diff --git a/episodes/c2_p008_e006/data.npz b/episodes/c2_p008_e006/data.npz new file mode 100644 index 0000000000000000000000000000000000000000..b6c073596ca099df03fe23356ceaa1d9b35d9841 --- /dev/null +++ b/episodes/c2_p008_e006/data.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:6a50dd6e213e8be177a44b61c87a60686f57d5ec37915e3714deb36bcb9f86a4 +size 189400 diff --git a/episodes/c2_p008_e006/device_events.jsonl b/episodes/c2_p008_e006/device_events.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..7f885b266b196e83df60e0341cdb9965a8daff40 --- /dev/null +++ b/episodes/c2_p008_e006/device_events.jsonl @@ -0,0 +1,37 @@ +{"env_id": 2, "seq": 1, "step": 82, "t": 0.41, "topic": "conveyor_1.belt.station.pick.captured", "source": "conveyor_1.belt", "data": {"rider": "carrier_2"}, "cause": null} +{"env_id": 2, "seq": 2, "step": 82, "t": 0.41, "topic": "conveyor_1.belt.state.changed", "source": "conveyor_1.belt", "data": {"from": "running", "to": "at_station"}, "cause": null} +{"env_id": 2, "seq": 3, "step": 87, "t": 0.435, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_2"}, "cause": null} +{"env_id": 2, "seq": 4, "step": 2091, "t": 10.455, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_2"}, "cause": null} +{"env_id": 2, "seq": 5, "step": 2168, "t": 10.84, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_2"}, "cause": null} +{"env_id": 2, "seq": 6, "step": 6734, "t": 33.67, "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": 7348, "t": 36.74, "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": 7348, "t": 36.74, "topic": "a4s_sealer_1.seal.started", "source": "a4s_sealer_1", "data": {"dwell": 3.027549920235599}, "cause": "task-2-1"} +{"env_id": 2, "seq": 9, "step": 7348, "t": 36.74, "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": 7348, "t": 36.74, "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": 7348, "t": 36.74, "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": 7767, "t": 38.835, "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": 7767, "t": 38.835, "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": 7767, "t": 38.835, "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": 7767, "t": 38.835, "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": 7767, "t": 38.835, "topic": "labware.plate_2.changed", "source": "labware.plate_2", "data": {"key": "sealed", "value": true}, "cause": "task-2-1"} +{"env_id": 2, "seq": 17, "step": 7767, "t": 38.835, "topic": "a4s_sealer_1.sealed", "source": "a4s_sealer_1", "data": {"plate": "plate_2"}, "cause": "task-2-1"} +{"env_id": 2, "seq": 18, "step": 7767, "t": 38.835, "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": 7767, "t": 38.835, "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": 7767, "t": 38.835, "topic": "a4s_sealer_1.heater.started", "source": "a4s_sealer_1.heater", "data": {"duration": 3.027549920235599}, "cause": "program-2-3"} +{"env_id": 2, "seq": 21, "step": 8373, "t": 41.865, "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": 8373, "t": 41.865, "topic": "a4s_sealer_1.heater.finished", "source": "a4s_sealer_1.heater", "data": {"elapsed": 3.03000000000155}, "cause": "program-2-3"} +{"env_id": 2, "seq": 23, "step": 8373, "t": 41.865, "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": 3.03000000000155}}, "cause": "program-2-3"} +{"env_id": 2, "seq": 24, "step": 8373, "t": 41.865, "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": 8373, "t": 41.865, "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": 8373, "t": 41.865, "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": 8793, "t": 43.965, "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": 8793, "t": 43.965, "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": 8793, "t": 43.965, "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": 8793, "t": 43.965, "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": 8793, "t": 43.965, "topic": "a4s_sealer_1.seal.finished", "source": "a4s_sealer_1", "data": {}, "cause": "task-2-1"} +{"env_id": 2, "seq": 32, "step": 8793, "t": 43.965, "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": 9375, "t": 46.875, "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": 11116, "t": 55.58, "topic": "conveyor_1.belt.command.started", "source": "conveyor_1.belt", "data": {"command_id": "task-2-5", "name": "release", "source": "task"}, "cause": "task-2-5"} +{"env_id": 2, "seq": 35, "step": 11116, "t": 55.58, "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": 11116, "t": 55.58, "topic": "conveyor_1.belt.state.changed", "source": "conveyor_1.belt", "data": {"from": "at_station", "to": "running"}, "cause": null} +{"env_id": 2, "seq": 37, "step": 11116, "t": 55.58, "topic": "conveyor_1.belt.command.succeeded", "source": "conveyor_1.belt", "data": {"command_id": "task-2-5", "name": "release", "source": "task", "result": {"state": "running"}}, "cause": "task-2-5"} diff --git a/episodes/c2_p008_e006/env.mp4 b/episodes/c2_p008_e006/env.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..7a66547d1a354f13275b786a4e25d0e9a181f5fe --- /dev/null +++ b/episodes/c2_p008_e006/env.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:bcd86f6eaa417acc9281fb4162c4fa7962410ba872e786b30fdff522fdacdeee +size 1321522 diff --git a/episodes/c2_p008_e006/meta.json b/episodes/c2_p008_e006/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..dc342d6bbf80a0f34befcdb88bdfe170ff686695 --- /dev/null +++ b/episodes/c2_p008_e006/meta.json @@ -0,0 +1,32 @@ +{ + "source": "raw/c2_p008/magicsim/6", + "fps": 25, + "frames": 1185, + "kept_ticks": "even", + "video_frames": { + "wrist": 1185, + "env": 1185 + }, + "joint_target_source": "joint_pos_target", + "fk_vs_recorded_eef_max_m": 0.0, + "curobo_joints": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "joint_order": [ + "shoulder_pan", + "shoulder_lift", + "elbow", + "wrist_1", + "wrist_2", + "wrist_3", + "finger_left", + "finger_right" + ], + "frames_note": "eef / actions in the robot base frame; camera_pose = local pose (wrist: in plate_gripper_base, env: env frame), pos + quat wxyz", + "dr_version": "v2" +} \ No newline at end of file diff --git a/episodes/c2_p008_e006/scene_snapshot.json b/episodes/c2_p008_e006/scene_snapshot.json new file mode 100644 index 0000000000000000000000000000000000000000..82a3635266a59ced7c660db3d1c987ab39c2ab2e --- /dev/null +++ b/episodes/c2_p008_e006/scene_snapshot.json @@ -0,0 +1,1558 @@ +{ + "trajectory_id": 6, + "env_id": 2, + "run_id": "c2_p008", + "task_type": "BioPlateCell", + "success": true, + "timing": { + "fps": 50.0, + "sim_dt": 0.005, + "decimation": 4 + }, + "restore_interface": { + "scene": "scene_manager.reset_to(snapshot['scene'], env_ids=[env_id])", + "robots": "robot_manager.set_state({'robots': snapshot['robots']}, env_ids=[env_id])" + }, + "snapshot": { + "env_id": 2, + "scene": { + "objects": [ + {}, + {}, + { + "rac_cell": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/rac_cell.usd", + "pose": { + "pos": [ + 0.0, + 0.0, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "physics_material": { + "static_friction": 0.6, + "dynamic_friction": 0.5, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "robot_mount": [ + { + "asset": "Cube", + "pose": { + "pos": [ + 0.0, + 0.0, + 0.9075 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": "color", + "value": [ + 0.55, + 0.56, + 0.58 + ], + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": { + "size": [ + 0.2, + 0.2, + 0.015 + ] + } + }, + "type_specific": {} + } + ], + "plate_rack": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/plate_hotel.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 0.9 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "physics_material": { + "static_friction": 0.6, + "dynamic_friction": 0.5, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "hotel_plate": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_384_white/plate_384_white.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 0.9605 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_384_white/plate_384_white.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.0285 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/deep_well_96_2ml/deep_well_96_2ml.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.0965 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_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": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_12_clear/plate_12_clear.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.2325 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "a4s_sealer": [ + { + "asset": "$MAGICSIM_ASSETS/Articulated/A4SSealer/Object.usd", + "pose": { + "pos": [ + 0.4724998474121094, + 0.052265167236328125, + 0.8999999761581421 + ], + "ori": [ + -0.6936050653457642, + 0.0, + 0.0, + 0.7203554511070251 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "articulation", + "solver_position_iteration_count": 16.0, + "solver_velocity_iteration_count": 1.0, + "enabled_self_collisions": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "joint_position": [ + 4.7098314831517385e-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": 0.28774043679813943, + "direction": [ + 1.0, + 0.0, + 0.0 + ], + "enabled": true, + "drive": "surface_velocity", + "lines": null, + "station_line": null, + "riders": [ + "carrier" + ], + "stations": { + "pick": { + "position": -0.10321583346386737, + "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": 0.28774043679813943, + "holds": [], + "station": "pick", + "rider": "carrier_2", + "arrived": true, + "applied_speed": 0.0 + } + } + } + ], + "carrier": [ + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + 0.3240365982055664, + 1.149998664855957, + 0.8999999761581421 + ], + "ori": [ + 3.6338460631668568e-06, + 2.367226692445712e-10, + -2.030353218884784e-09, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 2.431645995670806e-10, + -8.214233737646737e-10, + 3.725290298461914e-09 + ], + "angular_velocity": [ + 5.795076418735334e-08, + 2.868645765374822e-08, + -4.517864304887098e-09 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + 0.047217369079589844, + 0.4499998092651367, + 0.8999999761581421 + ], + "ori": [ + 1.0, + 2.340513116649845e-09, + -2.4990359781540405e-10, + 3.811993155977689e-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": [ + 1.661486503934384e-09, + 9.682794566145958e-10, + 1.1175870895385742e-08 + ], + "angular_velocity": [ + -6.513314332323716e-09, + 1.460578715750671e-07, + -2.5257861580030294e-08 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + 1.679727554321289, + 0.9102201461791992, + 0.8999999761581421 + ], + "ori": [ + 0.5908631682395935, + -1.1718295667151324e-08, + 1.0627896784853874e-08, + 0.8067718744277954 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 9.739511419581959e-09, + 6.969820276481187e-09, + 3.725290298461914e-08 + ], + "angular_velocity": [ + -4.826910071642487e-07, + -7.332614870847465e-08, + 1.436463463733162e-07 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + -1.1537580490112305, + 1.130995750427246, + 0.8999999761581421 + ], + "ori": [ + -0.14099182188510895, + 3.4609044519129384e-08, + 3.4084795430544546e-08, + 0.9900107979774475 + ], + "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": [ + 3.233919443346167e-08, + -1.2323297937655298e-07, + -3.725290298461914e-09 + ], + "angular_velocity": [ + 3.0701949071954004e-06, + 1.0155629297514679e-06, + -6.577470799129514e-07 + ] + } + } + ], + "plate": [ + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_24_clear/Object.usd", + "pose": { + "pos": [ + 0.3333463668823242, + 1.1603670120239258, + 0.9179999828338623 + ], + "ori": [ + 0.09660403430461884, + -9.22669857184033e-11, + -5.534740665780191e-09, + 0.9953228831291199 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 2.218145311871922e-08, + -3.224473488216972e-08, + 9.685754776000977e-08 + ], + "angular_velocity": [ + 9.118526236306934e-07, + 1.4327507642519777e-06, + 1.3683506949746516e-07 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_384_black/Object.usd", + "pose": { + "pos": [ + 0.03646373748779297, + 0.44684410095214844, + 0.9180000424385071 + ], + "ori": [ + 0.9967715740203857, + 1.369855562316502e-09, + 4.284126664533261e-10, + -0.08028963208198547 + ], + "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": [ + -5.990916207565533e-09, + 1.9353587177306508e-08, + -5.617737770080566e-06 + ], + "angular_velocity": [ + -2.0014283563796198e-07, + -1.8531738987803692e-06, + -1.9924524252701303e-08 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_1536_black/Object.usd", + "pose": { + "pos": [ + 1.692194938659668, + 0.9042749404907227, + 0.9180000424385071 + ], + "ori": [ + 0.5281270742416382, + 4.7494252974900064e-09, + -1.2381532599192724e-07, + 0.8491653203964233 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 2.1974760784360114e-06, + 5.7355259741598275e-06, + -4.306435585021973e-06 + ], + "angular_velocity": [ + -2.2102722141426057e-06, + 1.2060733752150554e-05, + -4.768454527948052e-05 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/deep_well_24_10ml/Object.usd", + "pose": { + "pos": [ + -1.1635751724243164, + 1.1298675537109375, + 0.9179999828338623 + ], + "ori": [ + -0.2295348197221756, + -1.4065392406337196e-08, + 1.0161766113014892e-06, + 0.9733005166053772 + ], + "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": [ + 8.299730325234123e-06, + -1.1094198271166533e-05, + -1.3206154108047485e-05 + ], + "angular_velocity": [ + 0.0004901551292277873, + 0.00029023902607150376, + 3.258123979321681e-05 + ] + } + } + ], + "deco_hub_west": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/hub_c.usd", + "pose": { + "pos": [ + -3.36, + 0.0, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_hub_east": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/hub_a.usd", + "pose": { + "pos": [ + 3.36, + 0.0, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_hub_back": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/hub_e.usd", + "pose": { + "pos": [ + -3.0, + -2.1, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_bench_east": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/bench_a.usd", + "pose": { + "pos": [ + 2.6, + -2.5, + 0.0 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_bench_gap": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/bench_b.usd", + "pose": { + "pos": [ + -0.1, + -2.9, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ] + }, + {} + ], + "devices": { + "hub": [ + null, + null, + { + "t": 8.3199999999999, + "step": 1664, + "counter": 0, + "devices": { + "a4s_sealer_1": { + "mode": "auto", + "units": { + "drawer": { + "state": "at_out", + "active": null, + "target": 0.0, + "goal_name": "out", + "profile": null, + "q_start": null, + "reversing": false, + "blocked_for": 0.0, + "settled_for": 0.0, + "last_q": 4.7098314831517385e-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": 0.28774043679813943, + "holds": [], + "station": "pick", + "rider": "carrier_2", + "arrived": true, + "settle_count": 1581, + "released": { + "pick": [] + }, + "last_pos": { + "carrier_1": [ + 0.17403659224510193, + 0.699998676776886, + 0.0 + ], + "carrier_2": [ + -0.10278263688087463, + -1.7881393432617188e-07, + 0.0 + ], + "carrier_3": [ + 1.5297275483608246, + 0.4602201581001282, + 0.0 + ], + "carrier_4": [ + -1.303758054971695, + 0.680995762348175, + 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": [ + 0.8372886278575981, + -0.48321703758419104, + 2.87183318217576 + ], + "ori": [ + -6.016658467844406, + 10.339525138972899, + 29.1548871798527 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "color_temperature": 4143.820297112841, + "color": [ + 0.8528197195110601, + 0.8742854258104622, + 0.9574822859707286 + ], + "intensity": 15605.277992496089, + "width": 1.5956826756962936, + "height": 0.9165604011238615 + } + }, + "key": { + "type": "sphere", + "pose": { + "pos": [ + -0.3201256516695896, + 1.317524628196382, + 1.756542656884736 + ], + "ori": [ + -24.34720172903342, + -24.044518086810996, + 27.623159658697105 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "color_temperature": 2877.7533327739425, + "color": [ + 0.9964180953399142, + 0.7846021401083324, + 0.9548638320417809 + ], + "intensity": 2594.3196178298094, + "radius": 0.11278229857375491 + } + } + }, + {} + ], + "background": { + "type": "dome", + "pose": { + "pos": null, + "ori": null, + "scale": null + }, + "dr": { + "intensity": 1029.8755272702588, + "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": [ + [ + 0.9507262706756592, + -1.261172890663147, + 2.2185401916503906, + -2.5280606746673584, + -1.5709096193313599, + 2.4661903381347656, + 0.0077898865565657616, + 0.0071586789563298225 + ], + [ + 2.1086177825927734, + -2.3312346935272217, + 2.2734696865081787, + -1.51226806640625, + -1.5700101852416992, + 3.698151111602783, + 0.00782378576695919, + 0.006905326619744301 + ], + [ + 0.9141026735305786, + -1.7193981409072876, + 2.0904994010925293, + -1.9419008493423462, + -1.5707999467849731, + 2.484900951385498, + 0.017999999225139618, + 0.017999999225139618 + ], + [ + 0.8920186161994934, + -1.2007203102111816, + 2.1211097240448, + -2.4912233352661133, + -1.5707390308380127, + 2.397942066192627, + 0.007714120205491781, + 0.007248033303767443 + ] + ], + "joint_vel": [ + [ + -8.327641990035772e-05, + 0.00020258725271560252, + -0.0002937036333605647, + -0.0030632794369012117, + 0.0037850586231797934, + 0.013281849212944508, + -0.008703099563717842, + 0.0004362868785392493 + ], + [ + 0.054615966975688934, + -0.03908459097146988, + 0.006783575285226107, + 0.035364244133234024, + 0.0017742118798196316, + 0.04121781513094902, + -0.007407941855490208, + 0.0003855744143947959 + ], + [ + 0.0, + 2.6849088771233144e-38, + 1.8091245221105116e-38, + 2.3835501695926436e-37, + -3.048832197969774e-37, + -8.566883227408382e-37, + -3.746548568498289e-38, + 8.199525324025862e-38 + ], + [ + 1.668921504460741e-05, + 4.833303319173865e-05, + 1.555072230985388e-05, + 0.00042764373938553035, + -0.0008274242281913757, + -0.002579245949164033, + -0.005852315574884415, + 0.00021163601195439696 + ] + ] + } + }, + "cameras": { + "cameras": { + "camera0": [ + [ + 0.04686824604868889, + -0.001127609983086586, + -0.03133998066186905, + -0.26520901918411255, + 0.6483715176582336, + 0.6568493247032166, + -0.27897578477859497 + ], + [ + 0.048128578811883926, + -0.00280772871337831, + -0.03200501948595047, + -0.2893453538417816, + 0.6353871822357178, + 0.6662613749504089, + -0.26202717423439026 + ], + [ + 0.050412487238645554, + 9.160619811154902e-05, + -0.02890060469508171, + -0.2821742594242096, + 0.6479423642158508, + 0.6473392844200134, + -0.28548240661621094 + ], + [ + 0.05194953456521034, + 0.0004069941060151905, + -0.028644712641835213, + -0.28711116313934326, + 0.642654538154602, + 0.6537026762962341, + -0.27791211009025574 + ] + ], + "camera1": [ + [ + 0.045543987303972244, + 0.5706496238708496, + 1.963425636291504, + 0.03919212147593498, + 0.027895433828234673, + 0.2611262798309326, + 0.9641052484512329 + ], + [ + 0.051000263541936874, + 0.576229989528656, + 1.9472399950027466, + 0.03907809033989906, + 0.004139409400522709, + 0.2844485640525818, + 0.9578855633735657 + ], + [ + 0.0435650534927845, + 0.6038060784339905, + 1.9539339542388916, + 0.05346028134226799, + 0.0086693549528718, + 0.25994107127189636, + 0.9641044735908508 + ], + [ + 0.04234848544001579, + 0.5865750908851624, + 1.9566279649734497, + 0.029536383226513863, + 0.004483564756810665, + 0.25998666882514954, + 0.9651499390602112 + ] + ] + } + } + } +} \ No newline at end of file diff --git a/episodes/c2_p008_e006/wrist.mp4 b/episodes/c2_p008_e006/wrist.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..b0c0dc8da28b38d2a7c6e126a3c56b4392e9b270 --- /dev/null +++ b/episodes/c2_p008_e006/wrist.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:43803be25c653c58ab3d1df8662eea338f0ffac1899a6552f1d0d87c02661e44 +size 6222527 diff --git a/episodes/c2_p008_e007/data.npz b/episodes/c2_p008_e007/data.npz new file mode 100644 index 0000000000000000000000000000000000000000..d16d6c86e0d9fe1e24bbbd85b52733a02d8e8fcc --- /dev/null +++ b/episodes/c2_p008_e007/data.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:1e14a5e9a42a9e752443c983b33b67718459a6925ee6cdcdd093c6e24d6d254f +size 194020 diff --git a/episodes/c2_p008_e007/device_events.jsonl b/episodes/c2_p008_e007/device_events.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..f3c5d45cd6fb0c07d063b26889a61c5c4f8cbe36 --- /dev/null +++ b/episodes/c2_p008_e007/device_events.jsonl @@ -0,0 +1,35 @@ +{"env_id": 0, "seq": 1, "step": 91, "t": 0.455, "topic": "conveyor_1.belt.station.pick.captured", "source": "conveyor_1.belt", "data": {"rider": "carrier_4"}, "cause": null} +{"env_id": 0, "seq": 2, "step": 91, "t": 0.455, "topic": "conveyor_1.belt.state.changed", "source": "conveyor_1.belt", "data": {"from": "running", "to": "at_station"}, "cause": null} +{"env_id": 0, "seq": 3, "step": 96, "t": 0.48, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_4"}, "cause": null} +{"env_id": 0, "seq": 4, "step": 5923, "t": 29.615, "topic": "a4s_sealer_1.plate_present.present", "source": "a4s_sealer_1.plate_present", "data": {"object": "plate_4"}, "cause": null} +{"env_id": 0, "seq": 5, "step": 6532, "t": 32.66, "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": 6532, "t": 32.66, "topic": "a4s_sealer_1.seal.started", "source": "a4s_sealer_1", "data": {"dwell": 4.5012348487981395}, "cause": "task-0-1"} +{"env_id": 0, "seq": 7, "step": 6532, "t": 32.66, "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": 6532, "t": 32.66, "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": 6532, "t": 32.66, "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": 6951, "t": 34.755, "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": 6951, "t": 34.755, "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": 6951, "t": 34.755, "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": 6951, "t": 34.755, "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": 6951, "t": 34.755, "topic": "labware.plate_4.changed", "source": "labware.plate_4", "data": {"key": "sealed", "value": true}, "cause": "task-0-1"} +{"env_id": 0, "seq": 15, "step": 6951, "t": 34.755, "topic": "a4s_sealer_1.sealed", "source": "a4s_sealer_1", "data": {"plate": "plate_4"}, "cause": "task-0-1"} +{"env_id": 0, "seq": 16, "step": 6951, "t": 34.755, "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": 6951, "t": 34.755, "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": 6951, "t": 34.755, "topic": "a4s_sealer_1.heater.started", "source": "a4s_sealer_1.heater", "data": {"duration": 4.5012348487981395}, "cause": "program-0-3"} +{"env_id": 0, "seq": 19, "step": 7852, "t": 39.26, "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": 7852, "t": 39.26, "topic": "a4s_sealer_1.heater.finished", "source": "a4s_sealer_1.heater", "data": {"elapsed": 4.505000000002305}, "cause": "program-0-3"} +{"env_id": 0, "seq": 21, "step": 7852, "t": 39.26, "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": 4.505000000002305}}, "cause": "program-0-3"} +{"env_id": 0, "seq": 22, "step": 7852, "t": 39.26, "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": 7852, "t": 39.26, "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": 7852, "t": 39.26, "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": 8272, "t": 41.36, "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": 8272, "t": 41.36, "topic": "a4s_sealer_1.drawer.reached", "source": "a4s_sealer_1.drawer", "data": {"position": "out", "q": 3.832501815903555e-10}, "cause": "program-0-4"} +{"env_id": 0, "seq": 27, "step": 8272, "t": 41.36, "topic": "a4s_sealer_1.drawer.at_out", "source": "a4s_sealer_1.drawer", "data": {"q": 3.832501815903555e-10}, "cause": "program-0-4"} +{"env_id": 0, "seq": 28, "step": 8272, "t": 41.36, "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": 8272, "t": 41.36, "topic": "a4s_sealer_1.seal.finished", "source": "a4s_sealer_1", "data": {}, "cause": "task-0-1"} +{"env_id": 0, "seq": 30, "step": 8272, "t": 41.36, "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": 8851, "t": 44.255, "topic": "a4s_sealer_1.plate_present.absent", "source": "a4s_sealer_1.plate_present", "data": {"object": "plate_4"}, "cause": null} +{"env_id": 0, "seq": 32, "step": 10608, "t": 53.04, "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": 10608, "t": 53.04, "topic": "conveyor_1.belt.station.pick.released", "source": "conveyor_1.belt", "data": {"rider": "carrier_4"}, "cause": "task-0-5"} +{"env_id": 0, "seq": 34, "step": 10608, "t": 53.04, "topic": "conveyor_1.belt.state.changed", "source": "conveyor_1.belt", "data": {"from": "at_station", "to": "running"}, "cause": null} +{"env_id": 0, "seq": 35, "step": 10608, "t": 53.04, "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_p008_e007/env.mp4 b/episodes/c2_p008_e007/env.