/env.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:8de5b2ae803cf9721c8afb8834d0efc51299110b8ce6e37e2dfd742328727062 +size 1263249 diff --git a/episodes/c3_p002_e031/meta.json b/episodes/c3_p002_e031/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..8c7aa3c08a192e36c2322241850fd72f1579612b --- /dev/null +++ b/episodes/c3_p002_e031/meta.json @@ -0,0 +1,32 @@ +{ + "source": "raw/c3_p002/magicsim/31", + "fps": 25, + "frames": 1242, + "kept_ticks": "even", + "video_frames": { + "wrist": 1242, + "env": 1242 + }, + "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": "v1" +} \ No newline at end of file diff --git a/episodes/c3_p002_e031/scene_snapshot.json b/episodes/c3_p002_e031/scene_snapshot.json new file mode 100644 index 0000000000000000000000000000000000000000..045e444cea49c890d3aac0cc50f549df7f68fac1 --- /dev/null +++ b/episodes/c3_p002_e031/scene_snapshot.json @@ -0,0 +1,1558 @@ +{ + "trajectory_id": 31, + "env_id": 1, + "run_id": "c3_p002", + "task_type": "BioPlateCell", + "success": true, + "timing": { + "fps": 50.0, + "sim_dt": 0.005, + "decimation": 4 + }, + "restore_interface": { + "scene": "scene_manager.reset_to(snapshot['scene'], env_ids=[env_id])", + "robots": "robot_manager.set_state({'robots': snapshot['robots']}, env_ids=[env_id])" + }, + "snapshot": { + "env_id": 1, + "scene": { + "objects": [ + {}, + { + "rac_cell": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/rac_cell.usd", + "pose": { + "pos": [ + 0.0, + 0.0, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "physics_material": { + "static_friction": 0.6, + "dynamic_friction": 0.5, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "robot_mount": [ + { + "asset": "Cube", + "pose": { + "pos": [ + 0.0, + 0.0, + 0.9075 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": "color", + "value": [ + 0.55, + 0.56, + 0.58 + ], + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": { + "size": [ + 0.2, + 0.2, + 0.015 + ] + } + }, + "type_specific": {} + } + ], + "plate_rack": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/plate_hotel.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 0.9 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "physics_material": { + "static_friction": 0.6, + "dynamic_friction": 0.5, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "hotel_plate": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_6_clear/plate_6_clear.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 0.9605 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/pcr_96_blue/pcr_96_blue.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.0285 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/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": "$MAGICSIM_ASSETS/Bio/CAD/plates/deep_well_96_2ml/deep_well_96_2ml.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.1645 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$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": [ + 0.4803352355957031, + 0.08341693878173828, + 0.8999999761581421 + ], + "ori": [ + 0.7322322726249695, + 0.0, + 0.0, + -0.6810550093650818 + ], + "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": [ + 1.0092504089398435e-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": 0.15968741006536158, + "direction": [ + 1.0, + 0.0, + 0.0 + ], + "enabled": true, + "drive": "surface_velocity", + "lines": null, + "station_line": null, + "riders": [ + "carrier" + ], + "stations": { + "pick": { + "position": -0.12709417040613039, + "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": 0.15968741006536158, + "holds": [], + "station": "pick", + "rider": "carrier_4", + "arrived": true, + "applied_speed": 0.0 + } + } + } + ], + "carrier": [ + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + 1.6900033950805664, + 0.8700809478759766, + 0.8999999761581421 + ], + "ori": [ + 0.6351516246795654, + 3.581493857041096e-08, + 9.917053489516547e-08, + 0.7723875045776367 + ], + "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": [ + 3.1565250413478907e-10, + 5.552253101726023e-10, + 7.450580596923828e-09 + ], + "angular_velocity": [ + -4.194545510927128e-08, + 1.3947054355867294e-07, + -1.976874486331326e-08 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + 0.4391517639160156, + 1.1523523330688477, + 0.8999999761581421 + ], + "ori": [ + -0.012890070676803589, + 1.5137051334601637e-10, + -1.444331321209802e-09, + 0.9999169111251831 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 6.936220486863931e-10, + -2.4359030348364286e-09, + 7.450580596923828e-09 + ], + "angular_velocity": [ + 1.4714160556650313e-07, + 4.7094761868038404e-08, + -2.1727945664906656e-08 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + -1.3934965133666992, + 0.8503150939941406, + 0.8999999761581421 + ], + "ori": [ + -0.6498812437057495, + 1.5916901574541953e-08, + -1.6167751937246067e-07, + 0.7600358128547668 + ], + "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": [ + -4.160931155183789e-08, + -4.267451458872529e-08, + 1.7136335372924805e-07 + ], + "angular_velocity": [ + 4.405668732943013e-06, + -1.8361806723987684e-06, + 3.4177327279394376e-07 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + 0.023245811462402344, + 0.4501018524169922, + 0.8999999761581421 + ], + "ori": [ + 0.9999998807907104, + 7.756822739679592e-09, + -4.4631370599290676e-08, + 0.0005711686098948121 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 3.8821976744429776e-09, + -1.43334268898343e-08, + 2.2351741790771484e-08 + ], + "angular_velocity": [ + 3.8084272091509774e-07, + 2.5447150164836785e-07, + 1.480755429383862e-07 + ] + } + } + ], + "plate": [ + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_12_clear/Object.usd", + "pose": { + "pos": [ + 1.6925086975097656, + 0.8767738342285156, + 0.9179999828338623 + ], + "ori": [ + 0.6230906248092651, + 3.9504861604200414e-08, + 1.0233623726207952e-07, + 0.782149612903595 + ], + "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": [ + 1.354741563375228e-08, + -3.581801877317048e-08, + 1.1548399925231934e-07 + ], + "angular_velocity": [ + 1.6739638795115752e-06, + 1.3130794513926958e-06, + 1.3784763552848744e-08 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_96_white/Object.usd", + "pose": { + "pos": [ + 0.4298114776611328, + 1.1565837860107422, + 0.9180000424385071 + ], + "ori": [ + -0.06056922301650047, + -6.71327105017383e-10, + -7.332840445961608e-10, + 0.9981640577316284 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 2.440083513022273e-08, + -5.474765085722311e-09, + -5.04031777381897e-06 + ], + "angular_velocity": [ + -2.6278982545591134e-08, + 1.3493855703927693e-06, + 6.941711205854517e-08 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/pcr_384_red/Object.usd", + "pose": { + "pos": [ + -1.3915739059448242, + 0.8444881439208984, + 0.9179999828338623 + ], + "ori": [ + -0.7041629552841187, + 1.645812375272726e-09, + -1.589483957786797e-07, + 0.710038423538208 + ], + "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": [ + -1.3875978766009212e-07, + -4.1955537710691715e-08, + -6.027519702911377e-06 + ], + "angular_velocity": [ + -1.7995218513533473e-05, + -3.0930692446418107e-05, + 4.796405619345023e-07 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/deep_well_96_1ml/Object.usd", + "pose": { + "pos": [ + 0.017576217651367188, + 0.45398712158203125, + 0.9179999828338623 + ], + "ori": [ + 0.9960355758666992, + 1.192534071492446e-08, + -4.4731187642810255e-08, + -0.08895574510097504 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -2.7992896889372787e-08, + -1.3525989572826802e-07, + 2.4959444999694824e-07 + ], + "angular_velocity": [ + 2.9007005650782958e-06, + -2.713126832531998e-06, + 1.7128989782122517e-07 + ] + } + } + ], + "deco_hub_west": [ + { + "asset": "$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": 8.599999999999945, + "step": 1720, + "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": 1.0092504089398435e-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": 0.15968741006536158, + "holds": [], + "station": "pick", + "rider": "carrier_4", + "arrived": true, + "settle_count": 1542, + "released": { + "pick": [] + }, + "last_pos": { + "carrier_1": [ + 1.540003389120102, + 0.4200809597969055, + 0.0 + ], + "carrier_2": [ + 0.28915175795555115, + 0.7023523449897766, + 0.0 + ], + "carrier_3": [ + -1.5434965193271637, + 0.4003151059150696, + 0.0 + ], + "carrier_4": [ + -0.12675419449806213, + 0.00010186433792114258, + 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": [ + 0.21836646454811126, + 0.09917814740717223, + 2.868905948007606 + ], + "ori": [ + 1.1320294680404075, + -0.09189945239451092, + 9.838359593148184 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "color_temperature": 3641.532202162559, + "color": [ + 0.9103397243933226, + 0.8613585566620428, + 0.82287704660666 + ], + "intensity": 15908.49146335094, + "width": 2.1011828735470637, + "height": 1.3399745713185984 + } + }, + "key": { + "type": "sphere", + "pose": { + "pos": [ + -0.921539508816895, + 0.6336769833355331, + 1.752916157883865 + ], + "ori": [ + -0.6775602322722136, + -19.555330766751673, + -29.513882665513727 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "color_temperature": 5467.744705727973, + "color": [ + 0.9924518458291449, + 0.784057219735156, + 0.9749724901398538 + ], + "intensity": 4114.139109215008, + "radius": 0.22467123718754667 + } + } + }, + {}, + {} + ], + "background": { + "type": "dome", + "pose": { + "pos": null, + "ori": null, + "scale": null + }, + "dr": { + "intensity": 1303.7342842952153, + "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": [ + [ + -0.3266896605491638, + -2.3360111713409424, + 2.3753597736358643, + -1.6102226972579956, + -1.5698609352111816, + 4.393003940582275, + 0.01799999549984932, + 0.018000002950429916 + ], + [ + 0.9141127467155457, + -1.7193926572799683, + 2.090496301651001, + -1.9419008493423462, + -1.5707999467849731, + 2.4849069118499756, + 0.01799999736249447, + 0.018000001087784767 + ], + [ + -0.3019826114177704, + -2.2759664058685303, + 2.359119176864624, + -1.6537383794784546, + -1.5703972578048706, + 4.391137599945068, + 0.01799999549984932, + 0.018000002950429916 + ], + [ + 2.472142219543457, + -1.97446870803833, + 2.708282232284546, + -2.304553270339966, + -1.570813775062561, + 4.108547687530518, + 0.0077543980441987514, + 0.007132702972739935 + ] + ], + "joint_vel": [ + [ + -2.5544638901919825e-06, + -1.3623708582599647e-05, + -1.3623839549836703e-05, + -6.811940238549141e-06, + 6.811956609453773e-06, + -1.0136164910884427e-12, + 5.198138808282238e-08, + -5.198084096491584e-08 + ], + [ + 0.0, + -2.589601523890112e-38, + -2.7046248662566717e-38, + -6.897009881541282e-37, + 7.45255409720347e-37, + -1.399608117223659e-36, + 2.599039206074849e-08, + -2.5990386731677972e-08 + ], + [ + -8.514883802490658e-07, + 1.6868820576498855e-11, + -6.811944331275299e-06, + 3.405980578463641e-06, + 3.4059771678585093e-06, + -1.0931565982280622e-13, + 5.198019792373998e-08, + -5.198111452386911e-08 + ], + [ + -0.027124810963869095, + -0.0025300325360149145, + -0.003189840354025364, + 0.004827030003070831, + 2.427295839879662e-07, + 0.004626566078513861, + -0.007483979687094688, + 0.0002362149825785309 + ] + ] + } + }, + "cameras": { + "cameras": { + "camera0": [ + [ + 0.051320046186447144, + 0.0016340602887794375, + -0.03123767115175724, + -0.27106937766075134, + 0.6536739468574524, + 0.6499660015106201, + -0.27708473801612854 + ], + [ + 0.04798451066017151, + -0.0029679667204618454, + -0.031346190720796585, + -0.28245827555656433, + 0.6539839506149292, + 0.6441392302513123, + -0.2785802483558655 + ], + [ + 0.05394630879163742, + 0.0009033574024215341, + -0.030260521918535233, + -0.2779790759086609, + 0.6559076905250549, + 0.6361125111579895, + -0.29643484950065613 + ], + [ + 0.051327574998140335, + 0.0016360043082386255, + -0.02935987338423729, + -0.2729197144508362, + 0.6474888920783997, + 0.6539291143417358, + -0.28044548630714417 + ] + ], + "camera1": [ + [ + 0.06312324106693268, + 0.5953021049499512, + 1.9694691896438599, + 0.05890320613980293, + 0.009076894260942936, + 0.28523266315460205, + 0.9566035270690918 + ], + [ + 0.02850279025733471, + 0.57640540599823, + 1.9452507495880127, + 0.03920118883252144, + 0.01786215603351593, + 0.2642171382904053, + 0.9635006785392761 + ], + [ + 0.04766964539885521, + 0.5985108613967896, + 1.9293147325515747, + 0.043881963938474655, + 0.0091064078733325, + 0.25591737031936646, + 0.9656592011451721 + ], + [ + 0.0722062960267067, + 0.5602121949195862, + 1.9302127361297607, + 0.03946986049413681, + -0.005361026152968407, + 0.27387720346450806, + 0.9609394669532776 + ] + ] + } + } + } +} \ No newline at end of file diff --git a/episodes/c3_p002_e031/wrist.mp4 b/episodes/c3_p002_e031/wrist.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..fa3b8e42f4127ed00a2cbcd56b033f20dbe5eba1 --- /dev/null +++ b/episodes/c3_p002_e031/wrist.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:5d0ac4f3e6205676d1b370eaa6b60b29a2804f97e59f04945b51b961a438e984 +size 6440533 diff --git a/episodes/c4_p002_e027/data.npz b/episodes/c4_p002_e027/data.npz new file mode 100644 index 0000000000000000000000000000000000000000..3714548cdfaa6cb457075fff09831ff01554efb5 --- /dev/null +++ b/episodes/c4_p002_e027/data.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:e64b4a0a16c3403846fb952db2702f17bc3975e294475844579e98cc4d26e9f9 +size 192447 diff --git a/episodes/c4_p002_e027/device_events.jsonl b/episodes/c4_p002_e027/device_events.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..9059dad134efbe5adc6b26dd82029428cf0563db --- /dev/null +++ b/episodes/c4_p002_e027/device_events.jsonl @@ -0,0 +1,35 @@ +{"env_id": 0, "seq": 1, "step": 83, "t": 0.415, "topic": "conveyor_1.belt.station.pick.captured", "source": "conveyor_1.belt", "data": {"rider": "carrier_2"}, "cause": null} +{"env_id": 0, "seq": 2, "step": 83, "t": 0.415, "topic": "conveyor_1.belt.state.changed", "source": "conveyor_1.belt", "data": {"from": "running", "to": "at_station"}, "cause": null} +{"env_id": 0, "seq": 3, "step": 88, "t": 0.44, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_2"}, "cause": null} +{"env_id": 0, "seq": 4, "step": 6755, "t": 33.775, "topic": "a4s_sealer_1.plate_present.present", "source": "a4s_sealer_1.plate_present", "data": {"object": "plate_2"}, "cause": null} +{"env_id": 0, "seq": 5, "step": 7368, "t": 36.84, "topic": "a4s_sealer_1.command.started", "source": "a4s_sealer_1", "data": {"command_id": "task-0-1", "name": "seal", "source": "task"}, "cause": "task-0-1"} +{"env_id": 0, "seq": 6, "step": 7368, "t": 36.84, "topic": "a4s_sealer_1.seal.started", "source": "a4s_sealer_1", "data": {"dwell": 3.8479138740994863}, "cause": "task-0-1"} +{"env_id": 0, "seq": 7, "step": 7368, "t": 36.84, "topic": "a4s_sealer_1.drawer.command.started", "source": "a4s_sealer_1.drawer", "data": {"command_id": "program-0-2", "name": "close", "source": "program:seal"}, "cause": "program-0-2"} +{"env_id": 0, "seq": 8, "step": 7368, "t": 36.84, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "at_out", "to": "moving"}, "cause": null} +{"env_id": 0, "seq": 9, "step": 7368, "t": 36.84, "topic": "a4s_sealer_1.drawer.moving", "source": "a4s_sealer_1.drawer", "data": {"target": 0.3, "goal": "in"}, "cause": "program-0-2"} +{"env_id": 0, "seq": 10, "step": 7787, "t": 38.935, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "moving", "to": "at_in"}, "cause": null} +{"env_id": 0, "seq": 11, "step": 7787, "t": 38.935, "topic": "a4s_sealer_1.drawer.reached", "source": "a4s_sealer_1.drawer", "data": {"position": "in", "q": 0.30000001192092896}, "cause": "program-0-2"} +{"env_id": 0, "seq": 12, "step": 7787, "t": 38.935, "topic": "a4s_sealer_1.drawer.at_in", "source": "a4s_sealer_1.drawer", "data": {"q": 0.30000001192092896}, "cause": "program-0-2"} +{"env_id": 0, "seq": 13, "step": 7787, "t": 38.935, "topic": "a4s_sealer_1.drawer.command.succeeded", "source": "a4s_sealer_1.drawer", "data": {"command_id": "program-0-2", "name": "close", "source": "program:seal", "result": {"position": "in"}}, "cause": "program-0-2"} +{"env_id": 0, "seq": 14, "step": 7787, "t": 38.935, "topic": "labware.plate_2.changed", "source": "labware.plate_2", "data": {"key": "sealed", "value": true}, "cause": "task-0-1"} +{"env_id": 0, "seq": 15, "step": 7787, "t": 38.935, "topic": "a4s_sealer_1.sealed", "source": "a4s_sealer_1", "data": {"plate": "plate_2"}, "cause": "task-0-1"} +{"env_id": 0, "seq": 16, "step": 7787, "t": 38.935, "topic": "a4s_sealer_1.heater.command.started", "source": "a4s_sealer_1.heater", "data": {"command_id": "program-0-3", "name": "run", "source": "program:seal"}, "cause": "program-0-3"} +{"env_id": 0, "seq": 17, "step": 7787, "t": 38.935, "topic": "a4s_sealer_1.heater.state.changed", "source": "a4s_sealer_1.heater", "data": {"from": "ready", "to": "running"}, "cause": null} +{"env_id": 0, "seq": 18, "step": 7787, "t": 38.935, "topic": "a4s_sealer_1.heater.started", "source": "a4s_sealer_1.heater", "data": {"duration": 3.8479138740994863}, "cause": "program-0-3"} +{"env_id": 0, "seq": 19, "step": 8557, "t": 42.785, "topic": "a4s_sealer_1.heater.state.changed", "source": "a4s_sealer_1.heater", "data": {"from": "running", "to": "ready"}, "cause": null} +{"env_id": 0, "seq": 20, "step": 8557, "t": 42.785, "topic": "a4s_sealer_1.heater.finished", "source": "a4s_sealer_1.heater", "data": {"elapsed": 3.8500000000019696}, "cause": "program-0-3"} +{"env_id": 0, "seq": 21, "step": 8557, "t": 42.785, "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": 3.8500000000019696}}, "cause": "program-0-3"} +{"env_id": 0, "seq": 22, "step": 8557, "t": 42.785, "topic": "a4s_sealer_1.drawer.command.started", "source": "a4s_sealer_1.drawer", "data": {"command_id": "program-0-4", "name": "open", "source": "program:seal"}, "cause": "program-0-4"} +{"env_id": 0, "seq": 23, "step": 8557, "t": 42.785, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "at_in", "to": "moving"}, "cause": null} +{"env_id": 0, "seq": 24, "step": 8557, "t": 42.785, "topic": "a4s_sealer_1.drawer.moving", "source": "a4s_sealer_1.drawer", "data": {"target": 0.0, "goal": "out"}, "cause": "program-0-4"} +{"env_id": 0, "seq": 25, "step": 8977, "t": 44.885, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "moving", "to": "at_out"}, "cause": null} +{"env_id": 0, "seq": 26, "step": 8977, "t": 44.885, "topic": "a4s_sealer_1.drawer.reached", "source": "a4s_sealer_1.drawer", "data": {"position": "out", "q": 1.3517057473322325e-09}, "cause": "program-0-4"} +{"env_id": 0, "seq": 27, "step": 8977, "t": 44.885, "topic": "a4s_sealer_1.drawer.at_out", "source": "a4s_sealer_1.drawer", "data": {"q": 1.3517057473322325e-09}, "cause": "program-0-4"} +{"env_id": 0, "seq": 28, "step": 8977, "t": 44.885, "topic": "a4s_sealer_1.drawer.command.succeeded", "source": "a4s_sealer_1.drawer", "data": {"command_id": "program-0-4", "name": "open", "source": "program:seal", "result": {"position": "out"}}, "cause": "program-0-4"} +{"env_id": 0, "seq": 29, "step": 8977, "t": 44.885, "topic": "a4s_sealer_1.seal.finished", "source": "a4s_sealer_1", "data": {}, "cause": "task-0-1"} +{"env_id": 0, "seq": 30, "step": 8977, "t": 44.885, "topic": "a4s_sealer_1.command.succeeded", "source": "a4s_sealer_1", "data": {"command_id": "task-0-1", "name": "seal", "source": "task"}, "cause": "task-0-1"} +{"env_id": 0, "seq": 31, "step": 9558, "t": 47.79, "topic": "a4s_sealer_1.plate_present.absent", "source": "a4s_sealer_1.plate_present", "data": {"object": "plate_2"}, "cause": null} +{"env_id": 0, "seq": 32, "step": 11320, "t": 56.6, "topic": "conveyor_1.belt.command.started", "source": "conveyor_1.belt", "data": {"command_id": "task-0-5", "name": "release", "source": "task"}, "cause": "task-0-5"} +{"env_id": 0, "seq": 33, "step": 11320, "t": 56.6, "topic": "conveyor_1.belt.station.pick.released", "source": "conveyor_1.belt", "data": {"rider": "carrier_2"}, "cause": "task-0-5"} +{"env_id": 0, "seq": 34, "step": 11320, "t": 56.6, "topic": "conveyor_1.belt.state.changed", "source": "conveyor_1.belt", "data": {"from": "at_station", "to": "running"}, "cause": null} +{"env_id": 0, "seq": 35, "step": 11320, "t": 56.6, "topic": "conveyor_1.belt.command.succeeded", "source": "conveyor_1.belt", "data": {"command_id": "task-0-5", "name": "release", "source": "task", "result": {"state": "running"}}, "cause": "task-0-5"} diff --git a/episodes/c4_p002_e027/env.mp4 b/episodes/c4_p002_e027/env.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..ae3d490cdda98d8f771248ada2f5b6df4b13af09 --- /dev/null +++ b/episodes/c4_p002_e027/env.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:4e4010749367d2f451608973367656ffe565d50e782a2980d9b3e03f1b3d4b74 +size 1253815 diff --git a/episodes/c4_p002_e027/meta.json b/episodes/c4_p002_e027/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..079dd0ca45c7842246309c1125886d99c06cae1d --- /dev/null +++ b/episodes/c4_p002_e027/meta.json @@ -0,0 +1,32 @@ +{ + "source": "raw/c4_p002/magicsim/27", + "fps": 25, + "frames": 1226, + "kept_ticks": "even", + "video_frames": { + "wrist": 1226, + "env": 1226 + }, + "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": "v1" +} \ No newline at end of file diff --git a/episodes/c4_p002_e027/scene_snapshot.json b/episodes/c4_p002_e027/scene_snapshot.json new file mode 100644 index 0000000000000000000000000000000000000000..22ee07f84e581bf069df11157d56ead73af0d9b0 --- /dev/null +++ b/episodes/c4_p002_e027/scene_snapshot.json @@ -0,0 +1,1558 @@ +{ + "trajectory_id": 27, + "env_id": 0, + "run_id": "c4_p002", + "task_type": "BioPlateCell", + "success": true, + "timing": { + "fps": 50.0, + "sim_dt": 0.005, + "decimation": 4 + }, + "restore_interface": { + "scene": "scene_manager.reset_to(snapshot['scene'], env_ids=[env_id])", + "robots": "robot_manager.set_state({'robots': snapshot['robots']}, env_ids=[env_id])" + }, + "snapshot": { + "env_id": 0, + "scene": { + "objects": [ + { + "rac_cell": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/rac_cell.usd", + "pose": { + "pos": [ + 0.0, + 0.0, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "physics_material": { + "static_friction": 0.6, + "dynamic_friction": 0.5, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "robot_mount": [ + { + "asset": "Cube", + "pose": { + "pos": [ + 0.0, + 0.0, + 0.9075 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": "color", + "value": [ + 0.55, + 0.56, + 0.58 + ], + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": { + "size": [ + 0.2, + 0.2, + 0.015 + ] + } + }, + "type_specific": {} + } + ], + "plate_rack": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/plate_hotel.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 0.9 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "physics_material": { + "static_friction": 0.6, + "dynamic_friction": 0.5, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "hotel_plate": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_48_clear/plate_48_clear.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 0.9605 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/pcr_384_red/pcr_384_red.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.0285 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/deep_well_24_10ml/deep_well_24_10ml.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.0965 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_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": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_12_clear/plate_12_clear.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.2325 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "a4s_sealer": [ + { + "asset": "$MAGICSIM_ASSETS/Articulated/A4SSealer/Object.usd", + "pose": { + "pos": [ + 0.5132904052734375, + 0.09563636779785156, + 0.8999999761581421 + ], + "ori": [ + -0.7040147185325623, + 0.0, + 0.0, + 0.7101854085922241 + ], + "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": [ + 1.6820830752578564e-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": 0.22375608772132027, + "direction": [ + 1.0, + 0.0, + 0.0 + ], + "enabled": true, + "drive": "surface_velocity", + "lines": null, + "station_line": null, + "riders": [ + "carrier" + ], + "stations": { + "pick": { + "position": -0.2037531822379251, + "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": 0.22375608772132027, + "holds": [], + "station": "pick", + "rider": "carrier_2", + "arrived": true, + "applied_speed": 0.0 + } + } + } + ], + "carrier": [ + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + -1.3975419998168945, + 0.7984104156494141, + 0.8999999761581421 + ], + "ori": [ + -0.6997500061988831, + 4.573510636873834e-08, + 2.6781314943491452e-08, + 0.7143878936767578 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -3.987042873632163e-08, + 9.362354376207804e-07, + -2.16066837310791e-06 + ], + "angular_velocity": [ + -8.209004590753466e-05, + 4.368589543446433e-06, + 1.299941686738748e-06 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + -0.054058074951171875, + 0.4500007629394531, + 0.8999999761581421 + ], + "ori": [ + 1.0, + -3.901987355448e-08, + 1.8257653167097487e-08, + 6.327928713290021e-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": [ + -1.6050538675926873e-09, + -2.7178381856174383e-07, + -7.450580596923828e-09 + ], + "angular_velocity": [ + 8.617997082183138e-06, + 4.5293143102753675e-07, + 1.0217227099929005e-06 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + 0.28463077545166016, + 1.1499967575073242, + 0.8999999761581421 + ], + "ori": [ + 1.2774428796547e-05, + -9.848850901494899e-11, + 5.08339192961671e-09, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -2.160564172015711e-09, + -1.1075571570984266e-09, + 3.725290298461914e-09 + ], + "angular_velocity": [ + 4.9847606931052724e-08, + -1.8886005648255377e-07, + -1.4748226639937911e-08 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + 1.4937200546264648, + 0.4844970703125, + 0.8999999761581421 + ], + "ori": [ + 0.9783467650413513, + -2.9046786309550043e-08, + 1.0920087589738614e-07, + 0.2069726139307022 + ], + "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": [ + 1.787906267480821e-09, + -6.807998609303922e-10, + -3.725290298461914e-09 + ], + "angular_velocity": [ + -2.7570841609758645e-08, + 1.5751172099953692e-07, + -2.3574202145937306e-08 + ] + } + } + ], + "plate": [ + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_6_clear/Object.usd", + "pose": { + "pos": [ + -1.4037761688232422, + 0.7870044708251953, + 0.9179999828338623 + ], + "ori": [ + -0.7207708954811096, + 3.4051595321216155e-07, + -3.1014349133329233e-07, + 0.6931734681129456 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -4.057601472595707e-06, + 5.669948222930543e-06, + -1.0345131158828735e-05 + ], + "angular_velocity": [ + -7.029939297353849e-05, + 7.722643204033375e-05, + -2.6417372282594442e-05 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_96_black/Object.usd", + "pose": { + "pos": [ + -0.05164146423339844, + 0.4477252960205078, + 0.9180000424385071 + ], + "ori": [ + 0.9969760179519653, + -4.5502565626520663e-07, + -3.826446715038401e-09, + -0.07771072536706924 + ], + "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": [ + 1.7212470311278594e-06, + -6.273639428400202e-06, + 1.6763806343078613e-07 + ], + "angular_velocity": [ + 8.230800449382514e-05, + -2.9311431717360392e-06, + -4.4985645217821e-05 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/pcr_96_blue/Object.usd", + "pose": { + "pos": [ + 0.27255916595458984, + 1.1553382873535156, + 0.9180000424385071 + ], + "ori": [ + -0.024097967892885208, + -1.1016505069294524e-10, + 4.401431219491769e-09, + 0.9997096657752991 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 1.1912645092593266e-08, + -1.0210175815927869e-08, + -5.554407835006714e-06 + ], + "angular_velocity": [ + -2.725309968809597e-07, + 1.7813730437410413e-06, + 2.488604700090491e-08 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/deep_well_96_2ml/Object.usd", + "pose": { + "pos": [ + 1.484670639038086, + 0.4799461364746094, + 0.9179999828338623 + ], + "ori": [ + 0.9791216254234314, + -2.9528811396062338e-08, + 1.0900173919026201e-07, + 0.20327575504779816 + ], + "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": [ + -2.9581922689203566e-08, + -5.857340923398624e-08, + -5.476176738739014e-07 + ], + "angular_velocity": [ + 2.496607521607075e-06, + -1.4556306950908038e-06, + -6.758854453892127e-08 + ] + } + } + ], + "deco_hub_west": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/hub_d.usd", + "pose": { + "pos": [ + -3.36, + 0.0, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_hub_east": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/hub_e.usd", + "pose": { + "pos": [ + 3.36, + 0.0, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_hub_back": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/hub_b.usd", + "pose": { + "pos": [ + -3.0, + -2.1, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_bench_east": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/bench_a.usd", + "pose": { + "pos": [ + 2.6, + -2.5, + 0.0 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_bench_gap": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/bench_b.usd", + "pose": { + "pos": [ + -0.1, + -2.9, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ] + }, + {}, + {}, + {} + ], + "devices": { + "hub": [ + { + "t": 7.759999999999857, + "step": 1552, + "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": 1.6820830752578564e-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": 0.22375608772132027, + "holds": [], + "station": "pick", + "rider": "carrier_2", + "arrived": true, + "settle_count": 1468, + "released": { + "pick": [] + }, + "last_pos": { + "carrier_1": [ + -1.547542005777359, + 0.348410427570343, + 0.0 + ], + "carrier_2": [ + -0.20405808091163635, + 7.748603820800781e-07, + 0.0 + ], + "carrier_3": [ + 0.13463076949119568, + 0.6999967694282532, + 0.0 + ], + "carrier_4": [ + 1.3437200486660004, + 0.034497082233428955, + 0.0 + ] + }, + "command": 0.0 + }, + "belt": { + "target_speed": 0.0, + "command_speed": 0.0 + }, + "seen": { + "state": "at_station", + "station": "pick", + "rider": "carrier_2", + "arrived": true + } + } + }, + "queues": {}, + "program": null, + "sensors": {}, + "interlocks": {} + } + }, + "zones": {}, + "labware": { + "plate_1": { + "sealed": false + }, + "plate_2": { + "sealed": false + }, + "plate_3": { + "sealed": false + }, + "plate_4": { + "sealed": false + } + }, + "rules": {}, + "records": [], + "bus": { + "seq": 3, + "queue": [] + } + }, + null, + null, + null + ], + "drives": [ + {}, + null, + null, + null + ] + }, + "artifacts": [ + { + "ceiling": { + "type": "rect", + "pose": { + "pos": [ + 0.5600685957973236, + 0.4711882768633354, + 2.841913047835418 + ], + "ori": [ + -6.692123204079847, + -14.638743651763871, + -25.290704837260616 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "color_temperature": 4441.170410295929, + "color": [ + 0.9244524430846665, + 0.8971899093671839, + 0.8358658565937434 + ], + "intensity": 5183.194880916935, + "width": 2.7985938237237082, + "height": 1.2312193043164836 + } + }, + "key": { + "type": "sphere", + "pose": { + "pos": [ + 0.008966497837858967, + 1.2630245709700054, + 2.4431795534380614 + ], + "ori": [ + 31.548501011436358, + 22.222095812502857, + -13.343722432172829 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "color_temperature": 5884.6896507354995, + "color": [ + 0.9232270523837822, + 0.8530677746590566, + 0.7548719457557612 + ], + "intensity": 7042.539905615484, + "radius": 0.15995900242923777 + } + } + }, + {}, + {}, + {} + ], + "background": { + "type": "dome", + "pose": { + "pos": null, + "ori": null, + "scale": null + }, + "dr": { + "intensity": 1281.9173548864014, + "texture": null, + "color": [ + 0.92, + 0.94, + 0.96 + ] + } + } + }, + "robots": { + "UR5e": { + "root_pose": [ + [ + 11.0, + -11.0, + 0.9150000214576721, + 1.0, + 0.0, + 0.0, + 0.0 + ], + [ + 11.0, + 11.0, + 0.9150000214576721, + 1.0, + 0.0, + 0.0, + 0.0 + ], + [ + -11.0, + -11.0, + 0.9150000214576721, + 1.0, + 0.0, + 0.0, + 0.0 + ], + [ + -11.0, + 11.0, + 0.9150000214576721, + 1.0, + 0.0, + 0.0, + 0.0 + ] + ], + "root_vel": [ + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + ], + "joint_pos": [ + [ + 0.9141026139259338, + -1.719398021697998, + 2.0904994010925293, + -1.9419004917144775, + -1.5707999467849731, + 2.4849014282226562, + 0.017999999225139618, + 0.017999999225139618 + ], + [ + 0.8441519737243652, + -1.4624375104904175, + 2.052884817123413, + -2.1612231731414795, + -1.570794939994812, + 2.3848206996917725, + 0.007779399398714304, + 0.007172009442001581 + ], + [ + 2.528719186782837, + -2.2521088123321533, + 2.2436442375183105, + -1.5623050928115845, + -1.5709255933761597, + 4.098512172698975, + 0.017999989911913872, + 0.018000008538365364 + ], + [ + 2.7315571308135986, + -1.7241495847702026, + 2.337141752243042, + -2.1837360858917236, + -1.5708112716674805, + 4.302141189575195, + 0.007674564141780138, + 0.007063743192702532 + ] + ], + "joint_vel": [ + [ + 0.0, + 2.4589974241584175e-38, + 2.154370272037617e-38, + 2.8828355029246275e-37, + -5.873330188474156e-37, + -2.3865632976025734e-36, + -4.915371617591619e-38, + 5.876202738222145e-38 + ], + [ + 0.0019999213982373476, + -0.001192808267660439, + -0.00018604686192702502, + 0.0009238870698027313, + 0.0005672010011039674, + 0.003265676088631153, + -0.0074393306858837605, + 0.0003346042358316481 + ], + [ + -6.75388022418344e-14, + -2.171267332595761e-11, + 6.8119352363282815e-06, + 6.811951607232913e-06, + 3.183843163070965e-13, + 9.408392034199187e-14, + 1.2995157305795146e-07, + -1.2995140252769488e-07 + ], + [ + -0.00850051362067461, + -0.022829268127679825, + 0.017550844699144363, + 0.004666748456656933, + 0.0012267323909327388, + -0.011981488205492496, + -0.007704412564635277, + 0.00026321306359022856 + ] + ] + } + }, + "cameras": { + "cameras": { + "camera0": [ + [ + 0.05101523920893669, + -0.004314193036407232, + -0.03224269673228264, + -0.2833104431629181, + 0.652968168258667, + 0.6418892741203308, + -0.28521206974983215 + ], + [ + 0.05312708392739296, + 0.0018685403047129512, + -0.03209296986460686, + -0.27744296193122864, + 0.6545644402503967, + 0.64552903175354, + -0.27903953194618225 + ], + [ + 0.04826899245381355, + -0.004114770330488682, + -0.028259646147489548, + -0.2914310693740845, + 0.6375969648361206, + 0.6596496105194092, + -0.2709251940250397 + ], + [ + 0.05035678669810295, + 0.004302717745304108, + -0.026685824617743492, + -0.28014811873435974, + 0.6554460525512695, + 0.6466073393821716, + -0.27167338132858276 + ] + ], + "camera1": [ + [ + 0.06799137592315674, + 0.5805333852767944, + 1.956607460975647, + 0.044886380434036255, + 0.01054947916418314, + 0.2796475887298584, + 0.9589948654174805 + ], + [ + 0.045494578778743744, + 0.5663745403289795, + 1.9324513673782349, + 0.04075014591217041, + 0.01848364807665348, + 0.28104737401008606, + 0.9586501717567444 + ], + [ + 0.05816757678985596, + 0.5959747433662415, + 1.9697424173355103, + 0.052000969648361206, + 0.025135990232229233, + 0.266117662191391, + 0.96220862865448 + ], + [ + 0.02519400417804718, + 0.5662321448326111, + 1.9400368928909302, + 0.02740968018770218, + 0.018826903775334358, + 0.2785038948059082, + 0.9598592519760132 + ] + ] + } + } + } +} \ No newline at end of file diff --git a/episodes/c4_p002_e027/wrist.mp4 b/episodes/c4_p002_e027/wrist.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..41271a60991c91f13b9afe520a99a1bf0b53d551 --- /dev/null +++ b/episodes/c4_p002_e027/wrist.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:bb09e470b43da4f62ab1c3e8e3160c301f8c3ea48b672f110a653895098b22a2 +size 6534569 diff --git a/episodes/c5_p002_e036/data.npz b/episodes/c5_p002_e036/data.npz new file mode 100644 index 0000000000000000000000000000000000000000..94565725cd31271eae926cc7294dcc6b80622e66 --- /dev/null +++ b/episodes/c5_p002_e036/data.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:fe96bd18c6e92b5729b05bcc91961b7d03ebfb7a96f7a03544443297c46723af +size 191043 diff --git a/episodes/c5_p002_e036/device_events.jsonl b/episodes/c5_p002_e036/device_events.