diff --git a/episodes/c2_p018_e027/data.npz b/episodes/c2_p018_e027/data.npz new file mode 100644 index 0000000000000000000000000000000000000000..b9b206da2fb120631fda47b0f13a6ba535d28795 --- /dev/null +++ b/episodes/c2_p018_e027/data.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:6a1d2cbf4b7c84cfd5df1f42c791c181c3a6e9b30a0cb36f8d09eb8d15621138 +size 203120 diff --git a/episodes/c2_p018_e027/device_events.jsonl b/episodes/c2_p018_e027/device_events.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..1cafd7bf3c9151fae26775b25e3b495407c11b62 --- /dev/null +++ b/episodes/c2_p018_e027/device_events.jsonl @@ -0,0 +1,35 @@ +{"env_id": 3, "seq": 1, "step": 132, "t": 0.66, "topic": "conveyor_1.belt.station.pick.captured", "source": "conveyor_1.belt", "data": {"rider": "carrier_1"}, "cause": null} +{"env_id": 3, "seq": 2, "step": 132, "t": 0.66, "topic": "conveyor_1.belt.state.changed", "source": "conveyor_1.belt", "data": {"from": "running", "to": "at_station"}, "cause": null} +{"env_id": 3, "seq": 3, "step": 137, "t": 0.685, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_1"}, "cause": null} +{"env_id": 3, "seq": 4, "step": 5875, "t": 29.375, "topic": "a4s_sealer_1.plate_present.present", "source": "a4s_sealer_1.plate_present", "data": {"object": "plate_1"}, "cause": null} +{"env_id": 3, "seq": 5, "step": 6488, "t": 32.44, "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": 6488, "t": 32.44, "topic": "a4s_sealer_1.seal.started", "source": "a4s_sealer_1", "data": {"dwell": 3.174268006914901}, "cause": "task-3-1"} +{"env_id": 3, "seq": 7, "step": 6488, "t": 32.44, "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": 6488, "t": 32.44, "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": 6488, "t": 32.44, "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": 6907, "t": 34.535, "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": 6907, "t": 34.535, "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": 6907, "t": 34.535, "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": 6907, "t": 34.535, "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": 6907, "t": 34.535, "topic": "labware.plate_1.changed", "source": "labware.plate_1", "data": {"key": "sealed", "value": true}, "cause": "task-3-1"} +{"env_id": 3, "seq": 15, "step": 6907, "t": 34.535, "topic": "a4s_sealer_1.sealed", "source": "a4s_sealer_1", "data": {"plate": "plate_1"}, "cause": "task-3-1"} +{"env_id": 3, "seq": 16, "step": 6907, "t": 34.535, "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": 6907, "t": 34.535, "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": 6907, "t": 34.535, "topic": "a4s_sealer_1.heater.started", "source": "a4s_sealer_1.heater", "data": {"duration": 3.174268006914901}, "cause": "program-3-3"} +{"env_id": 3, "seq": 19, "step": 7542, "t": 37.71, "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": 7542, "t": 37.71, "topic": "a4s_sealer_1.heater.finished", "source": "a4s_sealer_1.heater", "data": {"elapsed": 3.1750000000016243}, "cause": "program-3-3"} +{"env_id": 3, "seq": 21, "step": 7542, "t": 37.71, "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": 3.1750000000016243}}, "cause": "program-3-3"} +{"env_id": 3, "seq": 22, "step": 7542, "t": 37.71, "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": 7542, "t": 37.71, "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": 7542, "t": 37.71, "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": 7962, "t": 39.81, "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": 7962, "t": 39.81, "topic": "a4s_sealer_1.drawer.reached", "source": "a4s_sealer_1.drawer", "data": {"position": "out", "q": 1.973965879642492e-09}, "cause": "program-3-4"} +{"env_id": 3, "seq": 27, "step": 7962, "t": 39.81, "topic": "a4s_sealer_1.drawer.at_out", "source": "a4s_sealer_1.drawer", "data": {"q": 1.973965879642492e-09}, "cause": "program-3-4"} +{"env_id": 3, "seq": 28, "step": 7962, "t": 39.81, "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": 7962, "t": 39.81, "topic": "a4s_sealer_1.seal.finished", "source": "a4s_sealer_1", "data": {}, "cause": "task-3-1"} +{"env_id": 3, "seq": 30, "step": 7962, "t": 39.81, "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": 8542, "t": 42.71, "topic": "a4s_sealer_1.plate_present.absent", "source": "a4s_sealer_1.plate_present", "data": {"object": "plate_1"}, "cause": null} +{"env_id": 3, "seq": 32, "step": 10836, "t": 54.18, "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": 10836, "t": 54.18, "topic": "conveyor_1.belt.station.pick.released", "source": "conveyor_1.belt", "data": {"rider": "carrier_1"}, "cause": "task-3-5"} +{"env_id": 3, "seq": 34, "step": 10836, "t": 54.18, "topic": "conveyor_1.belt.state.changed", "source": "conveyor_1.belt", "data": {"from": "at_station", "to": "running"}, "cause": null} +{"env_id": 3, "seq": 35, "step": 10836, "t": 54.18, "topic": "conveyor_1.belt.command.succeeded", "source": "conveyor_1.belt", "data": {"command_id": "task-3-5", "name": "release", "source": "task", "result": {"state": "running"}}, "cause": "task-3-5"} diff --git a/episodes/c2_p018_e027/env.mp4 b/episodes/c2_p018_e027/env.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..42c067dcc3ab39a9aaf6ec8f8e9ebdbf91616246 --- /dev/null +++ b/episodes/c2_p018_e027/env.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:36704a11690acfdddda88344d5c6de848a2a2c54912e4ab02b98f247caf2fc6a +size 1363611 diff --git a/episodes/c2_p018_e027/meta.json b/episodes/c2_p018_e027/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..27b09546986ddebd135b3459bab37056b5c8c7f4 --- /dev/null +++ b/episodes/c2_p018_e027/meta.json @@ -0,0 +1,32 @@ +{ + "source": "raw/c2_p018/magicsim/27", + "fps": 25, + "frames": 1270, + "kept_ticks": "even", + "video_frames": { + "wrist": 1270, + "env": 1270 + }, + "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_p018_e027/scene_snapshot.json b/episodes/c2_p018_e027/scene_snapshot.json new file mode 100644 index 0000000000000000000000000000000000000000..c09193662db7c5cd65c20e75665409f4390be752 --- /dev/null +++ b/episodes/c2_p018_e027/scene_snapshot.json @@ -0,0 +1,1558 @@ +{ + "trajectory_id": 27, + "env_id": 3, + "run_id": "c2_p018", + "task_type": "BioPlateCell", + "success": true, + "timing": { + "fps": 50.0, + "sim_dt": 0.005, + "decimation": 4 + }, + "restore_interface": { + "scene": "scene_manager.reset_to(snapshot['scene'], env_ids=[env_id])", + "robots": "robot_manager.set_state({'robots': snapshot['robots']}, env_ids=[env_id])" + }, + "snapshot": { + "env_id": 3, + "scene": { + "objects": [ + {}, + {}, + {}, + { + "rac_cell": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/rac_cell.usd", + "pose": { + "pos": [ + 0.0, + 0.0, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "physics_material": { + "static_friction": 0.6, + "dynamic_friction": 0.5, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "robot_mount": [ + { + "asset": "Cube", + "pose": { + "pos": [ + 0.0, + 0.0, + 0.9075 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": "color", + "value": [ + 0.55, + 0.56, + 0.58 + ], + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": { + "size": [ + 0.2, + 0.2, + 0.015 + ] + } + }, + "type_specific": {} + } + ], + "plate_rack": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/plate_hotel.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 0.9 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "physics_material": { + "static_friction": 0.6, + "dynamic_friction": 0.5, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "hotel_plate": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/deep_well_24_10ml/deep_well_24_10ml.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 0.9605 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/pcr_96_blue/pcr_96_blue.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.0285 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_96_white/plate_96_white.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.0965 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_384_white/plate_384_white.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.1645 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/deep_well_96_2ml/deep_well_96_2ml.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.2325 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "a4s_sealer": [ + { + "asset": "$MAGICSIM_ASSETS/Articulated/A4SSealer/Object.usd", + "pose": { + "pos": [ + 0.5298547744750977, + 0.07348442077636719, + 0.8999999761581421 + ], + "ori": [ + -0.6992824077606201, + 0.0, + 0.0, + 0.7148455381393433 + ], + "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": 0.1999541090953872, + "direction": [ + 1.0, + 0.0, + 0.0 + ], + "enabled": true, + "drive": "surface_velocity", + "lines": null, + "station_line": null, + "riders": [ + "carrier" + ], + "stations": { + "pick": { + "position": -0.14578641890538044, + "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": 0.1999541090953872, + "holds": [], + "station": "pick", + "rider": "carrier_1", + "arrived": true, + "applied_speed": 0.0 + } + } + } + ], + "carrier": [ + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + 0.0046329498291015625, + 0.45000171661376953, + 0.8999999761581421 + ], + "ori": [ + 1.0, + -1.2126619708396902e-09, + -3.7152516618732534e-09, + -5.4329197155311704e-05 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 7.445752903123548e-10, + 1.716665698481279e-09, + 1.1175870895385742e-08 + ], + "angular_velocity": [ + -1.128603983602261e-07, + 7.012950220541825e-08, + -1.219830281229406e-08 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + -1.3321914672851562, + 0.5967035293579102, + 0.8999999761581421 + ], + "ori": [ + -0.8896656632423401, + 4.627821681424393e-09, + -7.161909110209308e-08, + 0.45661255717277527 + ], + "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": [ + -1.4848651197496565e-08, + 3.1779638920426123e-09, + 1.862645149230957e-08 + ], + "angular_velocity": [ + 1.1930771961488063e-06, + -1.9514682207955047e-06, + 2.414381015114486e-07 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + 1.429886817932129, + 0.4624214172363281, + 0.8999999761581421 + ], + "ori": [ + 0.9935997724533081, + 4.765591476996178e-09, + -3.113002833288192e-08, + 0.11295857280492783 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 5.670420799575027e-10, + -5.671654257355385e-10, + -3.725290298461914e-09 + ], + "angular_velocity": [ + 2.506298812932073e-08, + 4.723850821619635e-08, + -2.4438588930308924e-09 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + 0.15875244140625, + 1.1500015258789062, + 0.8999999761581421 + ], + "ori": [ + 8.045919457799755e-06, + 1.283865014301e-08, + 4.168506873014621e-09, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -5.430961236285725e-10, + -1.3411127763873765e-09, + 0.0 + ], + "angular_velocity": [ + 5.4639997415506514e-08, + -3.508129253759762e-08, + 1.6489538623432054e-09 + ] + } + } + ], + "plate": [ + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_48_clear/Object.usd", + "pose": { + "pos": [ + -0.0075550079345703125, + 0.4438953399658203, + 0.9179999828338623 + ], + "ori": [ + 0.9949181079864502, + -2.0806900646874738e-09, + -2.185369663010306e-09, + -0.10068727284669876 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -1.5889863647089442e-08, + 2.3946039817701603e-08, + 1.5273690223693848e-07 + ], + "angular_velocity": [ + -4.816470209334511e-07, + -1.8378807453700574e-06, + 7.85581466544727e-09 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_384_white/Object.usd", + "pose": { + "pos": [ + -1.3263587951660156, + 0.6018190383911133, + 0.9180000424385071 + ], + "ori": [ + -0.882502019405365, + 4.864842821916682e-07, + -1.6443492256712489e-07, + 0.4703085124492645 + ], + "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": [ + -2.9132922918506665e-06, + -1.0967818525386974e-05, + -4.392117261886597e-06 + ], + "angular_velocity": [ + -1.8071543308906257e-05, + 4.097181954421103e-05, + -9.508416405878961e-05 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_96_clear/Object.usd", + "pose": { + "pos": [ + 1.4263334274291992, + 0.47120094299316406, + 0.9180000424385071 + ], + "ori": [ + 0.9955543875694275, + 7.305423821435397e-09, + -3.102866941162574e-08, + 0.09418894350528717 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -1.4235889800318091e-08, + -2.777906971118682e-08, + -5.431473255157471e-06 + ], + "angular_velocity": [ + 1.1612056596277398e-06, + -1.0716744327510241e-06, + -5.8975579975140136e-09 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/reservoir_12ch/Object.usd", + "pose": { + "pos": [ + 0.15219879150390625, + 1.1499805450439453, + 0.9179999828338623 + ], + "ori": [ + 0.06986616551876068, + 1.8392988465620874e-08, + 6.159311727316208e-09, + 0.9975564479827881 + ], + "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": [ + 1.1639299657417723e-07, + 4.724138591427618e-08, + -1.776963472366333e-06 + ], + "angular_velocity": [ + -3.413460490264697e-06, + 5.413561211753404e-06, + 1.4168871587116882e-07 + ] + } + } + ], + "deco_hub_west": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/hub_e.usd", + "pose": { + "pos": [ + -3.36, + 0.0, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_hub_east": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/hub_d.usd", + "pose": { + "pos": [ + 3.36, + 0.0, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_hub_back": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/hub_a.usd", + "pose": { + "pos": [ + -3.0, + -2.1, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_bench_east": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/bench_c.usd", + "pose": { + "pos": [ + 2.6, + -2.5, + 0.0 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_bench_gap": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/bench_b.usd", + "pose": { + "pos": [ + -0.1, + -2.9, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ] + } + ], + "devices": { + "hub": [ + null, + null, + null, + { + "t": 3.5999999999999455, + "step": 720, + "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": 0.1999541090953872, + "holds": [], + "station": "pick", + "rider": "carrier_1", + "arrived": true, + "settle_count": 587, + "released": { + "pick": [] + }, + "last_pos": { + "carrier_1": [ + -0.14536705613136292, + 1.7285346984863281e-06, + 0.0 + ], + "carrier_2": [ + -1.4821914732456207, + 0.1467035412788391, + 0.0 + ], + "carrier_3": [ + 1.2798868119716644, + 0.01242142915725708, + 0.0 + ], + "carrier_4": [ + 0.008752435445785522, + 0.7000015377998352, + 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": [ + 0.3078937059386756, + 0.4159593854458433, + 2.9172211173842912 + ], + "ori": [ + 14.316242592078673, + -13.379162460694872, + -7.367085336662264 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "color_temperature": 6353.055472144089, + "color": [ + 0.9260610532985326, + 0.9060145607230519, + 0.8170753277676854 + ], + "intensity": 7854.7877430547, + "width": 1.6349322402527389, + "height": 0.8310871441979437 + } + }, + "key": { + "type": "sphere", + "pose": { + "pos": [ + -0.23013930344165767, + -1.0438874633047828, + 1.7799054040712246 + ], + "ori": [ + -25.71322551300403, + -20.254454708177416, + 13.715732179678916 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "color_temperature": 5109.644571463017, + "color": [ + 0.787303389209743, + 0.8650878587060955, + 0.8060665081011308 + ], + "intensity": 6960.694571768499, + "radius": 0.16059438136358611 + } + } + } + ], + "background": { + "type": "dome", + "pose": { + "pos": null, + "ori": null, + "scale": null + }, + "dr": { + "intensity": 644.563958750842, + "texture": null, + "color": [ + 0.92, + 0.94, + 0.96 + ] + } + } + }, + "robots": { + "UR5e": { + "root_pose": [ + [ + 11.0, + -11.0, + 0.9150000214576721, + 1.0, + 0.0, + 0.0, + 0.0 + ], + [ + 11.0, + 11.0, + 0.9150000214576721, + 1.0, + 0.0, + 0.0, + 0.0 + ], + [ + -11.0, + -11.0, + 0.9150000214576721, + 1.0, + 0.0, + 0.0, + 0.0 + ], + [ + -11.0, + 11.0, + 0.9150000214576721, + 1.0, + 0.0, + 0.0, + 0.0 + ] + ], + "root_vel": [ + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + ], + "joint_pos": [ + [ + 2.8036766052246094, + -1.6680173873901367, + 1.8982747793197632, + -1.8008486032485962, + -1.5714069604873657, + 4.3712239265441895, + 0.01798880286514759, + 0.017987610772252083 + ], + [ + 1.1813582181930542, + -1.2772690057754517, + 2.2436742782592773, + -2.537208080291748, + -1.5707926750183105, + 2.7310516834259033, + 0.007161997724324465, + 0.006518250796943903 + ], + [ + 1.2048606872558594, + -1.288393497467041, + 2.2607908248901367, + -2.543031692504883, + -1.5709617137908936, + 2.6615071296691895, + 0.007777465507388115, + 0.0072076162323355675 + ], + [ + 0.9141021966934204, + -1.7193983793258667, + 2.0904994010925293, + -1.9419001340866089, + -1.5707999467849731, + 2.48490047454834, + 0.01799999736249447, + 0.018000001087784767 + ] + ], + "joint_vel": [ + [ + -0.00023698181030340493, + 0.001647197175770998, + -0.0014163058949634433, + -0.00012492573296185583, + -0.00013770918303634971, + -0.00020403019152581692, + 0.00017273021512664855, + 0.00018264823302160949 + ], + [ + -6.504639895865694e-05, + -2.855144521163311e-05, + -0.00016556117043364793, + -0.0003101673210039735, + 0.00017522138659842312, + 0.0008721307967789471, + -0.008661237545311451, + 0.00016792230599094182 + ], + [ + -0.00037722030538134277, + 0.0003379484114702791, + 0.00014879420632496476, + -0.006141993682831526, + 0.004892887081950903, + 0.02328159287571907, + -0.008781400509178638, + 0.0005994932726025581 + ], + [ + 1.7029824448400177e-06, + 3.405934421607526e-06, + -1.1334232163928704e-11, + 3.4059767131111585e-06, + -3.4059778499795357e-06, + 5.552561990924965e-13, + 2.5990344099113827e-08, + -2.5990372520823257e-08 + ] + ] + } + }, + "cameras": { + "cameras": { + "camera0": [ + [ + 0.05021139234304428, + 0.0016923695802688599, + -0.03006100282073021, + -0.2550029456615448, + 0.6626430153846741, + 0.6437687277793884, + -0.2853761911392212 + ], + [ + 0.04837241396307945, + 0.001503633800894022, + -0.02545362338423729, + -0.28716960549354553, + 0.6453557014465332, + 0.6478596925735474, + -0.28517964482307434 + ], + [ + 0.05205904319882393, + -0.0008977664983831346, + -0.03339465707540512, + -0.2942050099372864, + 0.6393827199935913, + 0.6540723443031311, + -0.27716881036758423 + ], + [ + 0.05062884837388992, + -0.0006924523040652275, + -0.030819054692983627, + -0.2802102267742157, + 0.6478123068809509, + 0.6503419280052185, + -0.2808501720428467 + ] + ], + "camera1": [ + [ + 0.06704571843147278, + 0.5931797623634338, + 1.9564310312271118, + 0.0474652424454689, + 0.004961383529007435, + 0.259209543466568, + 0.9646413326263428 + ], + [ + 0.04068295657634735, + 0.5683646202087402, + 1.936566710472107, + 0.04743582755327225, + -0.0051747532561421394, + 0.2829427421092987, + 0.9579491019248962 + ], + [ + 0.04719245806336403, + 0.5597212910652161, + 1.9692572355270386, + 0.03726298362016678, + 0.018186990171670914, + 0.28760454058647156, + 0.9568512439727783 + ], + [ + 0.049956314265728, + 0.5635393857955933, + 1.9500309228897095, + 0.05871802568435669, + 0.01001367624849081, + 0.2832576632499695, + 0.9571922421455383 + ] + ] + } + } + } +} \ No newline at end of file diff --git a/episodes/c2_p018_e027/wrist.mp4 b/episodes/c2_p018_e027/wrist.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..808eed199c0759ff8f00c33eb565fcc97c6549a3 --- /dev/null +++ b/episodes/c2_p018_e027/wrist.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:59d83d478eb8e5572896ec05fe8b5dc4f8d119d8ec4c6881f6d38dec6b0d0805 +size 7050895 diff --git a/episodes/c4_p015_e035/data.npz b/episodes/c4_p015_e035/data.npz new file mode 100644 index 0000000000000000000000000000000000000000..a40e6468f6ff8bd6720b291528fa7153f22c0d75 --- /dev/null +++ b/episodes/c4_p015_e035/data.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:79f210a77eda7b6fe8a6f754c08ebdc55f216ff6d55075162c54bfd0bb8c2590 +size 185810 diff --git a/episodes/c4_p015_e035/device_events.jsonl b/episodes/c4_p015_e035/device_events.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..1fc221fd6a059eabb2624fd959b55b7e155882fe --- /dev/null +++ b/episodes/c4_p015_e035/device_events.jsonl @@ -0,0 +1,36 @@ +{"env_id": 1, "seq": 1, "step": 93, "t": 0.465, "topic": "conveyor_1.belt.station.pick.captured", "source": "conveyor_1.belt", "data": {"rider": "carrier_1"}, "cause": null} +{"env_id": 1, "seq": 2, "step": 93, "t": 0.465, "topic": "conveyor_1.belt.state.changed", "source": "conveyor_1.belt", "data": {"from": "running", "to": "at_station"}, "cause": null} +{"env_id": 1, "seq": 3, "step": 98, "t": 0.49, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_1"}, "cause": null} +{"env_id": 1, "seq": 4, "step": 1648, "t": 8.24, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_1"}, "cause": null} +{"env_id": 1, "seq": 5, "step": 6307, "t": 31.535, "topic": "a4s_sealer_1.plate_present.present", "source": "a4s_sealer_1.plate_present", "data": {"object": "plate_1"}, "cause": null} +{"env_id": 1, "seq": 6, "step": 6920, "t": 34.6, "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": 6920, "t": 34.6, "topic": "a4s_sealer_1.seal.started", "source": "a4s_sealer_1", "data": {"dwell": 4.174342728761948}, "cause": "task-1-1"} +{"env_id": 1, "seq": 8, "step": 6920, "t": 34.6, "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": 6920, "t": 34.6, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "at_out", "to": "moving"}, "cause": null} +{"env_id": 1, "seq": 10, "step": 6920, "t": 34.6, "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": 7339, "t": 36.695, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "moving", "to": "at_in"}, "cause": null} +{"env_id": 1, "seq": 12, "step": 7339, "t": 36.695, "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": 7339, "t": 36.695, "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": 7339, "t": 36.695, "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": 7339, "t": 36.695, "topic": "labware.plate_1.changed", "source": "labware.plate_1", "data": {"key": "sealed", "value": true}, "cause": "task-1-1"} +{"env_id": 1, "seq": 16, "step": 7339, "t": 36.695, "topic": "a4s_sealer_1.sealed", "source": "a4s_sealer_1", "data": {"plate": "plate_1"}, "cause": "task-1-1"} +{"env_id": 1, "seq": 17, "step": 7339, "t": 36.695, "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": 7339, "t": 36.695, "topic": "a4s_sealer_1.heater.state.changed", "source": "a4s_sealer_1.heater", "data": {"from": "ready", "to": "running"}, "cause": null} +{"env_id": 1, "seq": 19, "step": 7339, "t": 36.695, "topic": "a4s_sealer_1.heater.started", "source": "a4s_sealer_1.heater", "data": {"duration": 4.174342728761948}, "cause": "program-1-3"} +{"env_id": 1, "seq": 20, "step": 8174, "t": 40.87, "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": 8174, "t": 40.87, "topic": "a4s_sealer_1.heater.finished", "source": "a4s_sealer_1.heater", "data": {"elapsed": 4.175000000002136}, "cause": "program-1-3"} +{"env_id": 1, "seq": 22, "step": 8174, "t": 40.87, "topic": "a4s_sealer_1.heater.command.succeeded", "source": "a4s_sealer_1.heater", "data": {"command_id": "program-1-3", "name": "run", "source": "program:seal", "result": {"elapsed": 4.175000000002136}}, "cause": "program-1-3"} +{"env_id": 1, "seq": 23, "step": 8174, "t": 40.87, "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": 8174, "t": 40.87, "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": 8174, "t": 40.87, "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": 8594, "t": 42.97, "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": 8594, "t": 42.97, "topic": "a4s_sealer_1.drawer.reached", "source": "a4s_sealer_1.drawer", "data": {"position": "out", "q": 0.0}, "cause": "program-1-4"} +{"env_id": 1, "seq": 28, "step": 8594, "t": 42.97, "topic": "a4s_sealer_1.drawer.at_out", "source": "a4s_sealer_1.drawer", "data": {"q": 0.0}, "cause": "program-1-4"} +{"env_id": 1, "seq": 29, "step": 8594, "t": 42.97, "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": 8594, "t": 42.97, "topic": "a4s_sealer_1.seal.finished", "source": "a4s_sealer_1", "data": {}, "cause": "task-1-1"} +{"env_id": 1, "seq": 31, "step": 8594, "t": 42.97, "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": 9174, "t": 45.87, "topic": "a4s_sealer_1.plate_present.absent", "source": "a4s_sealer_1.plate_present", "data": {"object": "plate_1"}, "cause": null} +{"env_id": 1, "seq": 33, "step": 10888, "t": 54.44, "topic": "conveyor_1.belt.command.started", "source": "conveyor_1.belt", "data": {"command_id": "task-1-5", "name": "release", "source": "task"}, "cause": "task-1-5"} +{"env_id": 1, "seq": 34, "step": 10888, "t": 54.44, "topic": "conveyor_1.belt.station.pick.released", "source": "conveyor_1.belt", "data": {"rider": "carrier_1"}, "cause": "task-1-5"} +{"env_id": 1, "seq": 35, "step": 10888, "t": 54.44, "topic": "conveyor_1.belt.state.changed", "source": "conveyor_1.belt", "data": {"from": "at_station", "to": "running"}, "cause": null} +{"env_id": 1, "seq": 36, "step": 10888, "t": 54.44, "topic": "conveyor_1.belt.command.succeeded", "source": "conveyor_1.belt", "data": {"command_id": "task-1-5", "name": "release", "source": "task", "result": {"state": "running"}}, "cause": "task-1-5"} diff --git a/episodes/c4_p015_e035/env.mp4 b/episodes/c4_p015_e035/env.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..2e51e5797c82e12e259ee8f6bc849cf6f35710de --- /dev/null +++ b/episodes/c4_p015_e035/env.