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..5f9364034da3f93d37cfe5710b279a3e76b37b84 --- /dev/null +++ b/episodes/c2_p008_e007/env.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:9bb25d796fe73b4815f32a6fe674c8104f3e484936da5cddc457f23883d9a0cd +size 1259163 diff --git a/episodes/c2_p008_e007/meta.json b/episodes/c2_p008_e007/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..3382c96423394335046422229e7b41f45e75a0f1 --- /dev/null +++ b/episodes/c2_p008_e007/meta.json @@ -0,0 +1,32 @@ +{ + "source": "raw/c2_p008/magicsim/7", + "fps": 25, + "frames": 1273, + "kept_ticks": "even", + "video_frames": { + "wrist": 1273, + "env": 1273 + }, + "joint_target_source": "joint_pos_target", + "fk_vs_recorded_eef_max_m": 0.0, + "curobo_joints": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "joint_order": [ + "shoulder_pan", + "shoulder_lift", + "elbow", + "wrist_1", + "wrist_2", + "wrist_3", + "finger_left", + "finger_right" + ], + "frames_note": "eef / actions in the robot base frame; camera_pose = local pose (wrist: in plate_gripper_base, env: env frame), pos + quat wxyz", + "dr_version": "v2" +} \ No newline at end of file diff --git a/episodes/c2_p008_e007/scene_snapshot.json b/episodes/c2_p008_e007/scene_snapshot.json new file mode 100644 index 0000000000000000000000000000000000000000..067d7ef13c73a55ddd5cfb533193825d9f95eda8 --- /dev/null +++ b/episodes/c2_p008_e007/scene_snapshot.json @@ -0,0 +1,1558 @@ +{ + "trajectory_id": 7, + "env_id": 0, + "run_id": "c2_p008", + "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_black/plate_96_black.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 0.9605 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_48_clear/plate_48_clear.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.0285 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$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": "$MAGICSIM_ASSETS/Bio/CAD/plates/deep_well_96_2ml/deep_well_96_2ml.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.1645 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/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": [ + 0.5104236602783203, + 0.09545230865478516, + 0.8999999761581421 + ], + "ori": [ + -0.6867352724075317, + 0.0, + 0.0, + 0.7269076108932495 + ], + "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": [ + 2.018499950517949e-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": 0.26976825964820383, + "direction": [ + 1.0, + 0.0, + 0.0 + ], + "enabled": true, + "drive": "surface_velocity", + "lines": null, + "station_line": null, + "riders": [ + "carrier" + ], + "stations": { + "pick": { + "position": -0.13625075703688924, + "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": 0.26976825964820383, + "holds": [], + "station": "pick", + "rider": "carrier_4", + "arrived": true, + "applied_speed": 0.0 + } + } + } + ], + "carrier": [ + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + 0.015537261962890625, + 1.1500005722045898, + 0.8999999761581421 + ], + "ori": [ + -1.491686089138966e-05, + 1.1520376874685212e-09, + 9.329946815128665e-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": [ + -1.7695884757529257e-09, + -2.0993125016133263e-09, + 1.4901161193847656e-08 + ], + "angular_velocity": [ + 9.477071927221914e-08, + -1.672383973527758e-07, + -2.8636769400236517e-08 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + 1.3664188385009766, + 0.45269107818603516, + 0.8999999761581421 + ], + "ori": [ + 0.9995537996292114, + -1.3580068625174135e-08, + 1.224169032809641e-08, + 0.029870452359318733 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 2.1702362573705614e-08, + -1.1187618298436064e-07, + 1.1175870895385742e-08 + ], + "angular_velocity": [ + 2.7852574930875562e-06, + 3.2390380511060357e-07, + 8.735315759622608e-07 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + -1.2504262924194336, + 1.0830507278442383, + 0.8999999761581421 + ], + "ori": [ + -0.2949434220790863, + 2.447805158567462e-08, + 1.9694607544806786e-07, + 0.9555147886276245 + ], + "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": [ + 3.951471594376699e-09, + -1.154708328954257e-08, + -1.862645149230957e-08 + ], + "angular_velocity": [ + 3.4228554568471736e-07, + 3.380261404117846e-09, + 8.996191525056929e-08 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + 0.013861656188964844, + 0.45000553131103516, + 0.8999999761581421 + ], + "ori": [ + 1.0, + 5.086879806270872e-10, + -5.961696691869633e-10, + -0.00010546064731897786 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 6.764433457817631e-10, + 4.1577639109391384e-09, + 1.1175870895385742e-08 + ], + "angular_velocity": [ + -2.089549582251493e-07, + 3.605483911428564e-08, + 9.723382099480204e-09 + ] + } + } + ], + "plate": [ + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_6_clear/Object.usd", + "pose": { + "pos": [ + 0.0020275115966796875, + 1.1583614349365234, + 0.9179999828338623 + ], + "ori": [ + -0.08134428411722183, + 2.0144343970684986e-09, + 3.558224270783228e-10, + 0.9966861605644226 + ], + "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": [ + 1.6061495244912294e-08, + -1.3825820488477802e-08, + 1.601874828338623e-07 + ], + "angular_velocity": [ + -1.0693982233078714e-07, + 1.7791002164813108e-06, + -3.2101588054445074e-09 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_96_black/Object.usd", + "pose": { + "pos": [ + 1.363739013671875, + 0.45989227294921875, + 0.9180000424385071 + ], + "ori": [ + 0.9981951117515564, + -3.9225142245413736e-07, + -2.6167949584987582e-08, + 0.06005581095814705 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 3.3300243558187503e-06, + -3.23339986607607e-06, + 3.0174851417541504e-07 + ], + "angular_velocity": [ + 7.400845061056316e-05, + 9.401286661159247e-06, + -4.3281190301058814e-05 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/pcr_96_blue/Object.usd", + "pose": { + "pos": [ + -1.2401542663574219, + 1.0758304595947266, + 0.9180000424385071 + ], + "ori": [ + -0.25194957852363586, + 1.605087263101268e-08, + 1.996394587422401e-07, + 0.9677403569221497 + ], + "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": [ + 4.651576190894957e-08, + -1.0752430057436868e-09, + -5.163252353668213e-06 + ], + "angular_velocity": [ + 3.372572621174186e-07, + 1.7012785065162461e-06, + 3.224477040930651e-07 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/deep_well_96_2ml/Object.usd", + "pose": { + "pos": [ + 0.016112327575683594, + 0.44005298614501953, + 0.9179999828338623 + ], + "ori": [ + 0.9996225833892822, + -1.0217765522568811e-10, + -1.419974249294853e-09, + 0.027471935376524925 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -6.226188276059474e-08, + 6.03749867877923e-08, + -1.4863908290863037e-06 + ], + "angular_velocity": [ + -1.4236770766729023e-06, + -2.5001168069138657e-06, + 1.5318930479679693e-07 + ] + } + } + ], + "deco_hub_west": [ + { + "asset": "$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": 2.299999999999973, + "step": 460, + "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": 2.018499950517949e-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": 0.26976825964820383, + "holds": [], + "station": "pick", + "rider": "carrier_4", + "arrived": true, + "settle_count": 368, + "released": { + "pick": [] + }, + "last_pos": { + "carrier_1": [ + -0.13446274399757385, + 0.7000005841255188, + 0.0 + ], + "carrier_2": [ + 1.216418832540512, + 0.0026910901069641113, + 0.0 + ], + "carrier_3": [ + -1.400426298379898, + 0.6330507397651672, + 0.0 + ], + "carrier_4": [ + -0.13613834977149963, + 5.543231964111328e-06, + 0.0 + ] + }, + "command": 0.0 + }, + "belt": { + "target_speed": 0.0, + "command_speed": 0.0 + }, + "seen": { + "state": "at_station", + "station": "pick", + "rider": "carrier_4", + "arrived": true + } + } + }, + "queues": {}, + "program": null, + "sensors": {}, + "interlocks": {} + } + }, + "zones": {}, + "labware": { + "plate_1": { + "sealed": false + }, + "plate_2": { + "sealed": false + }, + "plate_3": { + "sealed": false + }, + "plate_4": { + "sealed": false + } + }, + "rules": {}, + "records": [], + "bus": { + "seq": 3, + "queue": [] + } + }, + null, + null, + null + ], + "drives": [ + {}, + null, + null, + null + ] + }, + "artifacts": [ + { + "ceiling": { + "type": "rect", + "pose": { + "pos": [ + -0.4108120765055654, + -0.4287226107794089, + 3.0970118564588964 + ], + "ori": [ + -0.45823154612333106, + -11.010510575583815, + -1.9780386178963774 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "color_temperature": 4836.604665128987, + "color": [ + 0.8666658769915977, + 0.9671998574293839, + 0.8704374879387247 + ], + "intensity": 11543.941204774603, + "width": 2.7576581034686805, + "height": 1.0787917433937095 + } + }, + "key": { + "type": "disk", + "pose": { + "pos": [ + 1.367637317379411, + -0.6908209520656883, + 1.7513027290824816 + ], + "ori": [ + 16.62783969197625, + -10.033279290390595, + -21.742266351050485 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "color_temperature": 2903.8443694695798, + "color": [ + 0.9715889622718075, + 0.8447316858318243, + 0.752750704305037 + ], + "intensity": 5171.169132936571, + "radius": 0.14004780479218104 + } + } + }, + {}, + {}, + {} + ], + "background": { + "type": "dome", + "pose": { + "pos": null, + "ori": null, + "scale": null + }, + "dr": { + "intensity": 1029.8755272702588, + "texture": null, + "color": [ + 0.92, + 0.94, + 0.96 + ] + } + } + }, + "robots": { + "UR5e": { + "root_pose": [ + [ + 11.0, + -11.0, + 0.9150000214576721, + 1.0, + 0.0, + 0.0, + 0.0 + ], + [ + 11.0, + 11.0, + 0.9150000214576721, + 1.0, + 0.0, + 0.0, + 0.0 + ], + [ + -11.0, + -11.0, + 0.9150000214576721, + 1.0, + 0.0, + 0.0, + 0.0 + ], + [ + -11.0, + 11.0, + 0.9150000214576721, + 1.0, + 0.0, + 0.0, + 0.0 + ] + ], + "root_vel": [ + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + ], + "joint_pos": [ + [ + 0.9141013026237488, + -1.7193976640701294, + 2.09049916267395, + -1.941900610923767, + -1.5707999467849731, + 2.4849002361297607, + 0.018000001087784767, + 0.01799999736249447 + ], + [ + 1.0168776512145996, + -1.5704189538955688, + 2.1685292720794678, + -2.169252634048462, + -1.5708036422729492, + 2.6941845417022705, + 0.008255300112068653, + 0.00670207291841507 + ], + [ + 0.9141026735305786, + -1.7193981409072876, + 2.0904994010925293, + -1.9419008493423462, + -1.5707999467849731, + 2.484900951385498, + 0.017999999225139618, + 0.017999999225139618 + ], + [ + 0.9127681255340576, + -1.7013496160507202, + 2.0852556228637695, + -1.9546830654144287, + -1.5708000659942627, + 2.4796559810638428, + 0.018000666052103043, + 0.017999332398176193 + ] + ], + "joint_vel": [ + [ + 0.0, + -2.4543776233812315e-38, + -1.6918582614219536e-38, + -3.6031013441333034e-37, + 5.968232846710862e-37, + -2.694016162471491e-36, + -2.5990388508034812e-08, + 2.5990388508034812e-08 + ], + [ + 0.0021067981142550707, + 0.0007433214923366904, + 0.0002769367420114577, + 0.0014180256985127926, + -0.00011063306737923995, + -0.00013170466991141438, + -0.004938858561217785, + 0.00017996164388023317 + ], + [ + 0.0, + 2.6849088771233144e-38, + 1.8091245221105116e-38, + 2.3835501695926436e-37, + -3.048832197969774e-37, + -8.566883227408382e-37, + -3.746548568498289e-38, + 8.199525324025862e-38 + ], + [ + -0.0013624530984088778, + 0.01586456038057804, + -0.004306455608457327, + -0.010736565105617046, + -6.263633167691296e-06, + -0.004405067767947912, + 2.439989293634426e-05, + -2.4417549866484478e-05 + ] + ] + } + }, + "cameras": { + "cameras": { + "camera0": [ + [ + 0.04953046888113022, + -0.00040870773955248296, + -0.03037208504974842, + -0.26681026816368103, + 0.6492498517036438, + 0.6595329642295837, + -0.268892377614975 + ], + [ + 0.04969046637415886, + -0.000748616992495954, + -0.033910106867551804, + -0.28901270031929016, + 0.6399928331375122, + 0.6609487533569336, + -0.2646273076534271 + ], + [ + 0.04807063192129135, + 0.0008074571960605681, + -0.027717821300029755, + -0.2879232168197632, + 0.6467739343643188, + 0.6474154591560364, + -0.2822000980377197 + ], + [ + 0.052697133272886276, + -0.0006141625926829875, + -0.029013855382800102, + -0.2891148030757904, + 0.6468065977096558, + 0.6499390006065369, + -0.2750147581100464 + ] + ], + "camera1": [ + [ + 0.045543987303972244, + 0.5706496238708496, + 1.963425636291504, + 0.03919212147593498, + 0.027895433828234673, + 0.2611262798309326, + 0.9641052484512329 + ], + [ + 0.051000263541936874, + 0.576229989528656, + 1.9472399950027466, + 0.03907809033989906, + 0.004139409400522709, + 0.2844485640525818, + 0.9578855633735657 + ], + [ + 0.0435650534927845, + 0.6038060784339905, + 1.9539339542388916, + 0.05346028134226799, + 0.0086693549528718, + 0.25994107127189636, + 0.9641044735908508 + ], + [ + 0.04234848544001579, + 0.5865750908851624, + 1.9566279649734497, + 0.029536383226513863, + 0.004483564756810665, + 0.25998666882514954, + 0.9651499390602112 + ] + ] + } + } + } +} \ No newline at end of file diff --git a/episodes/c2_p008_e007/wrist.mp4 b/episodes/c2_p008_e007/wrist.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..e424c318769b13bb27836944299cfda9ede490f6 --- /dev/null +++ b/episodes/c2_p008_e007/wrist.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:71c21209719a6f89a9e61e16d07887f763a17b4244503dc1f081a0c1e4976201 +size 6773976 diff --git a/episodes/c3_p006_e001/data.npz b/episodes/c3_p006_e001/data.npz new file mode 100644 index 0000000000000000000000000000000000000000..7b1f80a35e021f2617fc3096cd00df24d8494d87 --- /dev/null +++ b/episodes/c3_p006_e001/data.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:a77690f0a2f4cd16d60703fd7d407e98acc55034deb3c0481f888d36acec273f +size 186490 diff --git a/episodes/c3_p006_e001/device_events.jsonl b/episodes/c3_p006_e001/device_events.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..c144db811b3fdcfea97b4ec54558d63e4ac99f5c --- /dev/null +++ b/episodes/c3_p006_e001/device_events.jsonl @@ -0,0 +1,35 @@ +{"env_id": 2, "seq": 1, "step": 94, "t": 0.47, "topic": "conveyor_1.belt.station.pick.captured", "source": "conveyor_1.belt", "data": {"rider": "carrier_4"}, "cause": null} +{"env_id": 2, "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": 2, "seq": 3, "step": 99, "t": 0.495, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_4"}, "cause": null} +{"env_id": 2, "seq": 4, "step": 6963, "t": 34.815, "topic": "a4s_sealer_1.plate_present.present", "source": "a4s_sealer_1.plate_present", "data": {"object": "plate_4"}, "cause": null} +{"env_id": 2, "seq": 5, "step": 7576, "t": 37.88, "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": 7576, "t": 37.88, "topic": "a4s_sealer_1.seal.started", "source": "a4s_sealer_1", "data": {"dwell": 1.8157762996779998}, "cause": "task-2-1"} +{"env_id": 2, "seq": 7, "step": 7576, "t": 37.88, "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": 7576, "t": 37.88, "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": 7576, "t": 37.88, "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": 7995, "t": 39.975, "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": 7995, "t": 39.975, "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": 7995, "t": 39.975, "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": 7995, "t": 39.975, "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": 7995, "t": 39.975, "topic": "labware.plate_4.changed", "source": "labware.plate_4", "data": {"key": "sealed", "value": true}, "cause": "task-2-1"} +{"env_id": 2, "seq": 15, "step": 7995, "t": 39.975, "topic": "a4s_sealer_1.sealed", "source": "a4s_sealer_1", "data": {"plate": "plate_4"}, "cause": "task-2-1"} +{"env_id": 2, "seq": 16, "step": 7995, "t": 39.975, "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": 7995, "t": 39.975, "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": 7995, "t": 39.975, "topic": "a4s_sealer_1.heater.started", "source": "a4s_sealer_1.heater", "data": {"duration": 1.8157762996779998}, "cause": "program-2-3"} +{"env_id": 2, "seq": 19, "step": 8359, "t": 41.795, "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": 8359, "t": 41.795, "topic": "a4s_sealer_1.heater.finished", "source": "a4s_sealer_1.heater", "data": {"elapsed": 1.820000000000931}, "cause": "program-2-3"} +{"env_id": 2, "seq": 21, "step": 8359, "t": 41.795, "topic": "a4s_sealer_1.heater.command.succeeded", "source": "a4s_sealer_1.heater", "data": {"command_id": "program-2-3", "name": "run", "source": "program:seal", "result": {"elapsed": 1.820000000000931}}, "cause": "program-2-3"} +{"env_id": 2, "seq": 22, "step": 8359, "t": 41.795, "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": 8359, "t": 41.795, "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": 8359, "t": 41.795, "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": 8779, "t": 43.895, "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": 8779, "t": 43.895, "topic": "a4s_sealer_1.drawer.reached", "source": "a4s_sealer_1.drawer", "data": {"position": "out", "q": 4.603991410334629e-09}, "cause": "program-2-4"} +{"env_id": 2, "seq": 27, "step": 8779, "t": 43.895, "topic": "a4s_sealer_1.drawer.at_out", "source": "a4s_sealer_1.drawer", "data": {"q": 4.603991410334629e-09}, "cause": "program-2-4"} +{"env_id": 2, "seq": 28, "step": 8779, "t": 43.895, "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": 8779, "t": 43.895, "topic": "a4s_sealer_1.seal.finished", "source": "a4s_sealer_1", "data": {}, "cause": "task-2-1"} +{"env_id": 2, "seq": 30, "step": 8779, "t": 43.895, "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": 9354, "t": 46.77, "topic": "a4s_sealer_1.plate_present.absent", "source": "a4s_sealer_1.plate_present", "data": {"object": "plate_4"}, "cause": null} +{"env_id": 2, "seq": 32, "step": 11056, "t": 55.28, "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": 11056, "t": 55.28, "topic": "conveyor_1.belt.station.pick.released", "source": "conveyor_1.belt", "data": {"rider": "carrier_4"}, "cause": "task-2-5"} +{"env_id": 2, "seq": 34, "step": 11056, "t": 55.28, "topic": "conveyor_1.belt.state.changed", "source": "conveyor_1.belt", "data": {"from": "at_station", "to": "running"}, "cause": null} +{"env_id": 2, "seq": 35, "step": 11056, "t": 55.28, "topic": "conveyor_1.belt.command.succeeded", "source": "conveyor_1.belt", "data": {"command_id": "task-2-5", "name": "release", "source": "task", "result": {"state": "running"}}, "cause": "task-2-5"} diff --git a/episodes/c3_p006_e001/env.mp4 b/episodes/c3_p006_e001/env.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..fcf4d3c821478bf4a96ea9c9a67a9086b6c9c176 --- /dev/null +++ b/episodes/c3_p006_e001/env.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:d7e3de5bd3c489a354666d38a0e54ea7c075b4d13de05d252782525ea2941098 +size 1249988 diff --git a/episodes/c3_p006_e001/meta.json b/episodes/c3_p006_e001/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..147d145c4cafe2e00827277d95fb523ff9e10241 --- /dev/null +++ b/episodes/c3_p006_e001/meta.json @@ -0,0 +1,32 @@ +{ + "source": "raw/c3_p006/magicsim/1", + "fps": 25, + "frames": 1165, + "kept_ticks": "even", + "video_frames": { + "wrist": 1165, + "env": 1165 + }, + "joint_target_source": "joint_pos_target", + "fk_vs_recorded_eef_max_m": 0.0, + "curobo_joints": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "joint_order": [ + "shoulder_pan", + "shoulder_lift", + "elbow", + "wrist_1", + "wrist_2", + "wrist_3", + "finger_left", + "finger_right" + ], + "frames_note": "eef / actions in the robot base frame; camera_pose = local pose (wrist: in plate_gripper_base, env: env frame), pos + quat wxyz", + "dr_version": "v2" +} \ No newline at end of file diff --git a/episodes/c3_p006_e001/scene_snapshot.json b/episodes/c3_p006_e001/scene_snapshot.json new file mode 100644 index 0000000000000000000000000000000000000000..4ed54dc11d1d2911aa67f66d143c9611b55c3fd0 --- /dev/null +++ b/episodes/c3_p006_e001/scene_snapshot.json @@ -0,0 +1,1558 @@ +{ + "trajectory_id": 1, + "env_id": 2, + "run_id": "c3_p006", + "task_type": "BioPlateCell", + "success": true, + "timing": { + "fps": 50.0, + "sim_dt": 0.005, + "decimation": 4 + }, + "restore_interface": { + "scene": "scene_manager.reset_to(snapshot['scene'], env_ids=[env_id])", + "robots": "robot_manager.set_state({'robots': snapshot['robots']}, env_ids=[env_id])" + }, + "snapshot": { + "env_id": 2, + "scene": { + "objects": [ + {}, + {}, + { + "rac_cell": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/rac_cell.usd", + "pose": { + "pos": [ + 0.0, + 0.0, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "physics_material": { + "static_friction": 0.6, + "dynamic_friction": 0.5, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "robot_mount": [ + { + "asset": "Cube", + "pose": { + "pos": [ + 0.0, + 0.0, + 0.9075 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": "color", + "value": [ + 0.55, + 0.56, + 0.58 + ], + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": { + "size": [ + 0.2, + 0.2, + 0.015 + ] + } + }, + "type_specific": {} + } + ], + "plate_rack": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/plate_hotel.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 0.9 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "physics_material": { + "static_friction": 0.6, + "dynamic_friction": 0.5, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "hotel_plate": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_6_clear/plate_6_clear.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 0.9605 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/deep_well_96_2ml/deep_well_96_2ml.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.0285 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_6_clear/plate_6_clear.