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..ff14af60607b10727b9d481ef2e54fd4c4c9cdff --- /dev/null +++ b/episodes/c5_p002_e036/device_events.jsonl @@ -0,0 +1,35 @@ +{"env_id": 1, "seq": 1, "step": 43, "t": 0.215, "topic": "conveyor_1.belt.station.pick.captured", "source": "conveyor_1.belt", "data": {"rider": "carrier_1"}, "cause": null} +{"env_id": 1, "seq": 2, "step": 43, "t": 0.215, "topic": "conveyor_1.belt.state.changed", "source": "conveyor_1.belt", "data": {"from": "running", "to": "at_station"}, "cause": null} +{"env_id": 1, "seq": 3, "step": 48, "t": 0.24, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_1"}, "cause": null} +{"env_id": 1, "seq": 4, "step": 6062, "t": 30.31, "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": 6676, "t": 33.38, "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": 6676, "t": 33.38, "topic": "a4s_sealer_1.seal.started", "source": "a4s_sealer_1", "data": {"dwell": 2.780089984441803}, "cause": "task-1-1"} +{"env_id": 1, "seq": 7, "step": 6676, "t": 33.38, "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": 6676, "t": 33.38, "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": 6676, "t": 33.38, "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": 7095, "t": 35.475, "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": 7095, "t": 35.475, "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": 7095, "t": 35.475, "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": 7095, "t": 35.475, "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": 7095, "t": 35.475, "topic": "labware.plate_1.changed", "source": "labware.plate_1", "data": {"key": "sealed", "value": true}, "cause": "task-1-1"} +{"env_id": 1, "seq": 15, "step": 7095, "t": 35.475, "topic": "a4s_sealer_1.sealed", "source": "a4s_sealer_1", "data": {"plate": "plate_1"}, "cause": "task-1-1"} +{"env_id": 1, "seq": 16, "step": 7095, "t": 35.475, "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": 7095, "t": 35.475, "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": 7095, "t": 35.475, "topic": "a4s_sealer_1.heater.started", "source": "a4s_sealer_1.heater", "data": {"duration": 2.780089984441803}, "cause": "program-1-3"} +{"env_id": 1, "seq": 19, "step": 7652, "t": 38.26, "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": 7652, "t": 38.26, "topic": "a4s_sealer_1.heater.finished", "source": "a4s_sealer_1.heater", "data": {"elapsed": 2.785000000001425}, "cause": "program-1-3"} +{"env_id": 1, "seq": 21, "step": 7652, "t": 38.26, "topic": "a4s_sealer_1.heater.command.succeeded", "source": "a4s_sealer_1.heater", "data": {"command_id": "program-1-3", "name": "run", "source": "program:seal", "result": {"elapsed": 2.785000000001425}}, "cause": "program-1-3"} +{"env_id": 1, "seq": 22, "step": 7652, "t": 38.26, "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": 7652, "t": 38.26, "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": 7652, "t": 38.26, "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": 8072, "t": 40.36, "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": 8072, "t": 40.36, "topic": "a4s_sealer_1.drawer.reached", "source": "a4s_sealer_1.drawer", "data": {"position": "out", "q": 0.0}, "cause": "program-1-4"} +{"env_id": 1, "seq": 27, "step": 8072, "t": 40.36, "topic": "a4s_sealer_1.drawer.at_out", "source": "a4s_sealer_1.drawer", "data": {"q": 0.0}, "cause": "program-1-4"} +{"env_id": 1, "seq": 28, "step": 8072, "t": 40.36, "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": 8072, "t": 40.36, "topic": "a4s_sealer_1.seal.finished", "source": "a4s_sealer_1", "data": {}, "cause": "task-1-1"} +{"env_id": 1, "seq": 30, "step": 8072, "t": 40.36, "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": 8651, "t": 43.255, "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": 10368, "t": 51.84, "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": 10368, "t": 51.84, "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": 10368, "t": 51.84, "topic": "conveyor_1.belt.state.changed", "source": "conveyor_1.belt", "data": {"from": "at_station", "to": "running"}, "cause": null} +{"env_id": 1, "seq": 35, "step": 10368, "t": 51.84, "topic": "conveyor_1.belt.command.succeeded", "source": "conveyor_1.belt", "data": {"command_id": "task-1-5", "name": "release", "source": "task", "result": {"state": "running"}}, "cause": "task-1-5"} diff --git a/episodes/c5_p002_e036/env.mp4 b/episodes/c5_p002_e036/env.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..f7e6486e76ee4262ca34d9715e0186b4b39d88de --- /dev/null +++ b/episodes/c5_p002_e036/env.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:d5ddbb12ebf0e3e0d8bfcdfe792a264700bbed6280a7836ddd003c13938d3c44 +size 1387001 diff --git a/episodes/c5_p002_e036/meta.json b/episodes/c5_p002_e036/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..7d8ffcb4714b80439f55f077389fc620f6da6ef1 --- /dev/null +++ b/episodes/c5_p002_e036/meta.json @@ -0,0 +1,32 @@ +{ + "source": "raw/c5_p002/magicsim/36", + "fps": 25, + "frames": 1207, + "kept_ticks": "even", + "video_frames": { + "wrist": 1207, + "env": 1207 + }, + "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": "v1" +} \ No newline at end of file diff --git a/episodes/c5_p002_e036/scene_snapshot.json b/episodes/c5_p002_e036/scene_snapshot.json new file mode 100644 index 0000000000000000000000000000000000000000..dc9f7e256a6d8eeb824c094196fae9a122d07813 --- /dev/null +++ b/episodes/c5_p002_e036/scene_snapshot.json @@ -0,0 +1,1558 @@ +{ + "trajectory_id": 36, + "env_id": 1, + "run_id": "c5_p002", + "task_type": "BioPlateCell", + "success": true, + "timing": { + "fps": 50.0, + "sim_dt": 0.005, + "decimation": 4 + }, + "restore_interface": { + "scene": "scene_manager.reset_to(snapshot['scene'], env_ids=[env_id])", + "robots": "robot_manager.set_state({'robots': snapshot['robots']}, env_ids=[env_id])" + }, + "snapshot": { + "env_id": 1, + "scene": { + "objects": [ + {}, + { + "rac_cell": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/rac_cell.usd", + "pose": { + "pos": [ + 0.0, + 0.0, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "physics_material": { + "static_friction": 0.6, + "dynamic_friction": 0.5, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "robot_mount": [ + { + "asset": "Cube", + "pose": { + "pos": [ + 0.0, + 0.0, + 0.9075 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": "color", + "value": [ + 0.55, + 0.56, + 0.58 + ], + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": { + "size": [ + 0.2, + 0.2, + 0.015 + ] + } + }, + "type_specific": {} + } + ], + "plate_rack": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/plate_hotel.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 0.9 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "physics_material": { + "static_friction": 0.6, + "dynamic_friction": 0.5, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "hotel_plate": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_12_clear/plate_12_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": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_96_black/plate_96_black.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.0285 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/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_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": [ + 0.49652099609375, + 0.10860252380371094, + 0.8999999761581421 + ], + "ori": [ + 0.7361019253730774, + 0.0, + 0.0, + -0.6768707036972046 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "articulation", + "solver_position_iteration_count": 16.0, + "solver_velocity_iteration_count": 1.0, + "enabled_self_collisions": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "joint_position": [ + 0.0 + ], + "joint_velocity": [ + 0.0 + ], + "linear_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "angular_velocity": [ + 0.0, + 0.0, + 0.0 + ] + } + } + ], + "conveyor": [ + { + "asset": "Cube", + "pose": { + "pos": [ + 0.15, + 0.45, + 0.9 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "conveyor", + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9 + }, + "ratio": 1.0 + }, + "primitive_params": { + "size": [ + 2.4, + 0.076, + 0.03 + ] + }, + "conveyor": { + "speed": 0.21297817410138803, + "direction": [ + 1.0, + 0.0, + 0.0 + ], + "enabled": true, + "drive": "surface_velocity", + "lines": null, + "station_line": null, + "riders": [ + "carrier" + ], + "stations": { + "pick": { + "position": -0.06011179313662307, + "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": 0.21297817410138803, + "holds": [], + "station": "pick", + "rider": "carrier_1", + "arrived": true, + "applied_speed": 0.0 + } + } + } + ], + "carrier": [ + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + 0.09047222137451172, + 0.44999217987060547, + 0.8999999761581421 + ], + "ori": [ + 1.0, + 7.45243367017423e-10, + -3.703588546954961e-10, + 5.694726132787764e-05 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 6.542849595447819e-10, + 3.0135849371504264e-10, + 0.0 + ], + "angular_velocity": [ + -7.15981727239523e-08, + 4.344665072153475e-08, + -8.82131256929597e-09 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + -0.22611331939697266, + 1.1499967575073242, + 0.8999999761581421 + ], + "ori": [ + 5.6651453633094206e-05, + -2.895432338334558e-09, + 7.148135416912282e-10, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -1.6466694674477367e-10, + -3.7593417268055873e-10, + 0.0 + ], + "angular_velocity": [ + 4.159754851684738e-08, + -3.6741525377692597e-09, + -5.0729043188368905e-09 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + -1.3987083435058594, + 0.8120574951171875, + 0.8999999761581421 + ], + "ori": [ + -0.6938209533691406, + -2.938181253853145e-09, + -6.350274617261675e-08, + 0.7201475501060486 + ], + "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": [ + -1.7570727095517213e-08, + 3.3660338960572744e-09, + 0.0 + ], + "angular_velocity": [ + 9.117982102679889e-08, + -3.849978611469851e-07, + -1.6862047402810276e-07 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + 1.5800743103027344, + 1.0623464584350586, + 0.8999999761581421 + ], + "ori": [ + 0.35355323553085327, + -2.722275027622345e-08, + -8.073793189566913e-09, + 0.9354144334793091 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -3.5825822308765964e-09, + 1.4829697470020164e-09, + 2.60770320892334e-08 + ], + "angular_velocity": [ + -6.80648994944022e-08, + -3.776744676997623e-07, + 2.9187996020141327e-08 + ] + } + } + ], + "plate": [ + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_12_clear/Object.usd", + "pose": { + "pos": [ + 0.1009206771850586, + 0.46193790435791016, + 0.9179999828338623 + ], + "ori": [ + 0.9964250326156616, + -1.515012337804933e-09, + -6.027566779032156e-10, + 0.08448255807161331 + ], + "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": [ + -3.208820942290913e-08, + -3.1728479399362186e-08, + 1.0058283805847168e-07 + ], + "angular_velocity": [ + 1.4333653552967007e-06, + -1.6928885315792286e-06, + 9.204195805523341e-08 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_96_white/Object.usd", + "pose": { + "pos": [ + -0.22101116180419922, + 1.149393081665039, + 0.9180000424385071 + ], + "ori": [ + -0.07087813317775726, + -3.4564766604461283e-09, + 1.4538560355603636e-09, + 0.9974849820137024 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 1.28044712610631e-08, + -5.028098826187488e-09, + -5.602836608886719e-06 + ], + "angular_velocity": [ + -4.018795323190716e-07, + 1.149174636339012e-06, + 6.146893838376855e-08 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/pcr_384_red/Object.usd", + "pose": { + "pos": [ + -1.405106544494629, + 0.8124933242797852, + 0.9179999828338623 + ], + "ori": [ + -0.7351582050323486, + 6.597758783755125e-08, + -1.318395277394302e-07, + 0.6778956055641174 + ], + "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": [ + -1.8478026504453737e-06, + 8.283248007501243e-07, + -5.144625902175903e-06 + ], + "angular_velocity": [ + 1.8262930097989738e-05, + 1.3387161743594334e-05, + -1.6175457858480513e-05 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/deep_well_96_1ml/Object.usd", + "pose": { + "pos": [ + 1.580784797668457, + 1.0519485473632812, + 0.9179999828338623 + ], + "ori": [ + 0.3174951672554016, + -2.6299270317053924e-08, + -3.5866303260689847e-09, + 0.9482599496841431 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 4.7359485222386866e-08, + 2.7083329356969443e-08, + 3.0174851417541504e-07 + ], + "angular_velocity": [ + -6.754369792361103e-07, + 3.836164978565648e-06, + 5.504224986907502e-08 + ] + } + } + ], + "deco_hub_west": [ + { + "asset": "$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": 3.759999999999942, + "step": 752, + "counter": 0, + "devices": { + "a4s_sealer_1": { + "mode": "auto", + "units": { + "drawer": { + "state": "at_out", + "active": null, + "target": 0.0, + "goal_name": "out", + "profile": null, + "q_start": null, + "reversing": false, + "blocked_for": 0.0, + "settled_for": 0.0, + "last_q": 0.0 + }, + "heater": { + "state": "ready", + "active": null, + "duration": 0.0, + "t_start": null, + "elapsed": 0.0 + } + }, + "queues": {}, + "program": null, + "sensors": { + "plate_present": { + "occupants": [], + "pending": {} + } + }, + "interlocks": {} + }, + "conveyor_1": { + "mode": "auto", + "units": { + "belt": { + "state": "at_station", + "active": null, + "controller": { + "speed": 0.21297817410138803, + "holds": [], + "station": "pick", + "rider": "carrier_1", + "arrived": true, + "settle_count": 708, + "released": { + "pick": [] + }, + "last_pos": { + "carrier_1": [ + -0.05952778458595276, + -7.808208465576172e-06, + 0.0 + ], + "carrier_2": [ + -0.37611332535743713, + 0.6999967694282532, + 0.0 + ], + "carrier_3": [ + -1.5487083494663239, + 0.36205750703811646, + 0.0 + ], + "carrier_4": [ + 1.43007430434227, + 0.6123464703559875, + 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": [ + 0.7741660326045549, + -0.3669238229449231, + 2.7920895122846416 + ], + "ori": [ + -10.842551003973842, + 3.5262427196881774, + 0.5147353552109344 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "color_temperature": 6459.610601640443, + "color": [ + 0.8743736205520717, + 0.9903563226702664, + 0.8517765105357933 + ], + "intensity": 8802.76928861708, + "width": 1.4794841540577623, + "height": 1.71064331360092 + } + }, + "key": { + "type": "disk", + "pose": { + "pos": [ + -1.0059498553455317, + -0.09968409524210853, + 1.9455591130022283 + ], + "ori": [ + -10.522626000129325, + 0.0507807316846538, + 8.224659586147183 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "color_temperature": 4356.184362140162, + "color": [ + 0.8283616472615322, + 0.8809617133944778, + 0.8790800563239025 + ], + "intensity": 2290.364701373542, + "radius": 0.19210653716532655 + } + } + }, + {}, + {} + ], + "background": { + "type": "dome", + "pose": { + "pos": null, + "ori": null, + "scale": null + }, + "dr": { + "intensity": 586.444541339937, + "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": [ + [ + 1.1664180755615234, + -1.6266103982925415, + 2.2140278816223145, + -2.1586105823516846, + -1.571091890335083, + 5.8704400062561035, + 0.007738937623798847, + 0.006970683578401804 + ], + [ + 0.9141024947166443, + -1.7193981409072876, + 2.0904994010925293, + -1.9419004917144775, + -1.5707999467849731, + 2.484901189804077, + 0.01799999736249447, + 0.018000001087784767 + ], + [ + -0.1008695438504219, + -2.2237656116485596, + 2.424467086791992, + -1.7714883089065552, + -1.5709476470947266, + 4.533915996551514, + 0.007587863132357597, + 0.007374106906354427 + ], + [ + 0.01155458390712738, + -2.2475578784942627, + 2.4354140758514404, + -1.7586055994033813, + -1.5708096027374268, + 4.808024883270264, + 0.007766141090542078, + 0.006997346878051758 + ] + ], + "joint_vel": [ + [ + 0.058933649212121964, + 0.02488706260919571, + -0.005985638126730919, + -0.015474848449230194, + 0.0008930860203690827, + 0.047030095010995865, + -0.006900844629853964, + 0.0002980188583023846 + ], + [ + 2.3949575238193877e-38, + -2.2584774993670864e-38, + -1.6030607803346186e-38, + -6.438668247259326e-37, + 6.344184857523147e-37, + -1.402543265776646e-37, + 2.5990374297180097e-08, + -2.5990399166175848e-08 + ], + [ + 0.04005836695432663, + 0.020997682586312294, + -0.005318264476954937, + -0.012074939906597137, + 0.003906698897480965, + 0.033382002264261246, + -0.0068723829463124275, + 0.00015866599278524518 + ], + [ + -0.00020338721515145153, + -0.0001269294589292258, + -0.0003269932058174163, + 7.048108091112226e-05, + -0.00035941562964580953, + 0.0006686446722596884, + -0.009483049623668194, + 0.0003590417327359319 + ] + ] + } + }, + "cameras": { + "cameras": { + "camera0": [ + [ + 0.05398598685860634, + 0.0015855083474889398, + -0.028928536921739578, + -0.2780775725841522, + 0.6591693758964539, + 0.6385731101036072, + -0.2835366129875183 + ], + [ + 0.05041011422872543, + -0.0001979977823793888, + -0.031253471970558167, + -0.29151713848114014, + 0.6407113075256348, + 0.6525055170059204, + -0.28061234951019287 + ], + [ + 0.05130283161997795, + 0.0019578803330659866, + -0.0309224221855402, + -0.2827109098434448, + 0.6437791585922241, + 0.6569834351539612, + -0.27202144265174866 + ], + [ + 0.05162498727440834, + -0.001039224793203175, + -0.027757976204156876, + -0.2874537408351898, + 0.6419859528541565, + 0.6467637419700623, + -0.2948237657546997 + ] + ], + "camera1": [ + [ + 0.07443199306726456, + 0.5711514949798584, + 1.9457330703735352, + 0.028810692951083183, + 0.013910607434809208, + 0.25922948122024536, + 0.9652857184410095 + ], + [ + 0.071715347468853, + 0.5762608051300049, + 1.9273816347122192, + 0.04316096752882004, + -0.0023767882958054543, + 0.26077377796173096, + 0.9644317030906677 + ], + [ + 0.06040199473500252, + 0.5785200595855713, + 1.9273682832717896, + 0.04209756478667259, + 0.0047531770542263985, + 0.28721940517425537, + 0.956927478313446 + ], + [ + 0.051940519362688065, + 0.5903128385543823, + 1.9534716606140137, + 0.039640896022319794, + 0.0017979292897507548, + 0.26010236144065857, + 0.9647653102874756 + ] + ] + } + } + } +} \ No newline at end of file diff --git a/episodes/c5_p002_e036/wrist.mp4 b/episodes/c5_p002_e036/wrist.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..d2f04269203da23560d4211714e674394de3e454 --- /dev/null +++ b/episodes/c5_p002_e036/wrist.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:9945a1090d07b28266af5fa88213673d83486fb2f6a8b7591463b0b7353fbfaa +size 6809430 diff --git a/episodes/c5_p002_e037/data.npz b/episodes/c5_p002_e037/data.npz new file mode 100644 index 0000000000000000000000000000000000000000..daa3b99acf145d44b27359ee2270e97c4ff51d8e --- /dev/null +++ b/episodes/c5_p002_e037/data.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:40f0562dbc05aefdd4f19c5d6867f0f5917670fce19cdc5b72a3288f48288e17 +size 189419 diff --git a/episodes/c5_p002_e037/device_events.jsonl b/episodes/c5_p002_e037/device_events.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..f57521d0899a8aea0aaf29dfc8170d8fccc07014 --- /dev/null +++ b/episodes/c5_p002_e037/device_events.jsonl @@ -0,0 +1,36 @@ +{"env_id": 0, "seq": 1, "step": 135, "t": 0.675, "topic": "conveyor_1.belt.station.pick.captured", "source": "conveyor_1.belt", "data": {"rider": "carrier_2"}, "cause": null} +{"env_id": 0, "seq": 2, "step": 135, "t": 0.675, "topic": "conveyor_1.belt.state.changed", "source": "conveyor_1.belt", "data": {"from": "running", "to": "at_station"}, "cause": null} +{"env_id": 0, "seq": 3, "step": 140, "t": 0.7, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_2"}, "cause": null} +{"env_id": 0, "seq": 4, "step": 1287, "t": 6.435, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_2"}, "cause": null} +{"env_id": 0, "seq": 5, "step": 6163, "t": 30.815, "topic": "a4s_sealer_1.plate_present.present", "source": "a4s_sealer_1.plate_present", "data": {"object": "plate_2"}, "cause": null} +{"env_id": 0, "seq": 6, "step": 6776, "t": 33.88, "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": 6776, "t": 33.88, "topic": "a4s_sealer_1.seal.started", "source": "a4s_sealer_1", "data": {"dwell": 4.380274610304115}, "cause": "task-0-1"} +{"env_id": 0, "seq": 8, "step": 6776, "t": 33.88, "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": 6776, "t": 33.88, "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": 6776, "t": 33.88, "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": 7195, "t": 35.975, "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": 7195, "t": 35.975, "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": 7195, "t": 35.975, "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": 7195, "t": 35.975, "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": 7195, "t": 35.975, "topic": "labware.plate_2.changed", "source": "labware.plate_2", "data": {"key": "sealed", "value": true}, "cause": "task-0-1"} +{"env_id": 0, "seq": 16, "step": 7195, "t": 35.975, "topic": "a4s_sealer_1.sealed", "source": "a4s_sealer_1", "data": {"plate": "plate_2"}, "cause": "task-0-1"} +{"env_id": 0, "seq": 17, "step": 7195, "t": 35.975, "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": 7195, "t": 35.975, "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": 7195, "t": 35.975, "topic": "a4s_sealer_1.heater.started", "source": "a4s_sealer_1.heater", "data": {"duration": 4.380274610304115}, "cause": "program-0-3"} +{"env_id": 0, "seq": 20, "step": 8072, "t": 40.36, "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": 8072, "t": 40.36, "topic": "a4s_sealer_1.heater.finished", "source": "a4s_sealer_1.heater", "data": {"elapsed": 4.385000000002243}, "cause": "program-0-3"} +{"env_id": 0, "seq": 22, "step": 8072, "t": 40.36, "topic": "a4s_sealer_1.heater.command.succeeded", "source": "a4s_sealer_1.heater", "data": {"command_id": "program-0-3", "name": "run", "source": "program:seal", "result": {"elapsed": 4.385000000002243}}, "cause": "program-0-3"} +{"env_id": 0, "seq": 23, "step": 8072, "t": 40.36, "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": 8072, "t": 40.36, "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": 8072, "t": 40.36, "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": 8492, "t": 42.46, "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": 8492, "t": 42.46, "topic": "a4s_sealer_1.drawer.reached", "source": "a4s_sealer_1.drawer", "data": {"position": "out", "q": 2.294074041842009e-09}, "cause": "program-0-4"} +{"env_id": 0, "seq": 28, "step": 8492, "t": 42.46, "topic": "a4s_sealer_1.drawer.at_out", "source": "a4s_sealer_1.drawer", "data": {"q": 2.294074041842009e-09}, "cause": "program-0-4"} +{"env_id": 0, "seq": 29, "step": 8492, "t": 42.46, "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": 8492, "t": 42.46, "topic": "a4s_sealer_1.seal.finished", "source": "a4s_sealer_1", "data": {}, "cause": "task-0-1"} +{"env_id": 0, "seq": 31, "step": 8492, "t": 42.46, "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": 9069, "t": 45.345, "topic": "a4s_sealer_1.plate_present.absent", "source": "a4s_sealer_1.plate_present", "data": {"object": "plate_2"}, "cause": null} +{"env_id": 0, "seq": 33, "step": 10788, "t": 53.94, "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": 10788, "t": 53.94, "topic": "conveyor_1.belt.station.pick.released", "source": "conveyor_1.belt", "data": {"rider": "carrier_2"}, "cause": "task-0-5"} +{"env_id": 0, "seq": 35, "step": 10788, "t": 53.94, "topic": "conveyor_1.belt.state.changed", "source": "conveyor_1.belt", "data": {"from": "at_station", "to": "running"}, "cause": null} +{"env_id": 0, "seq": 36, "step": 10788, "t": 53.94, "topic": "conveyor_1.belt.command.succeeded", "source": "conveyor_1.belt", "data": {"command_id": "task-0-5", "name": "release", "source": "task", "result": {"state": "running"}}, "cause": "task-0-5"} diff --git a/episodes/c5_p002_e037/env.mp4 b/episodes/c5_p002_e037/env.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..dcc68d51caaa2f3480d384903c17d995547a4343 --- /dev/null +++ b/episodes/c5_p002_e037/env.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:b173ae63b6ebf2282099b1d3ecb8d1b518972f4553c9b18624e9d976240bfcf0 +size 1205886 diff --git a/episodes/c5_p002_e037/meta.json b/episodes/c5_p002_e037/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..5861950063cc72de067e263c0dffcd2737c3f313 --- /dev/null +++ b/episodes/c5_p002_e037/meta.json @@ -0,0 +1,32 @@ +{ + "source": "raw/c5_p002/magicsim/37", + "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": "v1" +} \ No newline at end of file diff --git a/episodes/c5_p002_e037/scene_snapshot.json b/episodes/c5_p002_e037/scene_snapshot.json new file mode 100644 index 0000000000000000000000000000000000000000..dac14ef87b57584ce90a64e53c9b329d5e1edcca --- /dev/null +++ b/episodes/c5_p002_e037/scene_snapshot.json @@ -0,0 +1,1558 @@ +{ + "trajectory_id": 37, + "env_id": 0, + "run_id": "c5_p002", + "task_type": "BioPlateCell", + "success": true, + "timing": { + "fps": 50.0, + "sim_dt": 0.005, + "decimation": 4 + }, + "restore_interface": { + "scene": "scene_manager.reset_to(snapshot['scene'], env_ids=[env_id])", + "robots": "robot_manager.set_state({'robots': snapshot['robots']}, env_ids=[env_id])" + }, + "snapshot": { + "env_id": 0, + "scene": { + "objects": [ + { + "rac_cell": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/rac_cell.usd", + "pose": { + "pos": [ + 0.0, + 0.0, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "physics_material": { + "static_friction": 0.6, + "dynamic_friction": 0.5, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "robot_mount": [ + { + "asset": "Cube", + "pose": { + "pos": [ + 0.0, + 0.0, + 0.9075 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": "color", + "value": [ + 0.55, + 0.56, + 0.58 + ], + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": { + "size": [ + 0.2, + 0.2, + 0.015 + ] + } + }, + "type_specific": {} + } + ], + "plate_rack": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/plate_hotel.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 0.9 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "physics_material": { + "static_friction": 0.6, + "dynamic_friction": 0.5, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "hotel_plate": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_12_clear/plate_12_clear.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 0.9605 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_96_white/plate_96_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_24_10ml/deep_well_24_10ml.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.1645 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_96_clear/plate_96_clear.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.2325 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "a4s_sealer": [ + { + "asset": "$MAGICSIM_ASSETS/Articulated/A4SSealer/Object.usd", + "pose": { + "pos": [ + 0.48029518127441406, + 0.10286426544189453, + 0.8999999761581421 + ], + "ori": [ + -0.691251814365387, + 0.0, + 0.0, + 0.7226139307022095 + ], + "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": [ + 3.700581941573633e-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": 0.2987944820561875, + "direction": [ + 1.0, + 0.0, + 0.0 + ], + "enabled": true, + "drive": "surface_velocity", + "lines": null, + "station_line": null, + "riders": [ + "carrier" + ], + "stations": { + "pick": { + "position": -0.13539776006815182, + "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": 0.2987944820561875, + "holds": [], + "station": "pick", + "rider": "carrier_2", + "arrived": true, + "applied_speed": 0.0 + } + } + } + ], + "carrier": [ + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + 1.672348976135254, + 0.9308404922485352, + 0.8999999761581421 + ], + "ori": [ + 0.5670548677444458, + -1.2588742492880556e-08, + 1.1113566245057882e-07, + 0.82368004322052 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 1.3266847620485578e-09, + 6.524299989152382e-10, + 3.725290298461914e-09 + ], + "angular_velocity": [ + -4.6338399783962814e-08, + 1.0085249613212e-07, + 3.25531868128337e-09 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + 0.014708518981933594, + 0.44748497009277344, + 0.8999999761581421 + ], + "ori": [ + 0.9999603629112244, + 3.009552385080383e-09, + -2.3214002942140155e-10, + 0.008914335630834103 + ], + "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": [ + -1.490840784157399e-11, + 6.04465366649265e-10, + 7.450580596923828e-09 + ], + "angular_velocity": [ + -3.2191362464573103e-08, + 2.199843862626949e-09, + -7.756050912632872e-09 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + -0.03687763214111328, + 1.1517572402954102, + 0.8999999761581421 + ], + "ori": [ + -0.01751547120511532, + -4.388348018302679e-10, + -1.4236843925985454e-09, + 0.9998465776443481 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 7.839828786160297e-11, + -6.500801008613166e-10, + 0.0 + ], + "angular_velocity": [ + 8.94181511057468e-08, + 1.5291718113985553e-08, + -7.76983100081452e-09 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + -1.3685379028320312, + 0.9393682479858398, + 0.8999999761581421 + ], + "ori": [ + -0.5386326909065247, + -1.2365587442886294e-09, + -1.0180218890099013e-09, + 0.8425408005714417 + ], + "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": [ + 7.789219935716574e-09, + 2.8170961119400317e-09, + 1.1175870895385742e-08 + ], + "angular_velocity": [ + -3.0670025807921775e-07, + 2.98743259463663e-07, + 1.0500316705019941e-07 + ] + } + } + ], + "plate": [ + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_6_clear/Object.usd", + "pose": { + "pos": [ + 1.666224479675293, + 0.9427080154418945, + 0.9179999828338623 + ], + "ori": [ + 0.6162912249565125, + -2.173282176443081e-08, + 1.0852693321794504e-07, + 0.7875183820724487 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 2.7629404542039993e-08, + -4.4754642658517696e-08, + 9.685754776000977e-08 + ], + "angular_velocity": [ + 1.5271660913640517e-06, + 1.513823349341692e-06, + 2.8743581736989654e-08 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_96_black/Object.usd", + "pose": { + "pos": [ + 0.0032596588134765625, + 0.4506664276123047, + 0.9180000424385071 + ], + "ori": [ + 0.9983296394348145, + 2.362584350379393e-09, + 8.521424676999345e-10, + -0.05777492746710777 + ], + "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": [ + -6.304236688237097e-09, + 8.838178189307655e-09, + -5.5655837059021e-06 + ], + "angular_velocity": [ + 3.98090804765161e-07, + -1.5015393728390336e-06, + -9.23140497377517e-09 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/pcr_96_blue/Object.usd", + "pose": { + "pos": [ + -0.022933006286621094, + 1.1544914245605469, + 0.9180000424385071 + ], + "ori": [ + 0.048069827258586884, + -8.234044002186636e-10, + -1.286401984934571e-09, + 0.9988440275192261 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 2.1535111471848722e-08, + -1.4570114004186507e-08, + -5.781650543212891e-06 + ], + "angular_velocity": [ + 1.4921904778475437e-07, + 1.6167534795386018e-06, + 1.468104784407842e-07 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/deep_well_96_2ml/Object.usd", + "pose": { + "pos": [ + -1.3752613067626953, + 0.942103385925293, + 0.9179999828338623 + ], + "ori": [ + -0.4836798906326294, + -4.6255344443579816e-08, + -1.3845476587448502e-07, + 0.8752449750900269 + ], + "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": [ + 1.3391695574682672e-07, + 1.9598032849899027e-06, + -3.2782554626464844e-06 + ], + "angular_velocity": [ + -7.832374103600159e-05, + -4.25252910645213e-05, + 4.003376488981303e-06 + ] + } + } + ], + "deco_hub_west": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/hub_d.usd", + "pose": { + "pos": [ + -3.36, + 0.0, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_hub_east": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/hub_e.usd", + "pose": { + "pos": [ + 3.36, + 0.0, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_hub_back": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/hub_b.usd", + "pose": { + "pos": [ + -3.0, + -2.1, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_bench_east": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/bench_a.usd", + "pose": { + "pos": [ + 2.6, + -2.5, + 0.0 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_bench_gap": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/bench_b.usd", + "pose": { + "pos": [ + -0.1, + -2.9, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ] + }, + {}, + {}, + {} + ], + "devices": { + "hub": [ + { + "t": 4.359999999999929, + "step": 872, + "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": 3.700581941573633e-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": 0.2987944820561875, + "holds": [], + "station": "pick", + "rider": "carrier_2", + "arrived": true, + "settle_count": 736, + "released": { + "pick": [] + }, + "last_pos": { + "carrier_1": [ + 1.5223489701747894, + 0.4808405041694641, + 0.0 + ], + "carrier_2": [ + -0.13529148697853088, + -0.0025150179862976074, + 0.0 + ], + "carrier_3": [ + -0.18687763810157776, + 0.7017572522163391, + 0.0 + ], + "carrier_4": [ + -1.5185379087924957, + 0.4893682599067688, + 0.0 + ] + }, + "command": 0.0 + }, + "belt": { + "target_speed": 0.0, + "command_speed": 0.0 + }, + "seen": { + "state": "at_station", + "station": "pick", + "rider": "carrier_2", + "arrived": true + } + } + }, + "queues": {}, + "program": null, + "sensors": {}, + "interlocks": {} + } + }, + "zones": {}, + "labware": { + "plate_1": { + "sealed": false + }, + "plate_2": { + "sealed": false + }, + "plate_3": { + "sealed": false + }, + "plate_4": { + "sealed": false + } + }, + "rules": {}, + "records": [], + "bus": { + "seq": 3, + "queue": [] + } + }, + null, + null, + null + ], + "drives": [ + {}, + null, + null, + null + ] + }, + "artifacts": [ + { + "ceiling": { + "type": "rect", + "pose": { + "pos": [ + 0.46643836167221775, + 0.505490807520514, + 2.8573195294931892 + ], + "ori": [ + -9.167977778408959, + 14.101512426138186, + -5.395445639901851 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "color_temperature": 6471.820678405973, + "color": [ + 0.8697034742554929, + 0.8217454368303438, + 0.862758195975886 + ], + "intensity": 12434.194192458815, + "width": 1.6399935570966686, + "height": 1.4918696590669143 + } + }, + "key": { + "type": "sphere", + "pose": { + "pos": [ + -0.8705474347150163, + 0.963274500887376, + 1.7401562449461934 + ], + "ori": [ + -1.520081201250612, + 23.05491181760827, + -19.007828138249128 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "color_temperature": 6209.409177356968, + "color": [ + 0.9003817025178277, + 0.8814412100671994, + 0.973858490874121 + ], + "intensity": 6359.580224738506, + "radius": 0.18177769426869422 + } + } + }, + {}, + {}, + {} + ], + "background": { + "type": "dome", + "pose": { + "pos": null, + "ori": null, + "scale": null + }, + "dr": { + "intensity": 538.0179094594366, + "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": [ + [ + 0.9141008257865906, + -1.719398021697998, + 2.0904994010925293, + -1.941900372505188, + -1.5707999467849731, + 2.4849002361297607, + 0.018000001087784767, + 0.01799999736249447 + ], + [ + 2.371809482574463, + -2.3818247318267822, + 2.101027250289917, + -1.2905871868133545, + -1.5701837539672852, + 3.9408276081085205, + 0.0077020348981022835, + 0.007055737543851137 + ], + [ + 0.9141027331352234, + -1.7193984985351562, + 2.0905001163482666, + -1.941901445388794, + -1.5707999467849731, + 2.48490047454834, + 0.017999999225139618, + 0.017999999225139618 + ], + [ + 0.9140999913215637, + -1.7194000482559204, + 2.0905001163482666, + -1.9419000148773193, + -1.5707999467849731, + 2.4848999977111816, + 0.017999999225139618, + 0.017999999225139618 + ] + ], + "joint_vel": [ + [ + 3.4059648896800354e-06, + -3.405958068469772e-06, + 6.811945695517352e-06, + 3.405974439374404e-06, + 1.9001213634201736e-13, + 3.7407476747262913e-13, + -2.5990029683953253e-08, + 2.5990733121261655e-08 + ], + [ + 0.028068827465176582, + 0.02369321696460247, + -0.004754224326461554, + -0.018844349309802055, + -7.930953870527446e-05, + 0.02813730761408806, + -0.008109722286462784, + 0.0002875580103136599 + ], + [ + -2.8901461330649486e-38, + 0.0, + 1.225764531931476e-38, + 6.666796049927338e-37, + -3.353992852441912e-37, + -2.005680958273408e-37, + 2.5992931843290753e-38, + 2.629424464428373e-38 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + ] + } + }, + "cameras": { + "cameras": { + "camera0": [ + [ + 0.05286748707294464, + 0.004148975480347872, + -0.031966838985681534, + -0.27503862977027893, + 0.6568230390548706, + 0.6400130391120911, + -0.28865301609039307 + ], + [ + 0.050541818141937256, + -0.0016283579170703888, + -0.03243037313222885, + -0.2919783294200897, + 0.6429483890533447, + 0.6497267484664917, + -0.2814626693725586 + ], + [ + 0.05159398168325424, + -0.0019260748522356153, + -0.03209353983402252, + -0.2878677248954773, + 0.6366841793060303, + 0.6642234325408936, + -0.26565513014793396 + ], + [ + 0.04961199685931206, + 0.002489298116415739, + -0.027953635901212692, + -0.28871551156044006, + 0.6425896883010864, + 0.6480015516281128, + -0.2895096242427826 + ] + ], + "camera1": [ + [ + 0.07443199306726456, + 0.5711514949798584, + 1.9457330703735352, + 0.028810692951083183, + 0.013910607434809208, + 0.25922948122024536, + 0.9652857184410095 + ], + [ + 0.071715347468853, + 0.5762608051300049, + 1.9273816347122192, + 0.04316096752882004, + -0.0023767882958054543, + 0.26077377796173096, + 0.9644317030906677 + ], + [ + 0.06040199473500252, + 0.5785200595855713, + 1.9273682832717896, + 0.04209756478667259, + 0.0047531770542263985, + 0.28721940517425537, + 0.956927478313446 + ], + [ + 0.051940519362688065, + 0.5903128385543823, + 1.9534716606140137, + 0.039640896022319794, + 0.0017979292897507548, + 0.26010236144065857, + 0.9647653102874756 + ] + ] + } + } + } +} \ No newline at end of file diff --git a/episodes/c5_p002_e037/wrist.mp4 b/episodes/c5_p002_e037/wrist.