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:e7960d1780cbcea9baf287ecc25aab1fe02a48f201cefca8f15b585bebcb8ba3 +size 1269678 diff --git a/episodes/c4_p015_e035/meta.json b/episodes/c4_p015_e035/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..ce2c248f42640679c2b26b90bb605e55cfa2ad9b --- /dev/null +++ b/episodes/c4_p015_e035/meta.json @@ -0,0 +1,32 @@ +{ + "source": "raw/c4_p015/magicsim/35", + "fps": 25, + "frames": 1213, + "kept_ticks": "even", + "video_frames": { + "wrist": 1213, + "env": 1213 + }, + "joint_target_source": "joint_pos_target", + "fk_vs_recorded_eef_max_m": 0.0, + "curobo_joints": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "joint_order": [ + "shoulder_pan", + "shoulder_lift", + "elbow", + "wrist_1", + "wrist_2", + "wrist_3", + "finger_left", + "finger_right" + ], + "frames_note": "eef / actions in the robot base frame; camera_pose = local pose (wrist: in plate_gripper_base, env: env frame), pos + quat wxyz", + "dr_version": "v2" +} \ No newline at end of file diff --git a/episodes/c4_p015_e035/scene_snapshot.json b/episodes/c4_p015_e035/scene_snapshot.json new file mode 100644 index 0000000000000000000000000000000000000000..40202072320acf16e6f364a11d5d03a71e443125 --- /dev/null +++ b/episodes/c4_p015_e035/scene_snapshot.json @@ -0,0 +1,1558 @@ +{ + "trajectory_id": 35, + "env_id": 1, + "run_id": "c4_p015", + "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": "$MAGICSIM_ASSETS/Bio/CAD/plates/deep_well_24_10ml/deep_well_24_10ml.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.0285 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/pcr_384_red/pcr_384_red.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.0965 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/pcr_384_red/pcr_384_red.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.1645 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/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": [ + 0.4817361831665039, + 0.11155509948730469, + 0.8999999761581421 + ], + "ori": [ + 0.7353622317314148, + 0.0, + 0.0, + -0.6776742339134216 + ], + "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": [ + 2.3549153078950003e-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": 0.26580267614424236, + "direction": [ + 1.0, + 0.0, + 0.0 + ], + "enabled": true, + "drive": "surface_velocity", + "lines": null, + "station_line": null, + "riders": [ + "carrier" + ], + "stations": { + "pick": { + "position": -0.11050277219288204, + "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": 0.26580267614424236, + "holds": [], + "station": "pick", + "rider": "carrier_1", + "arrived": true, + "applied_speed": 0.0 + } + } + } + ], + "carrier": [ + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + 0.0397796630859375, + 0.4499998092651367, + 0.8999999761581421 + ], + "ori": [ + 1.0, + 2.421309375222336e-09, + -4.111705642628749e-09, + -6.947813380975276e-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": [ + 1.2947727334733372e-09, + 1.2603927901366774e-09, + 7.450580596923828e-09 + ], + "angular_velocity": [ + -1.1865435567415261e-07, + 1.2645865865579253e-07, + 1.4174502682706702e-09 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + -1.360032081604004, + 0.642369270324707, + 0.8999999761581421 + ], + "ori": [ + -0.8474581837654114, + 7.57463993750207e-08, + 3.1436719893918053e-09, + 0.5308622121810913 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -5.014068449327169e-08, + -9.020823199534789e-09, + 1.1175870895385742e-08 + ], + "angular_velocity": [ + 1.1099764378741384e-06, + -1.957459971890785e-06, + 5.585779945249669e-07 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + 0.6401081085205078, + 1.1526412963867188, + 0.8999999761581421 + ], + "ori": [ + -0.010836366564035416, + -1.4928529523672296e-09, + 7.4873235389461e-10, + 0.999941349029541 + ], + "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": [ + 3.2101038494047884e-10, + -4.5758197231293707e-10, + 3.725290298461914e-09 + ], + "angular_velocity": [ + 6.56492815664933e-08, + 2.9300368353801787e-08, + -6.049548417763617e-09 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + 1.6970500946044922, + 0.7824773788452148, + 0.8999999761581421 + ], + "ori": [ + 0.7305325865745544, + -1.2598316345702187e-07, + 6.632062365952152e-08, + 0.6828778982162476 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 2.1217942958173808e-09, + 7.854623618186451e-10, + 1.4901161193847656e-08 + ], + "angular_velocity": [ + -1.4105899026617408e-07, + 1.4789065971854143e-07, + 3.3835476642707363e-09 + ] + } + } + ], + "plate": [ + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_12_clear/Object.usd", + "pose": { + "pos": [ + 0.026277542114257812, + 0.45894527435302734, + 0.9179999828338623 + ], + "ori": [ + 0.9999620914459229, + 5.419611426304982e-09, + -3.869822684521296e-09, + 0.00871584378182888 + ], + "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": [ + -1.2753817557609182e-08, + -1.7145797670536922e-08, + 1.6391277313232422e-07 + ], + "angular_velocity": [ + 1.6611633100183099e-06, + -1.981597733902163e-06, + -6.04382321967023e-08 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_96_white/Object.usd", + "pose": { + "pos": [ + -1.366532325744629, + 0.6304101943969727, + 0.9180000424385071 + ], + "ori": [ + -0.8194063305854797, + 2.1382410864134727e-07, + -1.8465766515873838e-07, + 0.5732132792472839 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -5.594054073299048e-07, + 4.614948920789175e-06, + -2.644956111907959e-07 + ], + "angular_velocity": [ + -6.598282197955996e-06, + -3.689345612656325e-05, + 1.835250441217795e-05 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/pcr_384_red/Object.usd", + "pose": { + "pos": [ + 0.6305398941040039, + 1.1587228775024414, + 0.9179999828338623 + ], + "ori": [ + -0.08509227633476257, + -1.4600869402414673e-09, + -1.521443526719679e-10, + 0.9963731169700623 + ], + "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": [ + 1.0936241245929068e-08, + -6.483069636686878e-09, + -5.8002769947052e-06 + ], + "angular_velocity": [ + -2.4388077690673526e-07, + 1.1380464002286317e-06, + 5.89275899187669e-08 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/deep_well_96_1ml/Object.usd", + "pose": { + "pos": [ + 1.7082414627075195, + 0.7784605026245117, + 0.9179999828338623 + ], + "ori": [ + 0.7306155562400818, + -1.2637136137527705e-07, + 7.384326039527878e-08, + 0.682789146900177 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 3.850898622204113e-08, + -6.049867806723341e-08, + 2.60770320892334e-07 + ], + "angular_velocity": [ + 3.0709998100064695e-06, + 4.012308636447415e-07, + -2.487370238668518e-07 + ] + } + } + ], + "deco_hub_west": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/hub_a.usd", + "pose": { + "pos": [ + -3.36, + 0.0, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_hub_east": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/hub_c.usd", + "pose": { + "pos": [ + 3.36, + 0.0, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_hub_back": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/hub_d.usd", + "pose": { + "pos": [ + -3.0, + -2.1, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_bench_east": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/bench_c.usd", + "pose": { + "pos": [ + 2.6, + -2.5, + 0.0 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_bench_gap": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/bench_b.usd", + "pose": { + "pos": [ + -0.1, + -2.9, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ] + }, + {}, + {} + ], + "devices": { + "hub": [ + null, + { + "t": 6.079999999999893, + "step": 1216, + "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": 2.3549153078950003e-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": 0.26580267614424236, + "holds": [], + "station": "pick", + "rider": "carrier_1", + "arrived": true, + "settle_count": 1122, + "released": { + "pick": [] + }, + "last_pos": { + "carrier_1": [ + -0.11022034287452698, + -1.7881393432617188e-07, + 0.0 + ], + "carrier_2": [ + -1.5100320875644684, + 0.192369282245636, + 0.0 + ], + "carrier_3": [ + 0.49010810256004333, + 0.7026413083076477, + 0.0 + ], + "carrier_4": [ + 1.5470500886440277, + 0.3324773907661438, + 0.0 + ] + }, + "command": 0.0 + }, + "belt": { + "target_speed": 0.0, + "command_speed": 0.0 + }, + "seen": { + "state": "at_station", + "station": "pick", + "rider": "carrier_1", + "arrived": true + } + } + }, + "queues": {}, + "program": null, + "sensors": {}, + "interlocks": {} + } + }, + "zones": {}, + "labware": { + "plate_1": { + "sealed": false + }, + "plate_2": { + "sealed": false + }, + "plate_3": { + "sealed": false + }, + "plate_4": { + "sealed": false + } + }, + "rules": {}, + "records": [], + "bus": { + "seq": 3, + "queue": [] + } + }, + null, + null + ], + "drives": [ + null, + {}, + null, + null + ] + }, + "artifacts": [ + {}, + { + "ceiling": { + "type": "rect", + "pose": { + "pos": [ + -0.312740764795695, + 0.24635582160628677, + 2.708013025058886 + ], + "ori": [ + -8.936869664617848, + 10.307252906644596, + -3.646295484725105 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "color_temperature": 3721.45511936765, + "color": [ + 0.8508479549629154, + 0.9697294731122665, + 0.8857278024023305 + ], + "intensity": 11722.772349108396, + "width": 2.1381794079477943, + "height": 1.269186896971312 + } + }, + "key": { + "type": "sphere", + "pose": { + "pos": [ + -0.35275365439764794, + -1.0379619702137184, + 2.7870832840750728 + ], + "ori": [ + 12.199716915222503, + 5.585804103792412, + 23.893126235011472 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "color_temperature": 5836.176081503294, + "color": [ + 0.8491074403216523, + 0.9252931900289934, + 0.7747813340054626 + ], + "intensity": 6080.410782708083, + "radius": 0.05686879647845691 + } + } + }, + {}, + {} + ], + "background": { + "type": "dome", + "pose": { + "pos": null, + "ori": null, + "scale": null + }, + "dr": { + "intensity": 1102.808417937825, + "texture": null, + "color": [ + 0.92, + 0.94, + 0.96 + ] + } + } + }, + "robots": { + "UR5e": { + "root_pose": [ + [ + 11.0, + -11.0, + 0.9150000214576721, + 1.0, + 0.0, + 0.0, + 0.0 + ], + [ + 11.0, + 11.0, + 0.9150000214576721, + 1.0, + 0.0, + 0.0, + 0.0 + ], + [ + -11.0, + -11.0, + 0.9150000214576721, + 1.0, + 0.0, + 0.0, + 0.0 + ], + [ + -11.0, + 11.0, + 0.9150000214576721, + 1.0, + 0.0, + 0.0, + 0.0 + ] + ], + "root_vel": [ + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + ], + "joint_pos": [ + [ + 2.7776286602020264, + -1.6957664489746094, + 2.113996982574463, + -1.9890131950378418, + -1.5707838535308838, + 4.338418006896973, + 0.017999982461333275, + 0.01800001598894596 + ], + [ + 0.9141024947166443, + -1.719398021697998, + 2.09049916267395, + -1.9419000148773193, + -1.5707999467849731, + 2.4849002361297607, + 0.018000001087784767, + 0.01799999736249447 + ], + [ + 1.0374404191970825, + -1.5909552574157715, + 2.189181327819824, + -2.1688387393951416, + -1.5709251165390015, + 2.8086326122283936, + 0.00743504473939538, + 0.007480328436940908 + ], + [ + 2.8032827377319336, + -1.6662890911102295, + 1.8970518112182617, + -1.8001147508621216, + -1.5688350200653076, + 4.373279094696045, + 0.017999986186623573, + 0.017999986186623573 + ] + ], + "joint_vel": [ + [ + 0.007218458224087954, + 0.022074678912758827, + -0.018311763182282448, + -0.0032746638171374798, + 5.407061053119833e-06, + 0.007343599572777748, + 3.2430639294034336e-06, + -3.242949787818361e-06 + ], + [ + 0.0, + -1.7731859809153588e-38, + 1.5886761713386315e-38, + -5.742830513504023e-37, + 2.437380433528357e-38, + -3.926648603911663e-37, + -2.5990388508034812e-08, + 2.599039028439165e-08 + ], + [ + 0.00341208279132843, + 0.0009996850276365876, + -7.089934661053121e-05, + 0.0008606691262684762, + 6.60071091260761e-05, + 0.0018206712557002902, + -0.005223724525421858, + 0.0001961409579962492 + ], + [ + 6.8119270508759655e-06, + 1.0217833732895087e-05, + -1.0217940143775195e-05, + 6.8119552452117205e-06, + -6.811957064201124e-06, + -1.3623912309412844e-05, + 1.8193200901350792e-07, + 1.8193144057931931e-07 + ] + ] + } + }, + "cameras": { + "cameras": { + "camera0": [ + [ + 0.05098295584321022, + 0.003162310691550374, + -0.0332244448363781, + -0.28955456614494324, + 0.6450276374816895, + 0.6555440425872803, + -0.26525363326072693 + ], + [ + 0.04845324903726578, + 0.0032515896018594503, + -0.027137519791722298, + -0.2760024070739746, + 0.651595413684845, + 0.6509614586830139, + -0.27476394176483154 + ], + [ + 0.04843321070075035, + -0.0029002628289163113, + -0.03170812129974365, + -0.2897094190120697, + 0.646815836429596, + 0.651267945766449, + -0.27119702100753784 + ], + [ + 0.05101759731769562, + -0.0023619779385626316, + -0.03379536420106888, + -0.27685803174972534, + 0.6535999178886414, + 0.6458079814910889, + -0.2812274098396301 + ] + ], + "camera1": [ + [ + 0.07107041031122208, + 0.5870718955993652, + 1.9738377332687378, + 0.054668813943862915, + 0.003862334182485938, + 0.2727154791355133, + 0.9605324864387512 + ], + [ + 0.06390172988176346, + 0.5745898485183716, + 1.9514329433441162, + 0.041862666606903076, + 0.02297765575349331, + 0.2752521336078644, + 0.9601852893829346 + ], + [ + 0.03937157243490219, + 0.5957107543945312, + 1.9641376733779907, + 0.0410955511033535, + 0.02057841047644615, + 0.25773099064826965, + 0.9651229977607727 + ], + [ + 0.04333225265145302, + 0.5971873998641968, + 1.9691046476364136, + 0.050744518637657166, + 0.0172186978161335, + 0.2667885422706604, + 0.9622641801834106 + ] + ] + } + } + } +} \ No newline at end of file diff --git a/episodes/c4_p015_e035/wrist.mp4 b/episodes/c4_p015_e035/wrist.