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.0965 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/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": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_96_clear/plate_96_clear.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.2325 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "a4s_sealer": [ + { + "asset": "$MAGICSIM_ASSETS/Articulated/A4SSealer/Object.usd", + "pose": { + "pos": [ + 0.47032737731933594, + 0.10230731964111328, + 0.8999999761581421 + ], + "ori": [ + -0.7001363039016724, + 0.0, + 0.0, + 0.7140092253684998 + ], + "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": 0.26390218729863935, + "direction": [ + 1.0, + 0.0, + 0.0 + ], + "enabled": true, + "drive": "surface_velocity", + "lines": null, + "station_line": null, + "riders": [ + "carrier" + ], + "stations": { + "pick": { + "position": -0.09927176790602119, + "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": 0.26390218729863935, + "holds": [], + "station": "pick", + "rider": "carrier_4", + "arrived": true, + "applied_speed": 0.0 + } + } + } + ], + "carrier": [ + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + 1.6934757232666016, + 0.7483558654785156, + 0.8999999761581421 + ], + "ori": [ + 0.7639597058296204, + 6.971588106807758e-08, + -1.0502816394364345e-07, + 0.6452640295028687 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -1.9265655737399356e-10, + 4.5702108764089644e-10, + 0.0 + ], + "angular_velocity": [ + -4.0323357097804546e-08, + -3.572210971469758e-08, + -4.4810803956352174e-09 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + -0.14841842651367188, + 1.1500015258789062, + 0.8999999761581421 + ], + "ori": [ + -1.4062444506635075e-06, + -2.456169434505995e-10, + 7.325604706176492e-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": [ + -1.2780139169166205e-09, + -2.469702664598117e-09, + 1.1175870895385742e-08 + ], + "angular_velocity": [ + 1.5856281265769212e-07, + -1.1452787873622583e-07, + -1.8194771911339558e-08 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + -1.358799934387207, + 0.9586353302001953, + 0.8999999761581421 + ], + "ori": [ + -0.513630747795105, + -2.6939206421161543e-09, + 2.446526821131556e-07, + 0.8580113649368286 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 1.900722423897605e-08, + -6.727832513320209e-09, + -2.60770320892334e-08 + ], + "angular_velocity": [ + 6.533900887006894e-07, + 1.527918584542931e-06, + 1.2821307571186935e-08 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + 0.050385475158691406, + 0.4499969482421875, + 0.8999999761581421 + ], + "ori": [ + 1.0, + 1.834586510485181e-10, + -2.1246184811474222e-09, + 4.2257302993675694e-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": [ + 2.701607826338659e-09, + 5.071133735157218e-09, + 1.4901161193847656e-08 + ], + "angular_velocity": [ + -2.004905184094241e-07, + 3.089197377903474e-07, + -1.1780340258837896e-08 + ] + } + } + ], + "plate": [ + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_24_clear/Object.usd", + "pose": { + "pos": [ + 1.6937894821166992, + 0.7526578903198242, + 0.9179999828338623 + ], + "ori": [ + 0.7796932458877563, + 7.334426754823653e-08, + -1.0573957354154118e-07, + 0.6261618137359619 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -2.1399719329906475e-08, + -2.7925807444262318e-08, + 7.078051567077637e-08 + ], + "angular_velocity": [ + 1.797030563466251e-06, + 1.3052863323537167e-07, + 2.0277434487070423e-07 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_384_black/Object.usd", + "pose": { + "pos": [ + -0.14228534698486328, + 1.1619577407836914, + 0.9180000424385071 + ], + "ori": [ + 0.10163924098014832, + -6.374052397006835e-10, + 1.1214018602601072e-09, + 0.9948213696479797 + ], + "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": [ + 5.097294142331066e-09, + -3.330031006498757e-08, + -5.133450031280518e-06 + ], + "angular_velocity": [ + 1.2101438642275752e-06, + 1.6828543039082433e-06, + -1.3451869840253039e-08 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_1536_black/Object.usd", + "pose": { + "pos": [ + -1.366185188293457, + 0.9513339996337891, + 0.9180000424385071 + ], + "ori": [ + -0.4340537488460541, + -2.731572834591134e-08, + 2.4588948122072907e-07, + 0.9008870720863342 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 6.650446948697208e-08, + 5.604743336107276e-10, + -5.669891834259033e-06 + ], + "angular_velocity": [ + -2.9103784981998615e-07, + 3.1097802093427163e-06, + 2.2371504826423916e-07 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/deep_well_24_10ml/Object.usd", + "pose": { + "pos": [ + 0.059688568115234375, + 0.43990421295166016, + 0.9179999828338623 + ], + "ori": [ + 0.995402991771698, + 1.0670184735772636e-09, + -2.348103933513812e-09, + -0.09577488899230957 + ], + "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": [ + -5.3878775219118324e-08, + 5.2246832638047636e-08, + -1.5273690223693848e-06 + ], + "angular_velocity": [ + -6.461614248109981e-07, + -2.835076884366572e-06, + 2.879296800983866e-10 + ] + } + } + ], + "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": 8.839999999999982, + "step": 1768, + "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": 0.26390218729863935, + "holds": [], + "station": "pick", + "rider": "carrier_4", + "arrived": true, + "settle_count": 1673, + "released": { + "pick": [] + }, + "last_pos": { + "carrier_1": [ + 1.543475717306137, + 0.2983558773994446, + 0.0 + ], + "carrier_2": [ + -0.29841843247413635, + 0.7000015377998352, + 0.0 + ], + "carrier_3": [ + -1.5087999403476715, + 0.5086353421211243, + 0.0 + ], + "carrier_4": [ + -0.09961453080177307, + -3.039836883544922e-06, + 0.0 + ] + }, + "command": 0.0 + }, + "belt": { + "target_speed": 0.0, + "command_speed": 0.0 + }, + "seen": { + "state": "at_station", + "station": "pick", + "rider": "carrier_4", + "arrived": true + } + } + }, + "queues": {}, + "program": null, + "sensors": {}, + "interlocks": {} + } + }, + "zones": {}, + "labware": { + "plate_1": { + "sealed": false + }, + "plate_2": { + "sealed": false + }, + "plate_3": { + "sealed": false + }, + "plate_4": { + "sealed": false + } + }, + "rules": {}, + "records": [], + "bus": { + "seq": 3, + "queue": [] + } + }, + null + ], + "drives": [ + null, + null, + {}, + null + ] + }, + "artifacts": [ + {}, + {}, + { + "ceiling": { + "type": "rect", + "pose": { + "pos": [ + 0.14752467781074052, + -0.2799823380797375, + 3.1384831698864937 + ], + "ori": [ + 6.859893919550096, + 0.20620313162370252, + 2.7890214023938427 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "color_temperature": 3535.6215676722554, + "color": [ + 0.9236293886066917, + 0.8749924482137414, + 0.7967310798745486 + ], + "intensity": 14872.353278526702, + "width": 1.8396582480070056, + "height": 0.9611224827669302 + } + }, + "key": { + "type": "sphere", + "pose": { + "pos": [ + -1.5237513926434332, + -0.9043219310390751, + 1.6304708115963773 + ], + "ori": [ + -1.0235510127578422, + -38.53106024654004, + -37.08289227101933 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "color_temperature": 6690.0695200626005, + "color": [ + 0.8811677218683128, + 0.8554993460238702, + 0.9705841233715755 + ], + "intensity": 9574.277119173508, + "radius": 0.24723769404595147 + } + } + }, + {} + ], + "background": { + "type": "dome", + "pose": { + "pos": null, + "ori": null, + "scale": null + }, + "dr": { + "intensity": 1235.8115012607075, + "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": [ + [ + 1.9996821880340576, + -2.2675740718841553, + 2.2479841709136963, + -1.551560401916504, + -1.5709588527679443, + 3.592766284942627, + 0.007397523149847984, + 0.00776210380718112 + ], + [ + 1.002455472946167, + -1.2390069961547852, + 2.1832704544067383, + -2.5151405334472656, + -1.570737600326538, + 2.5383474826812744, + 0.007175097241997719, + 0.0065477085299789906 + ], + [ + 0.9141144752502441, + -1.7193934917449951, + 2.09049654006958, + -1.9419009685516357, + -1.5707999467849731, + 2.484907627105713, + 0.01799999363720417, + 0.018000004813075066 + ], + [ + 1.0921673774719238, + -1.360652208328247, + 2.128878116607666, + -2.339045286178589, + -1.570802927017212, + 2.4684009552001953, + 0.007657981477677822, + 0.007056557573378086 + ] + ], + "joint_vel": [ + [ + 0.06556262820959091, + -0.04514680430293083, + 0.00876613613218069, + 0.02726077288389206, + -0.0032226743642240763, + 0.08020734786987305, + -0.007011710200458765, + 0.000889731862116605 + ], + [ + -6.068831498851068e-05, + -7.66206721891649e-05, + -0.00013100879732519388, + 0.0005786789115518332, + -0.0009556587319821119, + -0.003021209966391325, + -0.00820198841392994, + 0.00011588938650675118 + ], + [ + 3.40596466230636e-06, + 3.405934876354877e-06, + -9.649074941830982e-12, + -1.727303087888099e-12, + -3.405976485737483e-06, + 8.361070082812949e-13, + 7.79707534093177e-08, + -7.79714071086346e-08 + ], + [ + 0.000215761800063774, + -0.01635795272886753, + -0.008654764853417873, + 0.023616353049874306, + -3.287237268523313e-05, + -0.00026615208480507135, + -0.00760234147310257, + 0.0002802044909913093 + ] + ] + } + }, + "cameras": { + "cameras": { + "camera0": [ + [ + 0.0530410036444664, + 0.0017138083931058645, + -0.02596685104072094, + -0.2731947898864746, + 0.6573783159255981, + 0.641848623752594, + -0.28504160046577454 + ], + [ + 0.049478963017463684, + -0.00022626479039900005, + -0.026927463710308075, + -0.27018868923187256, + 0.6522505879402161, + 0.6507774591445923, + -0.27938494086265564 + ], + [ + 0.04620900750160217, + 0.00212949700653553, + -0.026315441355109215, + -0.29189246892929077, + 0.6401337385177612, + 0.6572456955909729, + -0.2702881991863251 + ], + [ + 0.04607558250427246, + 0.0013167868601158261, + -0.029432907700538635, + -0.2713679373264313, + 0.6535873413085938, + 0.6510753035545349, + -0.2743794023990631 + ] + ], + "camera1": [ + [ + 0.032385412603616714, + 0.5583069920539856, + 1.965592861175537, + 0.03944755718111992, + -0.00243102153763175, + 0.2821635901927948, + 0.9585518836975098 + ], + [ + 0.026645760983228683, + 0.585456132888794, + 1.9689619541168213, + 0.02928454801440239, + 0.001953271683305502, + 0.26371148228645325, + 0.9641550183296204 + ], + [ + 0.05369463190436363, + 0.5840687155723572, + 1.9585775136947632, + 0.043914441019296646, + 0.013116727583110332, + 0.2599557042121887, + 0.9645322561264038 + ], + [ + 0.02813296765089035, + 0.6020897030830383, + 1.964269757270813, + 0.041611406952142715, + 0.01768052764236927, + 0.26146867871284485, + 0.9641525149345398 + ] + ] + } + } + } +} \ No newline at end of file diff --git a/episodes/c3_p006_e001/wrist.mp4 b/episodes/c3_p006_e001/wrist.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..3c70da5a0683c3f5dbc101aa5677ceeb62d442ed --- /dev/null +++ b/episodes/c3_p006_e001/wrist.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:42bdbd0c6256a1c1127f0bbd5d0df2887d3dd96ecde48c51c80f3d65b5670535 +size 6984268 diff --git a/episodes/c3_p006_e002/data.npz b/episodes/c3_p006_e002/data.npz new file mode 100644 index 0000000000000000000000000000000000000000..7784d91eacb6b58049b0bfc706627c04a22d54e4 --- /dev/null +++ b/episodes/c3_p006_e002/data.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:98237ac6a20337fbf483e794c267c36d8d0f4cc983445c92ede0d981d66e3812 +size 205027 diff --git a/episodes/c3_p006_e002/device_events.jsonl b/episodes/c3_p006_e002/device_events.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..d25777f2bcfb5b183625fea2afb45359765feeba --- /dev/null +++ b/episodes/c3_p006_e002/device_events.jsonl @@ -0,0 +1,36 @@ +{"env_id": 3, "seq": 1, "step": 74, "t": 0.37, "topic": "conveyor_1.belt.station.pick.captured", "source": "conveyor_1.belt", "data": {"rider": "carrier_1"}, "cause": null} +{"env_id": 3, "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": 3, "seq": 3, "step": 79, "t": 0.395, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_1"}, "cause": null} +{"env_id": 3, "seq": 4, "step": 1476, "t": 7.38, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_1"}, "cause": null} +{"env_id": 3, "seq": 5, "step": 6323, "t": 31.615, "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": 6936, "t": 34.68, "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": 6936, "t": 34.68, "topic": "a4s_sealer_1.seal.started", "source": "a4s_sealer_1", "data": {"dwell": 2.8069610049330587}, "cause": "task-3-1"} +{"env_id": 3, "seq": 8, "step": 6936, "t": 34.68, "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": 6936, "t": 34.68, "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": 6936, "t": 34.68, "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": 7355, "t": 36.775, "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": 7355, "t": 36.775, "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": 7355, "t": 36.775, "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": 7355, "t": 36.775, "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": 7355, "t": 36.775, "topic": "labware.plate_1.changed", "source": "labware.plate_1", "data": {"key": "sealed", "value": true}, "cause": "task-3-1"} +{"env_id": 3, "seq": 16, "step": 7355, "t": 36.775, "topic": "a4s_sealer_1.sealed", "source": "a4s_sealer_1", "data": {"plate": "plate_1"}, "cause": "task-3-1"} +{"env_id": 3, "seq": 17, "step": 7355, "t": 36.775, "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": 7355, "t": 36.775, "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": 7355, "t": 36.775, "topic": "a4s_sealer_1.heater.started", "source": "a4s_sealer_1.heater", "data": {"duration": 2.8069610049330587}, "cause": "program-3-3"} +{"env_id": 3, "seq": 20, "step": 7917, "t": 39.585, "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": 7917, "t": 39.585, "topic": "a4s_sealer_1.heater.finished", "source": "a4s_sealer_1.heater", "data": {"elapsed": 2.8100000000014376}, "cause": "program-3-3"} +{"env_id": 3, "seq": 22, "step": 7917, "t": 39.585, "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": 2.8100000000014376}}, "cause": "program-3-3"} +{"env_id": 3, "seq": 23, "step": 7917, "t": 39.585, "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": 7917, "t": 39.585, "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": 7917, "t": 39.585, "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": 8337, "t": 41.685, "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": 8337, "t": 41.685, "topic": "a4s_sealer_1.drawer.reached", "source": "a4s_sealer_1.drawer", "data": {"position": "out", "q": 1.5573799194701365e-11}, "cause": "program-3-4"} +{"env_id": 3, "seq": 28, "step": 8337, "t": 41.685, "topic": "a4s_sealer_1.drawer.at_out", "source": "a4s_sealer_1.drawer", "data": {"q": 1.5573799194701365e-11}, "cause": "program-3-4"} +{"env_id": 3, "seq": 29, "step": 8337, "t": 41.685, "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": 8337, "t": 41.685, "topic": "a4s_sealer_1.seal.finished", "source": "a4s_sealer_1", "data": {}, "cause": "task-3-1"} +{"env_id": 3, "seq": 31, "step": 8337, "t": 41.685, "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": 8918, "t": 44.59, "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": 11204, "t": 56.02, "topic": "conveyor_1.belt.command.started", "source": "conveyor_1.belt", "data": {"command_id": "task-3-5", "name": "release", "source": "task"}, "cause": "task-3-5"} +{"env_id": 3, "seq": 34, "step": 11204, "t": 56.02, "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": 11204, "t": 56.02, "topic": "conveyor_1.belt.state.changed", "source": "conveyor_1.belt", "data": {"from": "at_station", "to": "running"}, "cause": null} +{"env_id": 3, "seq": 36, "step": 11204, "t": 56.02, "topic": "conveyor_1.belt.command.succeeded", "source": "conveyor_1.belt", "data": {"command_id": "task-3-5", "name": "release", "source": "task", "result": {"state": "running"}}, "cause": "task-3-5"} diff --git a/episodes/c3_p006_e002/env.mp4 b/episodes/c3_p006_e002/env.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..b4dc45fbedc263f09c9f69d3358c49a560e7a4bb --- /dev/null +++ b/episodes/c3_p006_e002/env.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:36bfa051add38f351c2bac2802984cb1ad191f29031aa3752d0e88343f8b5aa5 +size 1386284 diff --git a/episodes/c3_p006_e002/meta.json b/episodes/c3_p006_e002/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..635c9f7ba5cc6cdbaea87641317dcadb859fefbc --- /dev/null +++ b/episodes/c3_p006_e002/meta.json @@ -0,0 +1,32 @@ +{ + "source": "raw/c3_p006/magicsim/2", + "fps": 25, + "frames": 1275, + "kept_ticks": "even", + "video_frames": { + "wrist": 1275, + "env": 1275 + }, + "joint_target_source": "joint_pos_target", + "fk_vs_recorded_eef_max_m": 0.0, + "curobo_joints": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "joint_order": [ + "shoulder_pan", + "shoulder_lift", + "elbow", + "wrist_1", + "wrist_2", + "wrist_3", + "finger_left", + "finger_right" + ], + "frames_note": "eef / actions in the robot base frame; camera_pose = local pose (wrist: in plate_gripper_base, env: env frame), pos + quat wxyz", + "dr_version": "v2" +} \ No newline at end of file diff --git a/episodes/c3_p006_e002/scene_snapshot.json b/episodes/c3_p006_e002/scene_snapshot.json new file mode 100644 index 0000000000000000000000000000000000000000..59476f1da57fac111d9473776f754d3cb5e412e9 --- /dev/null +++ b/episodes/c3_p006_e002/scene_snapshot.json @@ -0,0 +1,1558 @@ +{ + "trajectory_id": 2, + "env_id": 3, + "run_id": "c3_p006", + "task_type": "BioPlateCell", + "success": true, + "timing": { + "fps": 50.0, + "sim_dt": 0.005, + "decimation": 4 + }, + "restore_interface": { + "scene": "scene_manager.reset_to(snapshot['scene'], env_ids=[env_id])", + "robots": "robot_manager.set_state({'robots': snapshot['robots']}, env_ids=[env_id])" + }, + "snapshot": { + "env_id": 3, + "scene": { + "objects": [ + {}, + {}, + {}, + { + "rac_cell": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/rac_cell.usd", + "pose": { + "pos": [ + 0.0, + 0.0, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "physics_material": { + "static_friction": 0.6, + "dynamic_friction": 0.5, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "robot_mount": [ + { + "asset": "Cube", + "pose": { + "pos": [ + 0.0, + 0.0, + 0.9075 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": "color", + "value": [ + 0.55, + 0.56, + 0.58 + ], + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": { + "size": [ + 0.2, + 0.2, + 0.015 + ] + } + }, + "type_specific": {} + } + ], + "plate_rack": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/plate_hotel.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 0.9 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "physics_material": { + "static_friction": 0.6, + "dynamic_friction": 0.5, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "hotel_plate": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/pcr_96_blue/pcr_96_blue.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 0.9605 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_96_black/plate_96_black.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.0285 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_48_clear/plate_48_clear.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.0965 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_96_clear/plate_96_clear.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.1645 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_6_clear/plate_6_clear.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.2325 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "a4s_sealer": [ + { + "asset": "$MAGICSIM_ASSETS/Articulated/A4SSealer/Object.usd", + "pose": { + "pos": [ + 0.46109962463378906, + 0.10063934326171875, + 0.8999999761581421 + ], + "ori": [ + -0.6942216753959656, + 0.0, + 0.0, + 0.7197612524032593 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "articulation", + "solver_position_iteration_count": 16.0, + "solver_velocity_iteration_count": 1.0, + "enabled_self_collisions": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "joint_position": [ + 7.228975447762243e-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": 0.2311566770883896, + "direction": [ + 1.0, + 0.0, + 0.0 + ], + "enabled": true, + "drive": "surface_velocity", + "lines": null, + "station_line": null, + "riders": [ + "carrier" + ], + "stations": { + "pick": { + "position": -0.17836283512680734, + "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": 0.2311566770883896, + "holds": [], + "station": "pick", + "rider": "carrier_1", + "arrived": true, + "applied_speed": 0.0 + } + } + } + ], + "carrier": [ + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + -0.027828216552734375, + 0.4500007629394531, + 0.8999999761581421 + ], + "ori": [ + 1.0, + 3.5836533740507548e-09, + 4.494345784422649e-09, + -1.1819172868854366e-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": [ + 6.289446741192251e-10, + -2.8345764624404524e-10, + 3.725290298461914e-09 + ], + "angular_velocity": [ + 7.462422502158006e-08, + 5.809542358292674e-08, + -1.6878122011121377e-08 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + 1.6946172714233398, + 0.744633674621582, + 0.8999999761581421 + ], + "ori": [ + 0.7626105546951294, + -6.472581048910797e-08, + 3.224456435191314e-08, + 0.6468578577041626 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 2.5749369569894043e-07, + -4.538656384056594e-08, + 1.341104507446289e-07 + ], + "angular_velocity": [ + -9.885285408017808e-07, + 3.1545680485578487e-06, + 3.037856231458136e-06 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + 0.29942893981933594, + 1.1500015258789062, + 0.8999999761581421 + ], + "ori": [ + -3.266554631409235e-05, + -1.6702672578361444e-09, + -7.431889770259659e-09, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 4.281614174317383e-09, + 6.390534679212578e-08, + -7.450580596923828e-09 + ], + "angular_velocity": [ + -2.04860293706588e-06, + -2.1061896404717118e-07, + 9.328247188022942e-07 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + -1.3913288116455078, + 0.7269535064697266, + 0.8999999761581421 + ], + "ori": [ + -0.7760443687438965, + -1.8198391682489046e-09, + -1.2390509951387685e-08, + 0.6306783556938171 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -8.630923753472075e-10, + -9.455987104445285e-10, + -3.725290298461914e-09 + ], + "angular_velocity": [ + 8.284508368205934e-08, + -1.8425858172577136e-08, + -8.555112174235546e-09 + ] + } + } + ], + "plate": [ + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_48_clear/Object.usd", + "pose": { + "pos": [ + -0.039155006408691406, + 0.45162105560302734, + 0.9179999828338623 + ], + "ori": [ + 0.9952727556228638, + 3.861234443292005e-09, + 2.5023487726372196e-09, + 0.09711994230747223 + ], + "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": [ + -8.384065885991276e-09, + -1.5427978894422267e-08, + 1.5273690223693848e-07 + ], + "angular_velocity": [ + 1.636143792893563e-06, + -1.6856038200785406e-06, + -7.586401551407107e-08 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_384_white/Object.usd", + "pose": { + "pos": [ + 1.6916284561157227, + 0.7359342575073242, + 0.9180000424385071 + ], + "ori": [ + 0.7068009376525879, + -3.558067476205906e-07, + -1.3589027503257967e-07, + 