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..21c2b0ed062dd57112d638f315b1b5943d821e0b --- /dev/null +++ b/episodes/c5_p002_e037/wrist.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:a85fcba9355b4d9f537bf88074bdd06e50ad35129c54301344e13230a0e2383d +size 6767998 diff --git a/episodes/c5_p002_e038/data.npz b/episodes/c5_p002_e038/data.npz new file mode 100644 index 0000000000000000000000000000000000000000..265dd907c3fb53aa349294a048b7d1eb802f0183 --- /dev/null +++ b/episodes/c5_p002_e038/data.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:e345766706140f177f700e378ca017398bec295b3fc891eaef1fe5324545647e +size 202216 diff --git a/episodes/c5_p002_e038/device_events.jsonl b/episodes/c5_p002_e038/device_events.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..efe1318a9fd53e854310aeeabde979964f0b6cf9 --- /dev/null +++ b/episodes/c5_p002_e038/device_events.jsonl @@ -0,0 +1,35 @@ +{"env_id": 2, "seq": 1, "step": 53, "t": 0.265, "topic": "conveyor_1.belt.station.pick.captured", "source": "conveyor_1.belt", "data": {"rider": "carrier_1"}, "cause": null} +{"env_id": 2, "seq": 2, "step": 53, "t": 0.265, "topic": "conveyor_1.belt.state.changed", "source": "conveyor_1.belt", "data": {"from": "running", "to": "at_station"}, "cause": null} +{"env_id": 2, "seq": 3, "step": 58, "t": 0.29, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_1"}, "cause": null} +{"env_id": 2, "seq": 4, "step": 6094, "t": 30.47, "topic": "a4s_sealer_1.plate_present.present", "source": "a4s_sealer_1.plate_present", "data": {"object": "plate_1"}, "cause": null} +{"env_id": 2, "seq": 5, "step": 6708, "t": 33.54, "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": 6708, "t": 33.54, "topic": "a4s_sealer_1.seal.started", "source": "a4s_sealer_1", "data": {"dwell": 4.058570298244747}, "cause": "task-2-1"} +{"env_id": 2, "seq": 7, "step": 6708, "t": 33.54, "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": 6708, "t": 33.54, "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": 6708, "t": 33.54, "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": 7127, "t": 35.635, "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": 7127, "t": 35.635, "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": 7127, "t": 35.635, "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": 7127, "t": 35.635, "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": 7127, "t": 35.635, "topic": "labware.plate_1.changed", "source": "labware.plate_1", "data": {"key": "sealed", "value": true}, "cause": "task-2-1"} +{"env_id": 2, "seq": 15, "step": 7127, "t": 35.635, "topic": "a4s_sealer_1.sealed", "source": "a4s_sealer_1", "data": {"plate": "plate_1"}, "cause": "task-2-1"} +{"env_id": 2, "seq": 16, "step": 7127, "t": 35.635, "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": 7127, "t": 35.635, "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": 7127, "t": 35.635, "topic": "a4s_sealer_1.heater.started", "source": "a4s_sealer_1.heater", "data": {"duration": 4.058570298244747}, "cause": "program-2-3"} +{"env_id": 2, "seq": 19, "step": 7939, "t": 39.695, "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": 7939, "t": 39.695, "topic": "a4s_sealer_1.heater.finished", "source": "a4s_sealer_1.heater", "data": {"elapsed": 4.060000000002077}, "cause": "program-2-3"} +{"env_id": 2, "seq": 21, "step": 7939, "t": 39.695, "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": 4.060000000002077}}, "cause": "program-2-3"} +{"env_id": 2, "seq": 22, "step": 7939, "t": 39.695, "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": 7939, "t": 39.695, "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": 7939, "t": 39.695, "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": 8359, "t": 41.795, "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": 8359, "t": 41.795, "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": 8359, "t": 41.795, "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": 8359, "t": 41.795, "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": 8359, "t": 41.795, "topic": "a4s_sealer_1.seal.finished", "source": "a4s_sealer_1", "data": {}, "cause": "task-2-1"} +{"env_id": 2, "seq": 30, "step": 8359, "t": 41.795, "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": 8940, "t": 44.7, "topic": "a4s_sealer_1.plate_present.absent", "source": "a4s_sealer_1.plate_present", "data": {"object": "plate_1"}, "cause": null} +{"env_id": 2, "seq": 32, "step": 11204, "t": 56.02, "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": 11204, "t": 56.02, "topic": "conveyor_1.belt.station.pick.released", "source": "conveyor_1.belt", "data": {"rider": "carrier_1"}, "cause": "task-2-5"} +{"env_id": 2, "seq": 34, "step": 11204, "t": 56.02, "topic": "conveyor_1.belt.state.changed", "source": "conveyor_1.belt", "data": {"from": "at_station", "to": "running"}, "cause": null} +{"env_id": 2, "seq": 35, "step": 11204, "t": 56.02, "topic": "conveyor_1.belt.command.succeeded", "source": "conveyor_1.belt", "data": {"command_id": "task-2-5", "name": "release", "source": "task", "result": {"state": "running"}}, "cause": "task-2-5"} diff --git a/episodes/c5_p002_e038/env.mp4 b/episodes/c5_p002_e038/env.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..8455d82c0325b75d2631dc573e9971f3ed65708b --- /dev/null +++ b/episodes/c5_p002_e038/env.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:b388df6afd8a1af26821f1ed9a48c24c7f4d069db11cfb2b9d64e07b294bfc5b +size 1437432 diff --git a/episodes/c5_p002_e038/meta.json b/episodes/c5_p002_e038/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..e8d401b311e56cfbde2519b80c8e43ea051d7eec --- /dev/null +++ b/episodes/c5_p002_e038/meta.json @@ -0,0 +1,32 @@ +{ + "source": "raw/c5_p002/magicsim/38", + "fps": 25, + "frames": 1293, + "kept_ticks": "even", + "video_frames": { + "wrist": 1293, + "env": 1293 + }, + "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": "v1" +} \ No newline at end of file diff --git a/episodes/c5_p002_e038/scene_snapshot.json b/episodes/c5_p002_e038/scene_snapshot.json new file mode 100644 index 0000000000000000000000000000000000000000..55309020c71eea1df242b0dbf946aee96f800b09 --- /dev/null +++ b/episodes/c5_p002_e038/scene_snapshot.json @@ -0,0 +1,1558 @@ +{ + "trajectory_id": 38, + "env_id": 2, + "run_id": "c5_p002", + "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_12_clear/plate_12_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": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_96_white/plate_96_white.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.0285 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_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": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_96_clear/plate_96_clear.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.1645 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_384_white/plate_384_white.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.2325 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "a4s_sealer": [ + { + "asset": "$MAGICSIM_ASSETS/Articulated/A4SSealer/Object.usd", + "pose": { + "pos": [ + 0.48097991943359375, + 0.1065673828125, + 0.8999999761581421 + ], + "ori": [ + 0.726047158241272, + 0.0, + 0.0, + -0.687644898891449 + ], + "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": [ + 3.36416468684278e-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": 0.23396876460616792, + "direction": [ + 1.0, + 0.0, + 0.0 + ], + "enabled": true, + "drive": "surface_velocity", + "lines": null, + "station_line": null, + "riders": [ + "carrier" + ], + "stations": { + "pick": { + "position": -0.15778309727866877, + "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": 0.23396876460616792, + "holds": [], + "station": "pick", + "rider": "carrier_1", + "arrived": true, + "applied_speed": 0.0 + } + } + } + ], + "carrier": [ + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + -0.007801055908203125, + 0.45000267028808594, + 0.8999999761581421 + ], + "ori": [ + 1.0, + 2.116234076865453e-09, + -4.412431309219755e-09, + -2.712378409341909e-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": [ + 3.6237013389950334e-11, + 1.6020886839385184e-09, + 3.725290298461914e-09 + ], + "angular_velocity": [ + -1.07885895772597e-07, + -9.143038326442365e-09, + -2.704317436652559e-09 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + -1.1405019760131836, + 1.1345691680908203, + 0.8999999761581421 + ], + "ori": [ + -0.12442265450954437, + 7.218235253958483e-08, + -2.406899568541121e-08, + 0.9922292828559875 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -6.410980191162707e-09, + 1.1633703422830877e-07, + 7.078051567077637e-08 + ], + "angular_velocity": [ + -4.12977078667609e-06, + -1.624351739337726e-06, + -8.155673754117743e-07 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + 0.2131509780883789, + 1.1500005722045898, + 0.8999999761581421 + ], + "ori": [ + -2.5124124931608094e-06, + -2.0765711372661144e-10, + 1.8681083346905325e-09, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 2.58792987040124e-12, + -1.0830902841263423e-10, + 0.0 + ], + "angular_velocity": [ + -2.3596680165383077e-08, + -8.560263609069807e-10, + 1.1144642542149086e-08 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + 1.316476821899414, + 0.4502134323120117, + 0.8999999761581421 + ], + "ori": [ + 0.9999961853027344, + 6.423335197069946e-10, + -4.9596025064602145e-08, + 0.002763620112091303 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 2.5158599648023028e-09, + -4.242914908303419e-09, + 0.0 + ], + "angular_velocity": [ + 2.0237922626620275e-07, + 1.0542915873656966e-07, + 3.7778615791239645e-09 + ] + } + } + ], + "plate": [ + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_24_clear/Object.usd", + "pose": { + "pos": [ + -0.022310256958007812, + 0.43862152099609375, + 0.9179999828338623 + ], + "ori": [ + 0.9996136426925659, + 1.0057635835281076e-09, + -4.574206791119195e-09, + -0.0277952142059803 + ], + "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": [ + -2.2032551783013332e-08, + 2.8338574153963236e-08, + 1.043081283569336e-07 + ], + "angular_velocity": [ + -7.051874604258046e-07, + -1.3912048189013149e-06, + 1.4071856924147141e-07 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_384_black/Object.usd", + "pose": { + "pos": [ + -1.137324333190918, + 1.1251678466796875, + 0.9180000424385071 + ], + "ori": [ + -0.20981906354427338, + 8.88974653889818e-08, + -5.794030357719748e-07, + 0.9777402877807617 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -2.6411798899061978e-06, + 4.713118869403843e-06, + -5.7406723499298096e-06 + ], + "angular_velocity": [ + -0.00015384385187644511, + 5.468267772812396e-06, + -3.441998705966398e-05 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_1536_black/Object.usd", + "pose": { + "pos": [ + 0.2078857421875, + 1.1477336883544922, + 0.9180000424385071 + ], + "ori": [ + 0.0670832172036171, + -1.4053523622603592e-10, + 2.245201802253405e-09, + 0.9977473616600037 + ], + "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": [ + 2.2437813385067784e-08, + 1.7330435753137863e-08, + -5.286186933517456e-06 + ], + "angular_velocity": [ + -4.0101051013152755e-07, + 2.124379989254521e-06, + 3.741568832538178e-09 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/deep_well_24_10ml/Object.usd", + "pose": { + "pos": [ + 1.3301706314086914, + 0.4532804489135742, + 0.9179999828338623 + ], + "ori": [ + 0.9969722628593445, + -1.2655842596132061e-08, + -5.020057969318259e-08, + 0.0777580514550209 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -9.836023906473201e-08, + -1.1481760253673201e-07, + -1.2740492820739746e-06 + ], + "angular_velocity": [ + 5.6509052228648216e-06, + -3.913402906619012e-06, + 3.432367634559341e-07 + ] + } + } + ], + "deco_hub_west": [ + { + "asset": "$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": 4.499999999999926, + "step": 900, + "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": 3.36416468684278e-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": 0.23396876460616792, + "holds": [], + "station": "pick", + "rider": "carrier_1", + "arrived": true, + "settle_count": 846, + "released": { + "pick": [] + }, + "last_pos": { + "carrier_1": [ + -0.1578010618686676, + 2.682209014892578e-06, + 0.0 + ], + "carrier_2": [ + -1.290501981973648, + 0.6845691800117493, + 0.0 + ], + "carrier_3": [ + 0.06315097212791443, + 0.7000005841255188, + 0.0 + ], + "carrier_4": [ + 1.1664768159389496, + 0.00021344423294067383, + 0.0 + ] + }, + "command": 0.0 + }, + "belt": { + "target_speed": 0.0, + "command_speed": 0.0 + }, + "seen": { + "state": "at_station", + "station": "pick", + "rider": "carrier_1", + "arrived": true + } + } + }, + "queues": {}, + "program": null, + "sensors": {}, + "interlocks": {} + } + }, + "zones": {}, + "labware": { + "plate_1": { + "sealed": false + }, + "plate_2": { + "sealed": false + }, + "plate_3": { + "sealed": false + }, + "plate_4": { + "sealed": false + } + }, + "rules": {}, + "records": [], + "bus": { + "seq": 3, + "queue": [] + } + }, + null + ], + "drives": [ + null, + null, + {}, + null + ] + }, + "artifacts": [ + {}, + {}, + { + "ceiling": { + "type": "rect", + "pose": { + "pos": [ + -0.07264636748740061, + 0.3836478635688817, + 3.1044977387051347 + ], + "ori": [ + -0.574481073556024, + -7.314041558024425, + 15.65480374943445 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "color_temperature": 4458.954974131039, + "color": [ + 0.8375368611802135, + 0.9179350131349241, + 0.8432166486068721 + ], + "intensity": 5153.8606412733225, + "width": 1.5603699642001678, + "height": 1.0923103644223175 + } + }, + "key": { + "type": "sphere", + "pose": { + "pos": [ + -1.0373229859258788, + -0.8384256692243464, + 2.3602784212686316 + ], + "ori": [ + 6.829597586665528, + -39.75132237471303, + 13.845545637953421 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "color_temperature": 4599.44483401664, + "color": [ + 0.8105397180439122, + 0.8036435923159222, + 0.8171015089987549 + ], + "intensity": 7998.612888303927, + "radius": 0.1906894727764193 + } + } + }, + {} + ], + "background": { + "type": "dome", + "pose": { + "pos": null, + "ori": null, + "scale": null + }, + "dr": { + "intensity": 538.0179094594366, + "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": [ + [ + 0.9582143425941467, + -1.4220659732818604, + 2.216409683227539, + -2.365100622177124, + -1.5707951784133911, + 2.644223928451538, + 0.018000056967139244, + 0.017999941483139992 + ], + [ + 2.7320384979248047, + -1.888454556465149, + 1.8942829370498657, + -1.5768377780914307, + -1.5704761743545532, + 4.301642894744873, + 0.0077274455688893795, + 0.007029048632830381 + ], + [ + 0.9141027331352234, + -1.7193984985351562, + 2.0905001163482666, + -1.941901445388794, + -1.5707999467849731, + 2.48490047454834, + 0.017999999225139618, + 0.017999999225139618 + ], + [ + 0.9141008257865906, + -1.719398021697998, + 2.0904994010925293, + -1.941900610923767, + -1.5707999467849731, + 2.4849002361297607, + 0.017999999225139618, + 0.017999999225139618 + ] + ], + "joint_vel": [ + [ + -8.73972094268538e-05, + 0.017201991751790047, + 0.008448566310107708, + -0.024436725303530693, + -7.92558967077639e-06, + 0.00010174927592743188, + -7.063536031637341e-06, + 7.065493264235556e-06 + ], + [ + 0.008867618627846241, + 0.02244103141129017, + -0.014584099873900414, + -0.0074287522584199905, + -6.669294816674665e-05, + 0.009342466481029987, + -0.008705063723027706, + 0.00032794379512779415 + ], + [ + -2.8901461330649486e-38, + 0.0, + 1.225764531931476e-38, + 6.666796049927338e-37, + -3.353992852441912e-37, + -2.005680958273408e-37, + 2.5992931843290753e-38, + 2.629424464428373e-38 + ], + [ + 2.8790904487008115e-38, + 0.0, + -1.223222015997805e-38, + -6.656601323339682e-37, + 3.3489185825467762e-37, + 2.179928722884253e-37, + -2.494617310082783e-38, + -4.4586817218355324e-38 + ] + ] + } + }, + "cameras": { + "cameras": { + "camera0": [ + [ + 0.052644431591033936, + 0.0022916351445019245, + -0.032028354704380035, + -0.27681779861450195, + 0.6564067602157593, + 0.6415660381317139, + -0.2844206392765045 + ], + [ + 0.04800416901707649, + -0.0008141858270391822, + -0.03204852342605591, + -0.29451820254325867, + 0.6450710296630859, + 0.6455629467964172, + -0.28353285789489746 + ], + [ + 0.05293607339262962, + 0.001371036167256534, + -0.032811250537633896, + -0.2816356420516968, + 0.642062783241272, + 0.6625578999519348, + -0.2635408639907837 + ], + [ + 0.04924539104104042, + -0.0005911733605898917, + -0.028554994612932205, + -0.2842966318130493, + 0.6439448595046997, + 0.6491599678993225, + -0.28827372193336487 + ] + ], + "camera1": [ + [ + 0.07443199306726456, + 0.5711514949798584, + 1.9457330703735352, + 0.028810692951083183, + 0.013910607434809208, + 0.25922948122024536, + 0.9652857184410095 + ], + [ + 0.071715347468853, + 0.5762608051300049, + 1.9273816347122192, + 0.04316096752882004, + -0.0023767882958054543, + 0.26077377796173096, + 0.9644317030906677 + ], + [ + 0.06040199473500252, + 0.5785200595855713, + 1.9273682832717896, + 0.04209756478667259, + 0.0047531770542263985, + 0.28721940517425537, + 0.956927478313446 + ], + [ + 0.051940519362688065, + 0.5903128385543823, + 1.9534716606140137, + 0.039640896022319794, + 0.0017979292897507548, + 0.26010236144065857, + 0.9647653102874756 + ] + ] + } + } + } +} \ No newline at end of file diff --git a/episodes/c5_p002_e038/wrist.mp4 b/episodes/c5_p002_e038/wrist.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..be468427c4bb4c9d4f081a6ac80bad3a0e18208b --- /dev/null +++ b/episodes/c5_p002_e038/wrist.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:05f620e689ec51005c5fd6fc29b6cdb2521cb069e9594b0351c5b23ab9cf6c16 +size 7202219 diff --git a/episodes/c5_p002_e039/data.npz b/episodes/c5_p002_e039/data.npz new file mode 100644 index 0000000000000000000000000000000000000000..ff4621ec3405a246855c5001e8b10edd899a7536 --- /dev/null +++ b/episodes/c5_p002_e039/data.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:5a9ba30bdcc31ae0f8f4d225d50922e738d4fdf812990cc5e7ea2551f9dc8ab6 +size 203807 diff --git a/episodes/c5_p002_e039/device_events.jsonl b/episodes/c5_p002_e039/device_events.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..85fd56bc0d48d072e4c22a51ce8f08094afaa314 --- /dev/null +++ b/episodes/c5_p002_e039/device_events.jsonl @@ -0,0 +1,38 @@ +{"env_id": 3, "seq": 1, "step": 59, "t": 0.295, "topic": "conveyor_1.belt.station.pick.captured", "source": "conveyor_1.belt", "data": {"rider": "carrier_2"}, "cause": null} +{"env_id": 3, "seq": 2, "step": 59, "t": 0.295, "topic": "conveyor_1.belt.state.changed", "source": "conveyor_1.belt", "data": {"from": "running", "to": "at_station"}, "cause": null} +{"env_id": 3, "seq": 3, "step": 64, "t": 0.32, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_2"}, "cause": null} +{"env_id": 3, "seq": 4, "step": 1272, "t": 6.36, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_2"}, "cause": null} +{"env_id": 3, "seq": 5, "step": 1288, "t": 6.44, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_2"}, "cause": null} +{"env_id": 3, "seq": 6, "step": 1297, "t": 6.485, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_2"}, "cause": null} +{"env_id": 3, "seq": 7, "step": 6307, "t": 31.535, "topic": "a4s_sealer_1.plate_present.present", "source": "a4s_sealer_1.plate_present", "data": {"object": "plate_2"}, "cause": null} +{"env_id": 3, "seq": 8, "step": 6920, "t": 34.6, "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": 9, "step": 6920, "t": 34.6, "topic": "a4s_sealer_1.seal.started", "source": "a4s_sealer_1", "data": {"dwell": 2.1929005609588126}, "cause": "task-3-1"} +{"env_id": 3, "seq": 10, "step": 6920, "t": 34.6, "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": 11, "step": 6920, "t": 34.6, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "at_out", "to": "moving"}, "cause": null} +{"env_id": 3, "seq": 12, "step": 6920, "t": 34.6, "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": 13, "step": 7339, "t": 36.695, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "moving", "to": "at_in"}, "cause": null} +{"env_id": 3, "seq": 14, "step": 7339, "t": 36.695, "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": 15, "step": 7339, "t": 36.695, "topic": "a4s_sealer_1.drawer.at_in", "source": "a4s_sealer_1.drawer", "data": {"q": 0.30000001192092896}, "cause": "program-3-2"} +{"env_id": 3, "seq": 16, "step": 7339, "t": 36.695, "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": 17, "step": 7339, "t": 36.695, "topic": "labware.plate_2.changed", "source": "labware.plate_2", "data": {"key": "sealed", "value": true}, "cause": "task-3-1"} +{"env_id": 3, "seq": 18, "step": 7339, "t": 36.695, "topic": "a4s_sealer_1.sealed", "source": "a4s_sealer_1", "data": {"plate": "plate_2"}, "cause": "task-3-1"} +{"env_id": 3, "seq": 19, "step": 7339, "t": 36.695, "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": 20, "step": 7339, "t": 36.695, "topic": "a4s_sealer_1.heater.state.changed", "source": "a4s_sealer_1.heater", "data": {"from": "ready", "to": "running"}, "cause": null} +{"env_id": 3, "seq": 21, "step": 7339, "t": 36.695, "topic": "a4s_sealer_1.heater.started", "source": "a4s_sealer_1.heater", "data": {"duration": 2.1929005609588126}, "cause": "program-3-3"} +{"env_id": 3, "seq": 22, "step": 7778, "t": 38.89, "topic": "a4s_sealer_1.heater.state.changed", "source": "a4s_sealer_1.heater", "data": {"from": "running", "to": "ready"}, "cause": null} +{"env_id": 3, "seq": 23, "step": 7778, "t": 38.89, "topic": "a4s_sealer_1.heater.finished", "source": "a4s_sealer_1.heater", "data": {"elapsed": 2.195000000001123}, "cause": "program-3-3"} +{"env_id": 3, "seq": 24, "step": 7778, "t": 38.89, "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": 2.195000000001123}}, "cause": "program-3-3"} +{"env_id": 3, "seq": 25, "step": 7778, "t": 38.89, "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": 26, "step": 7778, "t": 38.89, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "at_in", "to": "moving"}, "cause": null} +{"env_id": 3, "seq": 27, "step": 7778, "t": 38.89, "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": 28, "step": 8198, "t": 40.99, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "moving", "to": "at_out"}, "cause": null} +{"env_id": 3, "seq": 29, "step": 8198, "t": 40.99, "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": 30, "step": 8198, "t": 40.99, "topic": "a4s_sealer_1.drawer.at_out", "source": "a4s_sealer_1.drawer", "data": {"q": 0.0}, "cause": "program-3-4"} +{"env_id": 3, "seq": 31, "step": 8198, "t": 40.99, "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": 32, "step": 8198, "t": 40.99, "topic": "a4s_sealer_1.seal.finished", "source": "a4s_sealer_1", "data": {}, "cause": "task-3-1"} +{"env_id": 3, "seq": 33, "step": 8198, "t": 40.99, "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": 34, "step": 8780, "t": 43.9, "topic": "a4s_sealer_1.plate_present.absent", "source": "a4s_sealer_1.plate_present", "data": {"object": "plate_2"}, "cause": null} +{"env_id": 3, "seq": 35, "step": 11012, "t": 55.06, "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": 36, "step": 11012, "t": 55.06, "topic": "conveyor_1.belt.station.pick.released", "source": "conveyor_1.belt", "data": {"rider": "carrier_2"}, "cause": "task-3-5"} +{"env_id": 3, "seq": 37, "step": 11012, "t": 55.06, "topic": "conveyor_1.belt.state.changed", "source": "conveyor_1.belt", "data": {"from": "at_station", "to": "running"}, "cause": null} +{"env_id": 3, "seq": 38, "step": 11012, "t": 55.06, "topic": "conveyor_1.belt.command.succeeded", "source": "conveyor_1.belt", "data": {"command_id": "task-3-5", "name": "release", "source": "task", "result": {"state": "running"}}, "cause": "task-3-5"} diff --git a/episodes/c5_p002_e039/env.mp4 b/episodes/c5_p002_e039/env.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..e8ac338583d85aa4408f869f320600f841438a34 --- /dev/null +++ b/episodes/c5_p002_e039/env.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:01ea24d33f24dced6490425da52838904b419236b06db7624eaf1925c441b682 +size 1427752 diff --git a/episodes/c5_p002_e039/meta.json b/episodes/c5_p002_e039/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..6a292c69b75f3c1f017923e00825c55fcca9f714 --- /dev/null +++ b/episodes/c5_p002_e039/meta.json @@ -0,0 +1,32 @@ +{ + "source": "raw/c5_p002/magicsim/39", + "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": "v1" +} \ No newline at end of file diff --git a/episodes/c5_p002_e039/scene_snapshot.json b/episodes/c5_p002_e039/scene_snapshot.json new file mode 100644 index 0000000000000000000000000000000000000000..c66ec128869ad5e08ec209173933f795b256f1f0 --- /dev/null +++ b/episodes/c5_p002_e039/scene_snapshot.json @@ -0,0 +1,1558 @@ +{ + "trajectory_id": 39, + "env_id": 3, + "run_id": "c5_p002", + "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": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_384_white/plate_384_white.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 0.9605 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/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": "$MAGICSIM_ASSETS/Bio/CAD/plates/pcr_96_blue/pcr_96_blue.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.0965 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_24_clear/plate_24_clear.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.1645 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/deep_well_96_2ml/deep_well_96_2ml.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.2325 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "a4s_sealer": [ + { + "asset": "$MAGICSIM_ASSETS/Articulated/A4SSealer/Object.usd", + "pose": { + "pos": [ + 0.5256032943725586, + 0.08841419219970703, + 0.8999999761581421 + ], + "ori": [ + 0.7292097806930542, + 0.0, + 0.0, + -0.6842902302742004 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "articulation", + "solver_position_iteration_count": 16.0, + "solver_velocity_iteration_count": 1.0, + "enabled_self_collisions": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "joint_position": [ + 0.0 + ], + "joint_velocity": [ + 0.0 + ], + "linear_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "angular_velocity": [ + 0.0, + 0.0, + 0.0 + ] + } + } + ], + "conveyor": [ + { + "asset": "Cube", + "pose": { + "pos": [ + 0.15, + 0.45, + 0.9 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "conveyor", + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9 + }, + "ratio": 1.0 + }, + "primitive_params": { + "size": [ + 2.4, + 0.076, + 0.03 + ] + }, + "conveyor": { + "speed": 0.23789314243201085, + "direction": [ + 1.0, + 0.0, + 0.0 + ], + "enabled": true, + "drive": "surface_velocity", + "lines": null, + "station_line": null, + "riders": [ + "carrier" + ], + "stations": { + "pick": { + "position": -0.19381248012113333, + "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": 0.23789314243201085, + "holds": [], + "station": "pick", + "rider": "carrier_2", + "arrived": true, + "applied_speed": 0.0 + } + } + } + ], + "carrier": [ + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + 1.5924806594848633, + 0.5520334243774414, + 0.8999999761581421 + ], + "ori": [ + 0.9295834302902222, + -2.5314871976434006e-08, + -4.4785096520172374e-08, + 0.36861202120780945 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -8.596759415446797e-11, + -1.9806706275105057e-10, + 0.0 + ], + "angular_velocity": [ + -3.507406987068862e-08, + -5.923908918958887e-09, + -2.645946128865262e-09 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + -0.04346752166748047, + 0.4499998092651367, + 0.8999999761581421 + ], + "ori": [ + 1.0, + 6.738769098291186e-09, + 4.705841272212297e-10, + 1.9890994735760614e-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": [ + 1.4745886733891211e-09, + 9.649374632658692e-10, + 1.1175870895385742e-08 + ], + "angular_velocity": [ + -7.612262464817832e-08, + 1.4168043094286986e-07, + -5.0310839938561e-09 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + 0.14998531341552734, + 1.1499996185302734, + 0.8999999761581421 + ], + "ori": [ + 4.024620011477964e-06, + -1.528179388587958e-10, + 3.9280484420700645e-10, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -3.842330897896318e-10, + -6.357527837508314e-10, + 0.0 + ], + "angular_velocity": [ + 1.788380110667731e-08, + -2.6764929828004824e-08, + 1.0906868741500375e-09 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + -1.382248878479004, + 0.90704345703125, + 0.8999999761581421 + ], + "ori": [ + -0.5865939855575562, + 8.755853286857018e-08, + 5.459351370973309e-08, + 0.8098812103271484 + ], + "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": [ + 1.088975021268368e-09, + 4.601778069712736e-09, + 4.0978193283081055e-08 + ], + "angular_velocity": [ + -3.9141849583756994e-07, + 2.0767294017787208e-07, + -2.103400476016759e-08 + ] + } + } + ], + "plate": [ + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_48_clear/Object.usd", + "pose": { + "pos": [ + 1.5842714309692383, + 0.5411739349365234, + 0.9179999828338623 + ], + "ori": [ + 0.9111281633377075, + -2.806571686164716e-08, + -4.518267360253958e-08, + 0.4121233820915222 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -1.1638201513619606e-08, + -2.2809851785154933e-08, + 8.195638656616211e-08 + ], + "angular_velocity": [ + 1.7967547591979383e-06, + -3.559504193617613e-07, + 5.4563457752010436e-08 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_384_white/Object.usd", + "pose": { + "pos": [ + -0.0531463623046875, + 0.4502601623535156, + 0.9180000424385071 + ], + "ori": [ + 0.9955446124076843, + 5.1928910060894395e-09, + -3.701247364151783e-10, + 0.09429213404655457 + ], + "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": [ + 1.3066481230339377e-09, + 3.731517317362432e-09, + -5.245208740234375e-06 + ], + "angular_velocity": [ + 1.4134658385955845e-06, + -1.6370297544199275e-06, + -1.0715331200117362e-07 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_96_clear/Object.usd", + "pose": { + "pos": [ + 0.14025402069091797, + 1.1501407623291016, + 0.9180000424385071 + ], + "ori": [ + -0.02609279751777649, + 1.4517067548069917e-09, + 1.1696717205911256e-10, + 0.999659538269043 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 1.877952371387437e-08, + -1.1813689582140796e-08, + -5.606561899185181e-06 + ], + "angular_velocity": [ + -5.0803709683577836e-08, + 1.2934719961776864e-06, + 1.3698358714009373e-07 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/reservoir_12ch/Object.usd", + "pose": { + "pos": [ + -1.3881587982177734, + 0.9206743240356445, + 0.9179999828338623 + ], + "ori": [ + -0.5061225295066833, + 7.836222692958472e-08, + 6.726320833649879e-08, + 0.8624616265296936 + ], + "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": [ + 6.901526461433605e-08, + 1.3531837339542108e-07, + -2.7008354663848877e-06 + ], + "angular_velocity": [ + -4.933091531711398e-06, + 1.804327894205926e-06, + -4.896934413523013e-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": 4.239999999999932, + "step": 848, + "counter": 0, + "devices": { + "a4s_sealer_1": { + "mode": "auto", + "units": { + "drawer": { + "state": "at_out", + "active": null, + "target": 0.0, + "goal_name": "out", + "profile": null, + "q_start": null, + "reversing": false, + "blocked_for": 0.0, + "settled_for": 0.0, + "last_q": 0.0 + }, + "heater": { + "state": "ready", + "active": null, + "duration": 0.0, + "t_start": null, + "elapsed": 0.0 + } + }, + "queues": {}, + "program": null, + "sensors": { + "plate_present": { + "occupants": [], + "pending": {} + } + }, + "interlocks": {} + }, + "conveyor_1": { + "mode": "auto", + "units": { + "belt": { + "state": "at_station", + "active": null, + "controller": { + "speed": 0.23789314243201085, + "holds": [], + "station": "pick", + "rider": "carrier_2", + "arrived": true, + "settle_count": 788, + "released": { + "pick": [] + }, + "last_pos": { + "carrier_1": [ + 1.4424806535243988, + 0.10203343629837036, + 0.0 + ], + "carrier_2": [ + -0.19346752762794495, + -1.7881393432617188e-07, + 0.0 + ], + "carrier_3": [ + -1.4692544937133789e-05, + 0.6999996304512024, + 0.0 + ], + "carrier_4": [ + -1.5322488844394684, + 0.45704346895217896, + 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": [ + 0.6226227793165845, + -0.24378181300813728, + 2.688995640923441 + ], + "ori": [ + 5.143691794645438, + 7.116891810383962, + 4.839327908784931 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "color_temperature": 3924.085999645513, + "color": [ + 0.8604740578923006, + 0.9980741657304502, + 0.8177137599660247 + ], + "intensity": 4664.591253704326, + "width": 2.0086985113082148, + "height": 1.5992315633066563 + } + }, + "key": { + "type": "sphere", + "pose": { + "pos": [ + 1.5616892422518358, + 0.010504998766763363, + 1.899960655089683 + ], + "ori": [ + -1.124904078322004, + 10.983441374015712, + 26.725054107171005 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "color_temperature": 5358.123047023871, + "color": [ + 0.8715462261808095, + 0.877712699828846, + 0.9238159333810954 + ], + "intensity": 1563.8045697734995, + "radius": 0.2175891007538846 + } + } + } + ], + "background": { + "type": "dome", + "pose": { + "pos": null, + "ori": null, + "scale": null + }, + "dr": { + "intensity": 538.0179094594366, + "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": [ + [ + 0.9584194421768188, + -1.5064384937286377, + 2.1629865169525146, + -2.2273621559143066, + -1.5708057880401611, + 2.644789457321167, + 0.00761948199942708, + 0.007011115550994873 + ], + [ + 2.7469656467437744, + -1.8534082174301147, + 1.870584487915039, + -1.5879327058792114, + -1.5704290866851807, + 4.31673526763916, + 0.018000027164816856, + 0.01799997128546238 + ], + [ + 1.001510739326477, + -1.3105887174606323, + 2.294548273086548, + -2.5547938346862793, + -1.5707833766937256, + 2.6279618740081787, + 0.00766669400036335, + 0.007032847963273525 + ], + [ + 0.9141024351119995, + -1.719398021697998, + 2.0904994010925293, + -1.9419009685516357, + -1.5707999467849731, + 2.484901189804077, + 0.01799999736249447, + 0.018000001087784767 + ] + ], + "joint_vel": [ + [ + 0.00021617210586555302, + -0.014731168746948242, + -0.011508720926940441, + 0.024319464340806007, + 0.0003594202280510217, + 0.00138948077801615, + -0.007837031036615372, + 0.00021329727314878255 + ], + [ + -0.008098498918116093, + -0.02173285372555256, + 0.014582806266844273, + 0.0062917983159422874, + -1.3423044038063381e-05, + -0.008229179307818413, + -3.845336777885677e-06, + 3.845470928354189e-06 + ], + [ + -0.0006694099865853786, + -0.00016181754472199827, + 1.7308575479546562e-06, + -0.000556813960429281, + 0.00031144070089794695, + -2.5255385480704717e-05, + -0.007912024855613708, + 0.00023184739984571934 + ], + [ + 3.4059644349326845e-06, + 3.4059371500916313e-06, + -9.009732196418874e-12, + -1.6521105230399291e-12, + -3.4059778499795357e-06, + 3.549694988901758e-13, + 2.5989912444401853e-08, + -2.598979875756413e-08 + ] + ] + } + }, + "cameras": { + "cameras": { + "camera0": [ + [ + 0.05180450156331062, + 0.00029161106795072556, + -0.032778289169073105, + -0.2759349048137665, + 0.6581593155860901, + 0.6389709711074829, + -0.28705811500549316 + ], + [ + 0.04827176034450531, + 0.0010488623520359397, + -0.03206491842865944, + -0.2960210144519806, + 0.6447247266769409, + 0.6470720171928406, + -0.279283732175827 + ], + [ + 0.04932847246527672, + 0.0025756224058568478, + -0.032877419143915176, + -0.28483185172080994, + 0.6416680216789246, + 0.6591922044754028, + -0.2694412171840668 + ], + [ + 0.048648446798324585, + -0.0007748269708827138, + -0.026907529681921005, + -0.281141996383667, + 0.6445972323417664, + 0.6497414708137512, + -0.2885994017124176 + ] + ], + "camera1": [ + [ + 0.07443199306726456, + 0.5711514949798584, + 1.9457330703735352, + 0.028810692951083183, + 0.013910607434809208, + 0.25922948122024536, + 0.9652857184410095 + ], + [ + 0.071715347468853, + 0.5762608051300049, + 1.9273816347122192, + 0.04316096752882004, + -0.0023767882958054543, + 0.26077377796173096, + 0.9644317030906677 + ], + [ + 0.06040199473500252, + 0.5785200595855713, + 1.9273682832717896, + 0.04209756478667259, + 0.0047531770542263985, + 0.28721940517425537, + 0.956927478313446 + ], + [ + 0.051940519362688065, + 0.5903128385543823, + 1.9534716606140137, + 0.039640896022319794, + 0.0017979292897507548, + 0.26010236144065857, + 0.9647653102874756 + ] + ] + } + } + } +} \ No newline at end of file diff --git a/episodes/c5_p002_e039/wrist.mp4 b/episodes/c5_p002_e039/wrist.