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..507a3a66d60b940f454dc0d355e2e48836a16284 --- /dev/null +++ b/episodes/c4_p015_e035/wrist.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:ed34aace81d1bb59d5302d9e712bc708c1c3b6279330471cd677d098d302aa6a +size 6950013 diff --git a/episodes/c6_p015_e011/data.npz b/episodes/c6_p015_e011/data.npz new file mode 100644 index 0000000000000000000000000000000000000000..a4046b1ac9e936c4ef311b3c77ebbce200210af7 --- /dev/null +++ b/episodes/c6_p015_e011/data.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:b8ac2d64d2cd80ebaffbdc739ff6658ba271794496057706fc3908abe5b333d0 +size 187144 diff --git a/episodes/c6_p015_e011/device_events.jsonl b/episodes/c6_p015_e011/device_events.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..3c70f1e488ea569e6f08e8fa59d8e9b3db13caa9 --- /dev/null +++ b/episodes/c6_p015_e011/device_events.jsonl @@ -0,0 +1,35 @@ +{"env_id": 0, "seq": 1, "step": 124, "t": 0.62, "topic": "conveyor_1.belt.station.pick.captured", "source": "conveyor_1.belt", "data": {"rider": "carrier_3"}, "cause": null} +{"env_id": 0, "seq": 2, "step": 124, "t": 0.62, "topic": "conveyor_1.belt.state.changed", "source": "conveyor_1.belt", "data": {"from": "running", "to": "at_station"}, "cause": null} +{"env_id": 0, "seq": 3, "step": 129, "t": 0.645, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_3"}, "cause": null} +{"env_id": 0, "seq": 4, "step": 5615, "t": 28.075, "topic": "a4s_sealer_1.plate_present.present", "source": "a4s_sealer_1.plate_present", "data": {"object": "plate_3"}, "cause": null} +{"env_id": 0, "seq": 5, "step": 6224, "t": 31.12, "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": 6224, "t": 31.12, "topic": "a4s_sealer_1.seal.started", "source": "a4s_sealer_1", "data": {"dwell": 4.172175332010721}, "cause": "task-0-1"} +{"env_id": 0, "seq": 7, "step": 6224, "t": 31.12, "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": 6224, "t": 31.12, "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": 6224, "t": 31.12, "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": 6643, "t": 33.215, "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": 6643, "t": 33.215, "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": 6643, "t": 33.215, "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": 6643, "t": 33.215, "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": 6643, "t": 33.215, "topic": "labware.plate_3.changed", "source": "labware.plate_3", "data": {"key": "sealed", "value": true}, "cause": "task-0-1"} +{"env_id": 0, "seq": 15, "step": 6643, "t": 33.215, "topic": "a4s_sealer_1.sealed", "source": "a4s_sealer_1", "data": {"plate": "plate_3"}, "cause": "task-0-1"} +{"env_id": 0, "seq": 16, "step": 6643, "t": 33.215, "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": 6643, "t": 33.215, "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": 6643, "t": 33.215, "topic": "a4s_sealer_1.heater.started", "source": "a4s_sealer_1.heater", "data": {"duration": 4.172175332010721}, "cause": "program-0-3"} +{"env_id": 0, "seq": 19, "step": 7478, "t": 37.39, "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": 7478, "t": 37.39, "topic": "a4s_sealer_1.heater.finished", "source": "a4s_sealer_1.heater", "data": {"elapsed": 4.175000000002136}, "cause": "program-0-3"} +{"env_id": 0, "seq": 21, "step": 7478, "t": 37.39, "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": 4.175000000002136}}, "cause": "program-0-3"} +{"env_id": 0, "seq": 22, "step": 7478, "t": 37.39, "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": 7478, "t": 37.39, "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": 7478, "t": 37.39, "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": 7898, "t": 39.49, "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": 7898, "t": 39.49, "topic": "a4s_sealer_1.drawer.reached", "source": "a4s_sealer_1.drawer", "data": {"position": "out", "q": 0.0}, "cause": "program-0-4"} +{"env_id": 0, "seq": 27, "step": 7898, "t": 39.49, "topic": "a4s_sealer_1.drawer.at_out", "source": "a4s_sealer_1.drawer", "data": {"q": 0.0}, "cause": "program-0-4"} +{"env_id": 0, "seq": 28, "step": 7898, "t": 39.49, "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": 7898, "t": 39.49, "topic": "a4s_sealer_1.seal.finished", "source": "a4s_sealer_1", "data": {}, "cause": "task-0-1"} +{"env_id": 0, "seq": 30, "step": 7898, "t": 39.49, "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": 8479, "t": 42.395, "topic": "a4s_sealer_1.plate_present.absent", "source": "a4s_sealer_1.plate_present", "data": {"object": "plate_3"}, "cause": null} +{"env_id": 0, "seq": 32, "step": 10156, "t": 50.78, "topic": "conveyor_1.belt.command.started", "source": "conveyor_1.belt", "data": {"command_id": "task-0-5", "name": "release", "source": "task"}, "cause": "task-0-5"} +{"env_id": 0, "seq": 33, "step": 10156, "t": 50.78, "topic": "conveyor_1.belt.station.pick.released", "source": "conveyor_1.belt", "data": {"rider": "carrier_3"}, "cause": "task-0-5"} +{"env_id": 0, "seq": 34, "step": 10156, "t": 50.78, "topic": "conveyor_1.belt.state.changed", "source": "conveyor_1.belt", "data": {"from": "at_station", "to": "running"}, "cause": null} +{"env_id": 0, "seq": 35, "step": 10156, "t": 50.78, "topic": "conveyor_1.belt.command.succeeded", "source": "conveyor_1.belt", "data": {"command_id": "task-0-5", "name": "release", "source": "task", "result": {"state": "running"}}, "cause": "task-0-5"} diff --git a/episodes/c6_p015_e011/env.mp4 b/episodes/c6_p015_e011/env.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..7d033fab60ede51569da0594965355014d0850e8 --- /dev/null +++ b/episodes/c6_p015_e011/env.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:fe64c9b967078d3a5143bf67b1353aeca445df58b7a2dc4ef86e2132e6e14560 +size 1262046 diff --git a/episodes/c6_p015_e011/meta.json b/episodes/c6_p015_e011/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..870904e8c164e53913f74dffa85c3e02eae90827 --- /dev/null +++ b/episodes/c6_p015_e011/meta.json @@ -0,0 +1,32 @@ +{ + "source": "raw/c6_p015/magicsim/11", + "fps": 25, + "frames": 1224, + "kept_ticks": "even", + "video_frames": { + "wrist": 1224, + "env": 1224 + }, + "joint_target_source": "joint_pos_target", + "fk_vs_recorded_eef_max_m": 0.0, + "curobo_joints": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "joint_order": [ + "shoulder_pan", + "shoulder_lift", + "elbow", + "wrist_1", + "wrist_2", + "wrist_3", + "finger_left", + "finger_right" + ], + "frames_note": "eef / actions in the robot base frame; camera_pose = local pose (wrist: in plate_gripper_base, env: env frame), pos + quat wxyz", + "dr_version": "v2" +} \ No newline at end of file diff --git a/episodes/c6_p015_e011/scene_snapshot.json b/episodes/c6_p015_e011/scene_snapshot.json new file mode 100644 index 0000000000000000000000000000000000000000..f6890f8d3eef9a460e1a26519d17a1bcfd30f2b6 --- /dev/null +++ b/episodes/c6_p015_e011/scene_snapshot.json @@ -0,0 +1,1558 @@ +{ + "trajectory_id": 11, + "env_id": 0, + "run_id": "c6_p015", + "task_type": "BioPlateCell", + "success": true, + "timing": { + "fps": 50.0, + "sim_dt": 0.005, + "decimation": 4 + }, + "restore_interface": { + "scene": "scene_manager.reset_to(snapshot['scene'], env_ids=[env_id])", + "robots": "robot_manager.set_state({'robots': snapshot['robots']}, env_ids=[env_id])" + }, + "snapshot": { + "env_id": 0, + "scene": { + "objects": [ + { + "rac_cell": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/rac_cell.usd", + "pose": { + "pos": [ + 0.0, + 0.0, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "physics_material": { + "static_friction": 0.6, + "dynamic_friction": 0.5, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "robot_mount": [ + { + "asset": "Cube", + "pose": { + "pos": [ + 0.0, + 0.0, + 0.9075 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": "color", + "value": [ + 0.55, + 0.56, + 0.58 + ], + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": { + "size": [ + 0.2, + 0.2, + 0.015 + ] + } + }, + "type_specific": {} + } + ], + "plate_rack": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/plate_hotel.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 0.9 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "physics_material": { + "static_friction": 0.6, + "dynamic_friction": 0.5, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "hotel_plate": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_48_clear/plate_48_clear.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 0.9605 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_96_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": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_384_white/plate_384_white.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.0965 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_48_clear/plate_48_clear.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.1645 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/pcr_384_red/pcr_384_red.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.2325 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "a4s_sealer": [ + { + "asset": "$MAGICSIM_ASSETS/Articulated/A4SSealer/Object.usd", + "pose": { + "pos": [ + 0.478240966796875, + 0.061928749084472656, + 0.8999999761581421 + ], + "ori": [ + -0.6794556975364685, + 0.0, + 0.0, + 0.7337165474891663 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "articulation", + "solver_position_iteration_count": 16.0, + "solver_velocity_iteration_count": 1.0, + "enabled_self_collisions": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "joint_position": [ + 3.3641670178774508e-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": 0.23276786864398957, + "direction": [ + 1.0, + 0.0, + 0.0 + ], + "enabled": true, + "drive": "surface_velocity", + "lines": null, + "station_line": null, + "riders": [ + "carrier" + ], + "stations": { + "pick": { + "position": -0.016962511348573406, + "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": 0.23276786864398957, + "holds": [], + "station": "pick", + "rider": "carrier_3", + "arrived": true, + "applied_speed": 0.0 + } + } + } + ], + "carrier": [ + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + -1.2476415634155273, + 0.5134849548339844, + 0.8999999761581421 + ], + "ori": [ + -0.9526219367980957, + -9.655384936024802e-09, + -1.470996302543881e-08, + 0.3041572570800781 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -5.441097572500553e-11, + 2.717200353608007e-10, + 0.0 + ], + "angular_velocity": [ + -8.291657138670416e-09, + -1.4494158762090592e-08, + -2.737803761476698e-09 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + 0.10799694061279297, + 1.1499996185302734, + 0.8999999761581421 + ], + "ori": [ + -1.2446806977095548e-05, + 6.598213975195222e-09, + 2.661466602660312e-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": [ + -1.6816168457722824e-09, + -9.137249845636575e-10, + 1.1175870895385742e-08 + ], + "angular_velocity": [ + 7.116256028893986e-09, + -1.5083858784237236e-07, + -2.3494054701700406e-08 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + 0.13337421417236328, + 0.45000171661376953, + 0.8999999761581421 + ], + "ori": [ + 1.0, + -7.839431326317481e-09, + 9.238740439343474e-09, + -3.7012512621004134e-05 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -2.56112464569469e-09, + -1.5019727683807105e-08, + -3.725290298461914e-09 + ], + "angular_velocity": [ + 1.5951894738464034e-06, + -1.3315664659785398e-07, + 1.5892189253463584e-07 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + 1.6180944442749023, + 0.5797510147094727, + 0.8999999761581421 + ], + "ori": [ + 0.9070202112197876, + 9.190842753525885e-09, + -1.243598823919001e-08, + 0.4210871458053589 + ], + "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": [ + -4.3019487971918124e-10, + -2.7379210010280985e-11, + 7.450580596923828e-09 + ], + "angular_velocity": [ + 3.4217425337601526e-08, + -4.572662248847337e-08, + 3.513478397110248e-10 + ] + } + } + ], + "plate": [ + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_6_clear/Object.usd", + "pose": { + "pos": [ + -1.2501640319824219, + 0.5259809494018555, + 0.9179999828338623 + ], + "ori": [ + -0.9554473161697388, + -1.0201233635598328e-08, + -1.3891917838293466e-08, + 0.29516181349754333 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -3.556320748998587e-08, + -5.157243077036355e-09, + 9.685754776000977e-08 + ], + "angular_velocity": [ + 4.439162637481786e-07, + -2.5798528895393247e-06, + 