0.7074124813079834 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 5.0436510719009675e-06, + -3.43079341291741e-06, + -5.982816219329834e-06 + ], + "angular_velocity": [ + 3.384784940863028e-05, + 0.000244808936258778, + -3.0444643925875425e-06 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_96_clear/Object.usd", + "pose": { + "pos": [ + 0.3101472854614258, + 1.1510534286499023, + 0.9180000424385071 + ], + "ori": [ + 0.08013100922107697, + -7.969781501415696e-10, + -1.2677489280576992e-07, + 0.9967843890190125 + ], + "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": [ + -4.994936944058281e-07, + 3.245817424613051e-06, + -5.781650543212891e-06 + ], + "angular_velocity": [ + 1.7452779502491467e-05, + -5.805942237202544e-06, + -1.8714945326792076e-05 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/reservoir_12ch/Object.usd", + "pose": { + "pos": [ + -1.4010295867919922, + 0.7275686264038086, + 0.9179999828338623 + ], + "ori": [ + -0.7927223443984985, + 4.542520137817974e-09, + -1.808757588150911e-08, + 0.6095829606056213 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -2.7536248836668165e-08, + 3.6890565269231956e-08, + -1.4416873455047607e-06 + ], + "angular_velocity": [ + -8.674400078234612e-07, + -8.916696856431372e-07, + -3.045823149250282e-08 + ] + } + } + ], + "deco_hub_west": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/hub_e.usd", + "pose": { + "pos": [ + -3.36, + 0.0, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_hub_east": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/hub_d.usd", + "pose": { + "pos": [ + 3.36, + 0.0, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_hub_back": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/hub_a.usd", + "pose": { + "pos": [ + -3.0, + -2.1, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_bench_east": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/bench_c.usd", + "pose": { + "pos": [ + 2.6, + -2.5, + 0.0 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_bench_gap": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/bench_b.usd", + "pose": { + "pos": [ + -0.1, + -2.9, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ] + } + ], + "devices": { + "hub": [ + null, + null, + null, + { + "t": 5.219999999999911, + "step": 1044, + "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": 7.228975447762243e-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": 0.2311566770883896, + "holds": [], + "station": "pick", + "rider": "carrier_1", + "arrived": true, + "settle_count": 969, + "released": { + "pick": [] + }, + "last_pos": { + "carrier_1": [ + -0.17782822251319885, + 7.748603820800781e-07, + 0.0 + ], + "carrier_2": [ + 1.5446172654628754, + 0.294633686542511, + 0.0 + ], + "carrier_3": [ + 0.14942893385887146, + 0.7000015377998352, + 0.0 + ], + "carrier_4": [ + -1.5413288176059723, + 0.2769535183906555, + 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": [ + 0.7955106202509744, + -0.254947544280003, + 2.753209758642889 + ], + "ori": [ + 7.206433977009759, + 10.284437705043075, + -24.879262056095282 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "color_temperature": 7183.910542881895, + "color": [ + 0.9575708776073983, + 0.9696163511948783, + 0.932842283067489 + ], + "intensity": 14749.361757983192, + "width": 1.7747068211755808, + "height": 1.1279252054230144 + } + }, + "key": { + "type": "sphere", + "pose": { + "pos": [ + 0.8426910237280625, + 0.7338619932085666, + 1.7493471061243477 + ], + "ori": [ + 28.582925605115335, + -37.12303516709912, + 3.9297538771213993 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "color_temperature": 5099.071883521061, + "color": [ + 0.8049336042534802, + 0.8524529852510718, + 0.7522906324445011 + ], + "intensity": 3267.5686149205103, + "radius": 0.18062878492615864 + } + } + } + ], + "background": { + "type": "dome", + "pose": { + "pos": null, + "ori": null, + "scale": null + }, + "dr": { + "intensity": 1235.8115012607075, + "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": [ + [ + 0.8217023611068726, + -1.4750999212265015, + 2.081690549850464, + -2.1773598194122314, + -1.5708149671554565, + 2.502041816711426, + 0.007798852864652872, + 0.007221294101327658 + ], + [ + 0.9141010642051697, + -1.719397783279419, + 2.09049916267395, + -1.9419004917144775, + -1.5707999467849731, + 2.4849002361297607, + 0.018000001087784767, + 0.01799999736249447 + ], + [ + 0.9141020774841309, + -1.7193984985351562, + 2.0904996395111084, + -1.9419007301330566, + -1.5707999467849731, + 2.48490047454834, + 0.017999999225139618, + 0.017999999225139618 + ], + [ + 0.9141013622283936, + -1.7193995714187622, + 2.0905003547668457, + -1.9419008493423462, + -1.5707999467849731, + 2.48490047454834, + 0.01799999736249447, + 0.018000001087784767 + ] + ], + "joint_vel": [ + [ + 0.0003879443684127182, + -0.008049667812883854, + -0.0068959686905145645, + 0.013541002757847309, + 0.0008168071508407593, + 0.0027306543197482824, + -0.007050653453916311, + 0.00030977066489867866 + ], + [ + 2.3021862405469203e-38, + -1.9620815744257298e-38, + 1.2895017518022117e-38, + -5.7362235594005475e-37, + 5.7705246553141675e-37, + -2.980420941466089e-36, + -2.5990388508034812e-08, + 2.5990388508034812e-08 + ], + [ + 3.4059653444273863e-06, + 1.6412390110159825e-12, + 1.6223493902456365e-12, + -3.405976030990132e-06, + -3.405978077353211e-06, + 9.581211692089031e-13, + 2.0030720517590778e-13, + 7.215614824390704e-14 + ], + [ + -2.527969334572485e-38, + 1.5499014020516852e-38, + 3.8572760902926146e-38, + 5.210929902362941e-37, + -4.883688819832621e-38, + 4.337454158544144e-37, + 2.5990399166175848e-08, + -2.5990386731677972e-08 + ] + ] + } + }, + "cameras": { + "cameras": { + "camera0": [ + [ + 0.05317370966076851, + 0.000688868691213429, + -0.0279538556933403, + -0.27241143584251404, + 0.6561242938041687, + 0.6450701355934143, + -0.2813849151134491 + ], + [ + 0.04887623339891434, + 0.0025632076431065798, + -0.02808050997555256, + -0.2730829119682312, + 0.6566379070281982, + 0.6464757919311523, + -0.2762633264064789 + ], + [ + 0.04810723289847374, + 0.0019420207245275378, + -0.027750864624977112, + -0.29712021350860596, + 0.6381681561470032, + 0.6572390794754028, + -0.2692541778087616 + ], + [ + 0.048426005989313126, + 0.0005346566904336214, + -0.029028775170445442, + -0.27035507559776306, + 0.6536316275596619, + 0.6499215960502625, + -0.2779850661754608 + ] + ], + "camera1": [ + [ + 0.032385412603616714, + 0.5583069920539856, + 1.965592861175537, + 0.03944755718111992, + -0.00243102153763175, + 0.2821635901927948, + 0.9585518836975098 + ], + [ + 0.026645760983228683, + 0.585456132888794, + 1.9689619541168213, + 0.02928454801440239, + 0.001953271683305502, + 0.26371148228645325, + 0.9641550183296204 + ], + [ + 0.05369463190436363, + 0.5840687155723572, + 1.9585775136947632, + 0.043914441019296646, + 0.013116727583110332, + 0.2599557042121887, + 0.9645322561264038 + ], + [ + 0.02813296765089035, + 0.6020897030830383, + 1.964269757270813, + 0.041611406952142715, + 0.01768052764236927, + 0.26146867871284485, + 0.9641525149345398 + ] + ] + } + } + } +} \ No newline at end of file diff --git a/episodes/c3_p006_e002/wrist.mp4 b/episodes/c3_p006_e002/wrist.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..59acf83fcde098d42f2700eb9feb1c73013f3aca --- /dev/null +++ b/episodes/c3_p006_e002/wrist.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:4bfd8b9b0be415bb0e95fd1347c756199de5544803bc4175f53ed0168fe33de7 +size 8392847 diff --git a/episodes/c3_p006_e003/data.npz b/episodes/c3_p006_e003/data.npz new file mode 100644 index 0000000000000000000000000000000000000000..96ab61dc892b2c9507793095d9834549b5cffb78 --- /dev/null +++ b/episodes/c3_p006_e003/data.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:4fd18faa09b49a6cc5926d270eb75d79d41c1baeedeb20a89151c20c3270c970 +size 203599 diff --git a/episodes/c3_p006_e003/device_events.jsonl b/episodes/c3_p006_e003/device_events.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..cec0cd54a135329d95a9941c9b2608a4e8d17025 --- /dev/null +++ b/episodes/c3_p006_e003/device_events.jsonl @@ -0,0 +1,36 @@ +{"env_id": 1, "seq": 1, "step": 147, "t": 0.735, "topic": "conveyor_1.belt.station.pick.captured", "source": "conveyor_1.belt", "data": {"rider": "carrier_3"}, "cause": null} +{"env_id": 1, "seq": 2, "step": 147, "t": 0.735, "topic": "conveyor_1.belt.state.changed", "source": "conveyor_1.belt", "data": {"from": "running", "to": "at_station"}, "cause": null} +{"env_id": 1, "seq": 3, "step": 152, "t": 0.76, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_3"}, "cause": null} +{"env_id": 1, "seq": 4, "step": 1716, "t": 8.58, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_3"}, "cause": null} +{"env_id": 1, "seq": 5, "step": 6538, "t": 32.69, "topic": "a4s_sealer_1.plate_present.present", "source": "a4s_sealer_1.plate_present", "data": {"object": "plate_3"}, "cause": null} +{"env_id": 1, "seq": 6, "step": 7148, "t": 35.74, "topic": "a4s_sealer_1.command.started", "source": "a4s_sealer_1", "data": {"command_id": "task-1-1", "name": "seal", "source": "task"}, "cause": "task-1-1"} +{"env_id": 1, "seq": 7, "step": 7148, "t": 35.74, "topic": "a4s_sealer_1.seal.started", "source": "a4s_sealer_1", "data": {"dwell": 2.8569994896907684}, "cause": "task-1-1"} +{"env_id": 1, "seq": 8, "step": 7148, "t": 35.74, "topic": "a4s_sealer_1.drawer.command.started", "source": "a4s_sealer_1.drawer", "data": {"command_id": "program-1-2", "name": "close", "source": "program:seal"}, "cause": "program-1-2"} +{"env_id": 1, "seq": 9, "step": 7148, "t": 35.74, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "at_out", "to": "moving"}, "cause": null} +{"env_id": 1, "seq": 10, "step": 7148, "t": 35.74, "topic": "a4s_sealer_1.drawer.moving", "source": "a4s_sealer_1.drawer", "data": {"target": 0.3, "goal": "in"}, "cause": "program-1-2"} +{"env_id": 1, "seq": 11, "step": 7567, "t": 37.835, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "moving", "to": "at_in"}, "cause": null} +{"env_id": 1, "seq": 12, "step": 7567, "t": 37.835, "topic": "a4s_sealer_1.drawer.reached", "source": "a4s_sealer_1.drawer", "data": {"position": "in", "q": 0.30000001192092896}, "cause": "program-1-2"} +{"env_id": 1, "seq": 13, "step": 7567, "t": 37.835, "topic": "a4s_sealer_1.drawer.at_in", "source": "a4s_sealer_1.drawer", "data": {"q": 0.30000001192092896}, "cause": "program-1-2"} +{"env_id": 1, "seq": 14, "step": 7567, "t": 37.835, "topic": "a4s_sealer_1.drawer.command.succeeded", "source": "a4s_sealer_1.drawer", "data": {"command_id": "program-1-2", "name": "close", "source": "program:seal", "result": {"position": "in"}}, "cause": "program-1-2"} +{"env_id": 1, "seq": 15, "step": 7567, "t": 37.835, "topic": "labware.plate_3.changed", "source": "labware.plate_3", "data": {"key": "sealed", "value": true}, "cause": "task-1-1"} +{"env_id": 1, "seq": 16, "step": 7567, "t": 37.835, "topic": "a4s_sealer_1.sealed", "source": "a4s_sealer_1", "data": {"plate": "plate_3"}, "cause": "task-1-1"} +{"env_id": 1, "seq": 17, "step": 7567, "t": 37.835, "topic": "a4s_sealer_1.heater.command.started", "source": "a4s_sealer_1.heater", "data": {"command_id": "program-1-3", "name": "run", "source": "program:seal"}, "cause": "program-1-3"} +{"env_id": 1, "seq": 18, "step": 7567, "t": 37.835, "topic": "a4s_sealer_1.heater.state.changed", "source": "a4s_sealer_1.heater", "data": {"from": "ready", "to": "running"}, "cause": null} +{"env_id": 1, "seq": 19, "step": 7567, "t": 37.835, "topic": "a4s_sealer_1.heater.started", "source": "a4s_sealer_1.heater", "data": {"duration": 2.8569994896907684}, "cause": "program-1-3"} +{"env_id": 1, "seq": 20, "step": 8139, "t": 40.695, "topic": "a4s_sealer_1.heater.state.changed", "source": "a4s_sealer_1.heater", "data": {"from": "running", "to": "ready"}, "cause": null} +{"env_id": 1, "seq": 21, "step": 8139, "t": 40.695, "topic": "a4s_sealer_1.heater.finished", "source": "a4s_sealer_1.heater", "data": {"elapsed": 2.860000000001463}, "cause": "program-1-3"} +{"env_id": 1, "seq": 22, "step": 8139, "t": 40.695, "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": 2.860000000001463}}, "cause": "program-1-3"} +{"env_id": 1, "seq": 23, "step": 8139, "t": 40.695, "topic": "a4s_sealer_1.drawer.command.started", "source": "a4s_sealer_1.drawer", "data": {"command_id": "program-1-4", "name": "open", "source": "program:seal"}, "cause": "program-1-4"} +{"env_id": 1, "seq": 24, "step": 8139, "t": 40.695, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "at_in", "to": "moving"}, "cause": null} +{"env_id": 1, "seq": 25, "step": 8139, "t": 40.695, "topic": "a4s_sealer_1.drawer.moving", "source": "a4s_sealer_1.drawer", "data": {"target": 0.0, "goal": "out"}, "cause": "program-1-4"} +{"env_id": 1, "seq": 26, "step": 8559, "t": 42.795, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "moving", "to": "at_out"}, "cause": null} +{"env_id": 1, "seq": 27, "step": 8559, "t": 42.795, "topic": "a4s_sealer_1.drawer.reached", "source": "a4s_sealer_1.drawer", "data": {"position": "out", "q": 2.4492603500902987e-09}, "cause": "program-1-4"} +{"env_id": 1, "seq": 28, "step": 8559, "t": 42.795, "topic": "a4s_sealer_1.drawer.at_out", "source": "a4s_sealer_1.drawer", "data": {"q": 2.4492603500902987e-09}, "cause": "program-1-4"} +{"env_id": 1, "seq": 29, "step": 8559, "t": 42.795, "topic": "a4s_sealer_1.drawer.command.succeeded", "source": "a4s_sealer_1.drawer", "data": {"command_id": "program-1-4", "name": "open", "source": "program:seal", "result": {"position": "out"}}, "cause": "program-1-4"} +{"env_id": 1, "seq": 30, "step": 8559, "t": 42.795, "topic": "a4s_sealer_1.seal.finished", "source": "a4s_sealer_1", "data": {}, "cause": "task-1-1"} +{"env_id": 1, "seq": 31, "step": 8559, "t": 42.795, "topic": "a4s_sealer_1.command.succeeded", "source": "a4s_sealer_1", "data": {"command_id": "task-1-1", "name": "seal", "source": "task"}, "cause": "task-1-1"} +{"env_id": 1, "seq": 32, "step": 9139, "t": 45.695, "topic": "a4s_sealer_1.plate_present.absent", "source": "a4s_sealer_1.plate_present", "data": {"object": "plate_3"}, "cause": null} +{"env_id": 1, "seq": 33, "step": 11372, "t": 56.86, "topic": "conveyor_1.belt.command.started", "source": "conveyor_1.belt", "data": {"command_id": "task-1-5", "name": "release", "source": "task"}, "cause": "task-1-5"} +{"env_id": 1, "seq": 34, "step": 11372, "t": 56.86, "topic": "conveyor_1.belt.station.pick.released", "source": "conveyor_1.belt", "data": {"rider": "carrier_3"}, "cause": "task-1-5"} +{"env_id": 1, "seq": 35, "step": 11372, "t": 56.86, "topic": "conveyor_1.belt.state.changed", "source": "conveyor_1.belt", "data": {"from": "at_station", "to": "running"}, "cause": null} +{"env_id": 1, "seq": 36, "step": 11372, "t": 56.86, "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_p006_e003/env.mp4 b/episodes/c3_p006_e003/env.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..17b8f183605eabe109b7bf3b6b51c158df801a11 --- /dev/null +++ b/episodes/c3_p006_e003/env.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:ff49abc6094a6e0f32adbf7abff8f1b3b870c00d15203b45d92f64a0fc0defb4 +size 1327322 diff --git a/episodes/c3_p006_e003/meta.json b/episodes/c3_p006_e003/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..0ed9e38bb473534ed919d5d0f122dda959974a17 --- /dev/null +++ b/episodes/c3_p006_e003/meta.json @@ -0,0 +1,32 @@ +{ + "source": "raw/c3_p006/magicsim/3", + "fps": 25, + "frames": 1265, + "kept_ticks": "even", + "video_frames": { + "wrist": 1265, + "env": 1265 + }, + "joint_target_source": "joint_pos_target", + "fk_vs_recorded_eef_max_m": 0.0, + "curobo_joints": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "joint_order": [ + "shoulder_pan", + "shoulder_lift", + "elbow", + "wrist_1", + "wrist_2", + "wrist_3", + "finger_left", + "finger_right" + ], + "frames_note": "eef / actions in the robot base frame; camera_pose = local pose (wrist: in plate_gripper_base, env: env frame), pos + quat wxyz", + "dr_version": "v2" +} \ No newline at end of file diff --git a/episodes/c3_p006_e003/scene_snapshot.json b/episodes/c3_p006_e003/scene_snapshot.json new file mode 100644 index 0000000000000000000000000000000000000000..aeda1f9f42f5b82ca1d927a595211886dbbdf33c --- /dev/null +++ b/episodes/c3_p006_e003/scene_snapshot.json @@ -0,0 +1,1558 @@ +{ + "trajectory_id": 3, + "env_id": 1, + "run_id": "c3_p006", + "task_type": "BioPlateCell", + "success": true, + "timing": { + "fps": 50.0, + "sim_dt": 0.005, + "decimation": 4 + }, + "restore_interface": { + "scene": "scene_manager.reset_to(snapshot['scene'], env_ids=[env_id])", + "robots": "robot_manager.set_state({'robots': snapshot['robots']}, env_ids=[env_id])" + }, + "snapshot": { + "env_id": 1, + "scene": { + "objects": [ + {}, + { + "rac_cell": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/rac_cell.usd", + "pose": { + "pos": [ + 0.0, + 0.0, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "physics_material": { + "static_friction": 0.6, + "dynamic_friction": 0.5, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "robot_mount": [ + { + "asset": "Cube", + "pose": { + "pos": [ + 0.0, + 0.0, + 0.9075 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": "color", + "value": [ + 0.55, + 0.56, + 0.58 + ], + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": { + "size": [ + 0.2, + 0.2, + 0.015 + ] + } + }, + "type_specific": {} + } + ], + "plate_rack": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/plate_hotel.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 0.9 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "physics_material": { + "static_friction": 0.6, + "dynamic_friction": 0.5, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "hotel_plate": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_96_clear/plate_96_clear.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 0.9605 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_6_clear/plate_6_clear.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.0285 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/pcr_384_red/pcr_384_red.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.0965 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_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": "$MAGICSIM_ASSETS/Bio/CAD/plates/deep_well_96_2ml/deep_well_96_2ml.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.2325 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "a4s_sealer": [ + { + "asset": "$MAGICSIM_ASSETS/Articulated/A4SSealer/Object.usd", + "pose": { + "pos": [ + 0.4623851776123047, + 0.08329963684082031, + 0.8999999761581421 + ], + "ori": [ + -0.6992065906524658, + 0.0, + 0.0, + 0.7149196863174438 + ], + "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": [ + 2.5301414609268935e-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": 0.2062899449224049, + "direction": [ + 1.0, + 0.0, + 0.0 + ], + "enabled": true, + "drive": "surface_velocity", + "lines": null, + "station_line": null, + "riders": [ + "carrier" + ], + "stations": { + "pick": { + "position": -0.16363919138376676, + "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": 0.2062899449224049, + "holds": [], + "station": "pick", + "rider": "carrier_3", + "arrived": true, + "applied_speed": 0.0 + } + } + } + ], + "carrier": [ + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + -1.3968849182128906, + 0.7833690643310547, + 0.8999999761581421 + ], + "ori": [ + -0.7191863656044006, + 1.5639818684576312e-07, + -4.5397595016538617e-08, + 0.6948172450065613 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -2.0100250353038973e-09, + 4.5651926683376587e-10, + -3.725290298461914e-09 + ], + "angular_velocity": [ + -1.1373060715413885e-08, + -7.872677088016644e-08, + 1.015869699472205e-08 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + 0.7021522521972656, + 1.152420997619629, + 0.8999999761581421 + ], + "ori": [ + -0.011021006852388382, + -5.73182346030876e-09, + -3.247161650676844e-09, + 0.9999393224716187 + ], + "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": [ + -8.444969168408534e-10, + 3.2235585312179182e-09, + 7.450580596923828e-09 + ], + "angular_velocity": [ + -1.0888160772992705e-07, + -9.12672817321436e-08, + 1.1825777690432915e-08 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + -0.013262748718261719, + 0.4499702453613281, + 0.8999999761581421 + ], + "ori": [ + 0.9999961853027344, + 4.0501220155420015e-08, + 5.763139965253572e-10, + 0.002798725850880146 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 2.6551759901849437e-08, + 4.4071967408854107e-07, + 2.2351741790771484e-08 + ], + "angular_velocity": [ + -9.769677490112372e-06, + 1.2886204103779164e-07, + -2.2548360902874265e-06 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + 1.6803808212280273, + 0.6932497024536133, + 0.8999999761581421 + ], + "ori": [ + 0.8114075064659119, + 4.0754542851573206e-08, + -3.9552482178351056e-08, + 0.5844810009002686 + ], + "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": [ + -2.2703074975538584e-09, + 4.3677728100988134e-10, + 1.4901161193847656e-08 + ], + "angular_velocity": [ + 4.97019634337903e-08, + -1.8194747042343806e-07, + 5.400486280393579e-09 + ] + } + } + ], + "plate": [ + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_12_clear/Object.usd", + "pose": { + "pos": [ + -1.389246940612793, + 0.7816619873046875, + 0.9179999828338623 + ], + "ori": [ + -0.7264798879623413, + 1.5634566352673573e-07, + -4.956395471822361e-08, + 0.6871877908706665 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -5.5397425313685744e-08, + 4.4833253554088515e-08, + 1.043081283569336e-07 + ], + "angular_velocity": [ + -1.7852655673777917e-06, + -2.505086285964353e-06, + -2.1157745777600212e-08 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_96_white/Object.usd", + "pose": { + "pos": [ + 0.6883401870727539, + 1.1428003311157227, + 0.9180000424385071 + ], + "ori": [ + 0.01819988340139389, + -6.085270953803956e-09, + -4.234671724390182e-09, + 0.999834418296814 + ], + "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": [ + 1.592564657926232e-08, + 3.287535221829785e-08, + -5.003064870834351e-06 + ], + "angular_velocity": [ + -1.2464067822293146e-06, + 1.7123659290518845e-06, + 2.7919959677547013e-08 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/pcr_384_red/Object.usd", + "pose": { + "pos": [ + -0.00031375885009765625, + 0.46134471893310547, + 0.9179999828338623 + ], + "ori": [ + 0.9998462200164795, + 5.967501124359842e-07, + 3.089340694373277e-08, + 0.017540160566568375 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -5.304358637658879e-06, + 8.63112563820323e-06, + -7.8640878200531e-06 + ], + "angular_velocity": [ + 5.928073369432241e-05, + -3.643903255579062e-06, + 9.679276990937069e-05 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/deep_well_96_1ml/Object.usd", + "pose": { + "pos": [ + 1.6835365295410156, + 0.6847114562988281, + 0.9179999828338623 + ], + "ori": [ + 0.8454598784446716, + 4.234476946862742e-08, + -3.909475410068808e-08, + 0.5340390205383301 + ], + "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": [ + -6.399115193289617e-08, + -5.162789307178173e-08, + 2.0116567611694336e-07 + ], + "angular_velocity": [ + 3.001519644385553e-06, + -1.7635550193517702e-06, + 