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..a64ad5619c247ed07da141c54412d31ca32cc03f --- /dev/null +++ b/episodes/c5_p002_e039/wrist.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:e035d251650507ce2fc2a1e4aa5e0dc2fb4f9d1498739a4d8a2afddafff21a3f +size 7183219 diff --git a/episodes/c7_p002_e035/data.npz b/episodes/c7_p002_e035/data.npz new file mode 100644 index 0000000000000000000000000000000000000000..a301d40a37998dc1d19995d6092044007b2d45da --- /dev/null +++ b/episodes/c7_p002_e035/data.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:5a362873fb8065c7421826bca24fa62401fed11e84119502cbbcd1ac637b576f +size 188971 diff --git a/episodes/c7_p002_e035/device_events.jsonl b/episodes/c7_p002_e035/device_events.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..d58a230fad21e24d1ac5afbe78ba847ff6f5aa3f --- /dev/null +++ b/episodes/c7_p002_e035/device_events.jsonl @@ -0,0 +1,37 @@ +{"env_id": 2, "seq": 1, "step": 65, "t": 0.325, "topic": "conveyor_1.belt.station.pick.captured", "source": "conveyor_1.belt", "data": {"rider": "carrier_2"}, "cause": null} +{"env_id": 2, "seq": 2, "step": 65, "t": 0.325, "topic": "conveyor_1.belt.state.changed", "source": "conveyor_1.belt", "data": {"from": "running", "to": "at_station"}, "cause": null} +{"env_id": 2, "seq": 3, "step": 70, "t": 0.35, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_2"}, "cause": null} +{"env_id": 2, "seq": 4, "step": 1378, "t": 6.89, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_2"}, "cause": null} +{"env_id": 2, "seq": 5, "step": 1396, "t": 6.98, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_2"}, "cause": null} +{"env_id": 2, "seq": 6, "step": 6378, "t": 31.89, "topic": "a4s_sealer_1.plate_present.present", "source": "a4s_sealer_1.plate_present", "data": {"object": "plate_2"}, "cause": null} +{"env_id": 2, "seq": 7, "step": 6992, "t": 34.96, "topic": "a4s_sealer_1.command.started", "source": "a4s_sealer_1", "data": {"command_id": "task-2-1", "name": "seal", "source": "task"}, "cause": "task-2-1"} +{"env_id": 2, "seq": 8, "step": 6992, "t": 34.96, "topic": "a4s_sealer_1.seal.started", "source": "a4s_sealer_1", "data": {"dwell": 2.670101804801442}, "cause": "task-2-1"} +{"env_id": 2, "seq": 9, "step": 6992, "t": 34.96, "topic": "a4s_sealer_1.drawer.command.started", "source": "a4s_sealer_1.drawer", "data": {"command_id": "program-2-2", "name": "close", "source": "program:seal"}, "cause": "program-2-2"} +{"env_id": 2, "seq": 10, "step": 6992, "t": 34.96, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "at_out", "to": "moving"}, "cause": null} +{"env_id": 2, "seq": 11, "step": 6992, "t": 34.96, "topic": "a4s_sealer_1.drawer.moving", "source": "a4s_sealer_1.drawer", "data": {"target": 0.3, "goal": "in"}, "cause": "program-2-2"} +{"env_id": 2, "seq": 12, "step": 7411, "t": 37.055, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "moving", "to": "at_in"}, "cause": null} +{"env_id": 2, "seq": 13, "step": 7411, "t": 37.055, "topic": "a4s_sealer_1.drawer.reached", "source": "a4s_sealer_1.drawer", "data": {"position": "in", "q": 0.30000001192092896}, "cause": "program-2-2"} +{"env_id": 2, "seq": 14, "step": 7411, "t": 37.055, "topic": "a4s_sealer_1.drawer.at_in", "source": "a4s_sealer_1.drawer", "data": {"q": 0.30000001192092896}, "cause": "program-2-2"} +{"env_id": 2, "seq": 15, "step": 7411, "t": 37.055, "topic": "a4s_sealer_1.drawer.command.succeeded", "source": "a4s_sealer_1.drawer", "data": {"command_id": "program-2-2", "name": "close", "source": "program:seal", "result": {"position": "in"}}, "cause": "program-2-2"} +{"env_id": 2, "seq": 16, "step": 7411, "t": 37.055, "topic": "labware.plate_2.changed", "source": "labware.plate_2", "data": {"key": "sealed", "value": true}, "cause": "task-2-1"} +{"env_id": 2, "seq": 17, "step": 7411, "t": 37.055, "topic": "a4s_sealer_1.sealed", "source": "a4s_sealer_1", "data": {"plate": "plate_2"}, "cause": "task-2-1"} +{"env_id": 2, "seq": 18, "step": 7411, "t": 37.055, "topic": "a4s_sealer_1.heater.command.started", "source": "a4s_sealer_1.heater", "data": {"command_id": "program-2-3", "name": "run", "source": "program:seal"}, "cause": "program-2-3"} +{"env_id": 2, "seq": 19, "step": 7411, "t": 37.055, "topic": "a4s_sealer_1.heater.state.changed", "source": "a4s_sealer_1.heater", "data": {"from": "ready", "to": "running"}, "cause": null} +{"env_id": 2, "seq": 20, "step": 7411, "t": 37.055, "topic": "a4s_sealer_1.heater.started", "source": "a4s_sealer_1.heater", "data": {"duration": 2.670101804801442}, "cause": "program-2-3"} +{"env_id": 2, "seq": 21, "step": 7946, "t": 39.73, "topic": "a4s_sealer_1.heater.state.changed", "source": "a4s_sealer_1.heater", "data": {"from": "running", "to": "ready"}, "cause": null} +{"env_id": 2, "seq": 22, "step": 7946, "t": 39.73, "topic": "a4s_sealer_1.heater.finished", "source": "a4s_sealer_1.heater", "data": {"elapsed": 2.6750000000013685}, "cause": "program-2-3"} +{"env_id": 2, "seq": 23, "step": 7946, "t": 39.73, "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": 2.6750000000013685}}, "cause": "program-2-3"} +{"env_id": 2, "seq": 24, "step": 7946, "t": 39.73, "topic": "a4s_sealer_1.drawer.command.started", "source": "a4s_sealer_1.drawer", "data": {"command_id": "program-2-4", "name": "open", "source": "program:seal"}, "cause": "program-2-4"} +{"env_id": 2, "seq": 25, "step": 7946, "t": 39.73, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "at_in", "to": "moving"}, "cause": null} +{"env_id": 2, "seq": 26, "step": 7946, "t": 39.73, "topic": "a4s_sealer_1.drawer.moving", "source": "a4s_sealer_1.drawer", "data": {"target": 0.0, "goal": "out"}, "cause": "program-2-4"} +{"env_id": 2, "seq": 27, "step": 8366, "t": 41.83, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "moving", "to": "at_out"}, "cause": null} +{"env_id": 2, "seq": 28, "step": 8366, "t": 41.83, "topic": "a4s_sealer_1.drawer.reached", "source": "a4s_sealer_1.drawer", "data": {"position": "out", "q": 0.0}, "cause": "program-2-4"} +{"env_id": 2, "seq": 29, "step": 8366, "t": 41.83, "topic": "a4s_sealer_1.drawer.at_out", "source": "a4s_sealer_1.drawer", "data": {"q": 0.0}, "cause": "program-2-4"} +{"env_id": 2, "seq": 30, "step": 8366, "t": 41.83, "topic": "a4s_sealer_1.drawer.command.succeeded", "source": "a4s_sealer_1.drawer", "data": {"command_id": "program-2-4", "name": "open", "source": "program:seal", "result": {"position": "out"}}, "cause": "program-2-4"} +{"env_id": 2, "seq": 31, "step": 8366, "t": 41.83, "topic": "a4s_sealer_1.seal.finished", "source": "a4s_sealer_1", "data": {}, "cause": "task-2-1"} +{"env_id": 2, "seq": 32, "step": 8366, "t": 41.83, "topic": "a4s_sealer_1.command.succeeded", "source": "a4s_sealer_1", "data": {"command_id": "task-2-1", "name": "seal", "source": "task"}, "cause": "task-2-1"} +{"env_id": 2, "seq": 33, "step": 8947, "t": 44.735, "topic": "a4s_sealer_1.plate_present.absent", "source": "a4s_sealer_1.plate_present", "data": {"object": "plate_2"}, "cause": null} +{"env_id": 2, "seq": 34, "step": 10636, "t": 53.18, "topic": "conveyor_1.belt.command.started", "source": "conveyor_1.belt", "data": {"command_id": "task-2-5", "name": "release", "source": "task"}, "cause": "task-2-5"} +{"env_id": 2, "seq": 35, "step": 10636, "t": 53.18, "topic": "conveyor_1.belt.station.pick.released", "source": "conveyor_1.belt", "data": {"rider": "carrier_2"}, "cause": "task-2-5"} +{"env_id": 2, "seq": 36, "step": 10636, "t": 53.18, "topic": "conveyor_1.belt.state.changed", "source": "conveyor_1.belt", "data": {"from": "at_station", "to": "running"}, "cause": null} +{"env_id": 2, "seq": 37, "step": 10636, "t": 53.18, "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_p002_e035/env.mp4 b/episodes/c7_p002_e035/env.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..29cd06a7420b79a3f8b4e1333537245581c3b697 --- /dev/null +++ b/episodes/c7_p002_e035/env.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:3fec7aaa578c35f036e527241d6e501cc2c957f74f19b22b50f6723091b842d6 +size 1314205 diff --git a/episodes/c7_p002_e035/meta.json b/episodes/c7_p002_e035/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..08e651601d6801124d6fa35619d480a0b7ad382b --- /dev/null +++ b/episodes/c7_p002_e035/meta.json @@ -0,0 +1,32 @@ +{ + "source": "raw/c7_p002/magicsim/35", + "fps": 25, + "frames": 1214, + "kept_ticks": "even", + "video_frames": { + "wrist": 1214, + "env": 1214 + }, + "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": "v1" +} \ No newline at end of file diff --git a/episodes/c7_p002_e035/scene_snapshot.json b/episodes/c7_p002_e035/scene_snapshot.json new file mode 100644 index 0000000000000000000000000000000000000000..42d1dc4fbb45f08697848003ed913e14619cdc1c --- /dev/null +++ b/episodes/c7_p002_e035/scene_snapshot.json @@ -0,0 +1,1558 @@ +{ + "trajectory_id": 35, + "env_id": 2, + "run_id": "c7_p002", + "task_type": "BioPlateCell", + "success": true, + "timing": { + "fps": 50.0, + "sim_dt": 0.005, + "decimation": 4 + }, + "restore_interface": { + "scene": "scene_manager.reset_to(snapshot['scene'], env_ids=[env_id])", + "robots": "robot_manager.set_state({'robots': snapshot['robots']}, env_ids=[env_id])" + }, + "snapshot": { + "env_id": 2, + "scene": { + "objects": [ + {}, + {}, + { + "rac_cell": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/rac_cell.usd", + "pose": { + "pos": [ + 0.0, + 0.0, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "physics_material": { + "static_friction": 0.6, + "dynamic_friction": 0.5, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "robot_mount": [ + { + "asset": "Cube", + "pose": { + "pos": [ + 0.0, + 0.0, + 0.9075 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": "color", + "value": [ + 0.55, + 0.56, + 0.58 + ], + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": { + "size": [ + 0.2, + 0.2, + 0.015 + ] + } + }, + "type_specific": {} + } + ], + "plate_rack": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/plate_hotel.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 0.9 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "physics_material": { + "static_friction": 0.6, + "dynamic_friction": 0.5, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "hotel_plate": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_24_clear/plate_24_clear.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 0.9605 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_48_clear/plate_48_clear.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.0285 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_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": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_24_clear/plate_24_clear.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.1645 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$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": [ + 0.5001640319824219, + 0.11996269226074219, + 0.8999999761581421 + ], + "ori": [ + 0.7301656007766724, + 0.0, + 0.0, + -0.6832702159881592 + ], + "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": [ + 3.0277486247343166e-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": 0.22683315571399185, + "direction": [ + 1.0, + 0.0, + 0.0 + ], + "enabled": true, + "drive": "surface_velocity", + "lines": null, + "station_line": null, + "riders": [ + "carrier" + ], + "stations": { + "pick": { + "position": -0.021668088949567788, + "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": 0.22683315571399185, + "holds": [], + "station": "pick", + "rider": "carrier_2", + "arrived": true, + "applied_speed": 0.0 + } + } + } + ], + "carrier": [ + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + -1.385345458984375, + 0.7077512741088867, + 0.9000005125999451 + ], + "ori": [ + -0.7893450260162354, + 1.0395697245257907e-05, + -6.684143045276869e-06, + 0.6139499545097351 + ], + "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": [ + -3.949559686589055e-05, + -1.2504377991717774e-05, + -9.692087769508362e-05 + ], + "angular_velocity": [ + 0.0010695148957893252, + -0.0035148318856954575, + 6.853253580629826e-05 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + 0.12827777862548828, + 0.45000171661376953, + 0.8999999761581421 + ], + "ori": [ + 1.0, + 5.151607584963358e-09, + 1.204533695009502e-10, + -1.8741455278359354e-05 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 4.45601555654207e-10, + 2.2710511249357523e-10, + 1.1175870895385742e-08 + ], + "angular_velocity": [ + 4.6757943295006044e-08, + 3.930005476604492e-08, + -2.259536380222471e-08 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + 0.4425849914550781, + 1.149998664855957, + 0.8999999761581421 + ], + "ori": [ + -2.9107215596013702e-05, + -6.298093158108031e-10, + 5.5807785059869275e-09, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 2.02398209303567e-10, + -1.222313694704269e-09, + 3.725290298461914e-09 + ], + "angular_velocity": [ + 6.601683821827464e-08, + 2.8075092473045515e-08, + 1.1835084023914533e-09 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + 1.6462574005126953, + 0.9845924377441406, + 0.8999999761581421 + ], + "ori": [ + 0.48730766773223877, + 9.222166852396185e-08, + 6.3918372816829105e-09, + 0.8732304573059082 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -1.921488035350194e-08, + -1.0349777923579495e-08, + -1.1175870895385742e-08 + ], + "angular_velocity": [ + 7.13782924322004e-07, + -8.473981552015175e-07, + -1.0396440330850965e-07 + ] + } + } + ], + "plate": [ + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_24_clear/Object.usd", + "pose": { + "pos": [ + -1.3760747909545898, + 0.7099018096923828, + 0.9180002212524414 + ], + "ori": [ + -0.7543581128120422, + 1.2285392585908994e-05, + -6.817974735895405e-06, + 0.6564632058143616 + ], + "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": [ + -7.157015352277085e-05, + -4.1203857108484954e-05, + -7.039681077003479e-05 + ], + "angular_velocity": [ + 0.0011437750654295087, + -0.003131888108327985, + 0.00014898150402586907 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_384_black/Object.usd", + "pose": { + "pos": [ + 0.11500835418701172, + 0.4477653503417969, + 0.9180000424385071 + ], + "ori": [ + 0.9984118938446045, + 5.9768021642980784e-09, + 1.2276126781785024e-09, + -0.05633598938584328 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -6.179723399668546e-09, + 1.4543917181697452e-08, + -5.334615707397461e-06 + ], + "angular_velocity": [ + 3.1792228583071847e-07, + -1.9573772078729235e-06, + -4.0985860039199906e-08 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_1536_black/Object.usd", + "pose": { + "pos": [ + 0.43738365173339844, + 1.1490287780761719, + 0.9180000424385071 + ], + "ori": [ + 0.00483730249106884, + 4.5432049788907136e-10, + 5.56720491928786e-09, + 0.999988317489624 + ], + "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": [ + 1.5164793865096726e-08, + -1.3906610973890565e-08, + -5.401670932769775e-06 + ], + "angular_velocity": [ + -1.6247854262019246e-07, + 1.4908908951838384e-06, + 1.0487601542763514e-07 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/deep_well_24_10ml/Object.usd", + "pose": { + "pos": [ + 1.6444892883300781, + 0.9680547714233398, + 0.9179999828338623 + ], + "ori": [ + 0.46066954731941223, + -2.597427908312966e-07, + 3.872460752063489e-07, + 0.8875717520713806 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -2.507964154574438e-06, + -1.615192013559863e-05, + -9.622424840927124e-06 + ], + "angular_velocity": [ + 0.00028958061011508107, + -0.00014638752327300608, + 7.367043144768104e-05 + ] + } + } + ], + "deco_hub_west": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/hub_c.usd", + "pose": { + "pos": [ + -3.36, + 0.0, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_hub_east": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/hub_a.usd", + "pose": { + "pos": [ + 3.36, + 0.0, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_hub_back": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/hub_e.usd", + "pose": { + "pos": [ + -3.0, + -2.1, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_bench_east": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/bench_a.usd", + "pose": { + "pos": [ + 2.6, + -2.5, + 0.0 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_bench_gap": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/bench_b.usd", + "pose": { + "pos": [ + -0.1, + -2.9, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ] + }, + {} + ], + "devices": { + "hub": [ + null, + null, + { + "t": 4.79999999999992, + "step": 960, + "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": 3.0277486247343166e-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": 0.22683315571399185, + "holds": [], + "station": "pick", + "rider": "carrier_2", + "arrived": true, + "settle_count": 894, + "released": { + "pick": [] + }, + "last_pos": { + "carrier_1": [ + -1.5353464186191559, + 0.2577512860298157, + 5.364418029785156e-07 + ], + "carrier_2": [ + -0.021722227334976196, + 1.7285346984863281e-06, + 0.0 + ], + "carrier_3": [ + 0.29258498549461365, + 0.699998676776886, + 0.0 + ], + "carrier_4": [ + 1.4962573945522308, + 0.5345924496650696, + 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": [ + 0.1121257777654815, + 0.5514223399530394, + 3.178095201157978 + ], + "ori": [ + 2.517662523728923, + -8.851270540965245, + 16.760759708206855 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "color_temperature": 4475.442967592828, + "color": [ + 0.833705773932474, + 0.9148824806949911, + 0.9632235002756254 + ], + "intensity": 13805.070257468336, + "width": 1.547210005322426, + "height": 1.1904032537718214 + } + }, + "key": { + "type": "sphere", + "pose": { + "pos": [ + -1.556590399185675, + 0.7379318559025301, + 2.180278287808566 + ], + "ori": [ + 4.284751160140999, + -11.90722098052559, + 11.587651163022144 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "color_temperature": 3095.140869368554, + "color": [ + 0.8907813876290196, + 0.7720052608346815, + 0.8260828978702427 + ], + "intensity": 7051.453296419971, + "radius": 0.15804915550585955 + } + } + }, + {} + ], + "background": { + "type": "dome", + "pose": { + "pos": null, + "ori": null, + "scale": null + }, + "dr": { + "intensity": 700.6251223640882, + "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": [ + [ + -0.09041371196508408, + -2.2632994651794434, + 2.3555192947387695, + -1.6631003618240356, + -1.5710066556930542, + 4.643517971038818, + 0.018000001087784767, + 0.01799999736249447 + ], + [ + 0.9140999913215637, + -1.7194000482559204, + 2.0905001163482666, + -1.9419000148773193, + -1.5707999467849731, + 2.4848999977111816, + 0.017999999225139618, + 0.017999999225139618 + ], + [ + 0.9140999913215637, + -1.7194000482559204, + 2.0905001163482666, + -1.9419000148773193, + -1.5707999467849731, + 2.4848999977111816, + 0.017999999225139618, + 0.017999999225139618 + ], + [ + 0.9140999913215637, + -1.7194000482559204, + 2.0905001163482666, + -1.9419000148773193, + -1.5707999467849731, + 2.4848999977111816, + 0.017999999225139618, + 0.017999999225139618 + ] + ], + "joint_vel": [ + [ + 2.5029410229608723e-38, + -1.239193875764333e-38, + 0.0, + -7.991791234480494e-38, + 1.251436656109538e-37, + -1.2120168971654324e-36, + -2.599039383710533e-08, + 2.599039738981901e-08 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + ] + } + }, + "cameras": { + "cameras": { + "camera0": [ + [ + 0.04690612480044365, + 8.611879457021132e-05, + -0.02965041808784008, + -0.28081199526786804, + 0.6540924906730652, + 0.6398259997367859, + -0.2897073030471802 + ], + [ + 0.05199017375707626, + 0.00056987110292539, + -0.02733008749783039, + -0.2867167890071869, + 0.6524873971939087, + 0.6449393630027771, + -0.27587470412254333 + ], + [ + 0.050322920083999634, + -0.0007788766524754465, + -0.031940311193466187, + -0.29092076420783997, + 0.6512791514396667, + 0.6429988145828247, + -0.2788423001766205 + ], + [ + 0.051298461854457855, + 0.0004162566037848592, + -0.03247049078345299, + -0.2750730812549591, + 0.6448763608932495, + 0.6631569266319275, + -0.2620919644832611 + ] + ], + "camera1": [ + [ + 0.061184339225292206, + 0.5773895978927612, + 1.9503943920135498, + 0.03475924953818321, + 0.019619902595877647, + 0.25626540184020996, + 0.9657819867134094 + ], + [ + 0.056175023317337036, + 0.5686651468276978, + 1.9281119108200073, + 0.04160946607589722, + -0.0002229267847724259, + 0.258309930562973, + 0.9651655554771423 + ], + [ + 0.06820829957723618, + 0.5950376987457275, + 1.9417552947998047, + 0.03380609676241875, + -0.0018228153930976987, + 0.26989641785621643, + 0.9622939825057983 + ], + [ + 0.06195584312081337, + 0.602778434753418, + 1.9382693767547607, + 0.030237898230552673, + 0.004917580168694258, + 0.26193907856941223, + 0.9645980596542358 + ] + ] + } + } + } +} \ No newline at end of file diff --git a/episodes/c7_p002_e035/wrist.mp4 b/episodes/c7_p002_e035/wrist.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..1e43293a08e52fe25ad401942a703e8900ed1be7 --- /dev/null +++ b/episodes/c7_p002_e035/wrist.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:643fa9db06206563e44d0bedec13dd5186863155bacbc7babc911c50c9618891 +size 6530933 diff --git a/episodes/c7_p002_e036/data.npz b/episodes/c7_p002_e036/data.npz new file mode 100644 index 0000000000000000000000000000000000000000..73ee40d4f668536065fe61ec13ad0e491ad0b234 --- /dev/null +++ b/episodes/c7_p002_e036/data.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:09576a27fe9b27063be2cb03e93e79db63dbee8dfddc791c848ee67e8d2df4ea +size 187740 diff --git a/episodes/c7_p002_e036/device_events.jsonl b/episodes/c7_p002_e036/device_events.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..9dcf7b16c97ecbc3269bbb75ff331289f1fb321e --- /dev/null +++ b/episodes/c7_p002_e036/device_events.jsonl @@ -0,0 +1,35 @@ +{"env_id": 3, "seq": 1, "step": 44, "t": 0.22, "topic": "conveyor_1.belt.station.pick.captured", "source": "conveyor_1.belt", "data": {"rider": "carrier_3"}, "cause": null} +{"env_id": 3, "seq": 2, "step": 44, "t": 0.22, "topic": "conveyor_1.belt.state.changed", "source": "conveyor_1.belt", "data": {"from": "running", "to": "at_station"}, "cause": null} +{"env_id": 3, "seq": 3, "step": 49, "t": 0.245, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_3"}, "cause": null} +{"env_id": 3, "seq": 4, "step": 6099, "t": 30.495, "topic": "a4s_sealer_1.plate_present.present", "source": "a4s_sealer_1.plate_present", "data": {"object": "plate_3"}, "cause": null} +{"env_id": 3, "seq": 5, "step": 6712, "t": 33.56, "topic": "a4s_sealer_1.command.started", "source": "a4s_sealer_1", "data": {"command_id": "task-3-1", "name": "seal", "source": "task"}, "cause": "task-3-1"} +{"env_id": 3, "seq": 6, "step": 6712, "t": 33.56, "topic": "a4s_sealer_1.seal.started", "source": "a4s_sealer_1", "data": {"dwell": 2.0429731014141685}, "cause": "task-3-1"} +{"env_id": 3, "seq": 7, "step": 6712, "t": 33.56, "topic": "a4s_sealer_1.drawer.command.started", "source": "a4s_sealer_1.drawer", "data": {"command_id": "program-3-2", "name": "close", "source": "program:seal"}, "cause": "program-3-2"} +{"env_id": 3, "seq": 8, "step": 6712, "t": 33.56, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "at_out", "to": "moving"}, "cause": null} +{"env_id": 3, "seq": 9, "step": 6712, "t": 33.56, "topic": "a4s_sealer_1.drawer.moving", "source": "a4s_sealer_1.drawer", "data": {"target": 0.3, "goal": "in"}, "cause": "program-3-2"} +{"env_id": 3, "seq": 10, "step": 7131, "t": 35.655, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "moving", "to": "at_in"}, "cause": null} +{"env_id": 3, "seq": 11, "step": 7131, "t": 35.655, "topic": "a4s_sealer_1.drawer.reached", "source": "a4s_sealer_1.drawer", "data": {"position": "in", "q": 0.30000001192092896}, "cause": "program-3-2"} +{"env_id": 3, "seq": 12, "step": 7131, "t": 35.655, "topic": "a4s_sealer_1.drawer.at_in", "source": "a4s_sealer_1.drawer", "data": {"q": 0.30000001192092896}, "cause": "program-3-2"} +{"env_id": 3, "seq": 13, "step": 7131, "t": 35.655, "topic": "a4s_sealer_1.drawer.command.succeeded", "source": "a4s_sealer_1.drawer", "data": {"command_id": "program-3-2", "name": "close", "source": "program:seal", "result": {"position": "in"}}, "cause": "program-3-2"} +{"env_id": 3, "seq": 14, "step": 7131, "t": 35.655, "topic": "labware.plate_3.changed", "source": "labware.plate_3", "data": {"key": "sealed", "value": true}, "cause": "task-3-1"} +{"env_id": 3, "seq": 15, "step": 7131, "t": 35.655, "topic": "a4s_sealer_1.sealed", "source": "a4s_sealer_1", "data": {"plate": "plate_3"}, "cause": "task-3-1"} +{"env_id": 3, "seq": 16, "step": 7131, "t": 35.655, "topic": "a4s_sealer_1.heater.command.started", "source": "a4s_sealer_1.heater", "data": {"command_id": "program-3-3", "name": "run", "source": "program:seal"}, "cause": "program-3-3"} +{"env_id": 3, "seq": 17, "step": 7131, "t": 35.655, "topic": "a4s_sealer_1.heater.state.changed", "source": "a4s_sealer_1.heater", "data": {"from": "ready", "to": "running"}, "cause": null} +{"env_id": 3, "seq": 18, "step": 7131, "t": 35.655, "topic": "a4s_sealer_1.heater.started", "source": "a4s_sealer_1.heater", "data": {"duration": 2.0429731014141685}, "cause": "program-3-3"} +{"env_id": 3, "seq": 19, "step": 7540, "t": 37.7, "topic": "a4s_sealer_1.heater.state.changed", "source": "a4s_sealer_1.heater", "data": {"from": "running", "to": "ready"}, "cause": null} +{"env_id": 3, "seq": 20, "step": 7540, "t": 37.7, "topic": "a4s_sealer_1.heater.finished", "source": "a4s_sealer_1.heater", "data": {"elapsed": 2.045000000001046}, "cause": "program-3-3"} +{"env_id": 3, "seq": 21, "step": 7540, "t": 37.7, "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": 2.045000000001046}}, "cause": "program-3-3"} +{"env_id": 3, "seq": 22, "step": 7540, "t": 37.7, "topic": "a4s_sealer_1.drawer.command.started", "source": "a4s_sealer_1.drawer", "data": {"command_id": "program-3-4", "name": "open", "source": "program:seal"}, "cause": "program-3-4"} +{"env_id": 3, "seq": 23, "step": 7540, "t": 37.7, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "at_in", "to": "moving"}, "cause": null} +{"env_id": 3, "seq": 24, "step": 7540, "t": 37.7, "topic": "a4s_sealer_1.drawer.moving", "source": "a4s_sealer_1.drawer", "data": {"target": 0.0, "goal": "out"}, "cause": "program-3-4"} +{"env_id": 3, "seq": 25, "step": 7960, "t": 39.8, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "moving", "to": "at_out"}, "cause": null} +{"env_id": 3, "seq": 26, "step": 7960, "t": 39.8, "topic": "a4s_sealer_1.drawer.reached", "source": "a4s_sealer_1.drawer", "data": {"position": "out", "q": 0.0}, "cause": "program-3-4"} +{"env_id": 3, "seq": 27, "step": 7960, "t": 39.8, "topic": "a4s_sealer_1.drawer.at_out", "source": "a4s_sealer_1.drawer", "data": {"q": 0.0}, "cause": "program-3-4"} +{"env_id": 3, "seq": 28, "step": 7960, "t": 39.8, "topic": "a4s_sealer_1.drawer.command.succeeded", "source": "a4s_sealer_1.drawer", "data": {"command_id": "program-3-4", "name": "open", "source": "program:seal", "result": {"position": "out"}}, "cause": "program-3-4"} +{"env_id": 3, "seq": 29, "step": 7960, "t": 39.8, "topic": "a4s_sealer_1.seal.finished", "source": "a4s_sealer_1", "data": {}, "cause": "task-3-1"} +{"env_id": 3, "seq": 30, "step": 7960, "t": 39.8, "topic": "a4s_sealer_1.command.succeeded", "source": "a4s_sealer_1", "data": {"command_id": "task-3-1", "name": "seal", "source": "task"}, "cause": "task-3-1"} +{"env_id": 3, "seq": 31, "step": 8539, "t": 42.695, "topic": "a4s_sealer_1.plate_present.absent", "source": "a4s_sealer_1.plate_present", "data": {"object": "plate_3"}, "cause": null} +{"env_id": 3, "seq": 32, "step": 10304, "t": 51.52, "topic": "conveyor_1.belt.command.started", "source": "conveyor_1.belt", "data": {"command_id": "task-3-5", "name": "release", "source": "task"}, "cause": "task-3-5"} +{"env_id": 3, "seq": 33, "step": 10304, "t": 51.52, "topic": "conveyor_1.belt.station.pick.released", "source": "conveyor_1.belt", "data": {"rider": "carrier_3"}, "cause": "task-3-5"} +{"env_id": 3, "seq": 34, "step": 10304, "t": 51.52, "topic": "conveyor_1.belt.state.changed", "source": "conveyor_1.belt", "data": {"from": "at_station", "to": "running"}, "cause": null} +{"env_id": 3, "seq": 35, "step": 10304, "t": 51.52, "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_p002_e036/env.mp4 b/episodes/c7_p002_e036/env.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..c2f20fd68ae6f319aa91e910b3f40253e6ea2f80 --- /dev/null +++ b/episodes/c7_p002_e036/env.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:22676a0e14e1593683cb33fde072851875c106f926d8b7cbc6bed8333c5d11f4 +size 1216127 diff --git a/episodes/c7_p002_e036/meta.json b/episodes/c7_p002_e036/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..281c8cfdcd00624263570d22bf846d1728a8c0ea --- /dev/null +++ b/episodes/c7_p002_e036/meta.json @@ -0,0 +1,32 @@ +{ + "source": "raw/c7_p002/magicsim/36", + "fps": 25, + "frames": 1175, + "kept_ticks": "even", + "video_frames": { + "wrist": 1175, + "env": 1175 + }, + "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": "v1" +} \ No newline at end of file diff --git a/episodes/c7_p002_e036/scene_snapshot.json b/episodes/c7_p002_e036/scene_snapshot.json new file mode 100644 index 0000000000000000000000000000000000000000..e0b5f8da11f0dc4cf6d908229a3fe8ed0cf2f8ba --- /dev/null +++ b/episodes/c7_p002_e036/scene_snapshot.json @@ -0,0 +1,1558 @@ +{ + "trajectory_id": 36, + "env_id": 3, + "run_id": "c7_p002", + "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": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_48_clear/plate_48_clear.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 0.9605 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_48_clear/plate_48_clear.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.0285 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_12_clear/plate_12_clear.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.0965 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_96_clear/plate_96_clear.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.1645 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/pcr_384_red/pcr_384_red.