4.0355708108563704e-08 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_96_black/Object.usd", + "pose": { + "pos": [ + 0.0954599380493164, + 1.1610469818115234, + 0.9180000424385071 + ], + "ori": [ + -0.008287263102829456, + 6.3615734902100485e-09, + 1.957675355157562e-09, + 0.9999657273292542 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 9.515844112684135e-09, + -2.4320502944874534e-08, + -4.991888999938965e-06 + ], + "angular_velocity": [ + 2.3870907739365066e-07, + 1.4680808817502111e-06, + 3.6056249541616125e-08 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/pcr_96_blue/Object.usd", + "pose": { + "pos": [ + 0.13391590118408203, + 0.442626953125, + 0.9180000424385071 + ], + "ori": [ + 0.9993763566017151, + -1.5350471471720084e-07, + 3.231414780202613e-08, + -0.03531350567936897 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 8.173747119144537e-07, + -4.206321136734914e-06, + -6.51925802230835e-06 + ], + "angular_velocity": [ + -1.573970621393528e-05, + 1.4795552488067187e-05, + -2.7759258955484256e-05 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/deep_well_96_2ml/Object.usd", + "pose": { + "pos": [ + 1.6053056716918945, + 0.5719804763793945, + 0.9179999828338623 + ], + "ori": [ + 0.9369441270828247, + 1.0950647499896604e-08, + -1.3146189026258526e-08, + 0.34947940707206726 + ], + "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": [ + -1.0054808541326565e-08, + -8.066135137596575e-08, + -1.087784767150879e-06 + ], + "angular_velocity": [ + 3.4974407299159793e-06, + -2.2375670027940942e-07, + 6.237642935502663e-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": 2.019999999999979, + "step": 404, + "counter": 0, + "devices": { + "a4s_sealer_1": { + "mode": "auto", + "units": { + "drawer": { + "state": "at_out", + "active": null, + "target": 0.0, + "goal_name": "out", + "profile": null, + "q_start": null, + "reversing": false, + "blocked_for": 0.0, + "settled_for": 0.0, + "last_q": 3.3641670178774508e-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": 0.23276786864398957, + "holds": [], + "station": "pick", + "rider": "carrier_3", + "arrived": true, + "settle_count": 279, + "released": { + "pick": [] + }, + "last_pos": { + "carrier_1": [ + -1.3976415693759918, + 0.06348496675491333, + 0.0 + ], + "carrier_2": [ + -0.04200306534767151, + 0.6999996304512024, + 0.0 + ], + "carrier_3": [ + -0.016625791788101196, + 1.7285346984863281e-06, + 0.0 + ], + "carrier_4": [ + 1.4680944383144379, + 0.1297510266304016, + 0.0 + ] + }, + "command": 0.0 + }, + "belt": { + "target_speed": 0.0, + "command_speed": 0.0 + }, + "seen": { + "state": "at_station", + "station": "pick", + "rider": "carrier_3", + "arrived": true + } + } + }, + "queues": {}, + "program": null, + "sensors": {}, + "interlocks": {} + } + }, + "zones": {}, + "labware": { + "plate_1": { + "sealed": false + }, + "plate_2": { + "sealed": false + }, + "plate_3": { + "sealed": false + }, + "plate_4": { + "sealed": false + } + }, + "rules": {}, + "records": [], + "bus": { + "seq": 3, + "queue": [] + } + }, + null, + null, + null + ], + "drives": [ + {}, + null, + null, + null + ] + }, + "artifacts": [ + { + "ceiling": { + "type": "rect", + "pose": { + "pos": [ + 0.5214684726699194, + 0.46981402443387243, + 2.8527718153295702 + ], + "ori": [ + 3.2105544534533053, + 14.806644392395349, + -7.674257906961696 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "color_temperature": 6955.428800612215, + "color": [ + 0.8512926985751367, + 0.8026370587333409, + 0.8516803686381867 + ], + "intensity": 14249.36337752033, + "width": 2.031571979931126, + "height": 1.5594692120277682 + } + }, + "key": { + "type": "disk", + "pose": { + "pos": [ + -1.4721255696552502, + 1.5330650600999525, + 2.3038083379625194 + ], + "ori": [ + 28.644363956526945, + -29.57385158412203, + -7.012172875208819 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "color_temperature": 2824.2496210656677, + "color": [ + 0.8189718392665999, + 0.8144494665150455, + 0.8123932249873487 + ], + "intensity": 5197.968145229598, + "radius": 0.3977117275142764 + } + } + }, + {}, + {}, + {} + ], + "background": { + "type": "dome", + "pose": { + "pos": null, + "ori": null, + "scale": null + }, + "dr": { + "intensity": 442.6767337829358, + "texture": null, + "color": [ + 0.92, + 0.94, + 0.96 + ] + } + } + }, + "robots": { + "UR5e": { + "root_pose": [ + [ + 11.0, + -11.0, + 0.9150000214576721, + 1.0, + 0.0, + 0.0, + 0.0 + ], + [ + 11.0, + 11.0, + 0.9150000214576721, + 1.0, + 0.0, + 0.0, + 0.0 + ], + [ + -11.0, + -11.0, + 0.9150000214576721, + 1.0, + 0.0, + 0.0, + 0.0 + ], + [ + -11.0, + 11.0, + 0.9150000214576721, + 1.0, + 0.0, + 0.0, + 0.0 + ] + ], + "root_vel": [ + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + ], + "joint_pos": [ + [ + 0.9140999913215637, + -1.7194000482559204, + 2.0905001163482666, + -1.9419000148773193, + -1.5707999467849731, + 2.4848999977111816, + 0.017999999225139618, + 0.017999999225139618 + ], + [ + 0.8933095932006836, + -1.6180239915847778, + 2.06544828414917, + -2.01816725730896, + -1.5708006620407104, + 2.4667866230010986, + 0.018001535907387733, + 0.01799846440553665 + ], + [ + -0.32621142268180847, + -2.0687382221221924, + 2.589160680770874, + -2.0911848545074463, + -1.5707927942276, + 4.324464321136475, + 0.018000012263655663, + 0.017999986186623573 + ], + [ + -0.21858501434326172, + -2.139488458633423, + 2.3974342346191406, + -1.8285882472991943, + -1.5707488059997559, + 4.534696102142334, + 0.0071389637887477875, + 0.008153798058629036 + ] + ], + "joint_vel": [ + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + [ + -0.00814023707062006, + 0.038071442395448685, + -0.008678522892296314, + -0.02725488506257534, + -2.7875703381141648e-05, + -0.006478717550635338, + 4.8198919103015214e-05, + -4.821946276933886e-05 + ], + [ + -0.0009253759635612369, + 0.014912953600287437, + 0.016489507630467415, + -0.030537500977516174, + -8.525007615389768e-06, + -0.0008174594840966165, + -1.171466124105791e-06, + 1.1715906111930963e-06 + ], + [ + -3.1755836971569806e-05, + -0.00014955209917388856, + -0.000525322393514216, + 5.1533894293243065e-05, + 0.0002695898001547903, + -0.0006215773755684495, + -0.002523700939491391, + 4.974735202267766e-05 + ] + ] + } + }, + "cameras": { + "cameras": { + "camera0": [ + [ + 0.05200976878404617, + 0.002101778518408537, + -0.02792029082775116, + -0.27979323267936707, + 0.6512627601623535, + 0.6462950110435486, + -0.28262221813201904 + ], + [ + 0.0504143126308918, + 0.0007172318873926997, + -0.03249607980251312, + -0.26973956823349, + 0.6590807437896729, + 0.6425973176956177, + -0.28270453214645386 + ], + [ + 0.05149116739630699, + 0.0005662551266141236, + -0.02726161852478981, + -0.26789745688438416, + 0.6529874205589294, + 0.6448739171028137, + -0.29321667551994324 + ], + [ + 0.05138663947582245, + 0.0014459815574809909, + -0.028904903680086136, + -0.2670731246471405, + 0.6508064270019531, + 0.6560124158859253, + -0.2734421491622925 + ] + ], + "camera1": [ + [ + 0.043791308999061584, + 0.5578715801239014, + 1.9430233240127563, + 0.0431101992726326, + 0.0031966601964086294, + 0.2779116928577423, + 0.959633469581604 + ], + [ + 0.048044417053461075, + 0.5939530730247498, + 1.944770336151123, + 0.024703459814190865, + 0.008361013606190681, + 0.2837070822715759, + 0.9585562944412231 + ], + [ + 0.02788447216153145, + 0.5714872479438782, + 1.9644396305084229, + 0.03768756985664368, + 0.017804676666855812, + 0.2800598740577698, + 0.9590772390365601 + ], + [ + 0.041136886924505234, + 0.5943107604980469, + 1.9386329650878906, + 0.05384796857833862, + -0.005182644352316856, + 0.2740398943424225, + 0.9601956605911255 + ] + ] + } + } + } +} \ No newline at end of file diff --git a/episodes/c6_p015_e011/wrist.mp4 b/episodes/c6_p015_e011/wrist.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..4f154e4c48d764889eb9be2591a3604c16f3b550 --- /dev/null +++ b/episodes/c6_p015_e011/wrist.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:59465e8362b163faf20f6d26779c8cde65b60ac7aa15f0534a81cc4dfc5845e9 +size 7550302 diff --git a/episodes/c6_p015_e012/data.npz b/episodes/c6_p015_e012/data.npz new file mode 100644 index 0000000000000000000000000000000000000000..cbb4573b3f59a287dc15c69f89562efaa67f2c0b --- /dev/null +++ b/episodes/c6_p015_e012/data.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:c51e6e5c4b84c6101eb8f3faac471f1d9d11b8d73653c035db58d6b417c6abb2 +size 193072 diff --git a/episodes/c6_p015_e012/device_events.jsonl b/episodes/c6_p015_e012/device_events.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..19d7bb9ea2e4866b96489679d1c63eb18bde2c52 --- /dev/null +++ b/episodes/c6_p015_e012/device_events.jsonl @@ -0,0 +1,35 @@ +{"env_id": 1, "seq": 1, "step": 92, "t": 0.46, "topic": "conveyor_1.belt.station.pick.captured", "source": "conveyor_1.belt", "data": {"rider": "carrier_3"}, "cause": null} +{"env_id": 1, "seq": 2, "step": 92, "t": 0.46, "topic": "conveyor_1.belt.state.changed", "source": "conveyor_1.belt", "data": {"from": "running", "to": "at_station"}, "cause": null} +{"env_id": 1, "seq": 3, "step": 97, "t": 0.485, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_3"}, "cause": null} +{"env_id": 1, "seq": 4, "step": 6062, "t": 30.31, "topic": "a4s_sealer_1.plate_present.present", "source": "a4s_sealer_1.plate_present", "data": {"object": "plate_3"}, "cause": null} +{"env_id": 1, "seq": 5, "step": 6680, "t": 33.4, "topic": "a4s_sealer_1.command.started", "source": "a4s_sealer_1", "data": {"command_id": "task-1-1", "name": "seal", "source": "task"}, "cause": "task-1-1"} +{"env_id": 1, "seq": 6, "step": 6680, "t": 33.4, "topic": "a4s_sealer_1.seal.started", "source": "a4s_sealer_1", "data": {"dwell": 3.8022611842184864}, "cause": "task-1-1"} +{"env_id": 1, "seq": 7, "step": 6680, "t": 33.4, "topic": "a4s_sealer_1.drawer.command.started", "source": "a4s_sealer_1.drawer", "data": {"command_id": "program-1-2", "name": "close", "source": "program:seal"}, "cause": "program-1-2"} +{"env_id": 1, "seq": 8, "step": 6680, "t": 33.4, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "at_out", "to": "moving"}, "cause": null} +{"env_id": 1, "seq": 9, "step": 6680, "t": 33.4, "topic": "a4s_sealer_1.drawer.moving", "source": "a4s_sealer_1.drawer", "data": {"target": 0.3, "goal": "in"}, "cause": "program-1-2"} +{"env_id": 1, "seq": 10, "step": 7099, "t": 35.495, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "moving", "to": "at_in"}, "cause": null} +{"env_id": 1, "seq": 11, "step": 7099, "t": 35.495, "topic": "a4s_sealer_1.drawer.reached", "source": "a4s_sealer_1.drawer", "data": {"position": "in", "q": 0.30000001192092896}, "cause": "program-1-2"} +{"env_id": 1, "seq": 12, "step": 7099, "t": 35.495, "topic": "a4s_sealer_1.drawer.at_in", "source": "a4s_sealer_1.drawer", "data": {"q": 0.30000001192092896}, "cause": "program-1-2"} +{"env_id": 1, "seq": 13, "step": 7099, "t": 35.495, "topic": "a4s_sealer_1.drawer.command.succeeded", "source": "a4s_sealer_1.drawer", "data": {"command_id": "program-1-2", "name": "close", "source": "program:seal", "result": {"position": "in"}}, "cause": "program-1-2"} +{"env_id": 1, "seq": 14, "step": 7099, "t": 35.495, "topic": "labware.plate_3.changed", "source": "labware.plate_3", "data": {"key": "sealed", "value": true}, "cause": "task-1-1"} +{"env_id": 1, "seq": 15, "step": 7099, "t": 35.495, "topic": "a4s_sealer_1.sealed", "source": "a4s_sealer_1", "data": {"plate": "plate_3"}, "cause": "task-1-1"} +{"env_id": 1, "seq": 16, "step": 7099, "t": 35.495, "topic": "a4s_sealer_1.heater.command.started", "source": "a4s_sealer_1.heater", "data": {"command_id": "program-1-3", "name": "run", "source": "program:seal"}, "cause": "program-1-3"} +{"env_id": 1, "seq": 17, "step": 7099, "t": 35.495, "topic": "a4s_sealer_1.heater.state.changed", "source": "a4s_sealer_1.heater", "data": {"from": "ready", "to": "running"}, "cause": null} +{"env_id": 1, "seq": 18, "step": 7099, "t": 35.495, "topic": "a4s_sealer_1.heater.started", "source": "a4s_sealer_1.heater", "data": {"duration": 3.8022611842184864}, "cause": "program-1-3"} +{"env_id": 1, "seq": 19, "step": 7860, "t": 39.3, "topic": "a4s_sealer_1.heater.state.changed", "source": "a4s_sealer_1.heater", "data": {"from": "running", "to": "ready"}, "cause": null} +{"env_id": 1, "seq": 20, "step": 7860, "t": 39.3, "topic": "a4s_sealer_1.heater.finished", "source": "a4s_sealer_1.heater", "data": {"elapsed": 3.8050000000019466}, "cause": "program-1-3"} +{"env_id": 1, "seq": 21, "step": 7860, "t": 39.3, "topic": "a4s_sealer_1.heater.command.succeeded", "source": "a4s_sealer_1.heater", "data": {"command_id": "program-1-3", "name": "run", "source": "program:seal", "result": {"elapsed": 3.8050000000019466}}, "cause": "program-1-3"} +{"env_id": 1, "seq": 22, "step": 7860, "t": 39.3, "topic": "a4s_sealer_1.drawer.command.started", "source": "a4s_sealer_1.drawer", "data": {"command_id": "program-1-4", "name": "open", "source": "program:seal"}, "cause": "program-1-4"} +{"env_id": 