8.67123262082714e-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": 6.479999999999884, + "step": 1296, + "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": 2.5301414609268935e-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": 0.2062899449224049, + "holds": [], + "station": "pick", + "rider": "carrier_3", + "arrived": true, + "settle_count": 1148, + "released": { + "pick": [] + }, + "last_pos": { + "carrier_1": [ + -1.546884924173355, + 0.33336907625198364, + 0.0 + ], + "carrier_2": [ + 0.5521522462368011, + 0.7024210095405579, + 0.0 + ], + "carrier_3": [ + -0.1632627546787262, + -2.9742717742919922e-05, + 0.0 + ], + "carrier_4": [ + 1.5303808152675629, + 0.24324971437454224, + 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": [ + -0.027548571969114533, + 0.5205814798723665, + 3.0154585171495483 + ], + "ori": [ + -8.560151959779287, + 4.423668790975988, + 12.944957584454798 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "color_temperature": 4939.463722838037, + "color": [ + 0.9671748713880615, + 0.8724548108063191, + 0.8825799380762889 + ], + "intensity": 5106.986978108039, + "width": 1.8478528057766654, + "height": 0.8307397441158938 + } + }, + "key": { + "type": "sphere", + "pose": { + "pos": [ + -0.6256940506740635, + 0.32644046826694306, + 2.7991793765471433 + ], + "ori": [ + -13.733969467221925, + -35.74271309377683, + 9.546317780302346 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "color_temperature": 6194.725447078051, + "color": [ + 0.8885664818153949, + 0.7855261284283206, + 0.855190395812121 + ], + "intensity": 3397.3846633592043, + "radius": 0.17419503226154837 + } + } + }, + {}, + {} + ], + "background": { + "type": "dome", + "pose": { + "pos": null, + "ori": null, + "scale": null + }, + "dr": { + "intensity": 1235.8115012607075, + "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": [ + [ + 0.8217207789421082, + -1.4824048280715942, + 2.0756425857543945, + -2.163987874984741, + -1.5708069801330566, + 2.5020925998687744, + 0.007799261715263128, + 0.007220841478556395 + ], + [ + 0.91410231590271, + -1.7193979024887085, + 2.09049916267395, + -1.9419004917144775, + -1.5707999467849731, + 2.484900712966919, + 0.018000001087784767, + 0.01799999736249447 + ], + [ + 0.9141020774841309, + -1.7193984985351562, + 2.0904996395111084, + -1.9419007301330566, + -1.5707999467849731, + 2.48490047454834, + 0.017999999225139618, + 0.017999999225139618 + ], + [ + 1.0918974876403809, + -1.3969415426254272, + 2.108480453491211, + -2.282289981842041, + -1.5707964897155762, + 2.468431234359741, + 0.01800004579126835, + 0.017999954521656036 + ] + ], + "joint_vel": [ + [ + 0.0002947793691419065, + 5.882525147171691e-05, + -0.00032090413151308894, + -0.00032754798303358257, + 0.0007704742019996047, + 0.002592985751107335, + -0.007030016742646694, + 0.0003425584873184562 + ], + [ + 2.296918339229984e-38, + -1.582784832334917e-38, + -2.501216865330367e-38, + -4.632914240319086e-37, + 5.770640346515382e-37, + -4.183351236448678e-37, + -2.599036363903906e-08, + 2.5990399166175848e-08 + ], + [ + 3.4059653444273863e-06, + 1.6399348242226996e-12, + 1.6227845889976722e-12, + -3.405976030990132e-06, + -3.405978077353211e-06, + 7.673331913447823e-13, + 1.1966618559781927e-13, + 6.05369975068687e-14 + ], + [ + -0.0001009320403682068, + 0.01448060479015112, + 0.009042385965585709, + -0.022285642102360725, + -7.176982762757689e-06, + -1.4044593626749702e-05, + -6.459518317569746e-06, + 6.435079285438405e-06 + ] + ] + } + }, + "cameras": { + "cameras": { + "camera0": [ + [ + 0.0494731068611145, + 7.891756104072556e-05, + -0.026074344292283058, + -0.26725929975509644, + 0.6614676713943481, + 0.6420658826828003, + -0.2806854844093323 + ], + [ + 0.04994910955429077, + 0.00027633088757283986, + -0.02757187746465206, + -0.2727900743484497, + 0.6549767255783081, + 0.6469705700874329, + -0.27932077646255493 + ], + [ + 0.047201819717884064, + 0.0003926717909052968, + -0.027334121987223625, + -0.29299360513687134, + 0.6400291919708252, + 0.6559900045394897, + -0.27238669991493225 + ], + [ + 0.046016089618206024, + 0.000876632344443351, + -0.028164591640233994, + -0.27220743894577026, + 0.6562532186508179, + 0.6474011540412903, + -0.27587422728538513 + ] + ], + "camera1": [ + [ + 0.032385412603616714, + 0.5583069920539856, + 1.965592861175537, + 0.03944755718111992, + -0.00243102153763175, + 0.2821635901927948, + 0.9585518836975098 + ], + [ + 0.026645760983228683, + 0.585456132888794, + 1.9689619541168213, + 0.02928454801440239, + 0.001953271683305502, + 0.26371148228645325, + 0.9641550183296204 + ], + [ + 0.05369463190436363, + 0.5840687155723572, + 1.9585775136947632, + 0.043914441019296646, + 0.013116727583110332, + 0.2599557042121887, + 0.9645322561264038 + ], + [ + 0.02813296765089035, + 0.6020897030830383, + 1.964269757270813, + 0.041611406952142715, + 0.01768052764236927, + 0.26146867871284485, + 0.9641525149345398 + ] + ] + } + } + } +} \ No newline at end of file diff --git a/episodes/c3_p006_e003/wrist.mp4 b/episodes/c3_p006_e003/wrist.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..c6dee85e24869a713024d1c10ae96206ac1ccfd2 --- /dev/null +++ b/episodes/c3_p006_e003/wrist.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:0590b979320bb302aef3a4350d24adccc8de2ead83178b8c2a60cbdf1d182f5b +size 8108081 diff --git a/episodes/c5_p005_e028/data.npz b/episodes/c5_p005_e028/data.npz new file mode 100644 index 0000000000000000000000000000000000000000..9dd15eb33e566990ae680a4f9a20158461eb34a8 --- /dev/null +++ b/episodes/c5_p005_e028/data.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:fbe65acf3c921d46dd05c50730b74721cc9de4b69c834cf9da0dbec6f793135c +size 203115 diff --git a/episodes/c5_p005_e028/device_events.jsonl b/episodes/c5_p005_e028/device_events.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..bf285a5fb8e596d0953b352d9ab841288d01845a --- /dev/null +++ b/episodes/c5_p005_e028/device_events.jsonl @@ -0,0 +1,35 @@ +{"env_id": 3, "seq": 1, "step": 88, "t": 0.44, "topic": "conveyor_1.belt.station.pick.captured", "source": "conveyor_1.belt", "data": {"rider": "carrier_3"}, "cause": null} +{"env_id": 3, "seq": 2, "step": 88, "t": 0.44, "topic": "conveyor_1.belt.state.changed", "source": "conveyor_1.belt", "data": {"from": "running", "to": "at_station"}, "cause": null} +{"env_id": 3, "seq": 3, "step": 93, "t": 0.465, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_3"}, "cause": null} +{"env_id": 3, "seq": 4, "step": 6867, "t": 34.335, "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": 7480, "t": 37.4, "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": 7480, "t": 37.4, "topic": "a4s_sealer_1.seal.started", "source": "a4s_sealer_1", "data": {"dwell": 2.8788515510270747}, "cause": "task-3-1"} +{"env_id": 3, "seq": 7, "step": 7480, "t": 37.4, "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": 7480, "t": 37.4, "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": 7480, "t": 37.4, "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": 7899, "t": 39.495, "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": 7899, "t": 39.495, "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": 7899, "t": 39.495, "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": 7899, "t": 39.495, "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": 7899, "t": 39.495, "topic": "labware.plate_3.changed", "source": "labware.plate_3", "data": {"key": "sealed", "value": true}, "cause": "task-3-1"} +{"env_id": 3, "seq": 15, "step": 7899, "t": 39.495, "topic": "a4s_sealer_1.sealed", "source": "a4s_sealer_1", "data": {"plate": "plate_3"}, "cause": "task-3-1"} +{"env_id": 3, "seq": 16, "step": 7899, "t": 39.495, "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": 7899, "t": 39.495, "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": 7899, "t": 39.495, "topic": "a4s_sealer_1.heater.started", "source": "a4s_sealer_1.heater", "data": {"duration": 2.8788515510270747}, "cause": "program-3-3"} +{"env_id": 3, "seq": 19, "step": 8475, "t": 42.375, "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": 8475, "t": 42.375, "topic": "a4s_sealer_1.heater.finished", "source": "a4s_sealer_1.heater", "data": {"elapsed": 2.8800000000014734}, "cause": "program-3-3"} +{"env_id": 3, "seq": 21, "step": 8475, "t": 42.375, "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": 2.8800000000014734}}, "cause": "program-3-3"} +{"env_id": 3, "seq": 22, "step": 8475, "t": 42.375, "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": 8475, "t": 42.375, "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": 8475, "t": 42.375, "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": 8895, "t": 44.475, "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": 8895, "t": 44.475, "topic": "a4s_sealer_1.drawer.reached", "source": "a4s_sealer_1.drawer", "data": {"position": "out", "q": 5.165525784889269e-10}, "cause": "program-3-4"} +{"env_id": 3, "seq": 27, "step": 8895, "t": 44.475, "topic": "a4s_sealer_1.drawer.at_out", "source": "a4s_sealer_1.drawer", "data": {"q": 5.165525784889269e-10}, "cause": "program-3-4"} +{"env_id": 3, "seq": 28, "step": 8895, "t": 44.475, "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": 8895, "t": 44.475, "topic": "a4s_sealer_1.seal.finished", "source": "a4s_sealer_1", "data": {}, "cause": "task-3-1"} +{"env_id": 3, "seq": 30, "step": 8895, "t": 44.475, "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": 9475, "t": 47.375, "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": 11724, "t": 58.62, "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": 11724, "t": 58.62, "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": 11724, "t": 58.62, "topic": "conveyor_1.belt.state.changed", "source": "conveyor_1.belt", "data": {"from": "at_station", "to": "running"}, "cause": null} +{"env_id": 3, "seq": 35, "step": 11724, "t": 58.62, "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_p005_e028/env.mp4 b/episodes/c5_p005_e028/env.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..343ab7f67370c1f6b2081b04efd3f2cb34f92db3 --- /dev/null +++ b/episodes/c5_p005_e028/env.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:1d7e16e70d361539ff3eb5dabfa461c789ffa8536ba384d8844ed8bb7d5c86bd +size 1429662 diff --git a/episodes/c5_p005_e028/meta.json b/episodes/c5_p005_e028/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..f4cf29442e4293227a9b651384ae251fc7237748 --- /dev/null +++ b/episodes/c5_p005_e028/meta.json @@ -0,0 +1,32 @@ +{ + "source": "raw/c5_p005/magicsim/28", + "fps": 25, + "frames": 1279, + "kept_ticks": "even", + "video_frames": { + "wrist": 1279, + "env": 1279 + }, + "joint_target_source": "joint_pos_target", + "fk_vs_recorded_eef_max_m": 0.0, + "curobo_joints": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "joint_order": [ + "shoulder_pan", + "shoulder_lift", + "elbow", + "wrist_1", + "wrist_2", + "wrist_3", + "finger_left", + "finger_right" + ], + "frames_note": "eef / actions in the robot base frame; camera_pose = local pose (wrist: in plate_gripper_base, env: env frame), pos + quat wxyz", + "dr_version": "v2" +} \ No newline at end of file diff --git a/episodes/c5_p005_e028/scene_snapshot.json b/episodes/c5_p005_e028/scene_snapshot.json new file mode 100644 index 0000000000000000000000000000000000000000..273299016372b24299c9d4c781098da7cd51e5c6 --- /dev/null +++ b/episodes/c5_p005_e028/scene_snapshot.json @@ -0,0 +1,1558 @@ +{ + "trajectory_id": 28, + "env_id": 3, + "run_id": "c5_p005", + "task_type": "BioPlateCell", + "success": true, + "timing": { + "fps": 50.0, + "sim_dt": 0.005, + "decimation": 4 + }, + "restore_interface": { + "scene": "scene_manager.reset_to(snapshot['scene'], env_ids=[env_id])", + "robots": "robot_manager.set_state({'robots': snapshot['robots']}, env_ids=[env_id])" + }, + "snapshot": { + "env_id": 3, + "scene": { + "objects": [ + {}, + {}, + {}, + { + "rac_cell": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/rac_cell.usd", + "pose": { + "pos": [ + 0.0, + 0.0, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "physics_material": { + "static_friction": 0.6, + "dynamic_friction": 0.5, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "robot_mount": [ + { + "asset": "Cube", + "pose": { + "pos": [ + 0.0, + 0.0, + 0.9075 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": "color", + "value": [ + 0.55, + 0.56, + 0.58 + ], + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": { + "size": [ + 0.2, + 0.2, + 0.015 + ] + } + }, + "type_specific": {} + } + ], + "plate_rack": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/plate_hotel.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 0.9 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "physics_material": { + "static_friction": 0.6, + "dynamic_friction": 0.5, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "hotel_plate": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_6_clear/plate_6_clear.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 0.9605 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_6_clear/plate_6_clear.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.0285 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_96_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": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_24_clear/plate_24_clear.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.1645 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/pcr_96_blue/pcr_96_blue.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.2325 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "a4s_sealer": [ + { + "asset": "$MAGICSIM_ASSETS/Articulated/A4SSealer/Object.usd", + "pose": { + "pos": [ + 0.5050344467163086, + 0.06483745574951172, + 0.8999999761581421 + ], + "ori": [ + 0.729860246181488, + 0.0, + 0.0, + -0.6835963726043701 + ], + "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": 0.16473195900441784, + "direction": [ + 1.0, + 0.0, + 0.0 + ], + "enabled": true, + "drive": "surface_velocity", + "lines": null, + "station_line": null, + "riders": [ + "carrier" + ], + "stations": { + "pick": { + "position": -0.15816184731372387, + "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": 0.16473195900441784, + "holds": [], + "station": "pick", + "rider": "carrier_3", + "arrived": true, + "applied_speed": 0.0 + } + } + } + ], + "carrier": [ + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + 0.3403739929199219, + 1.150003433227539, + 0.8999999761581421 + ], + "ori": [ + 2.7870511985383928e-05, + -1.513889902327037e-09, + 7.764668907839223e-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": [ + 2.4203949955392545e-10, + -6.702428612115341e-10, + 3.725290298461914e-09 + ], + "angular_velocity": [ + 5.74083500737288e-08, + 3.183258456829208e-08, + -5.30339594462248e-09 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + -1.3305368423461914, + 1.0046424865722656, + 0.8999999761581421 + ], + "ori": [ + -0.4508240818977356, + -1.4208609400157002e-07, + -3.849409679901328e-08, + 0.8926128149032593 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -6.2441696258019874e-09, + 6.375346917053548e-09, + 4.470348358154297e-08 + ], + "angular_velocity": [ + -2.740167417414341e-07, + 3.531208392359986e-07, + -1.250690502274665e-07 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + -0.007903099060058594, + 0.45000362396240234, + 0.8999999761581421 + ], + "ori": [ + 1.0, + -2.580885727354598e-09, + -3.929937264501859e-09, + -2.6654599423636682e-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": [ + 1.0479384027206606e-10, + 1.1627360185784141e-09, + 0.0 + ], + "angular_velocity": [ + -3.5690383981545892e-09, + 6.2966236669126374e-09, + 1.00567802974183e-08 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + 1.6065969467163086, + 1.0366220474243164, + 0.8999999761581421 + ], + "ori": [ + 0.40229251980781555, + -1.5459676205864525e-08, + -8.471869250570307e-08, + 0.9155112504959106 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 1.574373342805302e-08, + 1.6767064181522073e-08, + -7.450580596923828e-09 + ], + "angular_velocity": [ + -7.912144042165892e-07, + 9.957527709048009e-07, + 1.3100945750466053e-07 + ] + } + } + ], + "plate": [ + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_48_clear/Object.usd", + "pose": { + "pos": [ + 0.3406362533569336, + 1.1545524597167969, + 0.9179999828338623 + ], + "ori": [ + 0.02340545691549778, + -1.5232555217181698e-09, + -1.3337899673615539e-09, + 0.9997260570526123 + ], + "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": [ + 2.5291512883995892e-08, + -1.1853813930429169e-08, + 8.940696716308594e-08 + ], + "angular_velocity": [ + 2.8763469117620843e-07, + 1.4934829550838913e-06, + 1.1327571769470524e-07 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_384_white/Object.usd", + "pose": { + "pos": [ + -1.3374252319335938, + 1.0068674087524414, + 0.9180000424385071 + ], + "ori": [ + -0.5191733241081238, + -1.4055659391942754e-07, + 3.100062873073739e-09, + 0.8546690940856934 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 4.483130311427885e-08, + -5.2247155934992406e-08, + -5.666166543960571e-06 + ], + "angular_velocity": [ + 1.0457126336405054e-05, + 5.882086043129675e-06, + -3.866341558023123e-08 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_96_clear/Object.usd", + "pose": { + "pos": [ + 7.724761962890625e-05, + 0.4508857727050781, + 0.9180000424385071 + ], + "ori": [ + 0.9998106360435486, + -2.9423439240616744e-09, + -4.763621941350493e-09, + 0.019460929557681084 + ], + "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": [ + -1.7488744674665213e-08, + 1.1431284363538907e-08, + -5.6140124797821045e-06 + ], + "angular_velocity": [ + 3.7952027298615576e-08, + -1.1854465356009314e-06, + 1.232792641303604e-07 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/reservoir_12ch/Object.usd", + "pose": { + "pos": [ + 1.5946674346923828, + 1.0436334609985352, + 0.9179999828338623 + ], + "ori": [ + 0.4347521662712097, + -1.0126667504550824e-08, + -8.460867917392534e-08, + 0.9005501866340637 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 1.375401410541599e-07, + -3.971782902567611e-10, + -1.3969838619232178e-06 + ], + "angular_velocity": [ + -2.7051476081396686e-07, + 4.553973212750861e-06, + 2.8244684813216736e-07 + ] + } + } + ], + "deco_hub_west": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/hub_e.usd", + "pose": { + "pos": [ + -3.36, + 0.0, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_hub_east": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/hub_d.usd", + "pose": { + "pos": [ + 3.36, + 0.0, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_hub_back": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/hub_a.usd", + "pose": { + "pos": [ + -3.0, + -2.1, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_bench_east": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/bench_c.usd", + "pose": { + "pos": [ + 2.6, + -2.5, + 0.0 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_bench_gap": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/bench_b.usd", + "pose": { + "pos": [ + -0.1, + -2.9, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ] + } + ], + "devices": { + "hub": [ + null, + null, + null, + { + "t": 7.739999999999857, + "step": 1548, + "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": 0.16473195900441784, + "holds": [], + "station": "pick", + "rider": "carrier_3", + "arrived": true, + "settle_count": 1459, + "released": { + "pick": [] + }, + "last_pos": { + "carrier_1": [ + 0.1903739869594574, + 0.700003445148468, + 0.0 + ], + "carrier_2": [ + -1.4805368483066559, + 0.5546424984931946, + 0.0 + ], + "carrier_3": [ + -0.15790310502052307, + 3.635883331298828e-06, + 0.0 + ], + "carrier_4": [ + 1.4565969407558441, + 0.5866220593452454, + 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": [ + -0.517115847671373, + -0.039528558951895276, + 3.0595339295219364 + ], + "ori": [ + 14.629126983572803, + -7.61951022049912, + -15.768169064302146 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "color_temperature": 6856.365931559785, + "color": [ + 0.89354076913889, + 0.8148181941467391, + 0.947493863096694 + ], + "intensity": 4581.112130722637, + "width": 1.534952215658178, + "height": 0.8955684359602317 + } + }, + "key": { + "type": "disk", + "pose": { + "pos": [ + 0.7635202325158459, + 0.08565975341803767, + 2.1138055166507677 + ], + "ori": [ + 17.97239378264444, + -38.3164796204004, + -27.019255346593116 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "color_temperature": 3634.152416431948, + "color": [ + 0.9110162192464042, + 0.9106024246213532, + 0.9459676679863164 + ], + "intensity": 5228.54575593263, + "radius": 0.4124280695786332 + } + } + } + ], + "background": { + "type": "dome", + "pose": { + "pos": null, + "ori": null, + "scale": null + }, + "dr": { + "intensity": 1249.657576600681, + "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": [ + [ + 1.2490525245666504, + -1.4531238079071045, + 2.228182315826416, + -2.345355272293091, + -1.570275902748108, + 2.8193907737731934, + 0.017999961972236633, + 0.018000036478042603 + ], + [ + 1.3308848142623901, + -1.3090375661849976, + 2.2817931175231934, + -2.5481836795806885, + -1.5736520290374756, + 6.037944793701172, + 0.017891114577651024, + 0.017881179228425026 + ], + [ + 0.9141019582748413, + -1.7193981409072876, + 2.09049916267395, + -1.9419001340866089, + -1.5707999467849731, + 2.484900951385498, + 0.01799999736249447, + 0.018000001087784767 + ], + [ + 0.9141039848327637, + -1.7193959951400757, + 2.090498685836792, + -1.9419010877609253, + -1.5707999467849731, + 2.484901189804077, + 0.01799999736249447, + 0.018000001087784767 + ] + ], + "joint_vel": [ + [ + 0.00016159222286660224, + -0.01783367060124874, + -0.009480596520006657, + 0.026064643636345863, + -1.0385836048953934e-06, + 2.09435402211966e-05, + 7.648080099897925e-06, + -7.645878213224933e-06 + ], + [ + 1.0235536137770396e-05, + 1.0166640095121693e-05, + 2.0229272195138037e-05, + -2.0516530639724806e-05, + -1.019796673062956e-05, + -1.3651116205437575e-05, + 0.0016406809445470572, + 0.0017903924454003572 + ], + [ + -2.5547688874430043e-38, + 2.9534932314432163e-38, + 2.944577610093796e-38, + 6.970523120018533e-37, + -7.2375455870700985e-37, + 2.4908329073980888e-37, + 2.5990388508034812e-08, + -2.5990386731677972e-08 + ], + [ + -2.3185005776581292e-38, + 1.622712029478924e-38, + 0.0, + 4.606861299270359e-37, + 0.0, + 4.224048979592248e-37, + 2.5990386731677972e-08, + -2.5990388508034812e-08 + ] + ] + } + }, + "cameras": { + "cameras": { + "camera0": [ + [ + 0.050201188772916794, + -0.0005959352129139006, + -0.029620405286550522, + -0.28490039706230164, + 0.6370646953582764, + 0.6589341759681702, + -0.28068864345550537 + ], + [ + 0.05203945189714432, + -0.0012636114843189716, + -0.025695815682411194, + -0.2585107088088989, + 0.6607797741889954, + 0.6440428495407104, + -0.28592151403427124 + ], + [ + 0.050552573055028915, + -0.00043714456842280924, + -0.031534504145383835, + -0.28906819224357605, + 0.6421338319778442, + 0.6495851874351501, + -0.2866056561470032 + ], + [ + 0.05134877935051918, + -0.0004941136576235294, + -0.03181988000869751, + -0.27734488248825073, + 0.6487424373626709, + 0.6464884281158447, + -0.29028579592704773 + ] + ], + "camera1": [ + [ + 0.039092037826776505, + 0.6002618670463562, + 1.9584851264953613, + 0.049196187406778336, + 0.014766550622880459, + 0.2878482937812805, + 0.9562975764274597 + ], + [ + 0.045675620436668396, + 0.5731016993522644, + 1.9558402299880981, + 0.03427804633975029, + 0.021228360012173653, + 0.2824385464191437, + 0.9584376811981201 + ], + [ + 0.06036859750747681, + 0.5628668665885925, + 1.9272785186767578, + 0.03956973925232887, + 0.023556385189294815, + 0.25842297077178955, + 0.9649336338043213 + ], + [ + 0.048145078122615814, + 0.5594052076339722, + 1.9567277431488037, + 0.031931500881910324, + -0.002652175258845091, + 0.26376742124557495, + 0.9640539884567261 + ] + ] + } + } + } +} \ No newline at end of file diff --git a/episodes/c5_p005_e028/wrist.mp4 b/episodes/c5_p005_e028/wrist.