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.2325 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "a4s_sealer": [ + { + "asset": "$MAGICSIM_ASSETS/Articulated/A4SSealer/Object.usd", + "pose": { + "pos": [ + 0.5033798217773438, + 0.09269237518310547, + 0.8999999761581421 + ], + "ori": [ + -0.7049903869628906, + 0.0, + 0.0, + 0.709216833114624 + ], + "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": [ + 2.6913341347190034e-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": 0.15790250548860993, + "direction": [ + 1.0, + 0.0, + 0.0 + ], + "enabled": true, + "drive": "surface_velocity", + "lines": null, + "station_line": null, + "riders": [ + "carrier" + ], + "stations": { + "pick": { + "position": -0.24670380074882206, + "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": 0.15790250548860993, + "holds": [], + "station": "pick", + "rider": "carrier_3", + "arrived": true, + "applied_speed": 0.0 + } + } + } + ], + "carrier": [ + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + 0.4744396209716797, + 1.1500024795532227, + 0.8999999761581421 + ], + "ori": [ + 3.20231520163361e-05, + 4.816128051920998e-10, + -3.315107910406567e-11, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 1.502587387847143e-09, + 1.1426887880361392e-08, + 7.450580596923828e-09 + ], + "angular_velocity": [ + -3.3184969083777105e-07, + 8.098415804624892e-08, + 3.785116220456075e-08 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + -1.3799028396606445, + 0.9139747619628906, + 0.8999999761581421 + ], + "ori": [ + -0.5795618891716003, + 6.972503996394153e-08, + -7.863479645209281e-09, + 0.8149282336235046 + ], + "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": [ + -1.4481954302425493e-08, + 1.718069064793326e-08, + 1.0803341865539551e-07 + ], + "angular_velocity": [ + -1.4218077240002458e-06, + -1.0175257330047316e-06, + -3.3887275208144274e-08 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + -0.0970621109008789, + 0.4500007629394531, + 0.8999999761581421 + ], + "ori": [ + 1.0, + 4.423907351558398e-10, + -3.372661039335867e-10, + -3.799089608946815e-05 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -3.408424098516605e-10, + 9.72398828125165e-10, + 3.725290298461914e-09 + ], + "angular_velocity": [ + -7.212504726794577e-08, + -3.764780132087253e-08, + -2.1114265891242212e-09 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + 1.4786911010742188, + 0.4779224395751953, + 0.8999999761581421 + ], + "ori": [ + 0.9845921397209167, + -2.2076854233610277e-10, + -4.7009304893208537e-08, + 0.17486697435379028 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 9.109492049574897e-10, + -8.053788747020008e-10, + 0.0 + ], + "angular_velocity": [ + 1.3278377508640915e-08, + 5.768352906443397e-08, + 9.082769203416774e-09 + ] + } + } + ], + "plate": [ + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_48_clear/Object.usd", + "pose": { + "pos": [ + 0.46611785888671875, + 1.1549100875854492, + 0.9179999828338623 + ], + "ori": [ + 0.06781357526779175, + 8.499186354704591e-10, + 3.9038905441657334e-09, + 0.9976980686187744 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 3.2389589676995456e-08, + 9.241230713996629e-08, + 7.450580596923828e-08 + ], + "angular_velocity": [ + -1.2889232721136068e-06, + 1.949027591763297e-06, + -7.616354480433074e-08 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_384_white/Object.usd", + "pose": { + "pos": [ + -1.391326904296875, + 0.9185400009155273, + 0.9180000424385071 + ], + "ori": [ + -0.6587170362472534, + 6.974237010126672e-08, + -1.4091690481166097e-08, + 0.7523907423019409 + ], + "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": [ + 1.547334171903003e-08, + 7.747020447368413e-08, + -4.842877388000488e-06 + ], + "angular_velocity": [ + -4.587847342918394e-06, + -3.7987473433531704e-07, + 1.7097562476919848e-07 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_96_clear/Object.usd", + "pose": { + "pos": [ + -0.09012985229492188, + 0.44708728790283203, + 0.9180000424385071 + ], + "ori": [ + 0.9945386648178101, + 9.286338364944413e-10, + -1.0438299113957328e-09, + -0.10436934977769852 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -1.6405097724714324e-08, + 2.0021964530769765e-08, + -5.0514936447143555e-06 + ], + "angular_velocity": [ + -4.202788659313228e-07, + -1.3134675782566774e-06, + 1.1524084442271487e-07 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/reservoir_12ch/Object.usd", + "pose": { + "pos": [ + 1.4883041381835938, + 0.48013877868652344, + 0.9179999828338623 + ], + "ori": [ + 0.9748044610023499, + -7.70680497197418e-09, + -4.9366335019840335e-08, + 0.22306129336357117 + ], + "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": [ + -6.742696001538206e-08, + -5.830088767311281e-08, + -1.7881393432617188e-06 + ], + "angular_velocity": [ + 1.4560821455233963e-06, + -1.6056077356552123e-06, + 1.5989823509698908e-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": 4.79999999999992, + "step": 960, + "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": 2.6913341347190034e-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": 0.15790250548860993, + "holds": [], + "station": "pick", + "rider": "carrier_3", + "arrived": true, + "settle_count": 915, + "released": { + "pick": [] + }, + "last_pos": { + "carrier_1": [ + 0.3244396150112152, + 0.7000024914741516, + 0.0 + ], + "carrier_2": [ + -1.529902845621109, + 0.4639747738838196, + 0.0 + ], + "carrier_3": [ + -0.24706211686134338, + 7.748603820800781e-07, + 0.0 + ], + "carrier_4": [ + 1.3286910951137543, + 0.027922451496124268, + 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": [ + -0.08787707423083235, + -0.2667050387682532, + 2.7235617601289217 + ], + "ori": [ + -13.953673817365615, + -0.2593901997471413, + 3.785313837558384 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "color_temperature": 4647.805900874058, + "color": [ + 0.984333522133851, + 0.9333563714322389, + 0.8433132235822933 + ], + "intensity": 4762.706664471707, + "width": 2.3782879955464495, + "height": 1.617811895349565 + } + }, + "key": { + "type": "disk", + "pose": { + "pos": [ + -1.2645038719943695, + -0.5411022728588191, + 2.305049248124284 + ], + "ori": [ + 8.612880396281717, + -22.258359118117703, + -20.704911464685534 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "color_temperature": 6633.488820663135, + "color": [ + 0.9761450369298349, + 0.7943144339898077, + 0.8418723492003631 + ], + "intensity": 10488.829229070436, + "radius": 0.44144435395748916 + } + } + } + ], + "background": { + "type": "dome", + "pose": { + "pos": null, + "ori": null, + "scale": null + }, + "dr": { + "intensity": 700.6251223640882, + "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": [ + [ + -0.09055865556001663, + -2.030656576156616, + 2.6979856491088867, + -2.238208532333374, + -1.570669174194336, + 4.642909049987793, + 0.00765987578779459, + 0.006948099471628666 + ], + [ + 0.9140999913215637, + -1.7194000482559204, + 2.0905001163482666, + -1.9419000148773193, + -1.5707999467849731, + 2.4848999977111816, + 0.017999999225139618, + 0.017999999225139618 + ], + [ + 0.7698991894721985, + -1.213671326637268, + 2.1423330307006836, + -2.4994587898254395, + -1.5708017349243164, + 2.453422784805298, + 0.007757839281111956, + 0.0070894816890358925 + ], + [ + 0.9140999913215637, + -1.7194000482559204, + 2.0905001163482666, + -1.9419000148773193, + -1.5707999467849731, + 2.4848999977111816, + 0.017999999225139618, + 0.017999999225139618 + ] + ], + "joint_vel": [ + [ + -0.00041076255729421973, + 0.00012916317791678011, + 0.0010023629292845726, + 2.170085281250067e-06, + -0.0038469480350613594, + 0.008579078130424023, + -0.009872406721115112, + 0.0003810413181781769 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + [ + -0.00020276111899875104, + -5.386578413890675e-05, + -0.00019336803234182298, + -0.0007041115895844996, + 0.0007628152379766107, + 0.0017360674683004618, + -0.008374328725039959, + 0.0003702690592035651 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + ] + } + }, + "cameras": { + "cameras": { + "camera0": [ + [ + 0.0461452342569828, + 0.002200912684202194, + -0.029881512746214867, + -0.2823100686073303, + 0.6513676047325134, + 0.6406740546226501, + -0.29250308871269226 + ], + [ + 0.052396126091480255, + 0.0009913697140291333, + -0.026927199214696884, + -0.2854466438293457, + 0.6535365581512451, + 0.6424568891525269, + -0.28046277165412903 + ], + [ + 0.052442844957113266, + -0.0019567077979445457, + -0.029602963477373123, + -0.29026463627815247, + 0.6536373496055603, + 0.6388222575187683, + -0.28356796503067017 + ], + [ + 0.05058557167649269, + 0.0008787046535871923, + -0.03267365321516991, + -0.2757571339607239, + 0.6462323665618896, + 0.659205973148346, + -0.2679350674152374 + ] + ], + "camera1": [ + [ + 0.061184339225292206, + 0.5773895978927612, + 1.9503943920135498, + 0.03475924953818321, + 0.019619902595877647, + 0.25626540184020996, + 0.9657819867134094 + ], + [ + 0.056175023317337036, + 0.5686651468276978, + 1.9281119108200073, + 0.04160946607589722, + -0.0002229267847724259, + 0.258309930562973, + 0.9651655554771423 + ], + [ + 0.06820829957723618, + 0.5950376987457275, + 1.9417552947998047, + 0.03380609676241875, + -0.0018228153930976987, + 0.26989641785621643, + 0.9622939825057983 + ], + [ + 0.06195584312081337, + 0.602778434753418, + 1.9382693767547607, + 0.030237898230552673, + 0.004917580168694258, + 0.26193907856941223, + 0.9645980596542358 + ] + ] + } + } + } +} \ No newline at end of file diff --git a/episodes/c7_p002_e036/wrist.mp4 b/episodes/c7_p002_e036/wrist.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..0d68d68bc794c139d6849109b5ba87b68cf6719c --- /dev/null +++ b/episodes/c7_p002_e036/wrist.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:b684ce7096e06a80fed1c567f721ee1c0acf0aa8bb0c5e06a9fe07164b43c45c +size 7434968 diff --git a/episodes/c7_p002_e037/data.npz b/episodes/c7_p002_e037/data.npz new file mode 100644 index 0000000000000000000000000000000000000000..5c558019337d7e44f80f825bb8ca7a3dc5316cf3 --- /dev/null +++ b/episodes/c7_p002_e037/data.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:79c753333f53259518349d90eb25ca4f94fe68fd0f66a145f9f8e43d0399de02 +size 190585 diff --git a/episodes/c7_p002_e037/device_events.jsonl b/episodes/c7_p002_e037/device_events.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..05fee7f140700b70a6c3d7057c5d2cecdfa67f47 --- /dev/null +++ b/episodes/c7_p002_e037/device_events.jsonl @@ -0,0 +1,35 @@ +{"env_id": 1, "seq": 1, "step": 100, "t": 0.5, "topic": "conveyor_1.belt.station.pick.captured", "source": "conveyor_1.belt", "data": {"rider": "carrier_3"}, "cause": null} +{"env_id": 1, "seq": 2, "step": 100, "t": 0.5, "topic": "conveyor_1.belt.state.changed", "source": "conveyor_1.belt", "data": {"from": "running", "to": "at_station"}, "cause": null} +{"env_id": 1, "seq": 3, "step": 105, "t": 0.525, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_3"}, "cause": null} +{"env_id": 1, "seq": 4, "step": 7130, "t": 35.65, "topic": "a4s_sealer_1.plate_present.present", "source": "a4s_sealer_1.plate_present", "data": {"object": "plate_3"}, "cause": null} +{"env_id": 1, "seq": 5, "step": 7740, "t": 38.7, "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": 7740, "t": 38.7, "topic": "a4s_sealer_1.seal.started", "source": "a4s_sealer_1", "data": {"dwell": 2.4486615655755033}, "cause": "task-1-1"} +{"env_id": 1, "seq": 7, "step": 7740, "t": 38.7, "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": 7740, "t": 38.7, "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": 7740, "t": 38.7, "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": 8159, "t": 40.795, "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": 8159, "t": 40.795, "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": 8159, "t": 40.795, "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": 8159, "t": 40.795, "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": 8159, "t": 40.795, "topic": "labware.plate_3.changed", "source": "labware.plate_3", "data": {"key": "sealed", "value": true}, "cause": "task-1-1"} +{"env_id": 1, "seq": 15, "step": 8159, "t": 40.795, "topic": "a4s_sealer_1.sealed", "source": "a4s_sealer_1", "data": {"plate": "plate_3"}, "cause": "task-1-1"} +{"env_id": 1, "seq": 16, "step": 8159, "t": 40.795, "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": 8159, "t": 40.795, "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": 8159, "t": 40.795, "topic": "a4s_sealer_1.heater.started", "source": "a4s_sealer_1.heater", "data": {"duration": 2.4486615655755033}, "cause": "program-1-3"} +{"env_id": 1, "seq": 19, "step": 8649, "t": 43.245, "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": 8649, "t": 43.245, "topic": "a4s_sealer_1.heater.finished", "source": "a4s_sealer_1.heater", "data": {"elapsed": 2.4500000000012534}, "cause": "program-1-3"} +{"env_id": 1, "seq": 21, "step": 8649, "t": 43.245, "topic": "a4s_sealer_1.heater.command.succeeded", "source": "a4s_sealer_1.heater", "data": {"command_id": "program-1-3", "name": "run", "source": "program:seal", "result": {"elapsed": 2.4500000000012534}}, "cause": "program-1-3"} +{"env_id": 1, "seq": 22, "step": 8649, "t": 43.245, "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": 8649, "t": 43.245, "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": 8649, "t": 43.245, "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": 9069, "t": 45.345, "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": 9069, "t": 45.345, "topic": "a4s_sealer_1.drawer.reached", "source": "a4s_sealer_1.drawer", "data": {"position": "out", "q": 5.7175836981615547e-11}, "cause": "program-1-4"} +{"env_id": 1, "seq": 27, "step": 9069, "t": 45.345, "topic": "a4s_sealer_1.drawer.at_out", "source": "a4s_sealer_1.drawer", "data": {"q": 5.7175836981615547e-11}, "cause": "program-1-4"} +{"env_id": 1, "seq": 28, "step": 9069, "t": 45.345, "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": 9069, "t": 45.345, "topic": "a4s_sealer_1.seal.finished", "source": "a4s_sealer_1", "data": {}, "cause": "task-1-1"} +{"env_id": 1, "seq": 30, "step": 9069, "t": 45.345, "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": 9651, "t": 48.255, "topic": "a4s_sealer_1.plate_present.absent", "source": "a4s_sealer_1.plate_present", "data": {"object": "plate_3"}, "cause": null} +{"env_id": 1, "seq": 32, "step": 11376, "t": 56.88, "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": 11376, "t": 56.88, "topic": "conveyor_1.belt.station.pick.released", "source": "conveyor_1.belt", "data": {"rider": "carrier_3"}, "cause": "task-1-5"} +{"env_id": 1, "seq": 34, "step": 11376, "t": 56.88, "topic": "conveyor_1.belt.state.changed", "source": "conveyor_1.belt", "data": {"from": "at_station", "to": "running"}, "cause": null} +{"env_id": 1, "seq": 35, "step": 11376, "t": 56.88, "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_p002_e037/env.mp4 b/episodes/c7_p002_e037/env.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..b97518d1665e3d0a97abc0ac3cb29bfb4d08ad58 --- /dev/null +++ b/episodes/c7_p002_e037/env.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:b0b7a996ffdf3c17cfc11f0bd1e79e69d5f0e418bfaea9d900125ab66bb6aa69 +size 1473096 diff --git a/episodes/c7_p002_e037/meta.json b/episodes/c7_p002_e037/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..9fe8c205493d9f47f4bead82f05b73e8195e34bf --- /dev/null +++ b/episodes/c7_p002_e037/meta.json @@ -0,0 +1,32 @@ +{ + "source": "raw/c7_p002/magicsim/37", + "fps": 25, + "frames": 1210, + "kept_ticks": "even", + "video_frames": { + "wrist": 1210, + "env": 1210 + }, + "joint_target_source": "joint_pos_target", + "fk_vs_recorded_eef_max_m": 0.0, + "curobo_joints": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "joint_order": [ + "shoulder_pan", + "shoulder_lift", + "elbow", + "wrist_1", + "wrist_2", + "wrist_3", + "finger_left", + "finger_right" + ], + "frames_note": "eef / actions in the robot base frame; camera_pose = local pose (wrist: in plate_gripper_base, env: env frame), pos + quat wxyz", + "dr_version": "v1" +} \ No newline at end of file diff --git a/episodes/c7_p002_e037/scene_snapshot.json b/episodes/c7_p002_e037/scene_snapshot.json new file mode 100644 index 0000000000000000000000000000000000000000..d739b87ce6ac9dc3f819a24a2fe0275af08947e6 --- /dev/null +++ b/episodes/c7_p002_e037/scene_snapshot.json @@ -0,0 +1,1558 @@ +{ + "trajectory_id": 37, + "env_id": 1, + "run_id": "c7_p002", + "task_type": "BioPlateCell", + "success": true, + "timing": { + "fps": 50.0, + "sim_dt": 0.005, + "decimation": 4 + }, + "restore_interface": { + "scene": "scene_manager.reset_to(snapshot['scene'], env_ids=[env_id])", + "robots": "robot_manager.set_state({'robots': snapshot['robots']}, env_ids=[env_id])" + }, + "snapshot": { + "env_id": 1, + "scene": { + "objects": [ + {}, + { + "rac_cell": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/rac_cell.usd", + "pose": { + "pos": [ + 0.0, + 0.0, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "physics_material": { + "static_friction": 0.6, + "dynamic_friction": 0.5, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "robot_mount": [ + { + "asset": "Cube", + "pose": { + "pos": [ + 0.0, + 0.0, + 0.9075 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": "color", + "value": [ + 0.55, + 0.56, + 0.58 + ], + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": { + "size": [ + 0.2, + 0.2, + 0.015 + ] + } + }, + "type_specific": {} + } + ], + "plate_rack": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/plate_hotel.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 0.9 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "physics_material": { + "static_friction": 0.6, + "dynamic_friction": 0.5, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "hotel_plate": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_48_clear/plate_48_clear.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 0.9605 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_24_clear/plate_24_clear.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.0285 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/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": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_384_white/plate_384_white.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.1645 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_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": [ + 0.5159244537353516, + 0.10462760925292969, + 0.8999999761581421 + ], + "ori": [ + -0.7015451192855835, + 0.0, + 0.0, + 0.7126250267028809 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "articulation", + "solver_position_iteration_count": 16.0, + "solver_velocity_iteration_count": 1.0, + "enabled_self_collisions": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "joint_position": [ + 6.728332084190991e-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": 0.28835460979492344, + "direction": [ + 1.0, + 0.0, + 0.0 + ], + "enabled": true, + "drive": "surface_velocity", + "lines": null, + "station_line": null, + "riders": [ + "carrier" + ], + "stations": { + "pick": { + "position": -0.27171903490523575, + "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": 0.28835460979492344, + "holds": [], + "station": "pick", + "rider": "carrier_3", + "arrived": true, + "applied_speed": 0.0 + } + } + } + ], + "carrier": [ + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + -1.3802413940429688, + 0.6908283233642578, + 0.8999999761581421 + ], + "ori": [ + -0.8052918910980225, + -1.6064817032201972e-08, + -9.979036974527844e-08, + 0.5928785800933838 + ], + "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": [ + 5.486565441970015e-07, + -8.684987733431626e-07, + -2.6971101760864258e-06 + ], + "angular_velocity": [ + 7.334378460654989e-05, + 4.727777559310198e-05, + 1.497692210250534e-07 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + 0.5852584838867188, + 1.152451515197754, + 0.8999999761581421 + ], + "ori": [ + -0.009059615433216095, + 8.069439338953543e-09, + 3.1153439827846796e-09, + 0.9999589920043945 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -2.1227988256100616e-09, + -1.7707465493899122e-09, + 1.4901161193847656e-08 + ], + "angular_velocity": [ + 1.3627882822220272e-07, + -2.0631125607906142e-07, + -4.330664715723742e-09 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + -0.12154197692871094, + 0.4482421875, + 0.8999999761581421 + ], + "ori": [ + 0.9998475313186646, + -3.1609911910202015e-10, + -6.668330887471541e-10, + 0.017464814707636833 + ], + "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": [ + -7.790046385736105e-12, + 4.224366967342519e-10, + 0.0 + ], + "angular_velocity": [ + -1.483762090970231e-08, + -4.989313850956023e-09, + -2.5876056852780494e-10 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + 1.5440387725830078, + 0.5121936798095703, + 0.8999999761581421 + ], + "ori": [ + 0.9589483141899109, + 4.2839232605729194e-08, + -9.424087465959019e-08, + 0.2835809290409088 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -4.3067116539674544e-10, + 6.211468006611653e-10, + 0.0 + ], + "angular_velocity": [ + 1.855832820751857e-08, + -2.651270847309206e-08, + -4.131324615741505e-09 + ] + } + } + ], + "plate": [ + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_12_clear/Object.usd", + "pose": { + "pos": [ + -1.3741493225097656, + 0.6954431533813477, + 0.9179999828338623 + ], + "ori": [ + -0.7987544536590576, + -2.604851090381999e-07, + 2.2630749185736931e-07, + 0.6016572713851929 + ], + "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": [ + 2.9763386919512413e-06, + -5.043978035246255e-06, + -6.645917892456055e-06 + ], + "angular_velocity": [ + 7.058220217004418e-05, + 0.0001757201534928754, + -1.0183730410062708e-05 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_96_white/Object.usd", + "pose": { + "pos": [ + 0.5901308059692383, + 1.1574983596801758, + 0.9180000424385071 + ], + "ori": [ + 0.06110180541872978, + 7.187697104171775e-09, + 4.953073506896999e-09, + 0.9981315732002258 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -1.2580003705409126e-09, + -2.9794142264449874e-08, + -5.327165126800537e-06 + ], + "angular_velocity": [ + 2.227272943855496e-07, + 1.548725208522228e-06, + 1.2548557748459643e-09 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/pcr_384_red/Object.usd", + "pose": { + "pos": [ + -0.12649822235107422, + 0.4531879425048828, + 0.9179999828338623 + ], + "ori": [ + 0.9977786540985107, + 1.8056410533429101e-10, + -2.872212467863733e-10, + 0.06661669909954071 + ], + "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": [ + -1.1255206544547036e-08, + 8.856044786398343e-09, + -5.89713454246521e-06 + ], + "angular_velocity": [ + 2.0763293662184878e-07, + -9.908756055665435e-07, + 9.39163626867412e-08 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/deep_well_96_1ml/Object.usd", + "pose": { + "pos": [ + 1.5366897583007812, + 0.5036411285400391, + 0.9179999828338623 + ], + "ori": [ + 0.9440168142318726, + 5.063477459543719e-08, + -9.057138328216752e-08, + 0.3298971951007843 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -3.8482291131458624e-08, + -4.6358834993043274e-08, + 1.6391277313232422e-07 + ], + "angular_velocity": [ + 2.627528829179937e-06, + -1.3435251275950577e-06, + 4.565001887613107e-08 + ] + } + } + ], + "deco_hub_west": [ + { + "asset": "$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": 8.619999999999948, + "step": 1724, + "counter": 0, + "devices": { + "a4s_sealer_1": { + "mode": "auto", + "units": { + "drawer": { + "state": "at_out", + "active": null, + "target": 0.0, + "goal_name": "out", + "profile": null, + "q_start": null, + "reversing": false, + "blocked_for": 0.0, + "settled_for": 0.0, + "last_q": 6.728332084190991e-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": 0.28835460979492344, + "holds": [], + "station": "pick", + "rider": "carrier_3", + "arrived": true, + "settle_count": 1623, + "released": { + "pick": [] + }, + "last_pos": { + "carrier_1": [ + -1.5302414000034332, + 0.24082833528518677, + 0.0 + ], + "carrier_2": [ + 0.4352584779262543, + 0.7024515271186829, + 0.0 + ], + "carrier_3": [ + -0.2715419828891754, + -0.001757800579071045, + 0.0 + ], + "carrier_4": [ + 1.3940387666225433, + 0.06219369173049927, + 0.0 + ] + }, + "command": 0.0 + }, + "belt": { + "target_speed": 0.0, + "command_speed": 0.0 + }, + "seen": { + "state": "at_station", + "station": "pick", + "rider": "carrier_3", + "arrived": true + } + } + }, + "queues": {}, + "program": null, + "sensors": {}, + "interlocks": {} + } + }, + "zones": {}, + "labware": { + "plate_1": { + "sealed": false + }, + "plate_2": { + "sealed": false + }, + "plate_3": { + "sealed": false + }, + "plate_4": { + "sealed": false + } + }, + "rules": {}, + "records": [], + "bus": { + "seq": 3, + "queue": [] + } + }, + null, + null + ], + "drives": [ + null, + {}, + null, + null + ] + }, + "artifacts": [ + {}, + { + "ceiling": { + "type": "rect", + "pose": { + "pos": [ + 0.06727773294008965, + -0.4861849839109108, + 2.671251470643535 + ], + "ori": [ + -0.07452434820636, + -1.4960525226308068, + -19.706900657104992 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "color_temperature": 3261.6649337933072, + "color": [ + 0.8985008687254051, + 0.8925946224814211, + 0.9246687662531667 + ], + "intensity": 9218.393931216724, + "width": 1.734551193685321, + "height": 1.1973310012605807 + } + }, + "key": { + "type": "sphere", + "pose": { + "pos": [ + -0.6913488627113717, + -0.6800761707351605, + 1.641903576094412 + ], + "ori": [ + -10.482456771173307, + -29.26560386616604, + 38.42916905133991 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "color_temperature": 5761.9729434653555, + "color": [ + 0.9541009534599394, + 0.9644295737235017, + 0.9929508468752057 + ], + "intensity": 4093.3105866765513, + "radius": 0.19244300676117487 + } + } + }, + {}, + {} + ], + "background": { + "type": "dome", + "pose": { + "pos": null, + "ori": null, + "scale": null + }, + "dr": { + "intensity": 700.6251223640882, + "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": [ + [ + 0.4189113676548004, + -1.9798166751861572, + 2.3416619300842285, + -1.9343235492706299, + -1.5709376335144043, + 5.1394782066345215, + 0.008369078859686852, + 0.006764934863895178 + ], + [ + 0.91410231590271, + -1.719397783279419, + 2.0904994010925293, + -1.9419008493423462, + -1.5707999467849731, + 2.4849002361297607, + 0.017999999225139618, + 0.017999999225139618 + ], + [ + 1.2584985494613647, + -1.7661100625991821, + 2.1083288192749023, + -1.9126704931259155, + -1.5702263116836548, + 2.906916856765747, + 0.007405340671539307, + 0.0075698597356677055 + ], + [ + 1.13679838180542, + -1.6128734350204468, + 2.2401881217956543, + -2.19814395904541, + -1.5707926750183105, + 2.916774272918701, + 0.007582381367683411, + 0.006931324489414692 + ] + ], + "joint_vel": [ + [ + 0.0762173980474472, + 0.041711416095495224, + -0.0028363438323140144, + -0.025237122550606728, + 0.003503822023048997, + 0.061110589653253555, + -0.0031744022853672504, + 0.0002004142734222114 + ], + [ + 2.493855564237576e-38, + -1.9077459462118422e-38, + 0.0, + -6.298746017207319e-37, + 4.947710895655184e-37, + 2.8014850823961003e-37, + 0.0, + 0.0 + ], + [ + 0.07496906071901321, + -0.05047022923827171, + 0.014381183311343193, + 0.040379270911216736, + -0.0010465963277965784, + 0.05323542281985283, + -0.005655701272189617, + 0.00032066350104287267 + ], + [ + 0.00016370444791391492, + -0.012290329672396183, + -0.009792126715183258, + 0.021177954971790314, + -0.00011838287900900468, + -0.0012672134907916188, + -0.008330799639225006, + 0.0002902481355704367 + ] + ] + } + }, + "cameras": { + "cameras": { + "camera0": [ + [ + 0.04726410657167435, + 0.003821772523224354, + -0.029063280671834946, + -0.2811536490917206, + 0.6561405062675476, + 0.6365095973014832, + -0.2920406460762024 + ], + [ + 0.053875576704740524, + -0.0014202009188011289, + -0.025116847828030586, + -0.28720059990882874, + 0.6512800455093384, + 0.6413912177085876, + -0.28629955649375916 + ], + [ + 0.04939906671643257, + 0.0006299259257502854, + -0.028806595131754875, + -0.29183119535446167, + 0.6486583948135376, + 0.6410391330718994, + -0.2883499264717102 + ], + [ + 0.04974181950092316, + 0.0027953702956438065, + -0.03172451630234718, + -0.2756434977054596, + 0.6438270211219788, + 0.6635802388191223, + -0.2629995048046112 + ] + ], + "camera1": [ + [ + 0.061184339225292206, + 0.5773895978927612, + 1.9503943920135498, + 0.03475924953818321, + 0.019619902595877647, + 0.25626540184020996, + 0.9657819867134094 + ], + [ + 0.056175023317337036, + 0.5686651468276978, + 1.9281119108200073, + 0.04160946607589722, + -0.0002229267847724259, + 0.258309930562973, + 0.9651655554771423 + ], + [ + 0.06820829957723618, + 0.5950376987457275, + 1.9417552947998047, + 0.03380609676241875, + -0.0018228153930976987, + 0.26989641785621643, + 0.9622939825057983 + ], + [ + 0.06195584312081337, + 0.602778434753418, + 1.9382693767547607, + 0.030237898230552673, + 0.004917580168694258, + 0.26193907856941223, + 0.9645980596542358 + ] + ] + } + } + } +} \ No newline at end of file diff --git a/episodes/c7_p002_e037/wrist.mp4 b/episodes/c7_p002_e037/wrist.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..2d511b4e7ffd2a793ca8bcb98bdd1d7cf00df221 --- /dev/null +++ b/episodes/c7_p002_e037/wrist.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:40604c3791a42d3dba52ca36b94f650a56bd5b062360e0b3ff998d405e4b0d11 +size 8311791 diff --git a/episodes/c7_p002_e038/data.npz b/episodes/c7_p002_e038/data.npz new file mode 100644 index 0000000000000000000000000000000000000000..757304375082a0bf45b98ce7e47d3227b303d278 --- /dev/null +++ b/episodes/c7_p002_e038/data.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:27aa4a6926f29fc53a898007f83c7c0e84339dda90e9b733338e9c2fd71cc4fa +size 188503 diff --git a/episodes/c7_p002_e038/device_events.jsonl b/episodes/c7_p002_e038/device_events.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..c6afd54ff87dd93086f9cb2c65343e7bba77166d --- /dev/null +++ b/episodes/c7_p002_e038/device_events.jsonl @@ -0,0 +1,35 @@ +{"env_id": 0, "seq": 1, "step": 68, "t": 0.34, "topic": "conveyor_1.belt.station.pick.captured", "source": "conveyor_1.belt", "data": {"rider": "carrier_2"}, "cause": null} +{"env_id": 0, "seq": 2, "step": 68, "t": 0.34, "topic": "conveyor_1.belt.state.changed", "source": "conveyor_1.belt", "data": {"from": "running", "to": "at_station"}, "cause": null} +{"env_id": 0, "seq": 3, "step": 73, "t": 0.365, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_2"}, "cause": null} +{"env_id": 0, "seq": 4, "step": 6245, "t": 31.225, "topic": "a4s_sealer_1.plate_present.present", "source": "a4s_sealer_1.plate_present", "data": {"object": "plate_2"}, "cause": null} +{"env_id": 0, "seq": 5, "step": 6852, "t": 34.26, "topic": "a4s_sealer_1.command.started", "source": "a4s_sealer_1", "data": {"command_id": "task-0-1", "name": "seal", "source": "task"}, "cause": "task-0-1"} +{"env_id": 0, "seq": 6, "step": 6852, "t": 34.26, "topic": "a4s_sealer_1.seal.started", "source": "a4s_sealer_1", "data": {"dwell": 2.3035578559258774}, "cause": "task-0-1"} +{"env_id": 0, "seq": 7, "step": 6852, "t": 34.26, "topic": "a4s_sealer_1.drawer.command.started", "source": "a4s_sealer_1.drawer", "data": {"command_id": "program-0-2", "name": "close", "source": "program:seal"}, "cause": "program-0-2"} +{"env_id": 0, "seq": 8, "step": 6852, "t": 34.26, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "at_out", "to": "moving"}, "cause": null} +{"env_id": 0, "seq": 9, "step": 6852, "t": 34.26, "topic": "a4s_sealer_1.drawer.moving", "source": "a4s_sealer_1.drawer", "data": {"target": 0.3, "goal": "in"}, "cause": "program-0-2"} +{"env_id": 0, "seq": 10, "step": 7271, "t": 36.355, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "moving", "to": "at_in"}, "cause": null} +{"env_id": 0, "seq": 11, "step": 7271, "t": 36.355, "topic": "a4s_sealer_1.drawer.reached", "source": "a4s_sealer_1.drawer", "data": {"position": "in", "q": 0.30000001192092896}, "cause": "program-0-2"} +{"env_id": 0, "seq": 12, "step": 7271, "t": 36.355, "topic": "a4s_sealer_1.drawer.at_in", "source": "a4s_sealer_1.drawer", "data": {"q": 0.30000001192092896}, "cause": "program-0-2"} +{"env_id": 0, "seq": 13, "step": 7271, "t": 36.355, "topic": "a4s_sealer_1.drawer.command.succeeded", "source": "a4s_sealer_1.drawer", "data": {"command_id": "program-0-2", "name": "close", "source": "program:seal", "result": {"position": "in"}}, "cause": "program-0-2"} +{"env_id": 0, "seq": 14, "step": 7271, "t": 36.355, "topic": "labware.plate_2.changed", "source": "labware.plate_2", "data": {"key": "sealed", "value": true}, "cause": "task-0-1"} +{"env_id": 0, "seq": 15, "step": 7271, "t": 36.355, "topic": "a4s_sealer_1.sealed", "source": "a4s_sealer_1", "data": {"plate": "plate_2"}, "cause": "task-0-1"} +{"env_id": 0, "seq": 16, "step": 7271, "t": 36.355, "topic": "a4s_sealer_1.heater.command.started", "source": "a4s_sealer_1.heater", "data": {"command_id": "program-0-3", "name": "run", "source": "program:seal"}, "cause": "program-0-3"} +{"env_id": 0, "seq": 17, "step": 7271, "t": 36.355, "topic": "a4s_sealer_1.heater.state.changed", "source": "a4s_sealer_1.heater", "data": {"from": "ready", "to": "running"}, "cause": null} +{"env_id": 0, "seq": 18, "step": 7271, "t": 36.355, "topic": "a4s_sealer_1.heater.started", "source": "a4s_sealer_1.heater", "data": {"duration": 2.3035578559258774}, "cause": "program-0-3"} +{"env_id": 0, "seq": 19, "step": 7732, "t": 38.66, "topic": "a4s_sealer_1.heater.state.changed", "source": "a4s_sealer_1.heater", "data": {"from": "running", "to": "ready"}, "cause": null} +{"env_id": 0, "seq": 20, "step": 7732, "t": 38.66, "topic": "a4s_sealer_1.heater.finished", "source": "a4s_sealer_1.heater", "data": {"elapsed": 2.305000000001179}, "cause": "program-0-3"} +{"env_id": 0, "seq": 21, "step": 7732, "t": 38.66, "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": 2.305000000001179}}, "cause": "program-0-3"} +{"env_id": 0, "seq": 22, "step": 7732, "t": 38.66, "topic": "a4s_sealer_1.drawer.command.started", "source": "a4s_sealer_1.drawer", "data": {"command_id": "program-0-4", "name": "open", "source": "program:seal"}, "cause": "program-0-4"} +{"env_id": 0, "seq": 23, "step": 7732, "t": 38.66, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "at_in", "to": "moving"}, "cause": null} +{"env_id": 0, "seq": 24, "step": 7732, "t": 38.66, "topic": "a4s_sealer_1.drawer.moving", "source": "a4s_sealer_1.drawer", "data": {"target": 0.0, "goal": "out"}, "cause": "program-0-4"} +{"env_id": 0, "seq": 25, "step": 8152, "t": 40.76, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "moving", "to": "at_out"}, "cause": null} +{"env_id": 0, "seq": 26, "step": 8152, "t": 40.76, "topic": "a4s_sealer_1.drawer.reached", "source": "a4s_sealer_1.drawer", "data": {"position": "out", "q": 1.6456160878419723e-09}, "cause": "program-0-4"} +{"env_id": 0, "seq": 27, "step": 8152, "t": 40.76, "topic": "a4s_sealer_1.drawer.at_out", "source": "a4s_sealer_1.drawer", "data": {"q": 1.6456160878419723e-09}, "cause": "program-0-4"} +{"env_id": 0, "seq": 28, "step": 8152, "t": 40.76, "topic": "a4s_sealer_1.drawer.command.succeeded", "source": "a4s_sealer_1.drawer", "data": {"command_id": "program-0-4", "name": "open", "source": "program:seal", "result": {"position": "out"}}, "cause": "program-0-4"} +{"env_id": 0, "seq": 29, "step": 8152, "t": 40.76, "topic": "a4s_sealer_1.seal.finished", "source": "a4s_sealer_1", "data": {}, "cause": "task-0-1"} +{"env_id": 0, "seq": 30, "step": 8152, "t": 40.76, "topic": "a4s_sealer_1.command.succeeded", "source": "a4s_sealer_1", "data": {"command_id": "task-0-1", "name": "seal", "source": "task"}, "cause": "task-0-1"} +{"env_id": 0, "seq": 31, "step": 8731, "t": 43.655, "topic": "a4s_sealer_1.plate_present.absent", "source": "a4s_sealer_1.plate_present", "data": {"object": "plate_2"}, "cause": null} +{"env_id": 0, "seq": 32, "step": 10480, "t": 52.4, "topic": "conveyor_1.belt.command.started", "source": "conveyor_1.belt", "data": {"command_id": "task-0-5", "name": "release", "source": "task"}, "cause": "task-0-5"} +{"env_id": 0, "seq": 33, "step": 10480, "t": 52.4, "topic": "conveyor_1.belt.station.pick.released", "source": "conveyor_1.belt", "data": {"rider": "carrier_2"}, "cause": "task-0-5"} +{"env_id": 0, "seq": 34, "step": 10480, "t": 52.4, "topic": "conveyor_1.belt.state.changed", "source": "conveyor_1.belt", "data": {"from": "at_station", "to": "running"}, "cause": null} +{"env_id": 0, "seq": 35, "step": 10480, "t": 52.4, "topic": "conveyor_1.belt.command.succeeded", "source": "conveyor_1.belt", "data": {"command_id": "task-0-5", "name": "release", "source": "task", "result": {"state": "running"}}, "cause": "task-0-5"} diff --git a/episodes/c7_p002_e038/env.mp4 b/episodes/c7_p002_e038/env.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..fe524e6173ab906df006c8e03188b2a5307008ec --- /dev/null +++ b/episodes/c7_p002_e038/env.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:52406efccab9c2b18adfdfb65e7fec2939f63d824ca4a502e911aa0470f8323a +size 1250529 diff --git a/episodes/c7_p002_e038/meta.json b/episodes/c7_p002_e038/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..7303309c340ff7f6812c2c05d8cdc46534ba0a72 --- /dev/null +++ b/episodes/c7_p002_e038/meta.json @@ -0,0 +1,32 @@ +{ + "source": "raw/c7_p002/magicsim/38", + "fps": 25, + "frames": 1174, + "kept_ticks": "even", + "video_frames": { + "wrist": 1174, + "env": 1174 + }, + "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": "v1" +} \ No newline at end of file diff --git a/episodes/c7_p002_e038/scene_snapshot.json b/episodes/c7_p002_e038/scene_snapshot.json new file mode 100644 index 0000000000000000000000000000000000000000..8665d50a127f4121df76c2dbc06e47d58aaf38f1 --- /dev/null +++ b/episodes/c7_p002_e038/scene_snapshot.json @@ -0,0 +1,1558 @@ +{ + "trajectory_id": 38, + "env_id": 0, + "run_id": "c7_p002", + "task_type": "BioPlateCell", + "success": true, + "timing": { + "fps": 50.0, + "sim_dt": 0.005, + "decimation": 4 + }, + "restore_interface": { + "scene": "scene_manager.reset_to(snapshot['scene'], env_ids=[env_id])", + "robots": "robot_manager.set_state({'robots': snapshot['robots']}, env_ids=[env_id])" + }, + "snapshot": { + "env_id": 0, + "scene": { + "objects": [ + { + "rac_cell": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/rac_cell.usd", + "pose": { + "pos": [ + 0.0, + 0.0, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "physics_material": { + "static_friction": 0.6, + "dynamic_friction": 0.5, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "robot_mount": [ + { + "asset": "Cube", + "pose": { + "pos": [ + 0.0, + 0.0, + 0.9075 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": "color", + "value": [ + 0.55, + 0.56, + 0.58 + ], + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": { + "size": [ + 0.2, + 0.2, + 0.015 + ] + } + }, + "type_specific": {} + } + ], + "plate_rack": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/plate_hotel.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 0.9 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "physics_material": { + "static_friction": 0.6, + "dynamic_friction": 0.5, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "hotel_plate": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_48_clear/plate_48_clear.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 0.9605 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_96_white/plate_96_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": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_96_white/plate_96_white.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.0965 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$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": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_24_clear/plate_24_clear.