1, "seq": 23, "step": 7860, "t": 39.3, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "at_in", "to": "moving"}, "cause": null} +{"env_id": 1, "seq": 24, "step": 7860, "t": 39.3, "topic": "a4s_sealer_1.drawer.moving", "source": "a4s_sealer_1.drawer", "data": {"target": 0.0, "goal": "out"}, "cause": "program-1-4"} +{"env_id": 1, "seq": 25, "step": 8280, "t": 41.4, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "moving", "to": "at_out"}, "cause": null} +{"env_id": 1, "seq": 26, "step": 8280, "t": 41.4, "topic": "a4s_sealer_1.drawer.reached", "source": "a4s_sealer_1.drawer", "data": {"position": "out", "q": 2.8734850054945582e-09}, "cause": "program-1-4"} +{"env_id": 1, "seq": 27, "step": 8280, "t": 41.4, "topic": "a4s_sealer_1.drawer.at_out", "source": "a4s_sealer_1.drawer", "data": {"q": 2.8734850054945582e-09}, "cause": "program-1-4"} +{"env_id": 1, "seq": 28, "step": 8280, "t": 41.4, "topic": "a4s_sealer_1.drawer.command.succeeded", "source": "a4s_sealer_1.drawer", "data": {"command_id": "program-1-4", "name": "open", "source": "program:seal", "result": {"position": "out"}}, "cause": "program-1-4"} +{"env_id": 1, "seq": 29, "step": 8280, "t": 41.4, "topic": "a4s_sealer_1.seal.finished", "source": "a4s_sealer_1", "data": {}, "cause": "task-1-1"} +{"env_id": 1, "seq": 30, "step": 8280, "t": 41.4, "topic": "a4s_sealer_1.command.succeeded", "source": "a4s_sealer_1", "data": {"command_id": "task-1-1", "name": "seal", "source": "task"}, "cause": "task-1-1"} +{"env_id": 1, "seq": 31, "step": 8859, "t": 44.295, "topic": "a4s_sealer_1.plate_present.absent", "source": "a4s_sealer_1.plate_present", "data": {"object": "plate_3"}, "cause": null} +{"env_id": 1, "seq": 32, "step": 10624, "t": 53.12, "topic": "conveyor_1.belt.command.started", "source": "conveyor_1.belt", "data": {"command_id": "task-1-5", "name": "release", "source": "task"}, "cause": "task-1-5"} +{"env_id": 1, "seq": 33, "step": 10624, "t": 53.12, "topic": "conveyor_1.belt.station.pick.released", "source": "conveyor_1.belt", "data": {"rider": "carrier_3"}, "cause": "task-1-5"} +{"env_id": 1, "seq": 34, "step": 10624, "t": 53.12, "topic": "conveyor_1.belt.state.changed", "source": "conveyor_1.belt", "data": {"from": "at_station", "to": "running"}, "cause": null} +{"env_id": 1, "seq": 35, "step": 10624, "t": 53.12, "topic": "conveyor_1.belt.command.succeeded", "source": "conveyor_1.belt", "data": {"command_id": "task-1-5", "name": "release", "source": "task", "result": {"state": "running"}}, "cause": "task-1-5"} diff --git a/episodes/c6_p015_e012/env.mp4 b/episodes/c6_p015_e012/env.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..cfac0ba29e914a2179ed6c082ac2ca120e6dc2a8 --- /dev/null +++ b/episodes/c6_p015_e012/env.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:9704b31de91812eeb6092ca5e693c5f3e9c4ea0bac433f00c78dc4d26b86e4c4 +size 1330894 diff --git a/episodes/c6_p015_e012/meta.json b/episodes/c6_p015_e012/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..a4dd2294a77693fdd6fc116833d9015e5dbef88d --- /dev/null +++ b/episodes/c6_p015_e012/meta.json @@ -0,0 +1,32 @@ +{ + "source": "raw/c6_p015/magicsim/12", + "fps": 25, + "frames": 1266, + "kept_ticks": "even", + "video_frames": { + "wrist": 1266, + "env": 1266 + }, + "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_p015_e012/scene_snapshot.json b/episodes/c6_p015_e012/scene_snapshot.json new file mode 100644 index 0000000000000000000000000000000000000000..25b81e91bf345e59fe230c55f9c9844b3c967ee6 --- /dev/null +++ b/episodes/c6_p015_e012/scene_snapshot.json @@ -0,0 +1,1558 @@ +{ + "trajectory_id": 12, + "env_id": 1, + "run_id": "c6_p015", + "task_type": "BioPlateCell", + "success": true, + "timing": { + "fps": 50.0, + "sim_dt": 0.005, + "decimation": 4 + }, + "restore_interface": { + "scene": "scene_manager.reset_to(snapshot['scene'], env_ids=[env_id])", + "robots": "robot_manager.set_state({'robots': snapshot['robots']}, env_ids=[env_id])" + }, + "snapshot": { + "env_id": 1, + "scene": { + "objects": [ + {}, + { + "rac_cell": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/rac_cell.usd", + "pose": { + "pos": [ + 0.0, + 0.0, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "physics_material": { + "static_friction": 0.6, + "dynamic_friction": 0.5, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "robot_mount": [ + { + "asset": "Cube", + "pose": { + "pos": [ + 0.0, + 0.0, + 0.9075 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": "color", + "value": [ + 0.55, + 0.56, + 0.58 + ], + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": { + "size": [ + 0.2, + 0.2, + 0.015 + ] + } + }, + "type_specific": {} + } + ], + "plate_rack": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/plate_hotel.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 0.9 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "physics_material": { + "static_friction": 0.6, + "dynamic_friction": 0.5, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "hotel_plate": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/deep_well_96_2ml/deep_well_96_2ml.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 0.9605 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/pcr_384_red/pcr_384_red.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.0285 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_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": "$MAGICSIM_ASSETS/Bio/CAD/plates/deep_well_96_2ml/deep_well_96_2ml.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.1645 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_24_clear/plate_24_clear.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.2325 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "a4s_sealer": [ + { + "asset": "$MAGICSIM_ASSETS/Articulated/A4SSealer/Object.usd", + "pose": { + "pos": [ + 0.5198965072631836, + 0.10860538482666016, + 0.8999999761581421 + ], + "ori": [ + 0.7303261756896973, + 0.0, + 0.0, + -0.6830986142158508 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "articulation", + "solver_position_iteration_count": 16.0, + "solver_velocity_iteration_count": 1.0, + "enabled_self_collisions": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "joint_position": [ + 6.728332626292077e-13 + ], + "joint_velocity": [ + 0.0 + ], + "linear_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "angular_velocity": [ + 0.0, + 0.0, + 0.0 + ] + } + } + ], + "conveyor": [ + { + "asset": "Cube", + "pose": { + "pos": [ + 0.15, + 0.45, + 0.9 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "conveyor", + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9 + }, + "ratio": 1.0 + }, + "primitive_params": { + "size": [ + 2.4, + 0.076, + 0.03 + ] + }, + "conveyor": { + "speed": 0.2613215454265247, + "direction": [ + 1.0, + 0.0, + 0.0 + ], + "enabled": true, + "drive": "surface_velocity", + "lines": null, + "station_line": null, + "riders": [ + "carrier" + ], + "stations": { + "pick": { + "position": -0.0844269162279033, + "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": 0.2613215454265247, + "holds": [], + "station": "pick", + "rider": "carrier_3", + "arrived": true, + "applied_speed": 0.0 + } + } + } + ], + "carrier": [ + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + -1.3903875350952148, + 0.8692512512207031, + 0.8999999761581421 + ], + "ori": [ + -0.6254789233207703, + 1.1518284992462213e-08, + 2.1675107930718696e-08, + 0.7802411317825317 + ], + "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": [ + 9.878544915409293e-08, + 1.122507242712345e-08, + 1.862645149230957e-08 + ], + "angular_velocity": [ + 3.12123660251018e-08, + 1.2500743196142139e-06, + 1.1290123893559212e-06 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + 1.627634048461914, + 1.0091571807861328, + 0.8999999761581421 + ], + "ori": [ + 0.4496787488460541, + -3.9615191127495564e-08, + 2.0594212557512037e-08, + 0.8931905031204224 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 9.920217980408097e-10, + -1.5999152003232098e-10, + 0.0 + ], + "angular_velocity": [ + 2.716458524787413e-08, + 6.698410004446487e-08, + -4.426962796344469e-09 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + 0.0655984878540039, + 0.4499998092651367, + 0.8999999761581421 + ], + "ori": [ + 1.0, + 1.0016620866082349e-09, + -9.462158834239176e-10, + 1.502129998698365e-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": [ + 2.493190098817877e-10, + 5.095348587502713e-10, + 0.0 + ], + "angular_velocity": [ + -5.4400622673256294e-08, + 1.6121228796350806e-08, + -3.751319255229646e-09 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + 0.3177938461303711, + 1.1499967575073242, + 0.8999999761581421 + ], + "ori": [ + 9.361348929814994e-05, + 5.38467187505276e-11, + 5.910223865868147e-09, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -1.6033139260684948e-09, + -1.5514465268040567e-09, + 1.862645149230957e-08 + ], + "angular_velocity": [ + 1.2984405373117625e-07, + -1.6523665635759244e-07, + -3.9231187187738215e-09 + ] + } + } + ], + "plate": [ + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_12_clear/Object.usd", + "pose": { + "pos": [ + -1.3789958953857422, + 0.8784675598144531, + 0.9179999828338623 + ], + "ori": [ + -0.6523751616477966, + -1.47551475038199e-07, + 3.1725221560918726e-07, + 0.7578963041305542 + ], + "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": [ + 2.143329766113311e-06, + -1.6093072190415114e-06, + -5.405396223068237e-06 + ], + "angular_velocity": [ + -1.7478796507930383e-05, + -8.732527203392237e-05, + 1.2908465578220785e-05 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_96_white/Object.usd", + "pose": { + "pos": [ + 1.6334724426269531, + 1.0051136016845703, + 0.9180000424385071 + ], + "ori": [ + 0.43498238921165466, + -3.8998507534415694e-08, + 2.2438547020442456e-08, + 0.9004390835762024 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 1.949625172414926e-08, + -1.370225888308596e-08, + -5.796551704406738e-06 + ], + "angular_velocity": [ + 6.155115670480882e-07, + 1.4796725054111448e-06, + -2.391260522927041e-10 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/pcr_384_red/Object.usd", + "pose": { + "pos": [ + 0.07709312438964844, + 0.4542226791381836, + 0.9179999828338623 + ], + "ori": [ + 0.9999929666519165, + 6.062466639811248e-10, + -1.06564457258429e-09, + -0.003743961453437805 + ], + "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": [ + -1.2330550802630569e-08, + 1.0801391781001257e-08, + -5.5283308029174805e-06 + ], + "angular_velocity": [ + 1.1301167290866942e-07, + -1.0851871365957777e-06, + 1.255076540473965e-07 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/deep_well_96_1ml/Object.usd", + "pose": { + "pos": [ + 0.32508277893066406, + 1.1470975875854492, + 0.9179999828338623 + ], + "ori": [ + -0.008170110173523426, + -3.9108719041003326e-10, + 1.610649746908166e-08, + 0.9999666213989258 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 2.300170187652384e-08, + 2.1169082486949264e-08, + 2.1606683731079102e-07 + ], + "angular_velocity": [ + -1.4935371837054845e-06, + 2.1591956738120643e-06, + -5.729694407818897e-08 + ] + } + } + ], + "deco_hub_west": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/hub_a.usd", + "pose": { + "pos": [ + -3.36, + 0.0, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_hub_east": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/hub_c.usd", + "pose": { + "pos": [ + 3.36, + 0.0, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_hub_back": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/hub_d.usd", + "pose": { + "pos": [ + -3.0, + -2.1, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_bench_east": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/bench_c.usd", + "pose": { + "pos": [ + 2.6, + -2.5, + 0.0 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_bench_gap": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/bench_b.usd", + "pose": { + "pos": [ + -0.1, + -2.9, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ] + }, + {}, + {} + ], + "devices": { + "hub": [ + null, + { + "t": 2.639999999999966, + "step": 528, + "counter": 0, + "devices": { + "a4s_sealer_1": { + "mode": "auto", + "units": { + "drawer": { + "state": "at_out", + "active": null, + "target": 0.0, + "goal_name": "out", + "profile": null, + "q_start": null, + "reversing": false, + "blocked_for": 0.0, + "settled_for": 0.0, + "last_q": 6.728332626292077e-13 + }, + "heater": { + "state": "ready", + "active": null, + "duration": 0.0, + "t_start": null, + "elapsed": 0.0 + } + }, + "queues": {}, + "program": null, + "sensors": { + "plate_present": { + "occupants": [], + "pending": {} + } + }, + "interlocks": {} + }, + "conveyor_1": { + "mode": "auto", + "units": { + "belt": { + "state": "at_station", + "active": null, + "controller": { + "speed": 