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..ba1279ab0743e5dcead37ff65b7d743ccc84a24f --- /dev/null +++ b/episodes/c5_p005_e028/wrist.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:fb4c3d641ebe53eafe1773216781b1a76bc6e271f9e25575f3072badfda4a201 +size 7371189 diff --git a/episodes/c6_p006_e013/data.npz b/episodes/c6_p006_e013/data.npz new file mode 100644 index 0000000000000000000000000000000000000000..f003b14c78a8a943492531d50ed2093be151ca39 --- /dev/null +++ b/episodes/c6_p006_e013/data.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:ca59ea44d10f2b9bb45795d8e15fcad2c7f37997c91e124f0a6922611f033e1b +size 191069 diff --git a/episodes/c6_p006_e013/device_events.jsonl b/episodes/c6_p006_e013/device_events.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..9f04f5145fb14b0a1d0b37fd2af133b4956790aa --- /dev/null +++ b/episodes/c6_p006_e013/device_events.jsonl @@ -0,0 +1,41 @@ +{"env_id": 3, "seq": 1, "step": 222, "t": 1.11, "topic": "conveyor_1.belt.station.pick.captured", "source": "conveyor_1.belt", "data": {"rider": "carrier_4"}, "cause": null} +{"env_id": 3, "seq": 2, "step": 222, "t": 1.11, "topic": "conveyor_1.belt.state.changed", "source": "conveyor_1.belt", "data": {"from": "running", "to": "at_station"}, "cause": null} +{"env_id": 3, "seq": 3, "step": 227, "t": 1.135, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_4"}, "cause": null} +{"env_id": 3, "seq": 4, "step": 1469, "t": 7.345, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_4"}, "cause": null} +{"env_id": 3, "seq": 5, "step": 1482, "t": 7.41, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_4"}, "cause": null} +{"env_id": 3, "seq": 6, "step": 1500, "t": 7.5, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_4"}, "cause": null} +{"env_id": 3, "seq": 7, "step": 1525, "t": 7.625, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_4"}, "cause": null} +{"env_id": 3, "seq": 8, "step": 1556, "t": 7.78, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_4"}, "cause": null} +{"env_id": 3, "seq": 9, "step": 1576, "t": 7.88, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_4"}, "cause": null} +{"env_id": 3, "seq": 10, "step": 6363, "t": 31.815, "topic": "a4s_sealer_1.plate_present.present", "source": "a4s_sealer_1.plate_present", "data": {"object": "plate_4"}, "cause": null} +{"env_id": 3, "seq": 11, "step": 6976, "t": 34.88, "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": 12, "step": 6976, "t": 34.88, "topic": "a4s_sealer_1.seal.started", "source": "a4s_sealer_1", "data": {"dwell": 3.2776812078074937}, "cause": "task-3-1"} +{"env_id": 3, "seq": 13, "step": 6976, "t": 34.88, "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": 14, "step": 6976, "t": 34.88, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "at_out", "to": "moving"}, "cause": null} +{"env_id": 3, "seq": 15, "step": 6976, "t": 34.88, "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": 16, "step": 7395, "t": 36.975, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "moving", "to": "at_in"}, "cause": null} +{"env_id": 3, "seq": 17, "step": 7395, "t": 36.975, "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": 18, "step": 7395, "t": 36.975, "topic": "a4s_sealer_1.drawer.at_in", "source": "a4s_sealer_1.drawer", "data": {"q": 0.30000001192092896}, "cause": "program-3-2"} +{"env_id": 3, "seq": 19, "step": 7395, "t": 36.975, "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": 20, "step": 7395, "t": 36.975, "topic": "labware.plate_4.changed", "source": "labware.plate_4", "data": {"key": "sealed", "value": true}, "cause": "task-3-1"} +{"env_id": 3, "seq": 21, "step": 7395, "t": 36.975, "topic": "a4s_sealer_1.sealed", "source": "a4s_sealer_1", "data": {"plate": "plate_4"}, "cause": "task-3-1"} +{"env_id": 3, "seq": 22, "step": 7395, "t": 36.975, "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": 23, "step": 7395, "t": 36.975, "topic": "a4s_sealer_1.heater.state.changed", "source": "a4s_sealer_1.heater", "data": {"from": "ready", "to": "running"}, "cause": null} +{"env_id": 3, "seq": 24, "step": 7395, "t": 36.975, "topic": "a4s_sealer_1.heater.started", "source": "a4s_sealer_1.heater", "data": {"duration": 3.2776812078074937}, "cause": "program-3-3"} +{"env_id": 3, "seq": 25, "step": 8051, "t": 40.255, "topic": "a4s_sealer_1.heater.state.changed", "source": "a4s_sealer_1.heater", "data": {"from": "running", "to": "ready"}, "cause": null} +{"env_id": 3, "seq": 26, "step": 8051, "t": 40.255, "topic": "a4s_sealer_1.heater.finished", "source": "a4s_sealer_1.heater", "data": {"elapsed": 3.280000000001678}, "cause": "program-3-3"} +{"env_id": 3, "seq": 27, "step": 8051, "t": 40.255, "topic": "a4s_sealer_1.heater.command.succeeded", "source": "a4s_sealer_1.heater", "data": {"command_id": "program-3-3", "name": "run", "source": "program:seal", "result": {"elapsed": 3.280000000001678}}, "cause": "program-3-3"} +{"env_id": 3, "seq": 28, "step": 8051, "t": 40.255, "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": 29, "step": 8051, "t": 40.255, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "at_in", "to": "moving"}, "cause": null} +{"env_id": 3, "seq": 30, "step": 8051, "t": 40.255, "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": 31, "step": 8471, "t": 42.355, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "moving", "to": "at_out"}, "cause": null} +{"env_id": 3, "seq": 32, "step": 8471, "t": 42.355, "topic": "a4s_sealer_1.drawer.reached", "source": "a4s_sealer_1.drawer", "data": {"position": "out", "q": 1.3681628274753166e-08}, "cause": "program-3-4"} +{"env_id": 3, "seq": 33, "step": 8471, "t": 42.355, "topic": "a4s_sealer_1.drawer.at_out", "source": "a4s_sealer_1.drawer", "data": {"q": 1.3681628274753166e-08}, "cause": "program-3-4"} +{"env_id": 3, "seq": 34, "step": 8471, "t": 42.355, "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": 35, "step": 8471, "t": 42.355, "topic": "a4s_sealer_1.seal.finished", "source": "a4s_sealer_1", "data": {}, "cause": "task-3-1"} +{"env_id": 3, "seq": 36, "step": 8471, "t": 42.355, "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": 37, "step": 9050, "t": 45.25, "topic": "a4s_sealer_1.plate_present.absent", "source": "a4s_sealer_1.plate_present", "data": {"object": "plate_4"}, "cause": null} +{"env_id": 3, "seq": 38, "step": 10848, "t": 54.24, "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": 39, "step": 10848, "t": 54.24, "topic": "conveyor_1.belt.station.pick.released", "source": "conveyor_1.belt", "data": {"rider": "carrier_4"}, "cause": "task-3-5"} +{"env_id": 3, "seq": 40, "step": 10848, "t": 54.24, "topic": "conveyor_1.belt.state.changed", "source": "conveyor_1.belt", "data": {"from": "at_station", "to": "running"}, "cause": null} +{"env_id": 3, "seq": 41, "step": 10848, "t": 54.24, "topic": "conveyor_1.belt.command.succeeded", "source": "conveyor_1.belt", "data": {"command_id": "task-3-5", "name": "release", "source": "task", "result": {"state": "running"}}, "cause": "task-3-5"} diff --git a/episodes/c6_p006_e013/env.mp4 b/episodes/c6_p006_e013/env.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..61769b0cd0317214c6033ecf938b3362b501a96b --- /dev/null +++ b/episodes/c6_p006_e013/env.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:af86d71b7648bc0fe3f436e13418477024cf21e7c8c08adabaaa3b73c43494cd +size 1238470 diff --git a/episodes/c6_p006_e013/meta.json b/episodes/c6_p006_e013/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..4cd527831a964501927f8c66e07ae46127ce7db1 --- /dev/null +++ b/episodes/c6_p006_e013/meta.json @@ -0,0 +1,32 @@ +{ + "source": "raw/c6_p006/magicsim/13", + "fps": 25, + "frames": 1229, + "kept_ticks": "even", + "video_frames": { + "wrist": 1229, + "env": 1229 + }, + "joint_target_source": "joint_pos_target", + "fk_vs_recorded_eef_max_m": 0.0, + "curobo_joints": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "joint_order": [ + "shoulder_pan", + "shoulder_lift", + "elbow", + "wrist_1", + "wrist_2", + "wrist_3", + "finger_left", + "finger_right" + ], + "frames_note": "eef / actions in the robot base frame; camera_pose = local pose (wrist: in plate_gripper_base, env: env frame), pos + quat wxyz", + "dr_version": "v2" +} \ No newline at end of file diff --git a/episodes/c6_p006_e013/scene_snapshot.json b/episodes/c6_p006_e013/scene_snapshot.json new file mode 100644 index 0000000000000000000000000000000000000000..1f5b8beb13f5e0e962b76d52e1dc15bc3beed8d4 --- /dev/null +++ b/episodes/c6_p006_e013/scene_snapshot.json @@ -0,0 +1,1558 @@ +{ + "trajectory_id": 13, + "env_id": 3, + "run_id": "c6_p006", + "task_type": "BioPlateCell", + "success": true, + "timing": { + "fps": 50.0, + "sim_dt": 0.005, + "decimation": 4 + }, + "restore_interface": { + "scene": "scene_manager.reset_to(snapshot['scene'], env_ids=[env_id])", + "robots": "robot_manager.set_state({'robots': snapshot['robots']}, env_ids=[env_id])" + }, + "snapshot": { + "env_id": 3, + "scene": { + "objects": [ + {}, + {}, + {}, + { + "rac_cell": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/rac_cell.usd", + "pose": { + "pos": [ + 0.0, + 0.0, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "physics_material": { + "static_friction": 0.6, + "dynamic_friction": 0.5, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "robot_mount": [ + { + "asset": "Cube", + "pose": { + "pos": [ + 0.0, + 0.0, + 0.9075 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": "color", + "value": [ + 0.55, + 0.56, + 0.58 + ], + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": { + "size": [ + 0.2, + 0.2, + 0.015 + ] + } + }, + "type_specific": {} + } + ], + "plate_rack": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/plate_hotel.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 0.9 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "physics_material": { + "static_friction": 0.6, + "dynamic_friction": 0.5, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "hotel_plate": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/pcr_384_red/pcr_384_red.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 0.9605 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/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": "$MAGICSIM_ASSETS/Bio/CAD/plates/deep_well_96_2ml/deep_well_96_2ml.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.0965 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_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": "$MAGICSIM_ASSETS/Bio/CAD/plates/deep_well_96_2ml/deep_well_96_2ml.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.2325 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "a4s_sealer": [ + { + "asset": "$MAGICSIM_ASSETS/Articulated/A4SSealer/Object.usd", + "pose": { + "pos": [ + 0.4729146957397461, + 0.0952615737915039, + 0.8999999761581421 + ], + "ori": [ + -0.6847528219223022, + 0.0, + 0.0, + 0.7287753820419312 + ], + "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": 0.18684360525804555, + "direction": [ + 1.0, + 0.0, + 0.0 + ], + "enabled": true, + "drive": "surface_velocity", + "lines": null, + "station_line": null, + "riders": [ + "carrier" + ], + "stations": { + "pick": { + "position": -0.19397714351112766, + "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": 0.18684360525804555, + "holds": [], + "station": "pick", + "rider": "carrier_4", + "arrived": true, + "applied_speed": 0.0 + } + } + } + ], + "carrier": [ + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + 0.5543279647827148, + 1.1526670455932617, + 0.8999999761581421 + ], + "ori": [ + -0.010054459795355797, + 5.8094498101013414e-09, + 1.5178194701093162e-08, + 0.9999495148658752 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -2.829007694771235e-09, + -5.336140418421564e-09, + 1.862645149230957e-08 + ], + "angular_velocity": [ + 2.1307101860656985e-07, + -2.252838697813786e-07, + -7.380082678309918e-08 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + 1.691472053527832, + 0.7365617752075195, + 0.8999999761581421 + ], + "ori": [ + 0.7716280817985535, + -6.002089492085361e-08, + 4.5066855136610684e-08, + 0.6360740661621094 + ], + "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": [ + 3.2259757176689163e-07, + 1.1213827519895858e-06, + -2.7455389499664307e-06 + ], + "angular_velocity": [ + -9.382871212437749e-05, + 2.2966130927670747e-05, + 8.387382877117489e-07 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + -1.3677349090576172, + 0.6588935852050781, + 0.8999999761581421 + ], + "ori": [ + -0.8348687291145325, + -1.3407364463091653e-07, + -6.074328950944619e-08, + 0.5504491925239563 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 3.1666814948039246e-08, + 8.530030015663215e-09, + 3.3527612686157227e-08 + ], + "angular_velocity": [ + 1.6058419305409188e-07, + 5.657039423567767e-07, + -3.055132253848569e-07 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + -0.043609619140625, + 0.4471731185913086, + 0.8999999761581421 + ], + "ori": [ + 0.999956488609314, + 1.8481800534431159e-09, + -2.420594835683687e-09, + 0.009329861029982567 + ], + "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": [ + -1.0763179236761289e-09, + 1.3587715397278544e-09, + 7.450580596923828e-09 + ], + "angular_velocity": [ + -5.113669487855077e-08, + -1.0092729496591346e-07, + 6.401141838807689e-10 + ] + } + } + ], + "plate": [ + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_48_clear/Object.usd", + "pose": { + "pos": [ + 0.5599517822265625, + 1.1538467407226562, + 0.9179999828338623 + ], + "ori": [ + 0.06976190954446793, + 5.6819042804079345e-09, + 1.4944978588005142e-08, + 0.9975636601448059 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -3.2674396521770177e-09, + -3.9590489109286864e-08, + 2.1979212760925293e-07 + ], + "angular_velocity": [ + 1.5825320076601201e-07, + 1.7965530787478201e-06, + -2.0484071683313232e-07 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_384_white/Object.usd", + "pose": { + "pos": [ + 1.696371078491211, + 0.7269096374511719, + 0.9179999828338623 + ], + "ori": [ + 0.7904542684555054, + -6.371773508817569e-08, + 3.670686510304222e-08, + 0.6125211119651794 + ], + "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": [ + 5.471752615449077e-07, + 2.254965693282429e-06, + -1.8812716007232666e-06 + ], + "angular_velocity": [ + -9.2915644927416e-05, + 2.2178393919602968e-05, + 1.1092650993305142e-06 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_96_clear/Object.usd", + "pose": { + "pos": [ + -1.3552742004394531, + 0.6533403396606445, + 0.9180000424385071 + ], + "ori": [ + -0.7807574272155762, + -3.6096957956033293e-07, + 1.1744317518491698e-08, + 0.6248341798782349 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 3.037865553778829e-06, + 1.4546367310686037e-06, + -6.3478946685791016e-06 + ], + "angular_velocity": [ + 3.114029095740989e-05, + -2.2749196432414465e-05, + 4.221018389216624e-05 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/reservoir_12ch/Object.usd", + "pose": { + "pos": [ + -0.037689208984375, + 0.43552207946777344, + 0.9179999828338623 + ], + "ori": [ + 0.9994335770606995, + 3.855702424004903e-09, + -3.110222079882874e-09, + 0.03365349769592285 + ], + "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": [ + -5.196783803285143e-08, + 3.88679417540061e-08, + -2.8796494007110596e-06 + ], + "angular_velocity": [ + -1.0763873206087737e-06, + -1.694429215604032e-06, + 1.5929424534988357e-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": 5.319999999999909, + "step": 1064, + "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": 0.18684360525804555, + "holds": [], + "station": "pick", + "rider": "carrier_4", + "arrived": true, + "settle_count": 841, + "released": { + "pick": [] + }, + "last_pos": { + "carrier_1": [ + 0.40432795882225037, + 0.7026670575141907, + 0.0 + ], + "carrier_2": [ + 1.5414720475673676, + 0.2865617871284485, + 0.0 + ], + "carrier_3": [ + -1.5177349150180817, + 0.20889359712600708, + 0.0 + ], + "carrier_4": [ + -0.19360962510108948, + -0.002826869487762451, + 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": [ + 0.7154329694647398, + -0.49399901752568165, + 2.9807725838033967 + ], + "ori": [ + 4.901835501807124, + -9.24182014057287, + 21.04662367486413 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "color_temperature": 6216.226414870069, + "color": [ + 0.9661763290272647, + 0.8884316885019764, + 0.9772865793802893 + ], + "intensity": 9980.071579474597, + "width": 2.7593845029335657, + "height": 1.0119983983375807 + } + }, + "key": { + "type": "disk", + "pose": { + "pos": [ + -0.7874235627664167, + -1.17730349972421, + 1.8552129768977594 + ], + "ori": [ + 11.902573273367878, + 13.447508622333892, + 13.31714210939392 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "color_temperature": 7083.7353041408105, + "color": [ + 0.9185062398695099, + 0.9355109513563105, + 0.9525972782477679 + ], + "intensity": 7202.853973740113, + "radius": 0.38978253364823323 + } + } + } + ], + "background": { + "type": "dome", + "pose": { + "pos": null, + "ori": null, + "scale": null + }, + "dr": { + "intensity": 1180.5338958230868, + "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": [ + [ + 0.9141008853912354, + -1.719398021697998, + 2.090498447418213, + -1.9419000148773193, + -1.5707999467849731, + 2.4849002361297607, + 0.017999999225139618, + 0.017999999225139618 + ], + [ + 2.415743350982666, + -2.238250970840454, + 2.093423843383789, + -1.4257471561431885, + -1.5708662271499634, + 4.158266544342041, + 0.0073663340881466866, + 0.006449875887483358 + ], + [ + 1.2743175029754639, + -1.4485288858413696, + 2.069326877593994, + -2.1915574073791504, + -1.5707963705062866, + 2.6399948596954346, + 0.0180000439286232, + 0.017999954521656036 + ], + [ + 0.9141026735305786, + -1.719398021697998, + 2.0904994010925293, + -1.9419004917144775, + -1.5707999467849731, + 2.484900951385498, + 0.01799999736249447, + 0.018000001087784767 + ] + ], + "joint_vel": [ + [ + 2.3268475520907264e-38, + -1.8995121966951624e-38, + 1.933693229356359e-38, + -3.617875738310127e-37, + 3.4074430842341008e-37, + -2.2859433416314228e-36, + 8.125157854004759e-38, + -3.463318122888957e-38 + ], + [ + -0.04226814955472946, + 0.0016426583752036095, + 0.00597594678401947, + -0.006549533922225237, + 0.0019190182210877538, + -0.00024373875930905342, + -0.009183468297123909, + 5.6376695283688605e-05 + ], + [ + -0.00010684465814847499, + 0.011584065854549408, + 0.00940579641610384, + -0.019809652119874954, + -7.127630851755384e-06, + -1.3970156942377798e-05, + -5.429982593341265e-06, + 5.431397312349873e-06 + ], + [ + 0.0, + 2.95577286378498e-38, + 2.8149743177253224e-38, + 4.364177929193712e-37, + -6.871084738912501e-37, + -1.0876458290549933e-37, + 2.5990388508034812e-08, + -2.5990388508034812e-08 + ] + ] + } + }, + "cameras": { + "cameras": { + "camera0": [ + [ + 0.04891638085246086, + 0.0015287452843040228, + -0.029909735545516014, + -0.2831200659275055, + 0.6527854800224304, + 0.6360076069831848, + -0.29867786169052124 + ], + [ + 0.04776987060904503, + -0.0032663692254573107, + -0.028862223029136658, + -0.278157502412796, + 0.6493729948997498, + 0.655853807926178, + -0.2660806179046631 + ], + [ + 0.05027232691645622, + 0.001747820875607431, + -0.029368694871664047, + -0.2698904871940613, + 0.6530929207801819, + 0.6521148085594177, + -0.2745451033115387 + ], + [ + 0.05206375941634178, + -0.0037827726919203997, + -0.03062446415424347, + -0.2678726017475128, + 0.6517271995544434, + 0.6528105735778809, + -0.2780904769897461 + ] + ], + "camera1": [ + [ + 0.03674974665045738, + 0.5851085186004639, + 1.9346781969070435, + 0.045798689126968384, + -0.006981162820011377, + 0.2795746624469757, + 0.95900559425354 + ], + [ + 0.04018784686923027, + 0.5724228620529175, + 1.9565013647079468, + 0.05198507383465767, + 0.017277255654335022, + 0.28327345848083496, + 0.9574733376502991 + ], + [ + 0.06661426275968552, + 0.5846208930015564, + 1.9744230508804321, + 0.04873250052332878, + 0.021695077419281006, + 0.2820160388946533, + 0.95792555809021 + ], + [ + 0.07112302631139755, + 0.5919812917709351, + 1.9341086149215698, + 0.03784290328621864, + 0.03033803217113018, + 0.2624284625053406, + 0.9637317061424255 + ] + ] + } + } + } +} \ No newline at end of file diff --git a/episodes/c6_p006_e013/wrist.mp4 b/episodes/c6_p006_e013/wrist.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..898e90f911bc847794dbb2570a35a1e5cd2e2fa3 --- /dev/null +++ b/episodes/c6_p006_e013/wrist.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:3742886f9d2d24b1b37087c924729b46db70ae08f7b4507d39e4909d48ad684b +size 6140622 diff --git a/episodes/c6_p006_e014/data.npz b/episodes/c6_p006_e014/data.npz new file mode 100644 index 0000000000000000000000000000000000000000..6224ca2778515b9a536d3fc9bf66214def471a5e --- /dev/null +++ b/episodes/c6_p006_e014/data.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:59f8b8a531fd1f5b62f9bbff02c18c19644594e8bfa0715deef637fdd567bdc3 +size 191999 diff --git a/episodes/c6_p006_e014/device_events.jsonl b/episodes/c6_p006_e014/device_events.