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.2325 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "a4s_sealer": [ + { + "asset": "$MAGICSIM_ASSETS/Articulated/A4SSealer/Object.usd", + "pose": { + "pos": [ + 0.5124168395996094, + 0.11443424224853516, + 0.8999999761581421 + ], + "ori": [ + -0.6805993318557739, + 0.0, + 0.0, + 0.7326558232307434 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "articulation", + "solver_position_iteration_count": 16.0, + "solver_velocity_iteration_count": 1.0, + "enabled_self_collisions": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "joint_position": [ + 0.0 + ], + "joint_velocity": [ + 0.0 + ], + "linear_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "angular_velocity": [ + 0.0, + 0.0, + 0.0 + ] + } + } + ], + "conveyor": [ + { + "asset": "Cube", + "pose": { + "pos": [ + 0.15, + 0.45, + 0.9 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "conveyor", + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9 + }, + "ratio": 1.0 + }, + "primitive_params": { + "size": [ + 2.4, + 0.076, + 0.03 + ] + }, + "conveyor": { + "speed": 0.20890587450236978, + "direction": [ + 1.0, + 0.0, + 0.0 + ], + "enabled": true, + "drive": "surface_velocity", + "lines": null, + "station_line": null, + "riders": [ + "carrier" + ], + "stations": { + "pick": { + "position": -0.11294473067973351, + "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": 0.20890587450236978, + "holds": [], + "station": "pick", + "rider": "carrier_2", + "arrived": true, + "applied_speed": 0.0 + } + } + } + ], + "carrier": [ + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + 0.16520023345947266, + 1.149993896484375, + 0.8999999761581421 + ], + "ori": [ + 6.537661101901904e-05, + -1.1906681196549584e-09, + -1.4988568164397975e-09, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 5.215005094427738e-10, + -2.194275872113849e-09, + 3.725290298461914e-09 + ], + "angular_velocity": [ + 1.214749261180259e-07, + 5.3581793224566354e-08, + 2.574870316962574e-09 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + 0.037392616271972656, + 0.4499959945678711, + 0.8999999761581421 + ], + "ori": [ + 1.0, + 3.870835652008964e-09, + -5.708979955443283e-10, + 3.94526359741576e-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": [ + 1.8668562251633603e-09, + 8.900677972434323e-10, + 7.450580596923828e-09 + ], + "angular_velocity": [ + -3.9655709827002283e-08, + 1.6743720721024147e-07, + -1.2774806990023535e-08 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + -1.321772575378418, + 0.5819730758666992, + 0.8999999761581421 + ], + "ori": [ + -0.8990956544876099, + 5.047402495961251e-09, + 5.628243826549806e-08, + 0.4377523958683014 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -2.5453093854821418e-08, + -3.691111416515014e-09, + -3.725290298461914e-08 + ], + "angular_velocity": [ + -1.0601575013424736e-06, + 1.7191996448673308e-07, + 4.2760964902299747e-07 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + 1.630788803100586, + 0.5958786010742188, + 0.8999999761581421 + ], + "ori": [ + 0.8927000761032104, + 5.508777434215517e-09, + -2.9417515534646554e-08, + 0.4506513178348541 + ], + "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": [ + 8.566355402805925e-10, + 3.6554637095065345e-10, + -3.725290298461914e-09 + ], + "angular_velocity": [ + -1.706236751886081e-08, + -2.2681012623593233e-08, + 2.5557085336913588e-08 + ] + } + } + ], + "plate": [ + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_6_clear/Object.usd", + "pose": { + "pos": [ + 0.16129302978515625, + 1.158738136291504, + 0.9179999828338623 + ], + "ori": [ + 0.03286081552505493, + -1.7318977363345311e-09, + -4.237835860010364e-09, + 0.9994599223136902 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 3.2620768308788683e-08, + -3.0287402807971375e-08, + 1.0803341865539551e-07 + ], + "angular_velocity": [ + 8.615173783255159e-07, + 1.7694860616757069e-06, + 1.8717311434102157e-07 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_96_black/Object.usd", + "pose": { + "pos": [ + 0.04476451873779297, + 0.4539785385131836, + 0.9180000424385071 + ], + "ori": [ + 0.9983125925064087, + 3.2842342179151274e-09, + -8.062394085683877e-10, + -0.0580693818628788 + ], + "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": [ + -7.3702990377455535e-09, + 7.714570315897618e-09, + -5.09992241859436e-06 + ], + "angular_velocity": [ + 2.692350733468629e-07, + -1.5299925735234865e-06, + 4.661071528744287e-10 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/pcr_96_blue/Object.usd", + "pose": { + "pos": [ + -1.3102998733520508, + 0.5842018127441406, + 0.9180000424385071 + ], + "ori": [ + -0.8884313702583313, + 2.806025918289379e-07, + 2.4351026084445948e-08, + 0.45900967717170715 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -2.4960918381111696e-06, + -8.032573532545939e-06, + -4.645437002182007e-06 + ], + "angular_velocity": [ + 4.192032793071121e-05, + -7.882656063884497e-05, + -6.605077942367643e-05 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/deep_well_96_2ml/Object.usd", + "pose": { + "pos": [ + 1.6254425048828125, + 0.5883769989013672, + 0.9179999828338623 + ], + "ori": [ + 0.8913776874542236, + 6.1392197991949615e-09, + -2.98025923939349e-08, + 0.45326149463653564 + ], + "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": [ + -4.841460565785383e-09, + -6.300049193441737e-08, + -1.3709068298339844e-06 + ], + "angular_velocity": [ + 2.6208883809886174e-06, + -1.5234226680149732e-07, + 1.2329229548413423e-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": 5.639999999999902, + "step": 1128, + "counter": 0, + "devices": { + "a4s_sealer_1": { + "mode": "auto", + "units": { + "drawer": { + "state": "at_out", + "active": null, + "target": 0.0, + "goal_name": "out", + "profile": null, + "q_start": null, + "reversing": false, + "blocked_for": 0.0, + "settled_for": 0.0, + "last_q": 0.0 + }, + "heater": { + "state": "ready", + "active": null, + "duration": 0.0, + "t_start": null, + "elapsed": 0.0 + } + }, + "queues": {}, + "program": null, + "sensors": { + "plate_present": { + "occupants": [], + "pending": {} + } + }, + "interlocks": {} + }, + "conveyor_1": { + "mode": "auto", + "units": { + "belt": { + "state": "at_station", + "active": null, + "controller": { + "speed": 0.20890587450236978, + "holds": [], + "station": "pick", + "rider": "carrier_2", + "arrived": true, + "settle_count": 1059, + "released": { + "pick": [] + }, + "last_pos": { + "carrier_1": [ + 0.015200227499008179, + 0.699993908405304, + 0.0 + ], + "carrier_2": [ + -0.11260738968849182, + -3.993511199951172e-06, + 0.0 + ], + "carrier_3": [ + -1.4717725813388824, + 0.13197308778762817, + 0.0 + ], + "carrier_4": [ + 1.4807887971401215, + 0.1458786129951477, + 0.0 + ] + }, + "command": 0.0 + }, + "belt": { + "target_speed": 0.0, + "command_speed": 0.0 + }, + "seen": { + "state": "at_station", + "station": "pick", + "rider": "carrier_2", + "arrived": true + } + } + }, + "queues": {}, + "program": null, + "sensors": {}, + "interlocks": {} + } + }, + "zones": {}, + "labware": { + "plate_1": { + "sealed": false + }, + "plate_2": { + "sealed": false + }, + "plate_3": { + "sealed": false + }, + "plate_4": { + "sealed": false + } + }, + "rules": {}, + "records": [], + "bus": { + "seq": 3, + "queue": [] + } + }, + null, + null, + null + ], + "drives": [ + {}, + null, + null, + null + ] + }, + "artifacts": [ + { + "ceiling": { + "type": "rect", + "pose": { + "pos": [ + 0.6767751003470249, + 0.44796881624766216, + 2.7005930301160426 + ], + "ori": [ + 10.248861425084652, + -9.712065266953632, + -0.9944196885986258 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "color_temperature": 4990.44560156588, + "color": [ + 0.8584304162680548, + 0.9906783250500837, + 0.9687689970423268 + ], + "intensity": 10712.910705878638, + "width": 1.422134071831182, + "height": 1.5282902758579078 + } + }, + "key": { + "type": "disk", + "pose": { + "pos": [ + 1.3791561142302622, + 0.3218485285018995, + 2.4209993068820355 + ], + "ori": [ + -4.5599204756838105, + -35.06326039974092, + -12.904982087085255 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "color_temperature": 4527.563318527888, + "color": [ + 0.9779488912087868, + 0.9389930015696966, + 0.9336264687341642 + ], + "intensity": 7605.838030059279, + "radius": 0.4252250080583274 + } + } + }, + {}, + {}, + {} + ], + "background": { + "type": "dome", + "pose": { + "pos": null, + "ori": null, + "scale": null + }, + "dr": { + "intensity": 422.9740503568203, + "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": [ + [ + 0.9141027331352234, + -1.719398021697998, + 2.0905003547668457, + -1.941901683807373, + -1.5707999467849731, + 2.484900712966919, + 0.018000001087784767, + 0.01799999736249447 + ], + [ + 2.807013511657715, + -1.6906877756118774, + 1.7436652183532715, + -1.6233819723129272, + -1.5702096223831177, + 4.383060932159424, + 0.01798863708972931, + 0.01798739656805992 + ], + [ + 2.7677695751190186, + -1.7788684368133545, + 1.9985630512237549, + -1.7904795408248901, + -1.5707919597625732, + 4.339056968688965, + 0.01799997314810753, + 0.018000025302171707 + ], + [ + 2.570995330810547, + -1.8978065252304077, + 2.6602377891540527, + -2.3333263397216797, + -1.5702767372131348, + 4.143038749694824, + 0.01800011470913887, + 0.017999883741140366 + ] + ], + "joint_vel": [ + [ + -1.5315852969557953e-12, + -1.7093488083319563e-12, + -1.7032950570816663e-12, + 3.4059771678585093e-06, + -3.405978532100562e-06, + -6.8119588831905276e-06, + -2.59908343736015e-08, + 2.5990523511154606e-08 + ], + [ + 2.6347366954837526e-08, + 3.4026472803816432e-06, + -1.0214213943982031e-05, + -3.4026206776616164e-06, + -6.802157713536872e-06, + 1.362050898023881e-05, + 0.0001712165685603395, + 0.0001899045309983194 + ], + [ + 0.007341238670051098, + 0.022013714537024498, + -0.01633327081799507, + -0.005008482374250889, + 1.539498225611169e-05, + 0.007479829713702202, + 3.2121020012709778e-06, + -3.211904186173342e-06 + ], + [ + 0.015668047592043877, + 0.0330047644674778, + -0.018985355272889137, + -0.013817262835800648, + -5.710055120289326e-05, + 0.015818286687135696, + 8.537696885468904e-06, + -8.53767960506957e-06 + ] + ] + } + }, + "cameras": { + "cameras": { + "camera0": [ + [ + 0.0482541099190712, + 0.003139874432235956, + -0.029748311266303062, + -0.2780860364437103, + 0.6512267589569092, + 0.6401787400245667, + -0.2978976368904114 + ], + [ + 0.05375084653496742, + -0.0002288460818817839, + -0.028500109910964966, + -0.2844313979148865, + 0.6520828604698181, + 0.6449084877967834, + -0.27924853563308716 + ], + [ + 0.0510554276406765, + 0.0013069206615909934, + -0.02903641387820244, + -0.2900211215019226, + 0.6491561532020569, + 0.6416870951652527, + -0.28761374950408936 + ], + [ + 0.051948439329862595, + 0.0008344383095391095, + -0.03154266998171806, + -0.2752363979816437, + 0.6478020548820496, + 0.6591842174530029, + -0.2647140920162201 + ] + ], + "camera1": [ + [ + 0.061184339225292206, + 0.5773895978927612, + 1.9503943920135498, + 0.03475924953818321, + 0.019619902595877647, + 0.25626540184020996, + 0.9657819867134094 + ], + [ + 0.056175023317337036, + 0.5686651468276978, + 1.9281119108200073, + 0.04160946607589722, + -0.0002229267847724259, + 0.258309930562973, + 0.9651655554771423 + ], + [ + 0.06820829957723618, + 0.5950376987457275, + 1.9417552947998047, + 0.03380609676241875, + -0.0018228153930976987, + 0.26989641785621643, + 0.9622939825057983 + ], + [ + 0.06195584312081337, + 0.602778434753418, + 1.9382693767547607, + 0.030237898230552673, + 0.004917580168694258, + 0.26193907856941223, + 0.9645980596542358 + ] + ] + } + } + } +} \ No newline at end of file diff --git a/episodes/c7_p002_e038/wrist.mp4 b/episodes/c7_p002_e038/wrist.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..d99ada7e90acabe33c18941d662bb40e57eb6a00 --- /dev/null +++ b/episodes/c7_p002_e038/wrist.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:028d642c6953a2e32f5e702cdf0905cf1958c45aae608a427dd054a8b402315e +size 6103373 diff --git a/episodes/c8_p002_e026/data.npz b/episodes/c8_p002_e026/data.npz new file mode 100644 index 0000000000000000000000000000000000000000..7da29f2ddcedf99efab92263ff345a99f9b7517f --- /dev/null +++ b/episodes/c8_p002_e026/data.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:de5dbd6288e1a2167bf5946bbb1114f797cac9147dca040cd25f4599a3d879e7 +size 191969 diff --git a/episodes/c8_p002_e026/device_events.jsonl b/episodes/c8_p002_e026/device_events.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..44edafc97f85a931dd4aafd725470bb6fb6747c7 --- /dev/null +++ b/episodes/c8_p002_e026/device_events.jsonl @@ -0,0 +1,36 @@ +{"env_id": 0, "seq": 1, "step": 212, "t": 1.06, "topic": "conveyor_1.belt.station.pick.captured", "source": "conveyor_1.belt", "data": {"rider": "carrier_1"}, "cause": null} +{"env_id": 0, "seq": 2, "step": 212, "t": 1.06, "topic": "conveyor_1.belt.state.changed", "source": "conveyor_1.belt", "data": {"from": "running", "to": "at_station"}, "cause": null} +{"env_id": 0, "seq": 3, "step": 217, "t": 1.085, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_1"}, "cause": null} +{"env_id": 0, "seq": 4, "step": 1923, "t": 9.615, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_1"}, "cause": null} +{"env_id": 0, "seq": 5, "step": 6778, "t": 33.89, "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": 7392, "t": 36.96, "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": 7392, "t": 36.96, "topic": "a4s_sealer_1.seal.started", "source": "a4s_sealer_1", "data": {"dwell": 4.446852832942857}, "cause": "task-0-1"} +{"env_id": 0, "seq": 8, "step": 7392, "t": 36.96, "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": 7392, "t": 36.96, "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": 7392, "t": 36.96, "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": 7811, "t": 39.055, "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": 7811, "t": 39.055, "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": 7811, "t": 39.055, "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": 7811, "t": 39.055, "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": 7811, "t": 39.055, "topic": "labware.plate_1.changed", "source": "labware.plate_1", "data": {"key": "sealed", "value": true}, "cause": "task-0-1"} +{"env_id": 0, "seq": 16, "step": 7811, "t": 39.055, "topic": "a4s_sealer_1.sealed", "source": "a4s_sealer_1", "data": {"plate": "plate_1"}, "cause": "task-0-1"} +{"env_id": 0, "seq": 17, "step": 7811, "t": 39.055, "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": 7811, "t": 39.055, "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": 7811, "t": 39.055, "topic": "a4s_sealer_1.heater.started", "source": "a4s_sealer_1.heater", "data": {"duration": 4.446852832942857}, "cause": "program-0-3"} +{"env_id": 0, "seq": 20, "step": 8701, "t": 43.505, "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": 8701, "t": 43.505, "topic": "a4s_sealer_1.heater.finished", "source": "a4s_sealer_1.heater", "data": {"elapsed": 4.450000000002277}, "cause": "program-0-3"} +{"env_id": 0, "seq": 22, "step": 8701, "t": 43.505, "topic": "a4s_sealer_1.heater.command.succeeded", "source": "a4s_sealer_1.heater", "data": {"command_id": "program-0-3", "name": "run", "source": "program:seal", "result": {"elapsed": 4.450000000002277}}, "cause": "program-0-3"} +{"env_id": 0, "seq": 23, "step": 8701, "t": 43.505, "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": 8701, "t": 43.505, "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": 8701, "t": 43.505, "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": 9121, "t": 45.605, "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": 9121, "t": 45.605, "topic": "a4s_sealer_1.drawer.reached", "source": "a4s_sealer_1.drawer", "data": {"position": "out", "q": 3.109019885982889e-08}, "cause": "program-0-4"} +{"env_id": 0, "seq": 28, "step": 9121, "t": 45.605, "topic": "a4s_sealer_1.drawer.at_out", "source": "a4s_sealer_1.drawer", "data": {"q": 3.109019885982889e-08}, "cause": "program-0-4"} +{"env_id": 0, "seq": 29, "step": 9121, "t": 45.605, "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": 9121, "t": 45.605, "topic": "a4s_sealer_1.seal.finished", "source": "a4s_sealer_1", "data": {}, "cause": "task-0-1"} +{"env_id": 0, "seq": 31, "step": 9121, "t": 45.605, "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": 9703, "t": 48.515, "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": 11436, "t": 57.18, "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": 11436, "t": 57.18, "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": 11436, "t": 57.18, "topic": "conveyor_1.belt.state.changed", "source": "conveyor_1.belt", "data": {"from": "at_station", "to": "running"}, "cause": null} +{"env_id": 0, "seq": 36, "step": 11436, "t": 57.18, "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/c8_p002_e026/env.mp4 b/episodes/c8_p002_e026/env.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..08036a9383d8664828abb2307102caf4774d3b07 --- /dev/null +++ b/episodes/c8_p002_e026/env.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:eeb94a6b70dcac7f3859de56da3eacecaffec8c5c9d9fd1d96748eea33cab8fe +size 1289070 diff --git a/episodes/c8_p002_e026/meta.json b/episodes/c8_p002_e026/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..3da212638b1a246088e447a62dfd3e6a341db92a --- /dev/null +++ b/episodes/c8_p002_e026/meta.json @@ -0,0 +1,32 @@ +{ + "source": "raw/c8_p002/magicsim/26", + "fps": 25, + "frames": 1246, + "kept_ticks": "even", + "video_frames": { + "wrist": 1246, + "env": 1246 + }, + "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": "v1" +} \ No newline at end of file diff --git a/episodes/c8_p002_e026/scene_snapshot.json b/episodes/c8_p002_e026/scene_snapshot.json new file mode 100644 index 0000000000000000000000000000000000000000..360879609dce5360c24061a2c7a41a3f1f9083ce --- /dev/null +++ b/episodes/c8_p002_e026/scene_snapshot.json @@ -0,0 +1,1558 @@ +{ + "trajectory_id": 26, + "env_id": 0, + "run_id": "c8_p002", + "task_type": "BioPlateCell", + "success": true, + "timing": { + "fps": 50.0, + "sim_dt": 0.005, + "decimation": 4 + }, + "restore_interface": { + "scene": "scene_manager.reset_to(snapshot['scene'], env_ids=[env_id])", + "robots": "robot_manager.set_state({'robots': snapshot['robots']}, env_ids=[env_id])" + }, + "snapshot": { + "env_id": 0, + "scene": { + "objects": [ + { + "rac_cell": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/rac_cell.usd", + "pose": { + "pos": [ + 0.0, + 0.0, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "physics_material": { + "static_friction": 0.6, + "dynamic_friction": 0.5, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "robot_mount": [ + { + "asset": "Cube", + "pose": { + "pos": [ + 0.0, + 0.0, + 0.9075 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": "color", + "value": [ + 0.55, + 0.56, + 0.58 + ], + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": { + "size": [ + 0.2, + 0.2, + 0.015 + ] + } + }, + "type_specific": {} + } + ], + "plate_rack": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/plate_hotel.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 0.9 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "physics_material": { + "static_friction": 0.6, + "dynamic_friction": 0.5, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "hotel_plate": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/deep_well_24_10ml/deep_well_24_10ml.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 0.9605 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_384_white/plate_384_white.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.0285 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$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": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_96_white/plate_96_white.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.1645 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_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": [ + 0.5038890838623047, + 0.09006023406982422, + 0.8999999761581421 + ], + "ori": [ + 0.7348628044128418, + 0.0, + 0.0, + -0.6782158017158508 + ], + "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": [ + 3.0277481910534476e-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": 0.1915083389957699, + "direction": [ + 1.0, + 0.0, + 0.0 + ], + "enabled": true, + "drive": "surface_velocity", + "lines": null, + "station_line": null, + "riders": [ + "carrier" + ], + "stations": { + "pick": { + "position": -0.09930534348899603, + "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": 0.1915083389957699, + "holds": [], + "station": "pick", + "rider": "carrier_1", + "arrived": true, + "applied_speed": 0.0 + } + } + } + ], + "carrier": [ + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + 0.050766944885253906, + 0.44719505310058594, + 0.8999999761581421 + ], + "ori": [ + 0.9999589920043945, + -1.9036114906612056e-08, + -5.016072002206329e-09, + 0.009062696248292923 + ], + "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": [ + 3.789183722346934e-08, + -3.633332994468219e-07, + -3.725290298461914e-09 + ], + "angular_velocity": [ + 7.223795364552643e-06, + -8.711613759260217e-07, + -3.253448539908277e-06 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + 0.2317037582397461, + 1.1527128219604492, + 0.8999999761581421 + ], + "ori": [ + -0.010196872055530548, + 1.3849716928859834e-08, + 7.074255847783206e-09, + 0.9999480843544006 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 1.2272360905285495e-09, + 3.663698899813994e-09, + 0.0 + ], + "angular_velocity": [ + -2.033388426525562e-07, + 8.811333174207903e-08, + 5.539873448867638e-09 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + 1.6923866271972656, + 0.7428398132324219, + 0.8999999761581421 + ], + "ori": [ + 0.7669293880462646, + -5.614074183313278e-08, + 8.03320716613598e-08, + 0.6417315006256104 + ], + "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": [ + 1.2091245338297085e-08, + 1.7762094017825802e-09, + 3.725290298461914e-09 + ], + "angular_velocity": [ + 1.215035183577129e-08, + 3.1060295668794424e-07, + 1.1611226113927842e-07 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + -1.3717107772827148, + 0.9312639236450195, + 0.8999999761581421 + ], + "ori": [ + -0.5561224222183228, + -6.678346409216829e-08, + -5.2702691988315564e-08, + 0.8311004042625427 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -1.6863614948903205e-09, + 3.5308982404558265e-09, + 7.450580596923828e-09 + ], + "angular_velocity": [ + -3.2413197459391085e-07, + 5.809758363284345e-08, + -4.431264599702445e-08 + ] + } + } + ], + "plate": [ + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_6_clear/Object.usd", + "pose": { + "pos": [ + 0.040816307067871094, + 0.43780040740966797, + 0.9179999828338623 + ], + "ori": [ + 0.9978213906288147, + -5.069765620646649e-07, + 6.326879997686774e-08, + -0.06597422063350677 + ], + "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": [ + 1.3157148259779206e-06, + -7.0403866629931144e-06, + -5.379319190979004e-06 + ], + "angular_velocity": [ + -1.6082311049103737e-05, + -7.321265002246946e-06, + -4.825711584999226e-05 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_96_black/Object.usd", + "pose": { + "pos": [ + 0.22361087799072266, + 1.1644611358642578, + 0.9180000424385071 + ], + "ori": [ + 0.010435397736728191, + 1.4216269939026915e-08, + 9.271237111363462e-09, + 0.9999455809593201 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 2.17054232365399e-08, + 5.422491256013018e-08, + -5.930662155151367e-06 + ], + "angular_velocity": [ + -6.163518833091075e-07, + 1.1622014426393434e-06, + -5.6308515183900454e-08 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/pcr_96_blue/Object.usd", + "pose": { + "pos": [ + 1.6813640594482422, + 0.7425909042358398, + 0.9180000424385071 + ], + "ori": [ + 0.7448940277099609, + -1.5051439561375446e-07, + 1.2245495284446406e-08, + 0.6671828627586365 + ], + "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": [ + 3.477645805105567e-06, + -1.1618435564741958e-06, + -8.024275302886963e-06 + ], + "angular_velocity": [ + 5.490182593348436e-05, + 0.0002550267963670194, + -1.3349774235393852e-05 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/deep_well_96_2ml/Object.usd", + "pose": { + "pos": [ + -1.361893653869629, + 0.9394159317016602, + 0.9179999828338623 + ], + "ori": [ + -0.48436978459358215, + -6.311258715641088e-08, + -5.7492862026720104e-08, + 0.87486332654953 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -1.9727730560248347e-09, + 1.1132424049264955e-07, + -7.189810276031494e-07 + ], + "angular_velocity": [ + -3.7931945371383335e-06, + -4.780392259817745e-07, + 4.302784351040145e-09 + ] + } + } + ], + "deco_hub_west": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/hub_d.usd", + "pose": { + "pos": [ + -3.36, + 0.0, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_hub_east": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/hub_e.usd", + "pose": { + "pos": [ + 3.36, + 0.0, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_hub_back": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/hub_b.usd", + "pose": { + "pos": [ + -3.0, + -2.1, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_bench_east": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/bench_a.usd", + "pose": { + "pos": [ + 2.6, + -2.5, + 0.0 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_bench_gap": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/bench_b.usd", + "pose": { + "pos": [ + -0.1, + -2.9, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ] + }, + {}, + {}, + {} + ], + "devices": { + "hub": [ + { + "t": 7.559999999999861, + "step": 1512, + "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": 3.0277481910534476e-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": 0.1915083389957699, + "holds": [], + "station": "pick", + "rider": "carrier_1", + "arrived": true, + "settle_count": 1299, + "released": { + "pick": [] + }, + "last_pos": { + "carrier_1": [ + -0.09923306107521057, + -0.0028049349784851074, + 0.0 + ], + "carrier_2": [ + 0.08170375227928162, + 0.7027128338813782, + 0.0 + ], + "carrier_3": [ + 1.5423866212368011, + 0.29283982515335083, + 0.0 + ], + "carrier_4": [ + -1.5217107832431793, + 0.4812639355659485, + 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": [ + 0.4729710703486286, + 0.16195949815520716, + 3.1289328168661203 + ], + "ori": [ + 0.9804888252011565, + 3.3647555144801693, + 6.811693079271286 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "color_temperature": 4458.356553582441, + "color": [ + 0.8405911490578324, + 0.9802027815517912, + 0.8739020523973033 + ], + "intensity": 10995.992523673252, + "width": 2.396560835238722, + "height": 1.072756791778364 + } + }, + "key": { + "type": "sphere", + "pose": { + "pos": [ + -0.6859094428445259, + -0.9123106454216652, + 2.5514683088163714 + ], + "ori": [ + -8.60710270739549, + 28.466490946633357, + 24.81879046696112 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "color_temperature": 4468.741060133385, + "color": [ + 0.8229607538647705, + 0.7766992786711272, + 0.820296255026208 + ], + "intensity": 6219.9421679400075, + "radius": 0.1769480151198573 + } + } + }, + {}, + {}, + {} + ], + "background": { + "type": "dome", + "pose": { + "pos": null, + "ori": null, + "scale": null + }, + "dr": { + "intensity": 1097.0320105830824, + "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": [ + [ + 0.9141037464141846, + -1.7193964719772339, + 2.0904977321624756, + -1.9419004917144775, + -1.5707999467849731, + 2.4849016666412354, + 0.017999999225139618, + 0.017999999225139618 + ], + [ + 0.9141026735305786, + -1.7193981409072876, + 2.09049916267395, + -1.941900610923767, + -1.5707999467849731, + 2.484900712966919, + 0.017999999225139618, + 0.017999999225139618 + ], + [ + 0.9308255910873413, + -1.2868659496307373, + 2.258471727371216, + -2.542386054992676, + -1.57080078125, + 2.6279499530792236, + 0.007781031541526318, + 0.007232986856251955 + ], + [ + 0.8236483335494995, + -1.217800259590149, + 2.1490869522094727, + -2.5019829273223877, + -1.5708978176116943, + 2.442577838897705, + 0.007693387567996979, + 0.00706642959266901 + ] + ], + "joint_vel": [ + [ + 2.417925366169057e-38, + -2.6547902087101954e-38, + -2.563035427343749e-38, + -6.395942320770431e-37, + -1.0438610814464543e-37, + 1.2867567314248642e-36, + 3.6690298584906117e-38, + -1.0040582635541408e-37 + ], + [ + 2.2259404700642356e-38, + -2.108117053106262e-38, + -1.4596759978292032e-38, + -4.587716647546876e-37, + 5.984425130725828e-37, + 3.6076680076727222e-37, + -9.821447581690293e-38, + 8.951829780699598e-38 + ], + [ + -0.0010871767299249768, + -0.00021530223602894694, + -6.872669473523274e-07, + -0.002186739584431052, + 0.0014319159090518951, + 0.004885026719421148, + -0.006863935850560665, + 0.00020825807587243617 + ], + [ + -0.00022531305148731917, + 5.672889528796077e-05, + -0.00029177399119362235, + -0.002409199019894004, + 0.002944986568763852, + 0.00942931417375803, + -0.008714639581739902, + 0.0004959346842952073 + ] + ] + } + }, + "cameras": { + "cameras": { + "camera0": [ + [ + 0.051548030227422714, + 0.0020902345422655344, + -0.03201259672641754, + -0.2896282970905304, + 0.6465553045272827, + 0.650752604007721, + -0.2731350064277649 + ], + [ + 0.05296444892883301, + 0.0016223136335611343, + -0.026697074994444847, + -0.2869712710380554, + 0.646036684513092, + 0.651038646697998, + -0.2764647901058197 + ], + [ + 0.0448869988322258, + -0.0030509517528116703, + -0.03196847811341286, + -0.27977806329727173, + 0.6414608955383301, + 0.66022789478302, + -0.27267417311668396 + ], + [ + 0.05028720200061798, + 0.0017479424132034183, + -0.03295233100652695, + -0.2863166332244873, + 0.6379464268684387, + 0.6555201411247253, + -0.28520262241363525 + ] + ], + "camera1": [ + [ + 0.03948301821947098, + 0.558908998966217, + 1.9428083896636963, + 0.05412495881319046, + 0.02383420430123806, + 0.2576894760131836, + 0.9644161462783813 + ], + [ + 0.04605589061975479, + 0.5613265633583069, + 1.9380251169204712, + 0.033700473606586456, + 0.011154741048812866, + 0.25714755058288574, + 0.9657199382781982 + ], + [ + 0.05698876082897186, + 0.5892879366874695, + 1.9297404289245605, + 0.050817374140024185, + 0.0077971480786800385, + 0.2646329700946808, + 0.9629777669906616 + ], + [ + 0.04747368022799492, + 0.5903465151786804, + 1.9281243085861206, + 0.037579942494630814, + 0.01918615587055683, + 0.2808019816875458, + 0.9588378071784973 + ] + ] + } + } + } +} \ No newline at end of file diff --git a/episodes/c8_p002_e026/wrist.mp4 b/episodes/c8_p002_e026/wrist.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..796b6de260eb4e2e2f2b370f35ca311e22cff2fb --- /dev/null +++ b/episodes/c8_p002_e026/wrist.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:8ac51940530b23fd372337881b2c0963f070e814811567ba3816d851493d934f +size 6794049 diff --git a/episodes/c8_p002_e027/data.npz b/episodes/c8_p002_e027/data.npz new file mode 100644 index 0000000000000000000000000000000000000000..5b8b34dfc7ef2de7f8cdbc9ca399d4236dbe3422 --- /dev/null +++ b/episodes/c8_p002_e027/data.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:e817d1fea4b86b307e5bab2d6e091957d960139c30f6781c2db8fe4a4962c87f +size 199548 diff --git a/episodes/c8_p002_e027/device_events.jsonl b/episodes/c8_p002_e027/device_events.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..047def1d2aa7a0b69c48c6d4aef3630f35d48a5c --- /dev/null +++ b/episodes/c8_p002_e027/device_events.jsonl @@ -0,0 +1,35 @@ +{"env_id": 1, "seq": 1, "step": 155, "t": 0.775, "topic": "conveyor_1.belt.station.pick.captured", "source": "conveyor_1.belt", "data": {"rider": "carrier_3"}, "cause": null} +{"env_id": 1, "seq": 2, "step": 155, "t": 0.775, "topic": "conveyor_1.belt.state.changed", "source": "conveyor_1.belt", "data": {"from": "running", "to": "at_station"}, "cause": null} +{"env_id": 1, "seq": 3, "step": 160, "t": 0.8, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_3"}, "cause": null} +{"env_id": 1, "seq": 4, "step": 7002, "t": 35.01, "topic": "a4s_sealer_1.plate_present.present", "source": "a4s_sealer_1.plate_present", "data": {"object": "plate_3"}, "cause": null} +{"env_id": 1, "seq": 5, "step": 7608, "t": 38.04, "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": 7608, "t": 38.04, "topic": "a4s_sealer_1.seal.started", "source": "a4s_sealer_1", "data": {"dwell": 3.8385047755330435}, "cause": "task-1-1"} +{"env_id": 1, "seq": 7, "step": 7608, "t": 38.04, "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": 7608, "t": 38.04, "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": 7608, "t": 38.04, "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": 8027, "t": 40.135, "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": 8027, "t": 40.135, "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": 8027, "t": 40.135, "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": 8027, "t": 40.135, "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": 8027, "t": 40.135, "topic": "labware.plate_3.changed", "source": "labware.plate_3", "data": {"key": "sealed", "value": true}, "cause": "task-1-1"} +{"env_id": 1, "seq": 15, "step": 8027, "t": 40.135, "topic": "a4s_sealer_1.sealed", "source": "a4s_sealer_1", "data": {"plate": "plate_3"}, "cause": "task-1-1"} +{"env_id": 1, "seq": 16, "step": 8027, "t": 40.135, "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": 8027, "t": 40.135, "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": 8027, "t": 40.135, "topic": "a4s_sealer_1.heater.started", "source": "a4s_sealer_1.heater", "data": {"duration": 3.8385047755330435}, "cause": "program-1-3"} +{"env_id": 1, "seq": 19, "step": 8795, "t": 43.975, "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": 8795, "t": 43.975, "topic": "a4s_sealer_1.heater.finished", "source": "a4s_sealer_1.heater", "data": {"elapsed": 3.8400000000019645}, "cause": "program-1-3"} +{"env_id": 1, "seq": 21, "step": 8795, "t": 43.975, "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": 3.8400000000019645}}, "cause": "program-1-3"} +{"env_id": 1, "seq": 22, "step": 8795, "t": 43.975, "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": 8795, "t": 43.975, "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": 8795, "t": 43.975, "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": 9215, "t": 46.075, "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": 9215, "t": 46.075, "topic": "a4s_sealer_1.drawer.reached", "source": "a4s_sealer_1.drawer", "data": {"position": "out", "q": 0.0}, "cause": "program-1-4"} +{"env_id": 1, "seq": 27, "step": 9215, "t": 46.075, "topic": "a4s_sealer_1.drawer.at_out", "source": "a4s_sealer_1.drawer", "data": {"q": 0.0}, "cause": "program-1-4"} +{"env_id": 1, "seq": 28, "step": 9215, "t": 46.075, "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": 9215, "t": 46.075, "topic": "a4s_sealer_1.seal.finished", "source": "a4s_sealer_1", "data": {}, "cause": "task-1-1"} +{"env_id": 1, "seq": 30, "step": 9215, "t": 46.075, "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": 9791, "t": 48.955, "topic": "a4s_sealer_1.plate_present.absent", "source": "a4s_sealer_1.plate_present", "data": {"object": "plate_3"}, "cause": null} +{"env_id": 1, "seq": 32, "step": 11968, "t": 59.84, "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": 11968, "t": 59.84, "topic": "conveyor_1.belt.station.pick.released", "source": "conveyor_1.belt", "data": {"rider": "carrier_3"}, "cause": "task-1-5"} +{"env_id": 1, "seq": 34, "step": 11968, "t": 59.84, "topic": "conveyor_1.belt.state.changed", "source": "conveyor_1.belt", "data": {"from": "at_station", "to": "running"}, "cause": null} +{"env_id": 1, "seq": 35, "step": 11968, "t": 59.84, "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/c8_p002_e027/env.mp4 b/episodes/c8_p002_e027/env.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..351d6c4b80f38b87fe13da85ea5782685addc280 --- /dev/null +++ b/episodes/c8_p002_e027/env.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:42416406e8538c7e6b415a4f8a7bb58e811dd7a7b26f88274a0295225c292a74 +size 1295504 diff --git a/episodes/c8_p002_e027/meta.json b/episodes/c8_p002_e027/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..56cb59428a87e138ece7f41615adfe57a4f32fcb --- /dev/null +++ b/episodes/c8_p002_e027/meta.json @@ -0,0 +1,32 @@ +{ + "source": "raw/c8_p002/magicsim/27", + "fps": 25, + "frames": 1293, + "kept_ticks": "even", + "video_frames": { + "wrist": 1293, + "env": 1293 + }, + "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": "v1" +} \ No newline at end of file diff --git a/episodes/c8_p002_e027/scene_snapshot.json b/episodes/c8_p002_e027/scene_snapshot.json new file mode 100644 index 0000000000000000000000000000000000000000..04a4733ff6a493ce9457cbcb651ec8873af62103 --- /dev/null +++ b/episodes/c8_p002_e027/scene_snapshot.json @@ -0,0 +1,1558 @@ +{ + "trajectory_id": 27, + "env_id": 1, + "run_id": "c8_p002", + "task_type": "BioPlateCell", + "success": true, + "timing": { + "fps": 50.0, + "sim_dt": 0.005, + "decimation": 4 + }, + "restore_interface": { + "scene": "scene_manager.reset_to(snapshot['scene'], env_ids=[env_id])", + "robots": "robot_manager.set_state({'robots': snapshot['robots']}, env_ids=[env_id])" + }, + "snapshot": { + "env_id": 1, + "scene": { + "objects": [ + {}, + { + "rac_cell": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/rac_cell.usd", + "pose": { + "pos": [ + 0.0, + 0.0, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "physics_material": { + "static_friction": 0.6, + "dynamic_friction": 0.5, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "robot_mount": [ + { + "asset": "Cube", + "pose": { + "pos": [ + 0.0, + 0.0, + 0.9075 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": "color", + "value": [ + 0.55, + 0.56, + 0.58 + ], + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": { + "size": [ + 0.2, + 0.2, + 0.015 + ] + } + }, + "type_specific": {} + } + ], + "plate_rack": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/plate_hotel.