0.2613215454265247, + "holds": [], + "station": "pick", + "rider": "carrier_3", + "arrived": true, + "settle_count": 435, + "released": { + "pick": [] + }, + "last_pos": { + "carrier_1": [ + -1.5403875410556793, + 0.4192512631416321, + 0.0 + ], + "carrier_2": [ + 1.4776340425014496, + 0.5591571927070618, + 0.0 + ], + "carrier_3": [ + -0.08440151810646057, + -1.7881393432617188e-07, + 0.0 + ], + "carrier_4": [ + 0.16779384016990662, + 0.6999967694282532, + 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": [ + -0.29980777455608, + 0.41761381265657804, + 3.188052057009748 + ], + "ori": [ + -12.366531886753595, + 14.04140183941599, + -8.530635042110863 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "color_temperature": 5600.8846811805815, + "color": [ + 0.9591072663435176, + 0.8100951147110926, + 0.8808830045772208 + ], + "intensity": 8659.275335164897, + "width": 1.962339917101667, + "height": 1.7887102772412233 + } + }, + "key": { + "type": "disk", + "pose": { + "pos": [ + 0.43922931600675863, + -1.1847163455706544, + 1.9514348298913544 + ], + "ori": [ + -19.85175165818358, + 37.23386029216407, + -29.457755980146274 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "color_temperature": 6225.247789184248, + "color": [ + 0.9823952110650832, + 0.8875157160612024, + 0.8412014744562647 + ], + "intensity": 9782.97841222604, + "radius": 0.26195975625763146 + } + } + }, + {}, + {} + ], + "background": { + "type": "dome", + "pose": { + "pos": null, + "ori": null, + "scale": null + }, + "dr": { + "intensity": 442.6767337829358, + "texture": null, + "color": [ + 0.92, + 0.94, + 0.96 + ] + } + } + }, + "robots": { + "UR5e": { + "root_pose": [ + [ + 11.0, + -11.0, + 0.9150000214576721, + 1.0, + 0.0, + 0.0, + 0.0 + ], + [ + 11.0, + 11.0, + 0.9150000214576721, + 1.0, + 0.0, + 0.0, + 0.0 + ], + [ + -11.0, + -11.0, + 0.9150000214576721, + 1.0, + 0.0, + 0.0, + 0.0 + ], + [ + -11.0, + 11.0, + 0.9150000214576721, + 1.0, + 0.0, + 0.0, + 0.0 + ] + ], + "root_vel": [ + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + ], + "joint_pos": [ + [ + 0.9140999913215637, + -1.7194000482559204, + 2.0905001163482666, + -1.9419000148773193, + -1.5707999467849731, + 2.4848999977111816, + 0.017999999225139618, + 0.017999999225139618 + ], + [ + 0.9140999913215637, + -1.7194000482559204, + 2.0905001163482666, + -1.9419000148773193, + -1.5707999467849731, + 2.4848999977111816, + 0.017999999225139618, + 0.017999999225139618 + ], + [ + -0.32166144251823425, + -2.1318061351776123, + 2.4967761039733887, + -1.9357329607009888, + -1.5707886219024658, + 4.329017639160156, + 0.018000012263655663, + 0.017999986186623573 + ], + [ + -0.21858501434326172, + -2.139488458633423, + 2.3974342346191406, + -1.8285882472991943, + -1.5707488059997559, + 4.534696102142334, + 0.007139033172279596, + 0.008153772912919521 + ] + ], + "joint_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 + ], + [ + -0.0008470441680401564, + 0.008477561175823212, + 0.01711929589509964, + -0.024829231202602386, + -8.049428288359195e-06, + -0.0008038760279305279, + -1.3049585732005653e-06, + 1.3050445204498828e-06 + ], + [ + -3.1255327485268936e-05, + -0.0001493753370596096, + -0.0005254049901850522, + 5.1370338042033836e-05, + 0.0002726572274696082, + -0.0006287565338425338, + -0.002492759609594941, + 8.77121856319718e-05 + ] + ] + } + }, + "cameras": { + "cameras": { + "camera0": [ + [ + 0.05188898742198944, + 0.0002756215399131179, + -0.026189586147665977, + -0.2806943953037262, + 0.6533254981040955, + 0.645622730255127, + -0.2784738540649414 + ], + [ + 0.04973386600613594, + -0.0017704586498439312, + -0.030416090041399002, + -0.2735287547111511, + 0.6536200046539307, + 0.6445314288139343, + -0.28730159997940063 + ], + [ + 0.05095337703824043, + -0.000678563374094665, + -0.031054658815264702, + -0.2738948464393616, + 0.6576909422874451, + 0.6369577050209045, + -0.294464111328125 + ], + [ + 0.05030585825443268, + 0.00020021239470224828, + -0.031082887202501297, + -0.2618054449558258, + 0.6514198184013367, + 0.6558578014373779, + -0.277417927980423 + ] + ], + "camera1": [ + [ + 0.043791308999061584, + 0.5578715801239014, + 1.9430233240127563, + 0.0431101992726326, + 0.0031966601964086294, + 0.2779116928577423, + 0.959633469581604 + ], + [ + 0.048044417053461075, + 0.5939530730247498, + 1.944770336151123, + 0.024703459814190865, + 0.008361013606190681, + 0.2837070822715759, + 0.9585562944412231 + ], + [ + 0.02788447216153145, + 0.5714872479438782, + 1.9644396305084229, + 0.03768756985664368, + 0.017804676666855812, + 0.2800598740577698, + 0.9590772390365601 + ], + [ + 0.041136886924505234, + 0.5943107604980469, + 1.9386329650878906, + 0.05384796857833862, + -0.005182644352316856, + 0.2740398943424225, + 0.9601956605911255 + ] + ] + } + } + } +} \ No newline at end of file diff --git a/episodes/c6_p015_e012/wrist.mp4 b/episodes/c6_p015_e012/wrist.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..8245af0b6ffea8be2096de073e628fbc3a7b466a --- /dev/null +++ b/episodes/c6_p015_e012/wrist.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:955be324e440c24b6af53ad883e0c12d6e9bb254729452fe0cd6c7f756771ff5 +size 8051860 diff --git a/episodes/c8_p017_e000/data.npz b/episodes/c8_p017_e000/data.npz new file mode 100644 index 0000000000000000000000000000000000000000..ffdc25b5b21ae5065305a2ec1a4dd301fa7c6e5a --- /dev/null +++ b/episodes/c8_p017_e000/data.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:3266dd248fcd34c9b4b0fc7997f8d7c158c11f736a732a704fc34faaed7d345e +size 187881 diff --git a/episodes/c8_p017_e000/device_events.jsonl b/episodes/c8_p017_e000/device_events.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..8135541c5c110a9f27b0b9a7ac69b3092c93e133 --- /dev/null +++ b/episodes/c8_p017_e000/device_events.jsonl @@ -0,0 +1,37 @@ +{"env_id": 1, "seq": 1, "step": 178, "t": 0.89, "topic": "conveyor_1.belt.station.pick.captured", "source": "conveyor_1.belt", "data": {"rider": "carrier_1"}, "cause": null} +{"env_id": 1, "seq": 2, "step": 178, "t": 0.89, "topic": "conveyor_1.belt.state.changed", "source": "conveyor_1.belt", "data": {"from": "running", "to": "at_station"}, "cause": null} +{"env_id": 1, "seq": 3, "step": 183, "t": 0.915, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_1"}, "cause": null} +{"env_id": 1, "seq": 4, "step": 960, "t": 4.8, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_1"}, "cause": null} +{"env_id": 1, "seq": 5, "step": 991, "t": 4.955, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_1"}, "cause": null} +{"env_id": 1, "seq": 6, "step": 5455, "t": 27.275, "topic": "a4s_sealer_1.plate_present.present", "source": "a4s_sealer_1.plate_present", "data": {"object": "plate_1"}, "cause": null} +{"env_id": 1, "seq": 7, "step": 6068, "t": 30.34, "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": 8, "step": 6068, "t": 30.34, "topic": "a4s_sealer_1.seal.started", "source": "a4s_sealer_1", "data": {"dwell": 3.432335466133398}, "cause": "task-1-1"} +{"env_id": 1, "seq": 9, "step": 6068, "t": 30.34, "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": 10, "step": 6068, "t": 30.34, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "at_out", "to": "moving"}, "cause": null} +{"env_id": 1, "seq": 11, "step": 6068, "t": 30.34, "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": 12, "step": 6487, "t": 32.435, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "moving", "to": "at_in"}, "cause": null} +{"env_id": 1, "seq": 13, "step": 6487, "t": 32.435, "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": 14, "step": 6487, "t": 32.435, "topic": "a4s_sealer_1.drawer.at_in", "source": "a4s_sealer_1.drawer", "data": {"q": 0.30000001192092896}, "cause": "program-1-2"} +{"env_id": 1, "seq": 15, "step": 6487, "t": 32.435, "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": 16, "step": 6487, "t": 32.435, "topic": "labware.plate_1.changed", "source": "labware.plate_1", "data": {"key": "sealed", "value": true}, "cause": "task-1-1"} +{"env_id": 1, "seq": 17, "step": 6487, "t": 32.435, "topic": "a4s_sealer_1.sealed", "source": "a4s_sealer_1", "data": {"plate": "plate_1"}, "cause": "task-1-1"} +{"env_id": 1, "seq": 18, "step": 6487, "t": 32.435, "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": 19, "step": 6487, "t": 32.435, "topic": "a4s_sealer_1.heater.state.changed", "source": "a4s_sealer_1.heater", "data": {"from": "ready", "to": "running"}, "cause": null} +{"env_id": 1, "seq": 20, "step": 6487, "t": 32.435, "topic": "a4s_sealer_1.heater.started", "source": "a4s_sealer_1.heater", "data": {"duration": 3.432335466133398}, "cause": "program-1-3"} +{"env_id": 1, "seq": 21, "step": 7174, "t": 35.87, "topic": "a4s_sealer_1.heater.state.changed", "source": "a4s_sealer_1.heater", "data": {"from": "running", "to": "ready"}, "cause": null} +{"env_id": 1, "seq": 22, "step": 7174, "t": 35.87, "topic": "a4s_sealer_1.heater.finished", "source": "a4s_sealer_1.heater", "data": {"elapsed": 3.4350000000017573}, "cause": "program-1-3"} +{"env_id": 1, "seq": 23, "step": 7174, "t": 35.87, "topic": "a4s_sealer_1.heater.command.succeeded", "source": "a4s_sealer_1.heater", "data": {"command_id": "program-1-3", "name": "run", "source": "program:seal", "result": {"elapsed": 3.4350000000017573}}, "cause": "program-1-3"} +{"env_id": 1, "seq": 24, "step": 7174, "t": 35.87, "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": 25, "step": 7174, "t": 35.87, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "at_in", "to": "moving"}, "cause": null} +{"env_id": 1, "seq": 26, "step": 7174, "t": 35.87, "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": 27, "step": 7594, "t": 37.97, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "moving", "to": "at_out"}, "cause": null} +{"env_id": 1, "seq": 28, "step": 7594, "t": 37.97, "topic": "a4s_sealer_1.drawer.reached", "source": "a4s_sealer_1.drawer", "data": {"position": "out", "q": 1.3392831114955595e-11}, "cause": "program-1-4"} +{"env_id": 1, "seq": 29, "step": 7594, "t": 37.97, "topic": "a4s_sealer_1.drawer.at_out", "source": "a4s_sealer_1.drawer", "data": {"q": 1.3392831114955595e-11}, "cause": "program-1-4"} +{"env_id": 1, "seq": 30, "step": 7594, "t": 37.97, "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": 31, "step": 7594, "t": 37.97, "topic": "a4s_sealer_1.seal.finished", "source": "a4s_sealer_1", "data": {}, "cause": "task-1-1"} +{"env_id": 1, "seq": 32, "step": 7594, "t": 37.97, "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": 33, "step": 8174, "t": 40.87, "topic": "a4s_sealer_1.plate_present.absent", "source": "a4s_sealer_1.plate_present", "data": {"object": "plate_1"}, "cause": null} +{"env_id": 1, "seq": 34, "step": 9956, "t": 49.78, "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": 35, "step": 9956, "t": 49.78, "topic": "conveyor_1.belt.station.pick.released", "source": "conveyor_1.belt", "data": {"rider": "carrier_1"}, "cause": "task-1-5"} +{"env_id": 1, "seq": 36, "step": 9956, "t": 49.78, "topic": "conveyor_1.belt.state.changed", "source": "conveyor_1.belt", "data": {"from": "at_station", "to": "running"}, "cause": null} +{"env_id": 1, "seq": 37, "step": 9956, "t": 49.78, "topic": "conveyor_1.belt.command.succeeded", "source": "conveyor_1.belt", "data": {"command_id": "task-1-5", "name": "release", "source": "task", "result": {"state": "running"}}, "cause": "task-1-5"} diff --git a/episodes/c8_p017_e000/env.mp4 b/episodes/c8_p017_e000/env.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..521cb2bf645f39abfa20907a6761438037349f00 --- /dev/null +++ b/episodes/c8_p017_e000/env.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:af501fa521dcc8693bb7d9a49830861a6a54e2155b72c43e7eb1ebeafb2082f7 +size 1271143 diff --git a/episodes/c8_p017_e000/meta.json b/episodes/c8_p017_e000/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..c43a8d4147ac9dc9a009a4762222d09d8bb391a9 --- /dev/null +++ b/episodes/c8_p017_e000/meta.json @@ -0,0 +1,32 @@ +{ + "source": "raw/c8_p017/magicsim/0", + "fps": 25, + "frames": 1204, + "kept_ticks": "even", + "video_frames": { + "wrist": 1204, + "env": 1204 + }, + "joint_target_source": "joint_pos_target", + "fk_vs_recorded_eef_max_m": 0.0, + "curobo_joints": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "joint_order": [ + "shoulder_pan", + "shoulder_lift", + "elbow", + "wrist_1", + "wrist_2", + "wrist_3", + "finger_left", + "finger_right" + ], + "frames_note": "eef / actions in the robot base frame; camera_pose = local pose (wrist: in plate_gripper_base, env: env frame), pos + quat wxyz", + "dr_version": "v2" +} \ No newline at end of file diff --git a/episodes/c8_p017_e000/scene_snapshot.json b/episodes/c8_p017_e000/scene_snapshot.json new file mode 100644 index 0000000000000000000000000000000000000000..8a9f5b3a9aca526bdacdf292f9ef9e8e218c218c --- /dev/null +++ b/episodes/c8_p017_e000/scene_snapshot.json @@ -0,0 +1,1558 @@ +{ + "trajectory_id": 0, + "env_id": 1, + "run_id": "c8_p017", + "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": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_96_black/plate_96_black.