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..9ad01db6af83c990f53f320bb81ea05a3653da05 --- /dev/null +++ b/episodes/c6_p006_e014/device_events.jsonl @@ -0,0 +1,38 @@ +{"env_id": 2, "seq": 1, "step": 55, "t": 0.275, "topic": "conveyor_1.belt.station.pick.captured", "source": "conveyor_1.belt", "data": {"rider": "carrier_4"}, "cause": null} +{"env_id": 2, "seq": 2, "step": 55, "t": 0.275, "topic": "conveyor_1.belt.state.changed", "source": "conveyor_1.belt", "data": {"from": "running", "to": "at_station"}, "cause": null} +{"env_id": 2, "seq": 3, "step": 60, "t": 0.3, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_4"}, "cause": null} +{"env_id": 2, "seq": 4, "step": 1448, "t": 7.24, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_4"}, "cause": null} +{"env_id": 2, "seq": 5, "step": 1467, "t": 7.335, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_4"}, "cause": null} +{"env_id": 2, "seq": 6, "step": 1489, "t": 7.445, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_4"}, "cause": null} +{"env_id": 2, "seq": 7, "step": 6435, "t": 32.175, "topic": "a4s_sealer_1.plate_present.present", "source": "a4s_sealer_1.plate_present", "data": {"object": "plate_4"}, "cause": null} +{"env_id": 2, "seq": 8, "step": 7048, "t": 35.24, "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": 9, "step": 7048, "t": 35.24, "topic": "a4s_sealer_1.seal.started", "source": "a4s_sealer_1", "data": {"dwell": 4.247149030852814}, "cause": "task-2-1"} +{"env_id": 2, "seq": 10, "step": 7048, "t": 35.24, "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": 11, "step": 7048, "t": 35.24, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "at_out", "to": "moving"}, "cause": null} +{"env_id": 2, "seq": 12, "step": 7048, "t": 35.24, "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": 13, "step": 7467, "t": 37.335, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "moving", "to": "at_in"}, "cause": null} +{"env_id": 2, "seq": 14, "step": 7467, "t": 37.335, "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": 15, "step": 7467, "t": 37.335, "topic": "a4s_sealer_1.drawer.at_in", "source": "a4s_sealer_1.drawer", "data": {"q": 0.30000001192092896}, "cause": "program-2-2"} +{"env_id": 2, "seq": 16, "step": 7467, "t": 37.335, "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": 17, "step": 7467, "t": 37.335, "topic": "labware.plate_4.changed", "source": "labware.plate_4", "data": {"key": "sealed", "value": true}, "cause": "task-2-1"} +{"env_id": 2, "seq": 18, "step": 7467, "t": 37.335, "topic": "a4s_sealer_1.sealed", "source": "a4s_sealer_1", "data": {"plate": "plate_4"}, "cause": "task-2-1"} +{"env_id": 2, "seq": 19, "step": 7467, "t": 37.335, "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": 20, "step": 7467, "t": 37.335, "topic": "a4s_sealer_1.heater.state.changed", "source": "a4s_sealer_1.heater", "data": {"from": "ready", "to": "running"}, "cause": null} +{"env_id": 2, "seq": 21, "step": 7467, "t": 37.335, "topic": "a4s_sealer_1.heater.started", "source": "a4s_sealer_1.heater", "data": {"duration": 4.247149030852814}, "cause": "program-2-3"} +{"env_id": 2, "seq": 22, "step": 8317, "t": 41.585, "topic": "a4s_sealer_1.heater.state.changed", "source": "a4s_sealer_1.heater", "data": {"from": "running", "to": "ready"}, "cause": null} +{"env_id": 2, "seq": 23, "step": 8317, "t": 41.585, "topic": "a4s_sealer_1.heater.finished", "source": "a4s_sealer_1.heater", "data": {"elapsed": 4.250000000002174}, "cause": "program-2-3"} +{"env_id": 2, "seq": 24, "step": 8317, "t": 41.585, "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": 4.250000000002174}}, "cause": "program-2-3"} +{"env_id": 2, "seq": 25, "step": 8317, "t": 41.585, "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": 26, "step": 8317, "t": 41.585, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "at_in", "to": "moving"}, "cause": null} +{"env_id": 2, "seq": 27, "step": 8317, "t": 41.585, "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": 28, "step": 8737, "t": 43.685, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "moving", "to": "at_out"}, "cause": null} +{"env_id": 2, "seq": 29, "step": 8737, "t": 43.685, "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": 30, "step": 8737, "t": 43.685, "topic": "a4s_sealer_1.drawer.at_out", "source": "a4s_sealer_1.drawer", "data": {"q": 0.0}, "cause": "program-2-4"} +{"env_id": 2, "seq": 31, "step": 8737, "t": 43.685, "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": 32, "step": 8737, "t": 43.685, "topic": "a4s_sealer_1.seal.finished", "source": "a4s_sealer_1", "data": {}, "cause": "task-2-1"} +{"env_id": 2, "seq": 33, "step": 8737, "t": 43.685, "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": 34, "step": 9319, "t": 46.595, "topic": "a4s_sealer_1.plate_present.absent", "source": "a4s_sealer_1.plate_present", "data": {"object": "plate_4"}, "cause": null} +{"env_id": 2, "seq": 35, "step": 11040, "t": 55.2, "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": 36, "step": 11040, "t": 55.2, "topic": "conveyor_1.belt.station.pick.released", "source": "conveyor_1.belt", "data": {"rider": "carrier_4"}, "cause": "task-2-5"} +{"env_id": 2, "seq": 37, "step": 11040, "t": 55.2, "topic": "conveyor_1.belt.state.changed", "source": "conveyor_1.belt", "data": {"from": "at_station", "to": "running"}, "cause": null} +{"env_id": 2, "seq": 38, "step": 11040, "t": 55.2, "topic": "conveyor_1.belt.command.succeeded", "source": "conveyor_1.belt", "data": {"command_id": "task-2-5", "name": "release", "source": "task", "result": {"state": "running"}}, "cause": "task-2-5"} diff --git a/episodes/c6_p006_e014/env.mp4 b/episodes/c6_p006_e014/env.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..8ca29fa3bb0fe5a3af9c5d5e67810314395ae284 --- /dev/null +++ b/episodes/c6_p006_e014/env.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:b774928444adefcc6251fb2660302809ab3e24b3970ae62e3ef81b612f30bcb7 +size 1245023 diff --git a/episodes/c6_p006_e014/meta.json b/episodes/c6_p006_e014/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..36404117b0c7726ee048837ed8bc1ad404a57e74 --- /dev/null +++ b/episodes/c6_p006_e014/meta.json @@ -0,0 +1,32 @@ +{ + "source": "raw/c6_p006/magicsim/14", + "fps": 25, + "frames": 1267, + "kept_ticks": "even", + "video_frames": { + "wrist": 1267, + "env": 1267 + }, + "joint_target_source": "joint_pos_target", + "fk_vs_recorded_eef_max_m": 0.0, + "curobo_joints": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "joint_order": [ + "shoulder_pan", + "shoulder_lift", + "elbow", + "wrist_1", + "wrist_2", + "wrist_3", + "finger_left", + "finger_right" + ], + "frames_note": "eef / actions in the robot base frame; camera_pose = local pose (wrist: in plate_gripper_base, env: env frame), pos + quat wxyz", + "dr_version": "v2" +} \ No newline at end of file diff --git a/episodes/c6_p006_e014/scene_snapshot.json b/episodes/c6_p006_e014/scene_snapshot.json new file mode 100644 index 0000000000000000000000000000000000000000..a952e8e3c3e4be38cbabffe9b2737d2f2bcac8da --- /dev/null +++ b/episodes/c6_p006_e014/scene_snapshot.json @@ -0,0 +1,1558 @@ +{ + "trajectory_id": 14, + "env_id": 2, + "run_id": "c6_p006", + "task_type": "BioPlateCell", + "success": true, + "timing": { + "fps": 50.0, + "sim_dt": 0.005, + "decimation": 4 + }, + "restore_interface": { + "scene": "scene_manager.reset_to(snapshot['scene'], env_ids=[env_id])", + "robots": "robot_manager.set_state({'robots': snapshot['robots']}, env_ids=[env_id])" + }, + "snapshot": { + "env_id": 2, + "scene": { + "objects": [ + {}, + {}, + { + "rac_cell": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/rac_cell.usd", + "pose": { + "pos": [ + 0.0, + 0.0, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "physics_material": { + "static_friction": 0.6, + "dynamic_friction": 0.5, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "robot_mount": [ + { + "asset": "Cube", + "pose": { + "pos": [ + 0.0, + 0.0, + 0.9075 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": "color", + "value": [ + 0.55, + 0.56, + 0.58 + ], + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": { + "size": [ + 0.2, + 0.2, + 0.015 + ] + } + }, + "type_specific": {} + } + ], + "plate_rack": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/plate_hotel.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 0.9 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "physics_material": { + "static_friction": 0.6, + "dynamic_friction": 0.5, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "hotel_plate": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_6_clear/plate_6_clear.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 0.9605 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_6_clear/plate_6_clear.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.0285 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$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": "$MAGICSIM_ASSETS/Bio/CAD/plates/deep_well_96_2ml/deep_well_96_2ml.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.1645 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/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": [ + 0.5113554000854492, + 0.10975074768066406, + 0.8999999761581421 + ], + "ori": [ + -0.6963415741920471, + 0.0, + 0.0, + 0.717710554599762 + ], + "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": [ + 2.3549179099802142e-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": 0.19385623708522248, + "direction": [ + 1.0, + 0.0, + 0.0 + ], + "enabled": true, + "drive": "surface_velocity", + "lines": null, + "station_line": null, + "riders": [ + "carrier" + ], + "stations": { + "pick": { + "position": -0.27439409986879376, + "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": 0.19385623708522248, + "holds": [], + "station": "pick", + "rider": "carrier_4", + "arrived": true, + "applied_speed": 0.0 + } + } + } + ], + "carrier": [ + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + 0.21136188507080078, + 1.149998664855957, + 0.8999999761581421 + ], + "ori": [ + 1.3384791600401513e-05, + 1.380752578938882e-08, + 4.4254924169706555e-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": [ + -1.2761955936468894e-09, + -7.647127375776108e-11, + 7.450580596923828e-09 + ], + "angular_velocity": [ + -4.964256561379443e-09, + -1.227577399731672e-07, + -5.680084846915179e-09 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + 1.681300163269043, + 0.909480094909668, + 0.8999999761581421 + ], + "ori": [ + 0.5870440006256104, + -2.1447768006055412e-08, + 6.575179867240877e-08, + 0.8095551133155823 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 2.0204435902115847e-09, + -8.942666052114134e-10, + 7.450580596923828e-09 + ], + "angular_velocity": [ + 1.2143605943037983e-07, + 8.285889663284252e-08, + -2.0241058606984552e-08 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + -1.0786008834838867, + 1.1460533142089844, + 0.8999999761581421 + ], + "ori": [ + -0.03926226496696472, + 2.346842897793522e-08, + 1.9040125920355422e-08, + 0.9992290139198303 + ], + "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": [ + 1.2999279430658817e-10, + -2.7055657714214476e-09, + 3.725290298461914e-09 + ], + "angular_velocity": [ + 1.0014447582307184e-07, + 8.030089482247149e-09, + -1.49382319847291e-08 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + -0.12415599822998047, + 0.4499969482421875, + 0.8999999761581421 + ], + "ori": [ + 1.0, + -1.0621952206690821e-09, + 1.7008169317378474e-09, + 4.9974219109572005e-06 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 2.6413093934252174e-09, + 2.418729216913107e-09, + 1.862645149230957e-08 + ], + "angular_velocity": [ + -1.5271969289187837e-07, + 2.5164823114209867e-07, + -1.957583961598175e-08 + ] + } + } + ], + "plate": [ + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_24_clear/Object.usd", + "pose": { + "pos": [ + 0.21755123138427734, + 1.1417436599731445, + 0.9179999828338623 + ], + "ori": [ + 0.09239842742681503, + 1.3128235387682707e-08, + 6.610368252779608e-09, + 0.9957221746444702 + ], + "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": [ + 1.405311778057694e-08, + 1.263908266935232e-08, + 1.4156103134155273e-07 + ], + "angular_velocity": [ + -9.121961852542881e-07, + 1.9864842215611134e-06, + -5.342032238786487e-08 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_384_black/Object.usd", + "pose": { + "pos": [ + 1.6776819229125977, + 0.901942253112793, + 0.9180000424385071 + ], + "ori": [ + 0.6046196222305298, + -2.406333443616404e-08, + 6.542283159660656e-08, + 0.7965144515037537 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 4.175589296551152e-08, + -7.082287112325503e-08, + -5.707144737243652e-06 + ], + "angular_velocity": [ + 2.351363718844368e-06, + 2.7477010462462204e-06, + 1.026868119424762e-07 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_1536_black/Object.usd", + "pose": { + "pos": [ + -1.077183723449707, + 1.1432437896728516, + 0.9180000424385071 + ], + "ori": [ + -0.014979968778789043, + 2.3173935659315248e-08, + 1.9384810201472646e-08, + 0.9998878240585327 + ], + "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": [ + 1.803221927332288e-08, + -1.7000896690433365e-08, + -5.953013896942139e-06 + ], + "angular_velocity": [ + -4.5150557070883224e-07, + 1.69357156210026e-06, + 7.565462567526993e-08 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/deep_well_24_10ml/Object.usd", + "pose": { + "pos": [ + -0.12728309631347656, + 0.46040821075439453, + 0.9179999828338623 + ], + "ori": [ + 0.9947329163551331, + 1.5434320488338926e-10, + 1.3413928856564894e-09, + 0.10250096023082733 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -2.4130555331680625e-08, + -1.893353029913669e-08, + -1.0170042514801025e-06 + ], + "angular_velocity": [ + 1.7813986232795287e-06, + -2.3357649752142606e-06, + -1.2773382707109704e-07 + ] + } + } + ], + "deco_hub_west": [ + { + "asset": "$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": 4.759999999999921, + "step": 952, + "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": 2.3549179099802142e-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": 0.19385623708522248, + "holds": [], + "station": "pick", + "rider": "carrier_4", + "arrived": true, + "settle_count": 896, + "released": { + "pick": [] + }, + "last_pos": { + "carrier_1": [ + 0.061361879110336304, + 0.699998676776886, + 0.0 + ], + "carrier_2": [ + 1.5313001573085785, + 0.4594801068305969, + 0.0 + ], + "carrier_3": [ + -1.2286008894443512, + 0.6960533261299133, + 0.0 + ], + "carrier_4": [ + -0.27415600419044495, + -3.039836883544922e-06, + 0.0 + ] + }, + "command": 0.0 + }, + "belt": { + "target_speed": 0.0, + "command_speed": 0.0 + }, + "seen": { + "state": "at_station", + "station": "pick", + "rider": "carrier_4", + "arrived": true + } + } + }, + "queues": {}, + "program": null, + "sensors": {}, + "interlocks": {} + } + }, + "zones": {}, + "labware": { + "plate_1": { + "sealed": false + }, + "plate_2": { + "sealed": false + }, + "plate_3": { + "sealed": false + }, + "plate_4": { + "sealed": false + } + }, + "rules": {}, + "records": [], + "bus": { + "seq": 3, + "queue": [] + } + }, + null + ], + "drives": [ + null, + null, + {}, + null + ] + }, + "artifacts": [ + {}, + {}, + { + "ceiling": { + "type": "rect", + "pose": { + "pos": [ + 0.30151935444417177, + 0.11923065598608484, + 3.0806777296560206 + ], + "ori": [ + -7.722596499276412, + 6.748890204598219, + -25.57507786509133 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "color_temperature": 6394.340609425035, + "color": [ + 0.8378366761228987, + 0.8776507220004679, + 0.8971902738686238 + ], + "intensity": 5940.838190827848, + "width": 1.5455980616578628, + "height": 1.026767322117367 + } + }, + "key": { + "type": "disk", + "pose": { + "pos": [ + -0.3216843313214801, + -0.3817082521774532, + 1.8097333522253927 + ], + "ori": [ + 15.912424129432985, + 35.261956569216636, + -4.600744356241947 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "color_temperature": 5139.94465057434, + "color": [ + 0.8443810309359556, + 0.9567113916528929, + 0.8581903274443552 + ], + "intensity": 6945.341285181134, + "radius": 0.4197469353235034 + } + } + }, + {} + ], + "background": { + "type": "dome", + "pose": { + "pos": null, + "ori": null, + "scale": null + }, + "dr": { + "intensity": 1180.5338958230868, + "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": [ + [ + 0.9141008853912354, + -1.719398021697998, + 2.090498447418213, + -1.9419000148773193, + -1.5707999467849731, + 2.4849002361297607, + 0.017999999225139618, + 0.017999999225139618 + ], + [ + 2.5531227588653564, + -2.2389910221099854, + 2.073709726333618, + -1.4055100679397583, + -1.5708354711532593, + 4.1428937911987305, + 0.007253969553858042, + 0.006585738155990839 + ], + [ + 0.9140999913215637, + -1.7194000482559204, + 2.0905001163482666, + -1.9419000148773193, + -1.5707999467849731, + 2.4848999977111816, + 0.017999999225139618, + 0.017999999225139618 + ], + [ + 0.9141018986701965, + -1.719398021697998, + 2.0904994010925293, + -1.9419004917144775, + -1.5707999467849731, + 2.484900951385498, + 0.01799999736249447, + 0.018000001087784767 + ] + ], + "joint_vel": [ + [ + 2.3268475520907264e-38, + -1.8995121966951624e-38, + 1.933693229356359e-38, + -3.617875738310127e-37, + 3.4074430842341008e-37, + -2.2859433416314228e-36, + 8.125157854004759e-38, + -3.463318122888957e-38 + ], + [ + 4.0226565033663064e-05, + 2.174214387196116e-06, + -0.00010090780415339395, + 5.9747035265900195e-05, + 0.000647739798296243, + -0.0018673797603696585, + -0.00888338964432478, + 0.0001488587586209178 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + [ + -2.6698219373370077e-38, + 2.8536893916976884e-38, + 1.7556246283007473e-38, + 3.319218678166736e-37, + -7.554584319949117e-37, + 1.961802603927452e-37, + 2.5990388508034812e-08, + -2.5990388508034812e-08 + ] + ] + } + }, + "cameras": { + "cameras": { + "camera0": [ + [ + 0.048000022768974304, + 0.0003733419580385089, + -0.02856559120118618, + -0.2778345048427582, + 0.6540836691856384, + 0.6367509365081787, + -0.2992169260978699 + ], + [ + 0.04550010338425636, + -0.002899802988395095, + -0.027170272544026375, + -0.27736687660217285, + 0.6482709646224976, + 0.657246470451355, + -0.2661568522453308 + ], + [ + 0.05130228400230408, + 0.0006530878017656505, + -0.029958687722682953, + -0.2746366858482361, + 0.6568173170089722, + 0.6486262083053589, + -0.26916491985321045 + ], + [ + 0.052162885665893555, + -0.001661995891481638, + -0.03126097470521927, + -0.2686852514743805, + 0.6523076891899109, + 0.6515258550643921, + -0.27895689010620117 + ] + ], + "camera1": [ + [ + 0.03674974665045738, + 0.5851085186004639, + 1.9346781969070435, + 0.045798689126968384, + -0.006981162820011377, + 0.2795746624469757, + 0.95900559425354 + ], + [ + 0.04018784686923027, + 0.5724228620529175, + 1.9565013647079468, + 0.05198507383465767, + 0.017277255654335022, + 0.28327345848083496, + 0.9574733376502991 + ], + [ + 0.06661426275968552, + 0.5846208930015564, + 1.9744230508804321, + 0.04873250052332878, + 0.021695077419281006, + 0.2820160388946533, + 0.95792555809021 + ], + [ + 0.07112302631139755, + 0.5919812917709351, + 1.9341086149215698, + 0.03784290328621864, + 0.03033803217113018, + 0.2624284625053406, + 0.9637317061424255 + ] + ] + } + } + } +} \ No newline at end of file diff --git a/episodes/c6_p006_e014/wrist.mp4 b/episodes/c6_p006_e014/wrist.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..cca485bd41be063cf9d7763bc07f6d0c3e6d7af3 --- /dev/null +++ b/episodes/c6_p006_e014/wrist.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:69df094857a3e8654a7d21d2bfb738e073882532687d97f8e97c1a3d7e6ffb21 +size 6375197 diff --git a/episodes/c6_p006_e015/data.npz b/episodes/c6_p006_e015/data.npz new file mode 100644 index 0000000000000000000000000000000000000000..a0cdd1a0a06a48ae8254a8243bd464e224b1ab9c --- /dev/null +++ b/episodes/c6_p006_e015/data.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:80cd8ed10d8888e923ebc3ae03c2179960fbc333e8544d0194eb6a5c42449b15 +size 193356 diff --git a/episodes/c6_p006_e015/device_events.jsonl b/episodes/c6_p006_e015/device_events.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..487604571a7cba2448abc300a1a64001d8e8e000 --- /dev/null +++ b/episodes/c6_p006_e015/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_4"}, "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_4"}, "cause": null} +{"env_id": 0, "seq": 4, "step": 2128, "t": 10.64, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_4"}, "cause": null} +{"env_id": 0, "seq": 5, "step": 6786, "t": 33.93, "topic": "a4s_sealer_1.plate_present.present", "source": "a4s_sealer_1.plate_present", "data": {"object": "plate_4"}, "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": 3.099602463034515}, "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_4.changed", "source": "labware.plate_4", "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_4"}, "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": 3.099602463034515}, "cause": "program-0-3"} +{"env_id": 0, "seq": 20, "step": 8431, "t": 42.155, "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": 8431, "t": 42.155, "topic": "a4s_sealer_1.heater.finished", "source": "a4s_sealer_1.heater", "data": {"elapsed": 3.100000000001586}, "cause": "program-0-3"} +{"env_id": 0, "seq": 22, "step": 8431, "t": 42.155, "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": 3.100000000001586}}, "cause": "program-0-3"} +{"env_id": 0, "seq": 23, "step": 8431, "t": 42.155, "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": 8431, "t": 42.155, "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": 8431, "t": 42.155, "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": 8851, "t": 44.255, "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": 8851, "t": 44.255, "topic": "a4s_sealer_1.drawer.reached", "source": "a4s_sealer_1.drawer", "data": {"position": "out", "q": 2.3178735375495307e-08}, "cause": "program-0-4"} +{"env_id": 0, "seq": 28, "step": 8851, "t": 44.255, "topic": "a4s_sealer_1.drawer.at_out", "source": "a4s_sealer_1.drawer", "data": {"q": 2.3178735375495307e-08}, "cause": "program-0-4"} +{"env_id": 0, "seq": 29, "step": 8851, "t": 44.255, "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": 8851, "t": 44.255, "topic": "a4s_sealer_1.seal.finished", "source": "a4s_sealer_1", "data": {}, "cause": "task-0-1"} +{"env_id": 0, "seq": 31, "step": 8851, "t": 44.255, "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": 9431, "t": 47.155, "topic": "a4s_sealer_1.plate_present.absent", "source": "a4s_sealer_1.plate_present", "data": {"object": "plate_4"}, "cause": null} +{"env_id": 0, "seq": 33, "step": 11136, "t": 55.68, "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": 11136, "t": 55.68, "topic": "conveyor_1.belt.station.pick.released", "source": "conveyor_1.belt", "data": {"rider": "carrier_4"}, "cause": "task-0-5"} +{"env_id": 0, "seq": 35, "step": 11136, "t": 55.68, "topic": "conveyor_1.belt.state.changed", "source": "conveyor_1.belt", "data": {"from": "at_station", "to": "running"}, "cause": null} +{"env_id": 0, "seq": 36, "step": 11136, "t": 55.68, "topic": "conveyor_1.belt.command.succeeded", "source": "conveyor_1.belt", "data": {"command_id": "task-0-5", "name": "release", "source": "task", "result": {"state": "running"}}, "cause": "task-0-5"} diff --git a/episodes/c6_p006_e015/env.mp4 b/episodes/c6_p006_e015/env.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..71d6effe2c57e72adfc356e35a3e4f05971f55a1 --- /dev/null +++ b/episodes/c6_p006_e015/env.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:998675dcb0bca9454bbe52956789b56ddd051c8fe98899d125fa110fd26a6da8 +size 1266773 diff --git a/episodes/c6_p006_e015/meta.json b/episodes/c6_p006_e015/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..be409c95b8616c52d04d718529fce2e5abfd001e --- /dev/null +++ b/episodes/c6_p006_e015/meta.json @@ -0,0 +1,32 @@ +{ + "source": "raw/c6_p006/magicsim/15", + "fps": 25, + "frames": 1189, + "kept_ticks": "even", + "video_frames": { + "wrist": 1189, + "env": 1189 + }, + "joint_target_source": "joint_pos_target", + "fk_vs_recorded_eef_max_m": 0.0, + "curobo_joints": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "joint_order": [ + "shoulder_pan", + "shoulder_lift", + "elbow", + "wrist_1", + "wrist_2", + "wrist_3", + "finger_left", + "finger_right" + ], + "frames_note": "eef / actions in the robot base frame; camera_pose = local pose (wrist: in plate_gripper_base, env: env frame), pos + quat wxyz", + "dr_version": "v2" +} \ No newline at end of file diff --git a/episodes/c6_p006_e015/scene_snapshot.json b/episodes/c6_p006_e015/scene_snapshot.json new file mode 100644 index 0000000000000000000000000000000000000000..5ed980b2423435b5ba68356bcb5d3ebca598fff4 --- /dev/null +++ b/episodes/c6_p006_e015/scene_snapshot.json @@ -0,0 +1,1558 @@ +{ + "trajectory_id": 15, + "env_id": 0, + "run_id": "c6_p006", + "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_384_white/plate_384_white.