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 0.9 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "physics_material": { + "static_friction": 0.6, + "dynamic_friction": 0.5, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "hotel_plate": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_12_clear/plate_12_clear.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 0.9605 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_24_clear/plate_24_clear.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.0285 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_48_clear/plate_48_clear.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.0965 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_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": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_384_white/plate_384_white.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.2325 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "a4s_sealer": [ + { + "asset": "$MAGICSIM_ASSETS/Articulated/A4SSealer/Object.usd", + "pose": { + "pos": [ + 0.518733024597168, + 0.060001373291015625, + 0.8999999761581421 + ], + "ori": [ + 0.7164252400398254, + 0.0, + 0.0, + -0.6976638436317444 + ], + "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": [ + 3.0277503594577926e-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": 0.16236552616813016, + "direction": [ + 1.0, + 0.0, + 0.0 + ], + "enabled": true, + "drive": "surface_velocity", + "lines": null, + "station_line": null, + "riders": [ + "carrier" + ], + "stations": { + "pick": { + "position": -0.19070627368555107, + "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": 0.16236552616813016, + "holds": [], + "station": "pick", + "rider": "carrier_3", + "arrived": true, + "applied_speed": 0.0 + } + } + } + ], + "carrier": [ + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + -1.2638044357299805, + 1.0733299255371094, + 0.8999999761581421 + ], + "ori": [ + -0.32499268651008606, + 1.4087777344684582e-07, + -6.25645402152486e-09, + 0.9457165598869324 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -8.752492064445505e-10, + 7.932528411913609e-09, + -1.1175870895385742e-08 + ], + "angular_velocity": [ + -3.4967618489645247e-07, + 1.1177817782481725e-07, + 6.986505951545041e-08 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + 1.6845436096191406, + 0.7069826126098633, + 0.8999999761581421 + ], + "ori": [ + 0.79700767993927, + 3.312055696369498e-08, + -1.2923158010380575e-07, + 0.6039690971374512 + ], + "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": [ + -1.1052646575748781e-09, + 4.1376607695653433e-10, + 0.0 + ], + "angular_velocity": [ + -3.7237072092466406e-08, + -7.569406790253197e-08, + 6.023312071334885e-09 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + -0.04044151306152344, + 0.45000171661376953, + 0.8999999761581421 + ], + "ori": [ + 1.0, + 1.411199868073254e-08, + 1.069626875960239e-08, + -3.4457545552868396e-05 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 1.0290774898891186e-09, + -3.2012986705964863e-10, + 0.0 + ], + "angular_velocity": [ + 2.9205800000653426e-09, + 9.339331086266611e-08, + -7.826219672324441e-09 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + 0.34471988677978516, + 1.149998664855957, + 0.8999999761581421 + ], + "ori": [ + -1.059089663613122e-05, + 1.699996765580636e-08, + -3.387372604635175e-09, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 2.544464194897955e-09, + 3.625893896241905e-08, + -6.332993507385254e-08 + ], + "angular_velocity": [ + -1.2631190884349053e-06, + 1.75067285113073e-07, + 5.895819867873797e-07 + ] + } + } + ], + "plate": [ + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_12_clear/Object.usd", + "pose": { + "pos": [ + -1.2518682479858398, + 1.0798521041870117, + 0.9179999828338623 + ], + "ori": [ + -0.418008029460907, + 1.7684868680589716e-07, + -1.0616223988790807e-07, + 0.9084434509277344 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -8.189625759769115e-07, + 1.642670355295195e-07, + -6.034970283508301e-07 + ], + "angular_velocity": [ + -1.8448477931087837e-05, + -1.9312512449687347e-05, + -3.5509560802893247e-06 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_96_white/Object.usd", + "pose": { + "pos": [ + 1.6808204650878906, + 0.7193021774291992, + 0.9180000424385071 + ], + "ori": [ + 0.7707074284553528, + 2.6841286526746444e-08, + -1.2951988992426777e-07, + 0.6371892690658569 + ], + "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": [ + -1.6050827333913276e-09, + -5.206584940964376e-09, + -5.368143320083618e-06 + ], + "angular_velocity": [ + 6.926329092493688e-07, + 2.5958479454857297e-07, + 6.510065020393085e-08 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/pcr_384_red/Object.usd", + "pose": { + "pos": [ + -0.02915477752685547, + 0.4464254379272461, + 0.9179999828338623 + ], + "ori": [ + 0.9998761415481567, + 1.4022396577217933e-08, + 1.1182951453747592e-08, + -0.01574467495083809 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -2.17530509161179e-08, + -1.8625010866912817e-08, + -5.647540092468262e-06 + ], + "angular_velocity": [ + 4.1834115904748614e-07, + -1.7921803419085336e-06, + 8.025175191050948e-08 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/deep_well_96_1ml/Object.usd", + "pose": { + "pos": [ + 0.3554515838623047, + 1.161813735961914, + 0.9179999828338623 + ], + "ori": [ + 0.07459605485200882, + 7.678556102064249e-08, + -1.774258748810098e-07, + 0.9972138404846191 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -8.890629032975994e-07, + 7.567396096419543e-07, + 3.241002559661865e-07 + ], + "angular_velocity": [ + -2.9165319574531168e-05, + -4.317713319323957e-06, + -2.8688195925496984e-06 + ] + } + } + ], + "deco_hub_west": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/hub_a.usd", + "pose": { + "pos": [ + -3.36, + 0.0, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_hub_east": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/hub_c.usd", + "pose": { + "pos": [ + 3.36, + 0.0, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_hub_back": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/hub_d.usd", + "pose": { + "pos": [ + -3.0, + -2.1, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_bench_east": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/bench_c.usd", + "pose": { + "pos": [ + 2.6, + -2.5, + 0.0 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_bench_gap": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/bench_b.usd", + "pose": { + "pos": [ + -0.1, + -2.9, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ] + }, + {}, + {} + ], + "devices": { + "hub": [ + null, + { + "t": 8.37999999999991, + "step": 1676, + "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": 3.0277503594577926e-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": 0.16236552616813016, + "holds": [], + "station": "pick", + "rider": "carrier_3", + "arrived": true, + "settle_count": 1520, + "released": { + "pick": [] + }, + "last_pos": { + "carrier_1": [ + -1.413804441690445, + 0.6233299374580383, + 0.0 + ], + "carrier_2": [ + 1.5345436036586761, + 0.25698262453079224, + 0.0 + ], + "carrier_3": [ + -0.19044151902198792, + 1.7285346984863281e-06, + 0.0 + ], + "carrier_4": [ + 0.19471988081932068, + 0.699998676776886, + 0.0 + ] + }, + "command": 0.0 + }, + "belt": { + "target_speed": 0.0, + "command_speed": 0.0 + }, + "seen": { + "state": "at_station", + "station": "pick", + "rider": "carrier_3", + "arrived": true + } + } + }, + "queues": {}, + "program": null, + "sensors": {}, + "interlocks": {} + } + }, + "zones": {}, + "labware": { + "plate_1": { + "sealed": false + }, + "plate_2": { + "sealed": false + }, + "plate_3": { + "sealed": false + }, + "plate_4": { + "sealed": false + } + }, + "rules": {}, + "records": [], + "bus": { + "seq": 3, + "queue": [] + } + }, + null, + null + ], + "drives": [ + null, + {}, + null, + null + ] + }, + "artifacts": [ + {}, + { + "ceiling": { + "type": "rect", + "pose": { + "pos": [ + -0.5709768571755751, + 0.36840300071284504, + 2.9210872624926565 + ], + "ori": [ + 9.254491842957638, + 2.8317799072079275, + 14.359281321392771 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "color_temperature": 4647.462362432218, + "color": [ + 0.9624808700386296, + 0.8889483957930596, + 0.9531624102276596 + ], + "intensity": 13641.615552098541, + "width": 2.781148362734288, + "height": 1.7131440678130863 + } + }, + "key": { + "type": "disk", + "pose": { + "pos": [ + 0.69501828512269, + 0.09121066845440473, + 2.2847870488144983 + ], + "ori": [ + -10.46250204007994, + -8.412945416261337, + -7.0606911136075325 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "color_temperature": 6981.803462138765, + "color": [ + 0.9286630733142407, + 0.8175201069417182, + 0.8426797755080353 + ], + "intensity": 9278.260815905254, + "radius": 0.3376255807817884 + } + } + }, + {}, + {} + ], + "background": { + "type": "dome", + "pose": { + "pos": null, + "ori": null, + "scale": null + }, + "dr": { + "intensity": 1097.0320105830824, + "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": [ + [ + 0.8699163198471069, + -1.502522349357605, + 2.171999454498291, + -2.240236759185791, + -1.5707963705062866, + 2.571911096572876, + 0.01800004206597805, + 0.017999956384301186 + ], + [ + 0.9141026735305786, + -1.7193981409072876, + 2.09049916267395, + -1.941900610923767, + -1.5707999467849731, + 2.484900712966919, + 0.017999999225139618, + 0.017999999225139618 + ], + [ + 0.9307809472084045, + -1.4643175601959229, + 2.1819353103637695, + -2.2884204387664795, + -1.5707908868789673, + 2.628049373626709, + 0.007779516279697418, + 0.007184386719018221 + ], + [ + 0.8236384987831116, + -1.410354733467102, + 2.0554983615875244, + -2.2159345149993896, + -1.5708285570144653, + 2.44281268119812, + 0.007763636764138937, + 0.007093648426234722 + ] + ], + "joint_vel": [ + [ + -0.00013448094250634313, + 0.013381736353039742, + 0.009628448635339737, + -0.021913310512900352, + -7.094064130797051e-06, + 4.053599332110025e-05, + -5.4959036788204685e-06, + 5.49722790310625e-06 + ], + [ + 2.2259404700642356e-38, + -2.108117053106262e-38, + -1.4596759978292032e-38, + -4.587716647546876e-37, + 5.984425130725828e-37, + 3.6076680076727222e-37, + -9.821447581690293e-38, + 8.951829780699598e-38 + ], + [ + 0.00048573093954473734, + -0.016350025311112404, + -0.01059088297188282, + 0.025538964197039604, + 9.318369848188013e-05, + 0.00029072744655422866, + -0.007179180160164833, + 0.0003554629220161587 + ], + [ + 0.00025881329202093184, + -0.013631926849484444, + -0.010594231076538563, + 0.02211720682680607, + 0.0009044118924066424, + 0.0027501159347593784, + -0.008347547613084316, + 0.0002562639128882438 + ] + ] + } + }, + "cameras": { + "cameras": { + "camera0": [ + [ + 0.05011707916855812, + 0.0025989224668592215, + -0.03206312283873558, + -0.285797119140625, + 0.6449941992759705, + 0.6509346961975098, + -0.28033289313316345 + ], + [ + 0.051793172955513, + 0.0011768410913646221, + -0.027214543893933296, + -0.2871352434158325, + 0.6491855382919312, + 0.645588755607605, + -0.2816498279571533 + ], + [ + 0.047809865325689316, + -0.002918992890045047, + -0.03370730206370354, + -0.2818785607814789, + 0.6397328972816467, + 0.6612198352813721, + -0.27216655015945435 + ], + [ + 0.049649979919195175, + 0.001483372412621975, + -0.03328302502632141, + -0.2844276428222656, + 0.6368584632873535, + 0.6575963497161865, + -0.2847440838813782 + ] + ], + "camera1": [ + [ + 0.03948301821947098, + 0.558908998966217, + 1.9428083896636963, + 0.05412495881319046, + 0.02383420430123806, + 0.2576894760131836, + 0.9644161462783813 + ], + [ + 0.04605589061975479, + 0.5613265633583069, + 1.9380251169204712, + 0.033700473606586456, + 0.011154741048812866, + 0.25714755058288574, + 0.9657199382781982 + ], + [ + 0.05698876082897186, + 0.5892879366874695, + 1.9297404289245605, + 0.050817374140024185, + 0.0077971480786800385, + 0.2646329700946808, + 0.9629777669906616 + ], + [ + 0.04747368022799492, + 0.5903465151786804, + 1.9281243085861206, + 0.037579942494630814, + 0.01918615587055683, + 0.2808019816875458, + 0.9588378071784973 + ] + ] + } + } + } +} \ No newline at end of file diff --git a/episodes/c8_p002_e027/wrist.mp4 b/episodes/c8_p002_e027/wrist.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..365c65e90701d8a03824c7cf7de68e79e54ca0fa --- /dev/null +++ b/episodes/c8_p002_e027/wrist.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:031dd8c206f977a00e3352a6dc45eeca9751a94f4c97d25a72332ed734c119e9 +size 8869220 diff --git a/episodes/c9_p004_e028/data.npz b/episodes/c9_p004_e028/data.npz new file mode 100644 index 0000000000000000000000000000000000000000..1e31487f203af4e2aed51c4d0d0c0181132f95c5 --- /dev/null +++ b/episodes/c9_p004_e028/data.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:d24ae1b4875b9103f6b3418c430b0e3ad1764ddadc4352b339d8f6d8c359ddf3 +size 186778 diff --git a/episodes/c9_p004_e028/device_events.jsonl b/episodes/c9_p004_e028/device_events.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..58e749b925cd2784a32c82925ce002e2a6a21ec2 --- /dev/null +++ b/episodes/c9_p004_e028/device_events.jsonl @@ -0,0 +1,36 @@ +{"env_id": 3, "seq": 1, "step": 161, "t": 0.805, "topic": "conveyor_1.belt.station.pick.captured", "source": "conveyor_1.belt", "data": {"rider": "carrier_1"}, "cause": null} +{"env_id": 3, "seq": 2, "step": 161, "t": 0.805, "topic": "conveyor_1.belt.state.changed", "source": "conveyor_1.belt", "data": {"from": "running", "to": "at_station"}, "cause": null} +{"env_id": 3, "seq": 3, "step": 166, "t": 0.83, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_1"}, "cause": null} +{"env_id": 3, "seq": 4, "step": 1012, "t": 5.06, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_1"}, "cause": null} +{"env_id": 3, "seq": 5, "step": 5858, "t": 29.29, "topic": "a4s_sealer_1.plate_present.present", "source": "a4s_sealer_1.plate_present", "data": {"object": "plate_1"}, "cause": null} +{"env_id": 3, "seq": 6, "step": 6468, "t": 32.34, "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": 6468, "t": 32.34, "topic": "a4s_sealer_1.seal.started", "source": "a4s_sealer_1", "data": {"dwell": 2.5805121828741613}, "cause": "task-3-1"} +{"env_id": 3, "seq": 8, "step": 6468, "t": 32.34, "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": 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": 3, "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-3-2"} +{"env_id": 3, "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": 3, "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-3-2"} +{"env_id": 3, "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-3-2"} +{"env_id": 3, "seq": 14, "step": 6887, "t": 34.435, "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": 6887, "t": 34.435, "topic": "labware.plate_1.changed", "source": "labware.plate_1", "data": {"key": "sealed", "value": true}, "cause": "task-3-1"} +{"env_id": 3, "seq": 16, "step": 6887, "t": 34.435, "topic": "a4s_sealer_1.sealed", "source": "a4s_sealer_1", "data": {"plate": "plate_1"}, "cause": "task-3-1"} +{"env_id": 3, "seq": 17, "step": 6887, "t": 34.435, "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": 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": 3, "seq": 19, "step": 6887, "t": 34.435, "topic": "a4s_sealer_1.heater.started", "source": "a4s_sealer_1.heater", "data": {"duration": 2.5805121828741613}, "cause": "program-3-3"} +{"env_id": 3, "seq": 20, "step": 7404, "t": 37.02, "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": 7404, "t": 37.02, "topic": "a4s_sealer_1.heater.finished", "source": "a4s_sealer_1.heater", "data": {"elapsed": 2.5850000000013225}, "cause": "program-3-3"} +{"env_id": 3, "seq": 22, "step": 7404, "t": 37.02, "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": 2.5850000000013225}}, "cause": "program-3-3"} +{"env_id": 3, "seq": 23, "step": 7404, "t": 37.02, "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": 7404, "t": 37.02, "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": 7404, "t": 37.02, "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": 7824, "t": 39.12, "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": 7824, "t": 39.12, "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": 7824, "t": 39.12, "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": 7824, "t": 39.12, "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": 7824, "t": 39.12, "topic": "a4s_sealer_1.seal.finished", "source": "a4s_sealer_1", "data": {}, "cause": "task-3-1"} +{"env_id": 3, "seq": 31, "step": 7824, "t": 39.12, "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": 8403, "t": 42.015, "topic": "a4s_sealer_1.plate_present.absent", "source": "a4s_sealer_1.plate_present", "data": {"object": "plate_1"}, "cause": null} +{"env_id": 3, "seq": 33, "step": 10160, "t": 50.8, "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": 10160, "t": 50.8, "topic": "conveyor_1.belt.station.pick.released", "source": "conveyor_1.belt", "data": {"rider": "carrier_1"}, "cause": "task-3-5"} +{"env_id": 3, "seq": 35, "step": 10160, "t": 50.8, "topic": "conveyor_1.belt.state.changed", "source": "conveyor_1.belt", "data": {"from": "at_station", "to": "running"}, "cause": null} +{"env_id": 3, "seq": 36, "step": 10160, "t": 50.8, "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/c9_p004_e028/env.mp4 b/episodes/c9_p004_e028/env.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..bbd8dd3b8b2745087e1458c0a84ae473c984413e --- /dev/null +++ b/episodes/c9_p004_e028/env.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:c7f1bcd77d2891d5d2c637df27233dfd8afb3bdd23600748ed49cf59deeabf1a +size 1372013 diff --git a/episodes/c9_p004_e028/meta.json b/episodes/c9_p004_e028/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..cae820525943b0fe22806f9939148b9725d6d0cd --- /dev/null +++ b/episodes/c9_p004_e028/meta.json @@ -0,0 +1,32 @@ +{ + "source": "raw/c9_p004/magicsim/28", + "fps": 25, + "frames": 1200, + "kept_ticks": "even", + "video_frames": { + "wrist": 1200, + "env": 1200 + }, + "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": "v1" +} \ No newline at end of file diff --git a/episodes/c9_p004_e028/scene_snapshot.json b/episodes/c9_p004_e028/scene_snapshot.json new file mode 100644 index 0000000000000000000000000000000000000000..e4fab7b3930f3768e3a091894402d53438075513 --- /dev/null +++ b/episodes/c9_p004_e028/scene_snapshot.json @@ -0,0 +1,1558 @@ +{ + "trajectory_id": 28, + "env_id": 3, + "run_id": "c9_p004", + "task_type": "BioPlateCell", + "success": true, + "timing": { + "fps": 50.0, + "sim_dt": 0.005, + "decimation": 4 + }, + "restore_interface": { + "scene": "scene_manager.reset_to(snapshot['scene'], env_ids=[env_id])", + "robots": "robot_manager.set_state({'robots': snapshot['robots']}, env_ids=[env_id])" + }, + "snapshot": { + "env_id": 3, + "scene": { + "objects": [ + {}, + {}, + {}, + { + "rac_cell": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/rac_cell.usd", + "pose": { + "pos": [ + 0.0, + 0.0, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "physics_material": { + "static_friction": 0.6, + "dynamic_friction": 0.5, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "robot_mount": [ + { + "asset": "Cube", + "pose": { + "pos": [ + 0.0, + 0.0, + 0.9075 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": "color", + "value": [ + 0.55, + 0.56, + 0.58 + ], + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": { + "size": [ + 0.2, + 0.2, + 0.015 + ] + } + }, + "type_specific": {} + } + ], + "plate_rack": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/plate_hotel.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 0.9 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "physics_material": { + "static_friction": 0.6, + "dynamic_friction": 0.5, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "hotel_plate": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/deep_well_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": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_48_clear/plate_48_clear.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.0285 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/deep_well_24_10ml/deep_well_24_10ml.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.0965 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/pcr_96_blue/pcr_96_blue.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.1645 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$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": [ + 0.4788179397583008, + 0.09220218658447266, + 0.8999999761581421 + ], + "ori": [ + 0.7232378125190735, + 0.0, + 0.0, + -0.6905990839004517 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "articulation", + "solver_position_iteration_count": 16.0, + "solver_velocity_iteration_count": 1.0, + "enabled_self_collisions": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "joint_position": [ + 6.391913907888291e-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": 0.23948841036829324, + "direction": [ + 1.0, + 0.0, + 0.0 + ], + "enabled": true, + "drive": "surface_velocity", + "lines": null, + "station_line": null, + "riders": [ + "carrier" + ], + "stations": { + "pick": { + "position": -0.12397616983187001, + "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": 0.23948841036829324, + "holds": [], + "station": "pick", + "rider": "carrier_1", + "arrived": true, + "applied_speed": 0.0 + } + } + } + ], + "carrier": [ + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + 0.02600860595703125, + 0.4474315643310547, + 0.8999999761581421 + ], + "ori": [ + 0.9999489784240723, + 1.6117897017053906e-09, + 6.72371269772043e-10, + 0.010107344947755337 + ], + "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": [ + 1.1145977474313895e-09, + 1.047692932409916e-09, + 1.1175870895385742e-08 + ], + "angular_velocity": [ + -7.923512157503865e-08, + 1.1122227761006798e-07, + -6.504257132888824e-09 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + -1.3649835586547852, + 0.656428337097168, + 0.9000012874603271 + ], + "ori": [ + -0.8276983499526978, + 0.0001007770697469823, + -5.421975947683677e-05, + 0.5611733794212341 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -0.00021971053502056748, + -7.939975330373272e-05, + -0.00016791373491287231 + ], + "angular_velocity": [ + 0.007088962476700544, + -0.019130796194076538, + 0.0002469529863446951 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + 0.464324951171875, + 1.1526823043823242, + 0.8999999761581421 + ], + "ori": [ + -0.010266954079270363, + -4.659503893833516e-10, + -1.4215384425142474e-09, + 0.9999473690986633 + ], + "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": [ + -8.089117153886605e-10, + -1.5724108681780535e-09, + 3.725290298461914e-09 + ], + "angular_velocity": [ + 1.3256591557819775e-07, + -7.801912715876824e-08, + -3.2407267980261167e-09 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + 1.6303882598876953, + 1.0058746337890625, + 0.8999999761581421 + ], + "ori": [ + 0.45458120107650757, + -1.6772004618470504e-10, + 4.2927755572463866e-08, + 0.8907052874565125 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -5.783235224043892e-08, + -7.02257381135496e-08, + -2.9802322387695312e-08 + ], + "angular_velocity": [ + 4.688928584073437e-06, + -2.6889267701335484e-06, + -1.1842399771921919e-06 + ] + } + } + ], + "plate": [ + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_48_clear/Object.usd", + "pose": { + "pos": [ + 0.025774002075195312, + 0.4522581100463867, + 0.9179999828338623 + ], + "ori": [ + 0.9999971985816956, + -6.965114596191313e-11, + 1.0878117295831657e-09, + 0.0023877150379121304 + ], + "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": [ + -1.4605437748116401e-08, + -8.926227756944627e-09, + 1.4156103134155273e-07 + ], + "angular_velocity": [ + 8.407838549828739e-07, + -1.8175393279307173e-06, + -3.749077137626955e-08 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_384_white/Object.usd", + "pose": { + "pos": [ + -1.3561944961547852, + 0.6646137237548828, + 0.9179983735084534 + ], + "ori": [ + -0.8354700207710266, + 0.000119749442092143, + -6.835161184426397e-05, + 0.5495361089706421 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -0.0004670518101193011, + -0.00022378872381523252, + -0.00013461336493492126 + ], + "angular_velocity": [ + 0.009300576522946358, + -0.022776955738663673, + -4.248622281011194e-05 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_96_clear/Object.usd", + "pose": { + "pos": [ + 0.478271484375, + 1.1511764526367188, + 0.9180000424385071 + ], + "ori": [ + 0.01940791867673397, + -2.3010038319171144e-10, + -1.5646186568574194e-09, + 0.9998117089271545 + ], + "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": [ + 6.661316387379657e-09, + -1.6377516232068956e-08, + -5.837529897689819e-06 + ], + "angular_velocity": [ + -5.780200353910914e-07, + 1.6170708931895206e-06, + 1.2783782921133025e-09 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/reservoir_12ch/Object.usd", + "pose": { + "pos": [ + 1.634953498840332, + 0.9922409057617188, + 0.9179999828338623 + ], + "ori": [ + 0.4986264407634735, + 1.0854204219867825e-06, + 1.803293457669497e-06, + 0.8668169379234314 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -1.1301792255835608e-05, + -8.05723357188981e-06, + -1.1589378118515015e-05 + ], + "angular_velocity": [ + 0.0003180176136083901, + -0.0002899330575019121, + 2.375131953158416e-05 + ] + } + } + ], + "deco_hub_west": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/hub_e.usd", + "pose": { + "pos": [ + -3.36, + 0.0, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_hub_east": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/hub_d.usd", + "pose": { + "pos": [ + 3.36, + 0.0, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_hub_back": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/hub_a.usd", + "pose": { + "pos": [ + -3.0, + -2.1, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_bench_east": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/bench_c.usd", + "pose": { + "pos": [ + 2.6, + -2.5, + 0.0 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_bench_gap": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/bench_b.usd", + "pose": { + "pos": [ + -0.1, + -2.9, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ] + } + ], + "devices": { + "hub": [ + null, + null, + null, + { + "t": 2.9799999999999587, + "step": 596, + "counter": 0, + "devices": { + "a4s_sealer_1": { + "mode": "auto", + "units": { + "drawer": { + "state": "at_out", + "active": null, + "target": 0.0, + "goal_name": "out", + "profile": null, + "q_start": null, + "reversing": false, + "blocked_for": 0.0, + "settled_for": 0.0, + "last_q": 6.391913907888291e-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": 0.23948841036829324, + "holds": [], + "station": "pick", + "rider": "carrier_1", + "arrived": true, + "settle_count": 434, + "released": { + "pick": [] + }, + "last_pos": { + "carrier_1": [ + -0.12399140000343323, + -0.0025684237480163574, + 0.0 + ], + "carrier_2": [ + -1.5149826109409332, + 0.20642834901809692, + 1.3113021850585938e-06 + ], + "carrier_3": [ + 0.3143249452114105, + 0.7026823163032532, + 0.0 + ], + "carrier_4": [ + 1.4803882539272308, + 0.5558746457099915, + 0.0 + ] + }, + "command": 0.0 + }, + "belt": { + "target_speed": 0.0, + "command_speed": 0.0 + }, + "seen": { + "state": "at_station", + "station": "pick", + "rider": "carrier_1", + "arrived": true + } + } + }, + "queues": {}, + "program": null, + "sensors": {}, + "interlocks": {} + } + }, + "zones": {}, + "labware": { + "plate_1": { + "sealed": false + }, + "plate_2": { + "sealed": false + }, + "plate_3": { + "sealed": false + }, + "plate_4": { + "sealed": false + } + }, + "rules": {}, + "records": [], + "bus": { + "seq": 3, + "queue": [] + } + } + ], + "drives": [ + null, + null, + null, + {} + ] + }, + "artifacts": [ + {}, + {}, + {}, + { + "ceiling": { + "type": "rect", + "pose": { + "pos": [ + -0.3884686565113161, + 0.4133388903423605, + 2.8253195482725184 + ], + "ori": [ + 4.932631661215506, + -14.779329532644336, + -17.402084379460696 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "color_temperature": 3570.544974341564, + "color": [ + 0.8872622229353656, + 0.9715383326805582, + 0.7981857323839521 + ], + "intensity": 5778.099947391909, + "width": 2.308980774775435, + "height": 1.6337832686327758 + } + }, + "key": { + "type": "sphere", + "pose": { + "pos": [ + 1.6712935396817064, + 1.5397831881382273, + 2.733502541391133 + ], + "ori": [ + 36.84525230775955, + -23.62274789294082, + 23.76209915954231 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "color_temperature": 3658.817630842305, + "color": [ + 0.8161276421887615, + 0.9350246505362114, + 0.7573201942393734 + ], + "intensity": 2415.955613172909, + "radius": 0.20299008210401198 + } + } + } + ], + "background": { + "type": "dome", + "pose": { + "pos": null, + "ori": null, + "scale": null + }, + "dr": { + "intensity": 422.49242454531236, + "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": [ + [ + -0.23683206737041473, + -2.318007230758667, + 2.371687889099121, + -1.6261920928955078, + -1.568913221359253, + 4.496697425842285, + 0.01799999549984932, + 0.018000002950429916 + ], + [ + -0.16805416345596313, + -2.3293426036834717, + 2.3774218559265137, + -1.6226552724838257, + -1.5596895217895508, + 4.472438335418701, + 0.017999989911913872, + 0.018000008538365364 + ], + [ + -0.025824110954999924, + -1.9552960395812988, + 2.6446568965911865, + -2.2601358890533447, + -1.5707942247390747, + 4.7381062507629395, + 0.01799999363720417, + 0.018000004813075066 + ], + [ + 0.914100170135498, + -1.7193982601165771, + 2.0904998779296875, + -1.9419008493423462, + -1.5707999467849731, + 2.4848999977111816, + 0.01799999736249447, + 0.018000001087784767 + ] + ], + "joint_vel": [ + [ + -1.2772321724696667e-06, + -6.811853381805122e-06, + -6.811923412897158e-06, + -3.405970346648246e-06, + 6.811956609453773e-06, + -6.686693841857771e-13, + 5.1979554882564116e-08, + -5.198034003228713e-08 + ], + [ + -1.2772317177223158e-06, + -6.811854291299824e-06, + -6.811920684413053e-06, + -3.4059696645272197e-06, + 9.764400659556527e-14, + -6.658890561346553e-14, + 1.2995164411222504e-07, + -1.2995222675726836e-07 + ], + [ + -3.458976061665453e-05, + 0.011943995021283627, + 0.009199815802276134, + -0.020608901977539062, + -3.772000582102919e-06, + 4.097706187167205e-05, + 9.309243864663586e-07, + -9.309629263043462e-07 + ], + [ + 2.882488877736492e-38, + -1.6181449175239967e-38, + -2.606653644642788e-38, + -5.2449359408719125e-37, + 2.0540842735164843e-37, + -2.8989138894004133e-37, + 2.5990388508034812e-08, + -2.5990386731677972e-08 + ] + ] + } + }, + "cameras": { + "cameras": { + "camera0": [ + [ + 0.044772885739803314, + -0.0017493158811703324, + -0.026478156447410583, + -0.2810565233230591, + 0.649610161781311, + 0.6536978483200073, + -0.26775553822517395 + ], + [ + 0.04865912348031998, + 0.0005955127417109907, + -0.029521742835640907, + -0.27150383591651917, + 0.6594793200492859, + 0.6445257663726807, + -0.27560698986053467 + ], + [ + 0.0473053939640522, + 0.005223612766712904, + -0.03005060739815235, + -0.29608047008514404, + 0.6396734714508057, + 0.6527167558670044, + -0.2776958644390106 + ], + [ + 0.05169888958334923, + -0.0008788739796727896, + -0.029843419790267944, + -0.28217554092407227, + 0.649425208568573, + 0.6522685885429382, + -0.2704986333847046 + ] + ], + "camera1": [ + [ + 0.03017612174153328, + 0.5669159889221191, + 1.955281376838684, + 0.02283046953380108, + 0.00043729296885430813, + 0.2701294422149658, + 0.9625532031059265 + ], + [ + 0.03585110977292061, + 0.5615515112876892, + 1.9719973802566528, + 0.03354303166270256, + 0.01970076560974121, + 0.2756209969520569, + 0.9604789614677429 + ], + [ + 0.057772256433963776, + 0.5939313173294067, + 1.9508048295974731, + 0.059003159403800964, + 0.010392826050519943, + 0.28331735730171204, + 0.9571530222892761 + ], + [ + 0.04264943301677704, + 0.5806810855865479, + 1.9258204698562622, + 0.04921723157167435, + -0.006114681717008352, + 0.2786427140235901, + 0.9591134190559387 + ] + ] + } + } + } +} \ No newline at end of file diff --git a/episodes/c9_p004_e028/wrist.mp4 b/episodes/c9_p004_e028/wrist.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..a7fe26f1319372105d1d1d7965d27093f4be34dc --- /dev/null +++ b/episodes/c9_p004_e028/wrist.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:4e0d5a67470ea4719470a3386872f8f38679dd71018942d9551fe492d09e96dc +size 6654996 diff --git a/episodes/c9_p004_e029/data.npz b/episodes/c9_p004_e029/data.npz new file mode 100644 index 0000000000000000000000000000000000000000..efef1cb49e88cbb5a331d11702127b32f0958370 --- /dev/null +++ b/episodes/c9_p004_e029/data.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:73cc528253fbd0de560b8f2826b92ce410a628582ce87f58ac5dc7b3f86a815e +size 186430 diff --git a/episodes/c9_p004_e029/device_events.jsonl b/episodes/c9_p004_e029/device_events.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..70367cdf92890de58577389703382a0fcbeca086 --- /dev/null +++ b/episodes/c9_p004_e029/device_events.jsonl @@ -0,0 +1,35 @@ +{"env_id": 2, "seq": 1, "step": 196, "t": 0.98, "topic": "conveyor_1.belt.station.pick.captured", "source": "conveyor_1.belt", "data": {"rider": "carrier_1"}, "cause": null} +{"env_id": 2, "seq": 2, "step": 196, "t": 0.98, "topic": "conveyor_1.belt.state.changed", "source": "conveyor_1.belt", "data": {"from": "running", "to": "at_station"}, "cause": null} +{"env_id": 2, "seq": 3, "step": 201, "t": 1.005, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_1"}, "cause": null} +{"env_id": 2, "seq": 4, "step": 6818, "t": 34.09, "topic": "a4s_sealer_1.plate_present.present", "source": "a4s_sealer_1.plate_present", "data": {"object": "plate_1"}, "cause": null} +{"env_id": 2, "seq": 5, "step": 7428, "t": 37.14, "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": 7428, "t": 37.14, "topic": "a4s_sealer_1.seal.started", "source": "a4s_sealer_1", "data": {"dwell": 3.710587120237411}, "cause": "task-2-1"} +{"env_id": 2, "seq": 7, "step": 7428, "t": 37.14, "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": 7428, "t": 37.14, "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": 7428, "t": 37.14, "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": 7847, "t": 39.235, "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": 7847, "t": 39.235, "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": 7847, "t": 39.235, "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": 7847, "t": 39.235, "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": 7847, "t": 39.235, "topic": "labware.plate_1.changed", "source": "labware.plate_1", "data": {"key": "sealed", "value": true}, "cause": "task-2-1"} +{"env_id": 2, "seq": 15, "step": 7847, "t": 39.235, "topic": "a4s_sealer_1.sealed", "source": "a4s_sealer_1", "data": {"plate": "plate_1"}, "cause": "task-2-1"} +{"env_id": 2, "seq": 16, "step": 7847, "t": 39.235, "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": 7847, "t": 39.235, "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": 7847, "t": 39.235, "topic": "a4s_sealer_1.heater.started", "source": "a4s_sealer_1.heater", "data": {"duration": 3.710587120237411}, "cause": "program-2-3"} +{"env_id": 2, "seq": 19, "step": 8590, "t": 42.95, "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": 8590, "t": 42.95, "topic": "a4s_sealer_1.heater.finished", "source": "a4s_sealer_1.heater", "data": {"elapsed": 3.7150000000019006}, "cause": "program-2-3"} +{"env_id": 2, "seq": 21, "step": 8590, "t": 42.95, "topic": "a4s_sealer_1.heater.command.succeeded", "source": "a4s_sealer_1.heater", "data": {"command_id": "program-2-3", "name": "run", "source": "program:seal", "result": {"elapsed": 3.7150000000019006}}, "cause": "program-2-3"} +{"env_id": 2, "seq": 22, "step": 8590, "t": 42.95, "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": 8590, "t": 42.95, "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": 8590, "t": 42.95, "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": 9010, "t": 45.05, "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": 9010, "t": 45.05, "topic": "a4s_sealer_1.drawer.reached", "source": "a4s_sealer_1.drawer", "data": {"position": "out", "q": 1.1070953043201825e-08}, "cause": "program-2-4"} +{"env_id": 2, "seq": 27, "step": 9010, "t": 45.05, "topic": "a4s_sealer_1.drawer.at_out", "source": "a4s_sealer_1.drawer", "data": {"q": 1.1070953043201825e-08}, "cause": "program-2-4"} +{"env_id": 2, "seq": 28, "step": 9010, "t": 45.05, "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": 9010, "t": 45.05, "topic": "a4s_sealer_1.seal.finished", "source": "a4s_sealer_1", "data": {}, "cause": "task-2-1"} +{"env_id": 2, "seq": 30, "step": 9010, "t": 45.05, "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": 9591, "t": 47.955, "topic": "a4s_sealer_1.plate_present.absent", "source": "a4s_sealer_1.plate_present", "data": {"object": "plate_1"}, "cause": null} +{"env_id": 2, "seq": 32, "step": 11332, "t": 56.66, "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": 11332, "t": 56.66, "topic": "conveyor_1.belt.station.pick.released", "source": "conveyor_1.belt", "data": {"rider": "carrier_1"}, "cause": "task-2-5"} +{"env_id": 2, "seq": 34, "step": 11332, "t": 56.66, "topic": "conveyor_1.belt.state.changed", "source": "conveyor_1.belt", "data": {"from": "at_station", "to": "running"}, "cause": null} +{"env_id": 2, "seq": 35, "step": 11332, "t": 56.66, "topic": "conveyor_1.belt.command.succeeded", "source": "conveyor_1.belt", "data": {"command_id": "task-2-5", "name": "release", "source": "task", "result": {"state": "running"}}, "cause": "task-2-5"} diff --git a/episodes/c9_p004_e029/env.mp4 b/episodes/c9_p004_e029/env.