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.0285 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_12_clear/plate_12_clear.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.0965 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_48_clear/plate_48_clear.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.1645 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_96_clear/plate_96_clear.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.2325 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "a4s_sealer": [ + { + "asset": "$MAGICSIM_ASSETS/Articulated/A4SSealer/Object.usd", + "pose": { + "pos": [ + 0.474884033203125, + 0.11899375915527344, + 0.8999999761581421 + ], + "ori": [ + 0.7275400161743164, + 0.0, + 0.0, + -0.6860652565956116 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "articulation", + "solver_position_iteration_count": 16.0, + "solver_velocity_iteration_count": 1.0, + "enabled_self_collisions": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "joint_position": [ + 5.382665667352793e-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": 0.19117326111280808, + "direction": [ + 1.0, + 0.0, + 0.0 + ], + "enabled": true, + "drive": "surface_velocity", + "lines": null, + "station_line": null, + "riders": [ + "carrier" + ], + "stations": { + "pick": { + "position": -0.003450945345442491, + "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": 0.19117326111280808, + "holds": [], + "station": "pick", + "rider": "carrier_4", + "arrived": true, + "applied_speed": 0.0 + } + } + } + ], + "carrier": [ + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + -0.045228004455566406, + 1.1530466079711914, + 0.8999999761581421 + ], + "ori": [ + -0.006929659750312567, + -2.2470487276438078e-11, + 1.0299034958194397e-09, + 0.9999759793281555 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -2.4154065414450088e-09, + -2.6283979437380367e-09, + 1.862645149230957e-08 + ], + "angular_velocity": [ + 1.446500590418509e-07, + -2.1983757392263215e-07, + -2.890921457776585e-08 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + 1.6971931457519531, + 0.791539192199707, + 0.8999999761581421 + ], + "ori": [ + 0.7204013466835022, + 2.6554789478439034e-09, + -6.23264062582507e-09, + 0.6935574412345886 + ], + "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": [ + 6.522091755556403e-10, + -3.629129774473938e-10, + 0.0 + ], + "angular_velocity": [ + 1.552165684870488e-08, + 3.2282578388276306e-08, + -5.50376455521473e-09 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + -1.3922195434570312, + 0.7401905059814453, + 0.8999999761581421 + ], + "ori": [ + -0.7610325813293457, + -1.2534180804379957e-08, + -1.84259647539875e-08, + 0.6487137079238892 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 4.8069502156522503e-08, + 1.038435559763684e-08, + 7.450580596923828e-09 + ], + "angular_velocity": [ + -6.582241951491596e-08, + 7.02764793913957e-07, + -7.130389576559537e-07 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + 0.14678573608398438, + 0.4471893310546875, + 0.8999999761581421 + ], + "ori": [ + 0.9999538064002991, + 4.603780690004555e-10, + 6.946188957357435e-09, + 0.009620754979550838 + ], + "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": [ + 3.3146640987524734e-09, + 2.5788073898525e-09, + 2.60770320892334e-08 + ], + "angular_velocity": [ + -1.7094336612899497e-07, + 3.3100192808888096e-07, + -2.538321552947309e-08 + ] + } + } + ], + "plate": [ + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_6_clear/Object.usd", + "pose": { + "pos": [ + -0.054650306701660156, + 1.164712905883789, + 0.9179999828338623 + ], + "ori": [ + 0.08401025086641312, + 1.6417113224420632e-09, + -7.330245299641547e-10, + 0.9964649081230164 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 1.8381760114039025e-08, + -3.607104304137465e-08, + 1.6763806343078613e-07 + ], + "angular_velocity": [ + 1.1877846191055141e-06, + 1.8784709254759946e-06, + 2.848573643632335e-08 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_96_black/Object.usd", + "pose": { + "pos": [ + 1.7068548202514648, + 0.790919303894043, + 0.9180000424385071 + ], + "ori": [ + 0.7172265648841858, + 4.1175152176720076e-09, + -5.5772328977354846e-09, + 0.6968401074409485 + ], + "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": [ + -1.6470309560645546e-09, + -1.641958746745331e-08, + -5.54695725440979e-06 + ], + "angular_velocity": [ + 8.523464316567697e-07, + 1.2807571181383537e-07, + 3.495242140161281e-08 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/pcr_96_blue/Object.usd", + "pose": { + "pos": [ + -1.3824739456176758, + 0.7291145324707031, + 0.9180000424385071 + ], + "ori": [ + -0.8147768378257751, + -2.0448629811653518e-07, + 2.650872374942992e-07, + 0.579774796962738 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -3.727886905835476e-07, + -5.568615051743109e-06, + -6.139278411865234e-06 + ], + "angular_velocity": [ + 1.6661659174133092e-05, + -8.297822205349803e-05, + -2.360583675908856e-05 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/deep_well_96_2ml/Object.usd", + "pose": { + "pos": [ + 0.15621280670166016, + 0.4501361846923828, + 0.9179999828338623 + ], + "ori": [ + 0.9947502613067627, + 2.6275548403731364e-09, + 7.0189605239079356e-09, + 0.10233250260353088 + ], + "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": [ + -3.549653371237582e-08, + -2.6528240937295777e-08, + -1.341104507446289e-06 + ], + "angular_velocity": [ + 1.8560266425993177e-06, + -2.227604682047968e-06, + -7.722361772266595e-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": 8.359999999999907, + "step": 1672, + "counter": 0, + "devices": { + "a4s_sealer_1": { + "mode": "auto", + "units": { + "drawer": { + "state": "at_out", + "active": null, + "target": 0.0, + "goal_name": "out", + "profile": null, + "q_start": null, + "reversing": false, + "blocked_for": 0.0, + "settled_for": 0.0, + "last_q": 5.382665667352793e-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": 0.19117326111280808, + "holds": [], + "station": "pick", + "rider": "carrier_4", + "arrived": true, + "settle_count": 1459, + "released": { + "pick": [] + }, + "last_pos": { + "carrier_1": [ + -0.19522801041603088, + 0.7030466198921204, + 0.0 + ], + "carrier_2": [ + 1.5471931397914886, + 0.341539204120636, + 0.0 + ], + "carrier_3": [ + -1.5422195494174957, + 0.29019051790237427, + 0.0 + ], + "carrier_4": [ + -0.0032142698764801025, + -0.002810657024383545, + 0.0 + ] + }, + "command": 0.0 + }, + "belt": { + "target_speed": 0.0, + "command_speed": 0.0 + }, + "seen": { + "state": "at_station", + "station": "pick", + "rider": "carrier_4", + "arrived": true + } + } + }, + "queues": {}, + "program": null, + "sensors": {}, + "interlocks": {} + } + }, + "zones": {}, + "labware": { + "plate_1": { + "sealed": false + }, + "plate_2": { + "sealed": false + }, + "plate_3": { + "sealed": false + }, + "plate_4": { + "sealed": false + } + }, + "rules": {}, + "records": [], + "bus": { + "seq": 3, + "queue": [] + } + }, + null, + null, + null + ], + "drives": [ + {}, + null, + null, + null + ] + }, + "artifacts": [ + { + "ceiling": { + "type": "rect", + "pose": { + "pos": [ + 0.01934741697215825, + -0.1846221907451845, + 3.164381873190584 + ], + "ori": [ + 6.089574026300998, + 9.5907789036291, + -5.166238505497795 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "color_temperature": 6279.682811536421, + "color": [ + 0.9810265551220302, + 0.9380180154469855, + 0.8025872327233627 + ], + "intensity": 11867.759734103503, + "width": 2.531043029630161, + "height": 0.8397342051344215 + } + }, + "key": { + "type": "sphere", + "pose": { + "pos": [ + 0.06841595382838928, + 1.2672876037861218, + 2.268054438890331 + ], + "ori": [ + 25.841013791782842, + 34.2299804491019, + 31.372776801506433 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "color_temperature": 4249.850535208749, + "color": [ + 0.9463335386889831, + 0.8514710255439075, + 0.7948736405892486 + ], + "intensity": 9707.18891488116, + "radius": 0.21484515019666128 + } + } + }, + {}, + {}, + {} + ], + "background": { + "type": "dome", + "pose": { + "pos": null, + "ori": null, + "scale": null + }, + "dr": { + "intensity": 1180.5338958230868, + "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": [ + [ + 0.9141020178794861, + -1.7193987369537354, + 2.090498447418213, + -1.9418995380401611, + -1.5707999467849731, + 2.484900712966919, + 0.017999999225139618, + 0.017999999225139618 + ], + [ + -0.2187000960111618, + -2.177483081817627, + 2.4769599437713623, + -1.8700387477874756, + -1.5706218481063843, + 4.483050346374512, + 0.00727458531036973, + 0.006567525677382946 + ], + [ + 1.274662733078003, + -1.448976755142212, + 2.068162202835083, + -2.189971685409546, + -1.5708165168762207, + 2.6400468349456787, + 0.0077889347448945045, + 0.007252144161611795 + ], + [ + 1.0491217374801636, + -1.298162817955017, + 2.265859603881836, + -2.5384602546691895, + -1.5708216428756714, + 2.55251145362854, + 0.007742646150290966, + 0.007158595137298107 + ] + ], + "joint_vel": [ + [ + 0.0, + -2.338720894108797e-38, + -2.3380592009739428e-38, + -5.262772116141347e-37, + 6.041597659654772e-37, + 3.5612733697003476e-37, + -1.0000912436535758e-37, + 1.144474086977222e-37 + ], + [ + 8.926857844926417e-05, + 0.006692761089652777, + 0.012074400670826435, + -0.01828150823712349, + 0.0006998014869168401, + -0.0016684812726452947, + -0.009338781237602234, + 0.00021842446585651487 + ], + [ + 0.000433201901614666, + -0.011469113640487194, + -0.009762460365891457, + 0.019413625821471214, + 0.0005475229118019342, + 0.0023340568877756596, + -0.00648606987670064, + 0.0002912190684583038 + ], + [ + 0.00020330991537775844, + -0.007621069438755512, + -0.002323310589417815, + 0.009320762939751148, + 0.00013846387446392328, + 0.00040372033254243433, + -0.0071130660362541676, + 0.00038428709376603365 + ] + ] + } + }, + "cameras": { + "cameras": { + "camera0": [ + [ + 0.04780733212828636, + 0.00033602971234358847, + -0.028423083946108818, + -0.28269699215888977, + 0.6537225246429443, + 0.6399352550506592, + -0.2884651720523834 + ], + [ + 0.04744986817240715, + -0.0025334141682833433, + -0.029297934845089912, + -0.277804434299469, + 0.6482948660850525, + 0.6562038064002991, + -0.26820701360702515 + ], + [ + 0.05078458413481712, + -0.0011247362708672881, + -0.027383653447031975, + -0.2739579677581787, + 0.6592633724212646, + 0.6444246768951416, + -0.2739264667034149 + ], + [ + 0.05207491293549538, + -0.002143699675798416, + -0.02990136668086052, + -0.2702920734882355, + 0.6527130603790283, + 0.6500055193901062, + -0.280001163482666 + ] + ], + "camera1": [ + [ + 0.03674974665045738, + 0.5851085186004639, + 1.9346781969070435, + 0.045798689126968384, + -0.006981162820011377, + 0.2795746624469757, + 0.95900559425354 + ], + [ + 0.04018784686923027, + 0.5724228620529175, + 1.9565013647079468, + 0.05198507383465767, + 0.017277255654335022, + 0.28327345848083496, + 0.9574733376502991 + ], + [ + 0.06661426275968552, + 0.5846208930015564, + 1.9744230508804321, + 0.04873250052332878, + 0.021695077419281006, + 0.2820160388946533, + 0.95792555809021 + ], + [ + 0.07112302631139755, + 0.5919812917709351, + 1.9341086149215698, + 0.03784290328621864, + 0.03033803217113018, + 0.2624284625053406, + 0.9637317061424255 + ] + ] + } + } + } +} \ No newline at end of file diff --git a/episodes/c6_p006_e015/wrist.mp4 b/episodes/c6_p006_e015/wrist.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..8c539c0f30dbdb461e0c0ea6c101107533138e2c --- /dev/null +++ b/episodes/c6_p006_e015/wrist.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:394a57f716d140fdfd7de8c6766e5c9f6d72f89053b25986551a2143ba06d494 +size 6419159 diff --git a/index/episodes.csv b/index/episodes.csv index 4e95d4c13594827383c9843f22b599bfa6dbe0ff..7d87d2c919951b529c9fa267607609626d5fe175 100644 --- a/index/episodes.csv +++ b/index/episodes.csv @@ -1936,3 +1936,12 @@ c8_p006_e012,3,True,-0.02360248565673828,0.4474496841430664,-0.00715286799876860 c8_p006_e013,0,True,0.0650014877319336,0.4474782943725586,0.0030098500809537508,0.007786155731653248,0.9140419875967609,deep_well_96_2ml,0.5099220275878906,0.11313915252685547,-93.78635380310023,0.19052981563391422,1093.5034863410342,rect,-0.175340775122575,0.18921306903403878,3.003279022811704,12005.221163129896,6520.868659143039,disk,0.5290644404787259,1.4679188894410313,2.0446063137801636,10126.931358969487,4948.231223498857,0.05221518874168396,0.0021121047902852297,-0.03219873085618019,-0.2678014934062958,0.6555002927780151,0.6470400094985962,-0.2827382981777191,0.02615947276353836,0.5948325991630554,1.9727696180343628,0.02896626479923725,0.01970462128520012,0.26615583896636963,0.963293194770813,1266,1,,2.103299617767334,0.2556367401970457,0.0,0.007459822576493025,0.5071090047393365,12,release,0.04412984848022461,"Pre-grasping the small plate, moving the arm toward it; the ",v2,True,False c8_p006_e014,1,True,-0.0015230178833007812,0.4500007629394531,0.0036241477208677477,0.009663512349385117,8.269503871702796,plate_12_clear,0.4953346252441406,0.08161735534667969,-94.7172394143877,0.23707417813043985,1093.5034863410342,rect,0.34199221801061486,-0.023420403261387335,3.136330982692132,12886.453828762043,5616.273223455067,sphere,0.827693600583054,0.8606977720898346,2.0350551306196882,6377.844417527014,6016.080040669658,0.046421512961387634,0.0029826578684151173,-0.03088211454451084,-0.29007744789123535,0.6454469561576843,0.6512414813041687,-0.2741128206253052,0.04103856906294823,0.576558530330658,1.9476584196090698,0.030472513288259506,0.006323642563074827,0.26012641191482544,0.9650728702545166,1286,1,,2.1346044540405273,0.2681085636080259,0.0,0.007338215596973896,0.5489891135303266,12,release,0.04264473915100098,"Pre-grasping the small plate, moving the arm toward it; the ",v2,True,False c8_p006_e015,2,True,0.11757087707519531,0.45000362396240234,-0.0038075085489221454,-0.0039515670517586265,1.6827772559558696,deep_well_24_10ml,0.4940500259399414,0.12068843841552734,-88.4793647150569,0.203251382956965,1093.5034863410342,rect,0.3862368948878865,-0.4480532183696812,3.1143167637214813,14693.159852242117,4521.842806125237,sphere,-0.29101562103562273,-0.6289953302250849,1.9071966405352632,9379.143974761642,6926.5920547808255,0.04837954789400101,-0.0013101353542879224,-0.03295045346021652,-0.2796059846878052,0.6508280038833618,0.6443928480148315,-0.2880993187427521,0.0527331717312336,0.5644567608833313,1.9565356969833374,0.057875435799360275,0.007280176971107721,0.26178696751594543,0.9633613228797913,1180,1,,2.0825345516204834,0.28217557796034926,0.0,0.007480104453861713,0.5322033898305085,12,release,0.042286038398742676,"Pre-grasping the small plate, moving the arm toward it; the ",v2,True,False +c2_p008_e006,2,True,0.047217369079589844,0.4499998092651367,-0.01075387215131387,-0.003154888448416381,-9.214796173909406,plate_384_black,0.4724998474121094,0.052265167236328125,-92.16766996430009,0.28774043679813943,1029.8755272702588,rect,0.8372886278575981,-0.48321703758419104,2.87183318217576,15605.277992496089,4143.820297112841,sphere,-0.3201256516695896,1.317524628196382,1.756542656884736,2594.3196178298094,2877.7533327739425,0.050412487238645554,9.160619811154902e-05,-0.02890060469508171,-0.2821742594242096,0.6479423642158508,0.6473392844200134,-0.28548240661621094,0.0435650534927845,0.6038060784339905,1.9539339542388916,0.05346028134226799,0.0086693549528718,0.25994107127189636,0.9641044735908508,1185,1,,2.0955770015716553,0.289956923487807,0.0,0.0074177333153784275,0.5409282700421941,12,release,0.042142391204833984,"Pre-grasping the small plate, moving the arm toward it; the ",v2,True,False +c2_p008_e007,0,True,0.013861656188964844,0.45000553131103516,0.0022527705403664073,-0.00995207023010955,3.1605329410137983,deep_well_96_2ml,0.5104236602783203,0.09545230865478516,-93.25554149054526,0.26976825964820383,1029.8755272702588,rect,-0.4108120765055654,-0.4287226107794089,3.0970118564588964,11543.941204774603,4836.604665128987,disk,1.367637317379411,-0.6908209520656883,1.7513027290824816,5171.169132936571,2903.8443694695798,0.04953046888113022,-0.00040870773955248296,-0.03037208504974842,-0.26681026816368103,0.6492498517036438,0.6595329642295837,-0.268892377614975,0.045543987303972244,0.5706496238708496,1.963425636291504,0.03919212147593498,0.027895433828234673,0.2611262798309326,0.9641052484512329,1273,1,,2.1092331409454346,0.3330900954608064,0.0,0.007467565126717091,0.5066771406127258,12,release,0.04303264617919922,"Pre-grasping the small plate, moving the arm toward it; the ",v2,True,False +c3_p006_e001,2,True,0.050385475158691406,0.4499969482421875,0.009302239939771868,-0.010093521501718246,-10.996684143069075,deep_well_24_10ml,0.47032737731933594,0.10230731964111328,-91.12412062705538,0.26390218729863935,1235.8115012607075,rect,0.14752467781074052,-0.2799823380797375,3.1384831698864937,14872.353278526702,3535.6215676722554,sphere,-1.5237513926434332,-0.9043219310390751,1.6304708115963773,9574.277119173508,6690.0695200626005,0.04620900750160217,0.00212949700653553,-0.026315441355109215,-0.29189246892929077,0.6401337385177612,0.6572456955909729,-0.2702881991863251,0.05369463190436363,0.5840687155723572,1.9585775136947632,0.043914441019296646,0.013116727583110332,0.2599557042121887,0.9645322561264038,1165,1,,2.0828990936279297,0.26070467551061194,0.0,0.00753241591155529,0.5450643776824035,12,release,0.04227137565612793,"Pre-grasping the small plate, moving the arm toward it; the ",v2,True,False +c3_p006_e002,3,True,-0.027828216552734375,0.4500007629394531,-0.011326828153830666,0.001620024916546819,11.148050944508213,plate_48_clear,0.46109962463378906,0.10063934326171875,-92.06954503385543,0.2311566770883896,1235.8115012607075,rect,0.7955106202509744,-0.254947544280003,2.753209758642889,14749.361757983192,7183.910542881895,sphere,0.8426910237280625,0.7338619932085666,1.7493471061243477,3267.5686149205103,5099.071883521061,0.048426005989313126,0.0005346566904336214,-0.029028775170445442,-0.27035507559776306,0.6536316275596619,0.6499215960502625,-0.2779850661754608,0.02813296765089035,0.6020897030830383,1.964269757270813,0.041611406952142715,0.01768052764236927,0.26146867871284485,0.9641525149345398,1275,1,,2.0814857482910156,0.2504318039275923,0.0,0.007333340123295784,0.5537254901960784,12,release,0.04249691963195801,"Pre-grasping the small plate, moving the arm toward it; the ",v2,True,False +c3_p006_e003,1,True,-0.013262748718261719,0.4499702453613281,0.013012454836284153,0.011301814313398623,1.6893467336066408,pcr_384_red,0.4623851776123047,0.08329963684082031,-91.27323508406518,0.2062899449224049,1235.8115012607075,rect,-0.027548571969114533,0.5205814798723665,3.0154585171495483,5106.986978108039,4939.463722838037,sphere,-0.6256940506740635,0.32644046826694306,2.7991793765471433,3397.3846633592043,6194.725447078051,0.04994910955429077,0.00027633088757283986,-0.02757187746465206,-0.2727900743484497,0.6549767255783081,0.6469705700874329,-0.27932077646255493,0.026645760983228683,0.585456132888794,1.9689619541168213,0.02928454801440239,0.001953271683305502,0.26371148228645325,0.9641550183296204,1265,1,,2.0992815494537354,0.25719463909867113,0.0,0.006830295547842979,0.5549407114624506,12,release,0.04219841957092285,"Pre-grasping the small plate, moving the arm toward it; the ",v2,True,False +c5_p005_e028,3,True,-0.007903099060058594,0.45000362396240234,0.007980299641705208,0.0008825741673103224,2.2332534781936033,plate_96_clear,0.5050344467163086,0.06483745574951172,-86.25063902752741,0.16473195900441784,1249.657576600681,rect,-0.517115847671373,-0.039528558951895276,3.0595339295219364,4581.112130722637,6856.365931559785,disk,0.7635202325158459,0.08565975341803767,2.1138055166507677,5228.54575593263,3634.152416431948,0.05134877935051918,-0.0004941136576235294,-0.03181988000869751,-0.27734488248825073,0.6487424373626709,0.6464884281158447,-0.29028579592704773,0.048145078122615814,0.5594052076339722,1.9567277431488037,0.031931500881910324,-0.002652175258845091,0.26376742124557495,0.9640539884567261,1279,1,,2.124318838119507,0.31888676308761577,0.0,0.007305929437279701,0.5488663017982799,12,release,0.04249095916748047,"Pre-grasping the small plate, moving the arm toward it; the ",v2,True,False +c6_p006_e013,3,True,-0.043609619140625,0.4471731185913086,0.005701983764392173,-0.011759479164783749,2.787996290501752,reservoir_12ch,0.4729146957397461,0.0952615737915039,-93.56765610145162,0.18684360525804555,1180.5338958230868,rect,0.7154329694647398,-0.49399901752568165,2.9807725838033967,9980.071579474597,6216.226414870069,disk,-0.7874235627664167,-1.17730349972421,1.8552129768977594,7202.853973740113,7083.7353041408105,0.05206375941634178,-0.0037827726919203997,-0.03062446415424347,-0.2678726017475128,0.6517271995544434,0.6528105735778809,-0.2780904769897461,0.07112302631139755,0.5919812917709351,1.9341086149215698,0.03784290328621864,0.03033803217113018,0.2624284625053406,0.9637317061424255,1229,1,,2.0646979808807373,0.25824012633460064,0.0,0.007448126561939716,0.5231895850284785,12,release,0.04224514961242676,"Pre-grasping the small plate, moving the arm toward it; the ",v2,True,False +c6_p006_e014,2,True,-0.12415599822998047,0.4499969482421875,-0.0031269940243971017,0.010411293766543964,11.765837826162596,deep_well_24_10ml,0.5113554000854492,0.10975074768066406,-91.73156323661549,0.19385623708522248,1180.5338958230868,rect,0.30151935444417177,0.11923065598608484,3.0806777296560206,5940.838190827848,6394.340609425035,disk,-0.3216843313214801,-0.3817082521774532,1.8097333522253927,6945.341285181134,5139.94465057434,0.05130228400230408,0.0006530878017656505,-0.029958687722682953,-0.2746366858482361,0.6568173170089722,0.6486262083053589,-0.26916491985321045,0.06661426275968552,0.5846208930015564,1.9744230508804321,0.04873250052332878,0.021695077419281006,0.2820160388946533,0.95792555809021,1267,1,,2.0605838298797607,0.3049555604710071,0.0,0.007514463271945715,0.500394632991318,12,release,0.04318690299987793,"Pre-grasping the small plate, moving the arm toward it; the ",v2,True,False +c6_p006_e015,0,True,0.14678573608398438,0.4471893310546875,0.009482024792652336,0.0027649254283199963,10.644530216283954,deep_well_96_2ml,0.474884033203125,0.11899375915527344,-86.63888250421144,0.19117326111280808,1180.5338958230868,rect,0.01934741697215825,-0.1846221907451845,3.164381873190584,11867.759734103503,6279.682811536421,sphere,0.06841595382838928,1.2672876037861218,2.268054438890331,9707.18891488116,4249.850535208749,0.04780733212828636,0.00033602971234358847,-0.028423083946108818,-0.28269699215888977,0.6537225246429443,0.6399352550506592,-0.2884651720523834,0.03674974665045738,0.5851085186004639,1.9346781969070435,0.045798689126968384,-0.006981162820011377,0.2795746624469757,0.95900559425354,1189,1,,2.124488592147827,0.31173115999753487,0.0,0.007466977462172508,0.5424726661059714,12,release,0.043564796447753906,"Pre-grasping the small plate, moving the arm toward it; the ",v2,True,False