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..8e41e79c6b7cf73a460cb8710a98785e167bb0b8 --- /dev/null +++ b/episodes/c9_p004_e029/env.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:7203d9871e7ee81149ea33e4b403b3be2638a059891c4df633a57f1d2b3fb5ed +size 1338355 diff --git a/episodes/c9_p004_e029/meta.json b/episodes/c9_p004_e029/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..47919b7407bc5a2c9ebcf0384e1700a8f2c8c708 --- /dev/null +++ b/episodes/c9_p004_e029/meta.json @@ -0,0 +1,32 @@ +{ + "source": "raw/c9_p004/magicsim/29", + "fps": 25, + "frames": 1214, + "kept_ticks": "even", + "video_frames": { + "wrist": 1214, + "env": 1214 + }, + "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": "v1" +} \ No newline at end of file diff --git a/episodes/c9_p004_e029/scene_snapshot.json b/episodes/c9_p004_e029/scene_snapshot.json new file mode 100644 index 0000000000000000000000000000000000000000..09e5f9b7c1b3a35114713baaddfd9c4eca0ce9b1 --- /dev/null +++ b/episodes/c9_p004_e029/scene_snapshot.json @@ -0,0 +1,1558 @@ +{ + "trajectory_id": 29, + "env_id": 2, + "run_id": "c9_p004", + "task_type": "BioPlateCell", + "success": true, + "timing": { + "fps": 50.0, + "sim_dt": 0.005, + "decimation": 4 + }, + "restore_interface": { + "scene": "scene_manager.reset_to(snapshot['scene'], env_ids=[env_id])", + "robots": "robot_manager.set_state({'robots': snapshot['robots']}, env_ids=[env_id])" + }, + "snapshot": { + "env_id": 2, + "scene": { + "objects": [ + {}, + {}, + { + "rac_cell": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/rac_cell.usd", + "pose": { + "pos": [ + 0.0, + 0.0, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "physics_material": { + "static_friction": 0.6, + "dynamic_friction": 0.5, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "robot_mount": [ + { + "asset": "Cube", + "pose": { + "pos": [ + 0.0, + 0.0, + 0.9075 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": "color", + "value": [ + 0.55, + 0.56, + 0.58 + ], + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": { + "size": [ + 0.2, + 0.2, + 0.015 + ] + } + }, + "type_specific": {} + } + ], + "plate_rack": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/plate_hotel.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 0.9 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "physics_material": { + "static_friction": 0.6, + "dynamic_friction": 0.5, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "hotel_plate": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/deep_well_24_10ml/deep_well_24_10ml.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 0.9605 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/pcr_96_blue/pcr_96_blue.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.0285 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/pcr_384_red/pcr_384_red.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.0965 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/pcr_384_red/pcr_384_red.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.1645 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/pcr_96_blue/pcr_96_blue.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.2325 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "a4s_sealer": [ + { + "asset": "$MAGICSIM_ASSETS/Articulated/A4SSealer/Object.usd", + "pose": { + "pos": [ + 0.4781017303466797, + 0.06663703918457031, + 0.8999999761581421 + ], + "ori": [ + 0.7247617244720459, + 0.0, + 0.0, + -0.688999593257904 + ], + "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": [ + 3.3641654999944093e-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": 0.1693396367426857, + "direction": [ + 1.0, + 0.0, + 0.0 + ], + "enabled": true, + "drive": "surface_velocity", + "lines": null, + "station_line": null, + "riders": [ + "carrier" + ], + "stations": { + "pick": { + "position": -0.2893981002484005, + "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": 0.1693396367426857, + "holds": [], + "station": "pick", + "rider": "carrier_1", + "arrived": true, + "applied_speed": 0.0 + } + } + } + ], + "carrier": [ + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + -0.13956832885742188, + 0.44707679748535156, + 0.8999999761581421 + ], + "ori": [ + 0.9999624490737915, + 1.4807206571987308e-09, + 4.068970493875668e-09, + 0.00866655819118023 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -4.363500671900056e-10, + -5.829196680906534e-09, + 7.450580596923828e-09 + ], + "angular_velocity": [ + 1.8777876675812877e-07, + -2.221607608987597e-08, + 2.5572353123948233e-08 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + 0.35518455505371094, + 1.152663230895996, + 0.8999999761581421 + ], + "ori": [ + -0.00807275902479887, + -1.1140438971324329e-07, + 4.320659741097188e-08, + 0.9999673962593079 + ], + "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": [ + -1.2170859875482165e-09, + -9.649372412212642e-10, + 3.725290298461914e-09 + ], + "angular_velocity": [ + 2.6583922618783618e-08, + -1.4439495998885832e-07, + 1.3241998608748418e-09 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + 1.6377124786376953, + 0.605870246887207, + 0.8999999761581421 + ], + "ori": [ + 0.8842517733573914, + -1.2054157672025667e-08, + 4.951244747530836e-08, + 0.46701061725616455 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -3.944035653624667e-10, + 6.12524475585019e-11, + 0.0 + ], + "angular_velocity": [ + 1.1972090874223795e-08, + -1.7048613187853334e-08, + -5.935043567717457e-09 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + -1.069814682006836, + 1.1474037170410156, + 0.8999999761581421 + ], + "ori": [ + -0.029154207557439804, + -2.3795566406192847e-08, + 1.8190423389796706e-08, + 0.9995749592781067 + ], + "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": [ + -4.5069370457895275e-10, + 1.0540279760107296e-09, + 1.1175870895385742e-08 + ], + "angular_velocity": [ + -7.133303370210342e-08, + 7.114595490520514e-08, + -5.653179258047203e-09 + ] + } + } + ], + "plate": [ + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_24_clear/Object.usd", + "pose": { + "pos": [ + -0.13874530792236328, + 0.45043373107910156, + 0.9179999828338623 + ], + "ori": [ + 0.9982692003250122, + 1.5337207059928915e-09, + 5.5574540525071825e-09, + 0.058810070157051086 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -2.8399773199794254e-08, + -8.570258103191009e-08, + 1.043081283569336e-07 + ], + "angular_velocity": [ + 1.9802648694167146e-06, + -1.775918462953996e-06, + -9.265606948360983e-09 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_384_black/Object.usd", + "pose": { + "pos": [ + 0.35402393341064453, + 1.161874771118164, + 0.9180000424385071 + ], + "ori": [ + 0.09281877428293228, + -1.1577661496176006e-07, + 3.0297503172960205e-08, + 0.9956830739974976 + ], + "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": [ + 1.148212858126385e-09, + -1.3833003187357917e-08, + -5.487352609634399e-06 + ], + "angular_velocity": [ + 5.414399311121088e-07, + 1.0652310038494761e-06, + 8.120405681211196e-09 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_1536_black/Object.usd", + "pose": { + "pos": [ + 1.6345176696777344, + 0.6194667816162109, + 0.9180000424385071 + ], + "ori": [ + 0.9028778672218323, + -1.2873205612606853e-08, + 5.015431625565725e-08, + 0.42989739775657654 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -1.1940956667899627e-08, + -1.1186115145278563e-08, + -5.8747828006744385e-06 + ], + "angular_velocity": [ + 1.5115610949578695e-06, + -2.0855365789884672e-07, + 4.700722300299276e-08 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/deep_well_24_10ml/Object.usd", + "pose": { + "pos": [ + -1.0583257675170898, + 1.1589384078979492, + 0.9179999828338623 + ], + "ori": [ + 0.054965753108263016, + -3.492570854746191e-08, + 2.890525507837083e-08, + 0.9984882473945618 + ], + "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": [ + 7.640076660209161e-08, + -9.295247593854583e-08, + -1.2442469596862793e-06 + ], + "angular_velocity": [ + 6.060076430003392e-06, + 5.235754542809445e-06, + -2.0106244846829213e-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": 8.339999999999904, + "step": 1668, + "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": 3.3641654999944093e-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": 0.1693396367426857, + "holds": [], + "station": "pick", + "rider": "carrier_1", + "arrived": true, + "settle_count": 1471, + "released": { + "pick": [] + }, + "last_pos": { + "carrier_1": [ + -0.28956833481788635, + -0.0029231905937194824, + 0.0 + ], + "carrier_2": [ + 0.20518454909324646, + 0.702663242816925, + 0.0 + ], + "carrier_3": [ + 1.4877124726772308, + 0.155870258808136, + 0.0 + ], + "carrier_4": [ + -1.2198146879673004, + 0.6974037289619446, + 0.0 + ] + }, + "command": 0.0 + }, + "belt": { + "target_speed": 0.0, + "command_speed": 0.0 + }, + "seen": { + "state": "at_station", + "station": "pick", + "rider": "carrier_1", + "arrived": true + } + } + }, + "queues": {}, + "program": null, + "sensors": {}, + "interlocks": {} + } + }, + "zones": {}, + "labware": { + "plate_1": { + "sealed": false + }, + "plate_2": { + "sealed": false + }, + "plate_3": { + "sealed": false + }, + "plate_4": { + "sealed": false + } + }, + "rules": {}, + "records": [], + "bus": { + "seq": 3, + "queue": [] + } + }, + null + ], + "drives": [ + null, + null, + {}, + null + ] + }, + "artifacts": [ + {}, + {}, + { + "ceiling": { + "type": "rect", + "pose": { + "pos": [ + 0.8791419235295598, + 0.4420452199434588, + 2.7750944430716586 + ], + "ori": [ + 11.68216287219358, + 5.595844983238308, + -4.951350012310861 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "color_temperature": 4400.371519349202, + "color": [ + 0.8916106037924302, + 0.8909553534797372, + 0.8968704329575791 + ], + "intensity": 13015.969220296036, + "width": 2.3984179985515652, + "height": 1.4934204655968712 + } + }, + "key": { + "type": "disk", + "pose": { + "pos": [ + 1.6743700521853997, + 1.5783980739177312, + 2.6292436743028738 + ], + "ori": [ + 9.19343544790869, + 10.880743105125447, + -39.39455789467388 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "color_temperature": 5572.937850594588, + "color": [ + 0.8554868117751269, + 0.8618019301066653, + 0.9069952425753132 + ], + "intensity": 5928.240781833491, + "radius": 0.22202112408785793 + } + } + }, + {} + ], + "background": { + "type": "dome", + "pose": { + "pos": null, + "ori": null, + "scale": null + }, + "dr": { + "intensity": 422.49242454531236, + "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": [ + [ + 1.6410950422286987, + -1.2674486637115479, + 2.2143309116363525, + -2.51743221282959, + -1.571256399154663, + 0.05273238196969032, + 0.017999986186623573, + 0.017999986186623573 + ], + [ + 0.9141024947166443, + -1.7193983793258667, + 2.0905001163482666, + -1.9419013261795044, + -1.5707999467849731, + 2.4849002361297607, + 0.01799999736249447, + 0.018000001087784767 + ], + [ + 0.9141026735305786, + -1.7193981409072876, + 2.09049916267395, + -1.9419001340866089, + -1.5707999467849731, + 2.484900951385498, + 0.01799999736249447, + 0.018000001087784767 + ], + [ + 2.7007408142089844, + -1.6301863193511963, + 2.492880344390869, + -2.433425188064575, + -1.5707610845565796, + 4.271915912628174, + 0.007681486662477255, + 0.007009664084762335 + ] + ], + "joint_vel": [ + [ + 3.4059664812957635e-06, + 6.811853836552473e-06, + 6.811916591686895e-06, + -6.095578469061946e-12, + -3.4059771678585093e-06, + -3.1930989052852965e-07, + 1.8193192374837963e-07, + 1.8193374273778318e-07 + ], + [ + -2.589953810324043e-38, + 1.887925980732432e-38, + -1.2312424878882146e-38, + 4.617699950528341e-37, + 9.4684593774881e-38, + 2.332428066279472e-36, + 2.5990374297180097e-08, + -2.5990399166175848e-08 + ], + [ + 0.0, + 2.602464883273228e-38, + 2.7103679478828605e-38, + 6.418097634218546e-37, + -6.465957469865219e-37, + 1.3574821706852492e-36, + 2.5990388508034812e-08, + -2.5990388508034812e-08 + ], + [ + -0.010210735723376274, + -0.02203504554927349, + 0.019202884286642075, + 0.002261178335174918, + 0.00012411574425641447, + -0.010579620487987995, + -0.008500440046191216, + 0.0003023626049980521 + ] + ] + } + }, + "cameras": { + "cameras": { + "camera0": [ + [ + 0.045231159776449203, + 0.00014143341104499996, + -0.02933144010603428, + -0.2773074805736542, + 0.652735710144043, + 0.6523822546005249, + -0.2672715187072754 + ], + [ + 0.05008138343691826, + -0.0001027353064273484, + -0.030701830983161926, + -0.27273067831993103, + 0.6570565700531006, + 0.6423081755638123, + -0.28519269824028015 + ], + [ + 0.04755624756217003, + 0.0037703795824199915, + -0.02830255776643753, + -0.29406142234802246, + 0.6392210125923157, + 0.6525501608848572, + -0.2812519669532776 + ], + [ + 0.05273701623082161, + -0.0018738439539447427, + -0.02752392180263996, + -0.2779000699520111, + 0.6494624018669128, + 0.6528595685958862, + -0.27339452505111694 + ] + ], + "camera1": [ + [ + 0.03017612174153328, + 0.5669159889221191, + 1.955281376838684, + 0.02283046953380108, + 0.00043729296885430813, + 0.2701294422149658, + 0.9625532031059265 + ], + [ + 0.03585110977292061, + 0.5615515112876892, + 1.9719973802566528, + 0.03354303166270256, + 0.01970076560974121, + 0.2756209969520569, + 0.9604789614677429 + ], + [ + 0.057772256433963776, + 0.5939313173294067, + 1.9508048295974731, + 0.059003159403800964, + 0.010392826050519943, + 0.28331735730171204, + 0.9571530222892761 + ], + [ + 0.04264943301677704, + 0.5806810855865479, + 1.9258204698562622, + 0.04921723157167435, + -0.006114681717008352, + 0.2786427140235901, + 0.9591134190559387 + ] + ] + } + } + } +} \ No newline at end of file diff --git a/episodes/c9_p004_e029/wrist.mp4 b/episodes/c9_p004_e029/wrist.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..067ae3fe0809d3bc2aed0dd50a9e277117abdca3 --- /dev/null +++ b/episodes/c9_p004_e029/wrist.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:2355997f25b5824d8b54ad1bfcf169edc0bd647701a6f0bfe08a6a57487575cc +size 7391666 diff --git a/index/episodes.csv b/index/episodes.csv index 70dd64ea4e40ec2688bcae0cd0ad5ab4b18acc13..9d8c5484d42cadc5eb5769e7df4a501693ad6641 100644 --- a/index/episodes.csv +++ b/index/episodes.csv @@ -1009,3 +1009,22 @@ c92_p000_e002,3,True,0.11170005798339844,0.45000267028808594,0.00745251962374096 c92_p000_e003,2,True,-0.09837722778320312,0.4500007629394531,-0.0002903481612624266,0.005701091697901111,9.307838130933817,plate_1536_black,0.5011615753173828,0.0869436264038086,-85.43902853954972,0.23270217708583302,385.0902432710741,rect,-0.48186743134395627,-0.11387470040487507,3.1223842259649777,7584.602612949133,5796.0321359322525,disk,-0.8229555106611715,0.8975990859138865,2.3836472285892327,2464.6398975542006,7235.110403699085,0.0493667833507061,-0.00031765425228513777,-0.02699328027665615,-0.2863353192806244,0.6491175293922424,0.6509281396865845,-0.27009454369544983,0.04795699194073677,0.5769711136817932,1.9410570859909058,0.04178476333618164,-0.002558533102273941,0.2708894610404968,0.9616997241973877,1265,1,,2.045793294906616,0.2500161929420044,0.0,0.007373482920229435,0.5051383399209486,12,release,0.0426945686340332,"Pre-grasping the small plate, moving the arm toward it; the ",v2 c9_p004_e026,1,True,-0.0119171142578125,0.45000171661376953,-0.012403588935848345,-0.0027852339235979726,-10.246875556959026,pcr_384_red,0.46751976013183594,0.11338996887207031,-94.03330475765746,0.27467264967080596,372.4266573036411,rect,-0.3658734058274831,0.508333108981416,2.878040633301326,12241.839131115717,4928.816361184098,disk,1.5356229211682875,-1.1467143547420953,1.8806907779934192,5979.691278429411,6840.248149012508,0.04951806366443634,-3.637071495177224e-05,-0.03170134499669075,-0.2771616280078888,0.6622133255004883,0.6395425200462341,-0.27502796053886414,0.03585110977292061,0.5615515112876892,1.9719973802566528,0.03354303166270256,0.01970076560974121,0.2756209969520569,0.9604789614677429,1292,1,,2.0782597064971924,0.33123936736141235,0.0,0.0068092625588178635,0.544891640866873,12,release,0.04233741760253906,"Pre-grasping the small plate, moving the arm toward it; the ",v1 c9_p004_e027,0,True,-0.02500629425048828,0.44736289978027344,-0.0010614100801811927,0.006689627514020104,8.874290462280925,plate_6_clear,0.5125951766967773,0.08607006072998047,-87.46649595791703,0.23064582871427586,422.49242454531236,rect,-0.1735105091994545,-0.4120631599382251,3.0975994162597735,7519.845558189044,3257.4277558043377,sphere,0.5557779539807708,-0.7527037380941954,2.727059180203522,3786.963479494371,3517.9504895036566,0.046825800091028214,-0.0030042182188481092,-0.029666686430573463,-0.2807961404323578,0.6459763646125793,0.6560508012771606,-0.2710449695587158,0.03017612174153328,0.5669159889221191,1.955281376838684,0.02283046953380108,0.00043729296885430813,0.2701294422149658,0.9625532031059265,1326,1,,2.0627920627593994,0.3011646730693162,0.0,0.007377916015684605,0.5331825037707391,12,release,0.04284870624542236,"Pre-grasping the small plate, moving the arm toward it; the ",v1 +c1_p002_e038,3,True,-0.013776779174804688,0.4465799331665039,0.013851503927308634,-0.004572794754936356,-9.233298445469956,reservoir_12ch,0.5042552947998047,0.08044242858886719,-90.56581214725338,0.24559556059052806,410.122508947093,rect,0.3248928545709987,0.10567782679414395,2.9917821882027007,5263.635990443103,5689.137539713256,disk,0.7853889576376663,-1.0713652475182567,1.618545094505618,7327.059074728842,6712.752624089941,0.050456106662750244,0.003465687157586217,-0.0291163120418787,-0.2723312973976135,0.6488352417945862,0.6549003720283508,-0.27559757232666016,0.04976149648427963,0.5918372273445129,1.9442660808563232,0.05959370732307434,0.02403578720986843,0.2793743312358856,0.9580296874046326,1300,1,,2.116738796234131,0.3002354042340276,0.0,0.007443160749971867,0.5384615384615384,12,release,0.042775750160217285,"Pre-grasping the small plate, moving the arm toward it; the ",v1 +c1_p002_e039,1,True,-0.03069305419921875,0.44657325744628906,-0.0062135982347792645,-0.009712282080075315,-4.545380759134076,pcr_384_red,0.5021162033081055,0.09942340850830078,-92.51474547683448,0.2732997923810456,410.122508947093,rect,-0.20111748769819165,0.4905690172245539,2.980008283222877,12647.547814864634,4490.789341371923,disk,-0.18603582694057663,-0.4126602178333808,2.7417592819333025,4183.059057638735,4692.541754242353,0.05344310775399208,-0.0037880796007812023,-0.03024565987288952,-0.2776488959789276,0.6381821632385254,0.6612753868103027,-0.2799098491668701,0.039116594940423965,0.6017328500747681,1.967415690422058,0.051729027181863785,0.004936817567795515,0.2826876938343048,0.9578034281730652,1263,1,,2.0721395015716553,0.320405801789356,0.0,0.006818427238613367,0.555027711797308,12,release,0.042174339294433594,"Pre-grasping the small plate, moving the arm toward it; the ",v1 +c2_p004_e025,2,True,-0.03280448913574219,0.44641971588134766,-0.01311733732615208,0.01118083120401497,-6.00534568924229,deep_well_24_10ml,0.49597930908203125,0.11912250518798828,-85.0767963192906,0.25257986403003685,1113.8480004500743,rect,0.11078707548304012,0.40901081399718886,2.8881061367537146,11394.735758142539,6758.613133981591,disk,1.5874073817269547,0.06542966956787621,2.53443816951905,2802.1713422651583,6584.115185210337,0.04702452942728996,-0.0013976491754874587,-0.031462155282497406,-0.2708049416542053,0.6500124931335449,0.6540803909301758,-0.27627384662628174,0.04193825647234917,0.565913736820221,1.969712257385254,0.041313447058200836,-0.004954589530825615,0.27820146083831787,0.9596210718154907,1289,1,,2.1001155376434326,0.22871026303896402,0.0,0.0075179412961006165,0.5446082234290147,12,release,0.04290032386779785,"Pre-grasping the small plate, moving the arm toward it; the ",v1 +c2_p004_e026,1,True,-0.0835256576538086,0.4499969482421875,0.004696871422615036,0.00990580307426502,0.339757080539016,plate_96_white,0.5056638717651367,0.0655527114868164,-94.64321734016639,0.2602818444960451,1113.8480004500743,rect,-0.13658294978326824,0.238824085740724,2.756810218740859,14770.740262484123,6725.2829587581855,disk,1.2346671159339668,0.6491764335471162,2.1127486460484817,6378.619302517949,5585.876759265786,0.046269409358501434,1.88237368092814e-06,-0.03317727521061897,-0.2811017632484436,0.6558070778846741,0.6460202932357788,-0.2712133228778839,0.05637913942337036,0.6043341159820557,1.9690872430801392,0.022853504866361618,0.006928489543497562,0.2621304392814636,0.9647369384765625,1322,1,,2.075423002243042,0.30039070048595257,0.0,0.007247309200465679,0.5264750378214826,12,release,0.04279685020446777,"Pre-grasping the small plate, moving the arm toward it; the ",v1 +c2_p004_e027,0,True,0.026243209838867188,0.45000362396240234,0.005013910941161637,-0.00903306126678428,3.442918286911521,pcr_96_blue,0.48386573791503906,0.05235576629638672,-93.11834534070564,0.17938910881360742,1101.9346955654219,rect,0.32606192375096377,0.212599030304915,2.834553131218842,12832.940551216294,4095.6030410228664,sphere,-0.05771768562787871,-0.08699007291173078,2.3322518067627342,4265.2763667359495,6016.232775989161,0.049208592623472214,0.003275943687185645,-0.03156346082687378,-0.26564741134643555,0.654142439365387,0.6521368026733398,-0.2761281132698059,0.03998029977083206,0.5764431953430176,1.9523237943649292,0.04990966245532036,0.009701253846287727,0.26734429597854614,0.9622587561607361,1224,1,,2.144294500350952,0.251136392092431,0.0,0.006851979531347752,0.5212418300653595,12,release,0.04213905334472656,"Pre-grasping the small plate, moving the arm toward it; the ",v1 +c3_p002_e031,1,True,0.023245811462402344,0.4501018524169922,-0.005665151824764012,0.0038917432172876553,-10.272520528444147,deep_well_96_1ml,0.4803352355957031,0.08341693878173828,-85.85228071372097,0.15968741006536158,1303.7342842952153,rect,0.21836646454811126,0.09917814740717223,2.868905948007606,15908.49146335094,3641.532202162559,sphere,-0.921539508816895,0.6336769833355331,1.752916157883865,4114.139109215008,5467.744705727973,0.04798451066017151,-0.0029679667204618454,-0.031346190720796585,-0.28245827555656433,0.6539839506149292,0.6441392302513123,-0.2785802483558655,0.02850279025733471,0.57640540599823,1.9452507495880127,0.03920118883252144,0.01786215603351593,0.2642171382904053,0.9635006785392761,1242,1,,2.098872184753418,0.26019745004846256,0.0,0.00747061800211668,0.5096618357487923,12,release,0.04220682382583618,"Pre-grasping the small plate, moving the arm toward it; the ",v1 +c4_p002_e027,0,True,-0.054058074951171875,0.4500007629394531,0.002416322718570875,-0.0022757727435291464,-8.921232306620936,plate_96_black,0.5132904052734375,0.09563636779785156,-90.50000534689879,0.22375608772132027,1281.9173548864014,rect,0.5600685957973236,0.4711882768633354,2.841913047835418,5183.194880916935,4441.170410295929,sphere,0.008966497837858967,1.2630245709700054,2.4431795534380614,7042.539905615484,5884.6896507354995,0.05101523920893669,-0.004314193036407232,-0.03224269673228264,-0.2833104431629181,0.652968168258667,0.6418892741203308,-0.28521206974983215,0.06799137592315674,0.5805333852767944,1.956607460975647,0.044886380434036255,0.01054947916418314,0.2796475887298584,0.9589948654174805,1226,1,,2.100363254547119,0.2866426497753796,0.0,0.007237424608319998,0.5212071778140294,12,release,0.04229378700256348,"Pre-grasping the small plate, moving the arm toward it; the ",v1 +c5_p002_e036,1,True,0.09047222137451172,0.44999217987060547,0.010449816295366645,0.01194453438793791,9.686016242784888,plate_12_clear,0.49652099609375,0.10860252380371094,-85.19918019676528,0.21297817410138803,586.444541339937,rect,0.7741660326045549,-0.3669238229449231,2.7920895122846416,8802.76928861708,6459.610601640443,disk,-1.0059498553455317,-0.09968409524210853,1.9455591130022283,2290.364701373542,4356.184362140162,0.05041011422872543,-0.0001979977823793888,-0.031253471970558167,-0.29151713848114014,0.6407113075256348,0.6525055170059204,-0.28061234951019287,0.071715347468853,0.5762608051300049,1.9273816347122192,0.04316096752882004,-0.0023767882958054543,0.26077377796173096,0.9644317030906677,1207,1,,2.0862324237823486,0.2635204560963761,0.0,0.007318190764635801,0.5327257663628832,12,release,0.042342424392700195,"Pre-grasping the small plate, moving the arm toward it; the ",v1 +c5_p002_e037,0,True,0.014708518981933594,0.44748497009277344,-0.011390321680079304,0.00338506176159007,-7.6457289887247555,plate_96_black,0.48029518127441406,0.10286426544189453,-92.54143056111481,0.2987944820561875,538.0179094594366,rect,0.46643836167221775,0.505490807520514,2.8573195294931892,12434.194192458815,6471.820678405973,sphere,-0.8705474347150163,0.963274500887376,1.7401562449461934,6359.580224738506,6209.409177356968,0.05286748707294464,0.004148975480347872,-0.031966838985681534,-0.27503862977027893,0.6568230390548706,0.6400130391120911,-0.28865301609039307,0.07443199306726456,0.5711514949798584,1.9457330703735352,0.028810692951083183,0.013910607434809208,0.25922948122024536,0.9652857184410095,1243,1,,2.1252996921539307,0.2715667369688922,0.0,0.007303566671907902,0.5092518101367659,12,release,0.04231348633766174,"Pre-grasping the small plate, moving the arm toward it; the ",v1 +c5_p002_e038,2,True,-0.007801055908203125,0.45000267028808594,-0.014508583628783597,-0.011381936364119258,-3.182399049410094,plate_24_clear,0.48097991943359375,0.1065673828125,-86.88794020368216,0.23396876460616792,538.0179094594366,rect,-0.07264636748740061,0.3836478635688817,3.1044977387051347,5153.8606412733225,4458.954974131039,sphere,-1.0373229859258788,-0.8384256692243464,2.3602784212686316,7998.612888303927,4599.44483401664,0.05293607339262962,0.001371036167256534,-0.032811250537633896,-0.2816356420516968,0.642062783241272,0.6625578999519348,-0.2635408639907837,0.06040199473500252,0.5785200595855713,1.9273682832717896,0.04209756478667259,0.0047531770542263985,0.28721940517425537,0.956927478313446,1293,1,,2.1289358139038086,0.3133598352001776,0.0,0.007341385819017887,0.5444702242846094,12,release,0.04230999946594238,"Pre-grasping the small plate, moving the arm toward it; the ",v1 +c5_p002_e039,3,True,-0.04346752166748047,0.4499998092651367,-0.009678830272184311,0.00026073813170921395,10.818879485547427,plate_384_white,0.5256032943725586,0.08841419219970703,-86.35962671910123,0.23789314243201085,538.0179094594366,rect,0.6226227793165845,-0.24378181300813728,2.688995640923441,4664.591253704326,3924.085999645513,sphere,1.5616892422518358,0.010504998766763363,1.899960655089683,1563.8045697734995,5358.123047023871,0.048648446798324585,-0.0007748269708827138,-0.026907529681921005,-0.281141996383667,0.6445972323417664,0.6497414708137512,-0.2885994017124176,0.051940519362688065,0.5903128385543823,1.9534716606140137,0.039640896022319794,0.0017979292897507548,0.26010236144065857,0.9647653102874756,1275,1,,2.085188150405884,0.2763833695842377,0.0,0.007378419861197472,0.5498039215686275,12,release,0.042398691177368164,"Pre-grasping the small plate, moving the arm toward it; the ",v1 +c7_p002_e035,2,True,0.12827777862548828,0.45000171661376953,-0.013269340603638055,-0.002236863647051011,-6.456901050225667,plate_384_black,0.5001640319824219,0.11996269226074219,-86.19944163127089,0.22683315571399185,700.6251223640882,rect,0.1121257777654815,0.5514223399530394,3.178095201157978,13805.070257468336,4475.442967592828,sphere,-1.556590399185675,0.7379318559025301,2.180278287808566,7051.453296419971,3095.140869368554,0.050322920083999634,-0.0007788766524754465,-0.031940311193466187,-0.29092076420783997,0.6512791514396667,0.6429988145828247,-0.2788423001766205,0.06820829957723618,0.5950376987457275,1.9417552947998047,0.03380609676241875,-0.0018228153930976987,0.26989641785621643,0.9622939825057983,1214,1,,2.089097023010254,0.3080180909890287,0.0,0.007364871446043253,0.5222405271828665,12,release,0.04236060380935669,"Pre-grasping the small plate, moving the arm toward it; the ",v1 +c7_p002_e036,3,True,-0.0970621109008789,0.4500007629394531,0.006932479957001011,-0.0029129483027782806,-11.9773139104758,plate_96_clear,0.5033798217773438,0.09269237518310547,-90.34246080252042,0.15790250548860993,700.6251223640882,rect,-0.08787707423083235,-0.2667050387682532,2.7235617601289217,4762.706664471707,4647.805900874058,disk,-1.2645038719943695,-0.5411022728588191,2.305049248124284,10488.829229070436,6633.488820663135,0.05058557167649269,0.0008787046535871923,-0.03267365321516991,-0.2757571339607239,0.6462323665618896,0.659205973148346,-0.2679350674152374,0.06195584312081337,0.602778434753418,1.9382693767547607,0.030237898230552673,0.004917580168694258,0.26193907856941223,0.9645980596542358,1175,1,,2.1379754543304443,0.2917648322091806,0.0,0.007256362587213516,0.5446808510638298,12,release,0.042464256286621094,"Pre-grasping the small plate, moving the arm toward it; the ",v1 +c7_p002_e037,1,True,-0.12154197692871094,0.4482421875,-0.004780494866530601,0.005115831319159667,5.637946737597758,pcr_384_red,0.5159244537353516,0.10462760925292969,-90.89779615166947,0.28835460979492344,700.6251223640882,rect,0.06727773294008965,-0.4861849839109108,2.671251470643535,9218.393931216724,3261.6649337933072,sphere,-0.6913488627113717,-0.6800761707351605,1.641903576094412,4093.3105866765513,5761.9729434653555,0.053875576704740524,-0.0014202009188011289,-0.025116847828030586,-0.28720059990882874,0.6512800455093384,0.6413912177085876,-0.28629955649375916,0.056175023317337036,0.5686651468276978,1.9281119108200073,0.04160946607589722,-0.0002229267847724259,0.258309930562973,0.9651655554771423,1210,1,,2.047778844833374,0.3207951556941428,0.0,0.006826972123235464,0.5256198347107438,12,release,0.04207932949066162,"Pre-grasping the small plate, moving the arm toward it; the ",v1 +c7_p002_e038,0,True,0.037392616271972656,0.4499959945678711,0.007372216686584477,0.0039819622509459154,-6.662527661131321,plate_96_black,0.5124168395996094,0.11443424224853516,-94.21901120690696,0.20890587450236978,422.9740503568203,rect,0.6767751003470249,0.44796881624766216,2.7005930301160426,10712.910705878638,4990.44560156588,disk,1.3791561142302622,0.3218485285018995,2.4209993068820355,7605.838030059279,4527.563318527888,0.0482541099190712,0.003139874432235956,-0.029748311266303062,-0.2780860364437103,0.6512267589569092,0.6401787400245667,-0.2978976368904114,0.061184339225292206,0.5773895978927612,1.9503943920135498,0.03475924953818321,0.019619902595877647,0.25626540184020996,0.9657819867134094,1174,1,,2.1039066314697266,0.3237276447236934,0.0,0.007311468478292227,0.5485519591141397,12,release,0.04231560230255127,"Pre-grasping the small plate, moving the arm toward it; the ",v1 +c8_p002_e026,0,True,0.050766944885253906,0.44719505310058594,-0.010119277934001423,-0.009212750660093024,-8.604107146157332,plate_6_clear,0.5038890838623047,0.09006023406982422,-85.40875273040885,0.1915083389957699,1097.0320105830824,rect,0.4729710703486286,0.16195949815520716,3.1289328168661203,10995.992523673252,4458.356553582441,sphere,-0.6859094428445259,-0.9123106454216652,2.5514683088163714,6219.9421679400075,4468.741060133385,0.051548030227422714,0.0020902345422655344,-0.03201259672641754,-0.2896282970905304,0.6465553045272827,0.650752604007721,-0.2731350064277649,0.03948301821947098,0.558908998966217,1.9428083896636963,0.05412495881319046,0.02383420430123806,0.2576894760131836,0.9644161462783813,1246,1,,2.0783090591430664,0.30818042620052744,0.0,0.007377771660685539,0.5128410914927769,12,release,0.04226827621459961,"Pre-grasping the small plate, moving the arm toward it; the ",v1 +c8_p002_e027,1,True,-0.04044151306152344,0.45000171661376953,0.011286981967437479,-0.003575500851623391,-1.8003330299167146,pcr_384_red,0.518733024597168,0.060001373291015625,-88.47974605674274,0.16236552616813016,1097.0320105830824,rect,-0.5709768571755751,0.36840300071284504,2.9210872624926565,13641.615552098541,4647.462362432218,disk,0.69501828512269,0.09121066845440473,2.2847870488144983,9278.260815905254,6981.803462138765,0.051793172955513,0.0011768410913646221,-0.027214543893933296,-0.2871352434158325,0.6491855382919312,0.645588755607605,-0.2816498279571533,0.04605589061975479,0.5613265633583069,1.9380251169204712,0.033700473606586456,0.011154741048812866,0.25714755058288574,0.9657199382781982,1293,1,,2.117297649383545,0.2836665541542342,0.0,0.006834100466221571,0.539829853054911,12,release,0.04213690757751465,"Pre-grasping the small plate, moving the arm toward it; the ",v1 +c9_p004_e028,3,True,0.02600860595703125,0.4474315643310547,-0.00013699380143449008,0.00483030177338135,-0.884623942450304,plate_48_clear,0.4788179397583008,0.09220218658447266,-87.35510062205685,0.23948841036829324,422.49242454531236,rect,-0.3884686565113161,0.4133388903423605,2.8253195482725184,5778.099947391909,3570.544974341564,sphere,1.6712935396817064,1.5397831881382273,2.733502541391133,2415.955613172909,3658.817630842305,0.05169888958334923,-0.0008788739796727896,-0.029843419790267944,-0.28217554092407227,0.649425208568573,0.6522685885429382,-0.2704986333847046,0.04264943301677704,0.5806810855865479,1.9258204698562622,0.04921723157167435,-0.006114681717008352,0.2786427140235901,0.9591134190559387,1200,1,,2.0828709602355957,0.309337273091944,0.0,0.0073396312072873116,0.5375,12,release,0.04207956790924072,"Pre-grasping the small plate, moving the arm toward it; the ",v1 +c9_p004_e029,2,True,-0.13956832885742188,0.44707679748535156,0.0008810812378441687,0.0033421643383758073,5.749901593160331,plate_24_clear,0.4781017303466797,0.06663703918457031,-87.10194016556967,0.1693396367426857,422.49242454531236,rect,0.8791419235295598,0.4420452199434588,2.7750944430716586,13015.969220296036,4400.371519349202,disk,1.6743700521853997,1.5783980739177312,2.6292436743028738,5928.240781833491,5572.937850594588,0.04755624756217003,0.0037703795824199915,-0.02830255776643753,-0.29406142234802246,0.6392210125923157,0.6525501608848572,-0.2812519669532776,0.057772256433963776,0.5939313173294067,1.9508048295974731,0.059003159403800964,0.010392826050519943,0.28331735730171204,0.9571530222892761,1214,1,,2.1065425872802734,0.2751808893559636,0.0,0.00733108539134264,0.5230642504118617,12,release,0.04231885075569153,"Pre-grasping the small plate, moving the arm toward it; the ",v1