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 0.9605 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$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": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_48_clear/plate_48_clear.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.0965 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_24_clear/plate_24_clear.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.1645 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_96_clear/plate_96_clear.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.2325 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "a4s_sealer": [ + { + "asset": "$MAGICSIM_ASSETS/Articulated/A4SSealer/Object.usd", + "pose": { + "pos": [ + 0.46161746978759766, + 0.08483600616455078, + 0.8999999761581421 + ], + "ori": [ + -0.6854670643806458, + 0.0, + 0.0, + 0.7281036376953125 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "articulation", + "solver_position_iteration_count": 16.0, + "solver_velocity_iteration_count": 1.0, + "enabled_self_collisions": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "joint_position": [ + 1.8072430487889313e-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": 0.15287437402826212, + "direction": [ + 1.0, + 0.0, + 0.0 + ], + "enabled": true, + "drive": "surface_velocity", + "lines": null, + "station_line": null, + "riders": [ + "carrier" + ], + "stations": { + "pick": { + "position": -0.2676591109487115, + "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": 0.15287437402826212, + "holds": [], + "station": "pick", + "rider": "carrier_1", + "arrived": true, + "applied_speed": 0.0 + } + } + } + ], + "carrier": [ + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + -0.11801719665527344, + 0.44870948791503906, + 0.8999999761581421 + ], + "ori": [ + 0.9997522234916687, + -7.486067321593737e-10, + -5.297890459665666e-10, + 0.022259237244725227 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 2.4721948932437954e-09, + 2.3945116112145115e-08, + 5.21540641784668e-08 + ], + "angular_velocity": [ + -8.761099365983682e-07, + 3.053560817534162e-07, + -7.274100966014885e-08 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + -0.01692485809326172, + 1.150003433227539, + 0.8999999761581421 + ], + "ori": [ + 9.103765478357673e-06, + -1.5546232356999923e-10, + -2.8203570590079607e-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": [ + 1.5646917095324397e-10, + -9.485092711258858e-10, + 3.725290298461914e-09 + ], + "angular_velocity": [ + -2.8922180206336634e-09, + 1.5846023160293043e-08, + 7.306680593899273e-09 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + -1.391275405883789, + 0.8634824752807617, + 0.8999999761581421 + ], + "ori": [ + -0.6370741724967957, + -2.996569747892863e-08, + 2.0444883119807855e-08, + 0.7708025574684143 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -5.244218215239016e-08, + 3.285103744588014e-09, + -1.1175870895385742e-08 + ], + "angular_velocity": [ + 2.534155782996095e-07, + -5.806340936942433e-07, + -7.123039722500835e-07 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + 1.6871280670166016, + 0.7167110443115234, + 0.8999999761581421 + ], + "ori": [ + 0.7873904705047607, + 6.868782520541572e-08, + -1.2068618104876805e-07, + 0.6164547204971313 + ], + "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": [ + 1.7138528374260886e-09, + -6.178938471990136e-10, + 0.0 + ], + "angular_velocity": [ + 4.7031260663743524e-08, + 1.1587769677134929e-07, + -3.74650932499776e-09 + ] + } + } + ], + "plate": [ + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_12_clear/Object.usd", + "pose": { + "pos": [ + -0.10863018035888672, + 0.4569816589355469, + 0.9179999828338623 + ], + "ori": [ + 0.9993125200271606, + -4.3073242750324425e-09, + 1.0780436543456062e-09, + 0.037075113505125046 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -1.1227571761196486e-08, + 7.240543453690407e-08, + 2.682209014892578e-07 + ], + "angular_velocity": [ + -3.826488068625622e-07, + -2.041140987785184e-06, + -5.117783885566496e-08 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_96_white/Object.usd", + "pose": { + "pos": [ + -0.02103424072265625, + 1.1609668731689453, + 0.9180000424385071 + ], + "ori": [ + 0.10227297991514206, + -1.5149514975831835e-10, + -4.4383083874777185e-09, + 0.9947564005851746 + ], + "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": [ + 1.6365012456276418e-08, + -2.8846647737168496e-08, + -5.230307579040527e-06 + ], + "angular_velocity": [ + 7.467411364814325e-07, + 1.3341361864149803e-06, + 1.408526912882735e-07 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/pcr_384_red/Object.usd", + "pose": { + "pos": [ + -1.4003877639770508, + 0.8774547576904297, + 0.9179999828338623 + ], + "ori": [ + -0.5961922407150269, + 7.728367279469239e-08, + -1.5905685302186612e-07, + 0.8028417229652405 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -5.0047792683471926e-06, + 1.6397198123740964e-06, + -5.763024091720581e-06 + ], + "angular_velocity": [ + -4.611752956407145e-05, + -0.00013916708121541888, + -3.058265065192245e-05 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/deep_well_96_1ml/Object.usd", + "pose": { + "pos": [ + 1.697671890258789, + 0.7125873565673828, + 0.9179999828338623 + ], + "ori": [ + 0.7739526629447937, + 6.756098258620113e-08, + -1.2267705074009427e-07, + 0.6332434415817261 + ], + "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": [ + -2.204870241939716e-08, + -8.02309685354885e-08, + 1.6391277313232422e-07 + ], + "angular_velocity": [ + 3.4221229725517333e-06, + -4.7036911610121024e-07, + 4.922894447645376e-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": 1.919999999999981, + "step": 384, + "counter": 0, + "devices": { + "a4s_sealer_1": { + "mode": "auto", + "units": { + "drawer": { + "state": "at_out", + "active": null, + "target": 0.0, + "goal_name": "out", + "profile": null, + "q_start": null, + "reversing": false, + "blocked_for": 0.0, + "settled_for": 0.0, + "last_q": 1.8072430487889313e-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": 0.15287437402826212, + "holds": [], + "station": "pick", + "rider": "carrier_1", + "arrived": true, + "settle_count": 205, + "released": { + "pick": [] + }, + "last_pos": { + "carrier_1": [ + -0.2680172026157379, + -0.0012905001640319824, + 0.0 + ], + "carrier_2": [ + -0.1669248640537262, + 0.700003445148468, + 0.0 + ], + "carrier_3": [ + -1.5412754118442535, + 0.4134824872016907, + 0.0 + ], + "carrier_4": [ + 1.537128061056137, + 0.2667110562324524, + 0.0 + ] + }, + "command": 0.0 + }, + "belt": { + "target_speed": 0.0, + "command_speed": 0.0 + }, + "seen": { + "state": "at_station", + "station": "pick", + "rider": "carrier_1", + "arrived": true + } + } + }, + "queues": {}, + "program": null, + "sensors": {}, + "interlocks": {} + } + }, + "zones": {}, + "labware": { + "plate_1": { + "sealed": false + }, + "plate_2": { + "sealed": false + }, + "plate_3": { + "sealed": false + }, + "plate_4": { + "sealed": false + } + }, + "rules": {}, + "records": [], + "bus": { + "seq": 3, + "queue": [] + } + }, + null, + null + ], + "drives": [ + null, + {}, + null, + null + ] + }, + "artifacts": [ + {}, + { + "ceiling": { + "type": "rect", + "pose": { + "pos": [ + 0.37589412260671884, + 0.41745093972659153, + 2.6786436770523916 + ], + "ori": [ + -12.56649834981546, + -6.2018223271682995, + 7.3980573145486375 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "color_temperature": 3340.9327326993475, + "color": [ + 0.9882141711332942, + 0.8047176508092226, + 0.8820403513585884 + ], + "intensity": 14425.63799940557, + "width": 2.705653251823356, + "height": 0.8767164766311409 + } + }, + "key": { + "type": "disk", + "pose": { + "pos": [ + -1.0881643565523829, + 0.2957498773890306, + 2.7481166910812025 + ], + "ori": [ + 20.765504043679513, + -28.690062550983058, + 32.85171880694236 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "color_temperature": 4288.0427452627355, + "color": [ + 0.845199968941105, + 0.7537861727024309, + 0.8611500137547584 + ], + "intensity": 5232.058438787051, + "radius": 0.19138189807573125 + } + } + }, + {}, + {} + ], + "background": { + "type": "dome", + "pose": { + "pos": null, + "ori": null, + "scale": null + }, + "dr": { + "intensity": 1481.4738996467133, + "texture": null, + "color": [ + 0.92, + 0.94, + 0.96 + ] + } + } + }, + "robots": { + "UR5e": { + "root_pose": [ + [ + 11.0, + -11.0, + 0.9150000214576721, + 1.0, + 0.0, + 0.0, + 0.0 + ], + [ + 11.0, + 11.0, + 0.9150000214576721, + 1.0, + 0.0, + 0.0, + 0.0 + ], + [ + -11.0, + -11.0, + 0.9150000214576721, + 1.0, + 0.0, + 0.0, + 0.0 + ], + [ + -11.0, + 11.0, + 0.9150000214576721, + 1.0, + 0.0, + 0.0, + 0.0 + ] + ], + "root_vel": [ + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + ], + "joint_pos": [ + [ + 0.9140999913215637, + -1.7194000482559204, + 2.0905001163482666, + -1.9419000148773193, + -1.5707999467849731, + 2.4848999977111816, + 0.017999999225139618, + 0.017999999225139618 + ], + [ + 0.9140999913215637, + -1.7194000482559204, + 2.0905001163482666, + -1.9419000148773193, + -1.5707999467849731, + 2.4848999977111816, + 0.017999999225139618, + 0.017999999225139618 + ], + [ + 0.9140999913215637, + -1.7194000482559204, + 2.0905001163482666, + -1.9419000148773193, + -1.5707999467849731, + 2.4848999977111816, + 0.017999999225139618, + 0.017999999225139618 + ], + [ + 0.9140999913215637, + -1.7194000482559204, + 2.0905001163482666, + -1.9419000148773193, + -1.5707999467849731, + 2.4848999977111816, + 0.017999999225139618, + 0.017999999225139618 + ] + ], + "joint_vel": [ + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + ] + } + }, + "cameras": { + "cameras": { + "camera0": [ + [ + 0.05114781856536865, + -0.0023475633934140205, + -0.028192266821861267, + -0.2730827331542969, + 0.6559852957725525, + 0.643281102180481, + -0.2851288914680481 + ], + [ + 0.054590094834566116, + 0.0016420307802036405, + -0.02859506942331791, + -0.2752179205417633, + 0.6531468033790588, + 0.6406491994857788, + -0.2953352630138397 + ], + [ + 0.05207445099949837, + 0.0007075798930600286, + -0.027552952989935875, + -0.27737122774124146, + 0.6492451429367065, + 0.6459229588508606, + -0.29039546847343445 + ], + [ + 0.04708564653992653, + 0.000564524729270488, + -0.033042069524526596, + -0.28236493468284607, + 0.6455718874931335, + 0.6528436541557312, + -0.2780325710773468 + ] + ], + "camera1": [ + [ + 0.07491359859704971, + 0.5962027907371521, + 1.935456395149231, + 0.05469208583235741, + 0.00409278878942132, + 0.2727888524532318, + 0.9605093598365784 + ], + [ + 0.06471529603004456, + 0.587897777557373, + 1.9683809280395508, + 0.04781081900000572, + 0.01457906886935234, + 0.2844037711620331, + 0.9574006795883179 + ], + [ + 0.068135567009449, + 0.5614282488822937, + 1.9274623394012451, + 0.04418894276022911, + 0.007301605772227049, + 0.2747696042060852, + 0.9604663848876953 + ], + [ + 0.05140060931444168, + 0.5622696280479431, + 1.9367109537124634, + 0.03202955052256584, + 0.02843022346496582, + 0.2649160325527191, + 0.9633199572563171 + ] + ] + } + } + } +} \ No newline at end of file diff --git a/episodes/c8_p017_e000/wrist.mp4 b/episodes/c8_p017_e000/wrist.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..9c9296f97f4cceff394676f57edd0db2f9f154de --- /dev/null +++ b/episodes/c8_p017_e000/wrist.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:4d9aab1771209c1ef3d6cad4643c9a004eb8c19b0f520d1c420adfd7853ab47e +size 7836167 diff --git a/episodes/c8_p017_e001/data.npz b/episodes/c8_p017_e001/data.npz new file mode 100644 index 0000000000000000000000000000000000000000..fd2c18fba31b9ff48b1cd1f18908e5a45866359e --- /dev/null +++ b/episodes/c8_p017_e001/data.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:5d941c73ae9f5928424c03b44d17f7fec2d40f1c285ea57a86c8333e1bd226e9 +size 189305 diff --git a/episodes/c8_p017_e001/device_events.jsonl b/episodes/c8_p017_e001/device_events.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..d11cbdd84672e8a794721e68b2237c94d36d1782 --- /dev/null +++ b/episodes/c8_p017_e001/device_events.jsonl @@ -0,0 +1,35 @@ +{"env_id": 2, "seq": 1, "step": 99, "t": 0.495, "topic": "conveyor_1.belt.station.pick.captured", "source": "conveyor_1.belt", "data": {"rider": "carrier_2"}, "cause": null} +{"env_id": 2, "seq": 2, "step": 99, "t": 0.495, "topic": "conveyor_1.belt.state.changed", "source": "conveyor_1.belt", "data": {"from": "running", "to": "at_station"}, "cause": null} +{"env_id": 2, "seq": 3, "step": 104, "t": 0.52, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_2"}, "cause": null} +{"env_id": 2, "seq": 4, "step": 6175, "t": 30.875, "topic": "a4s_sealer_1.plate_present.present", "source": "a4s_sealer_1.plate_present", "data": {"object": "plate_2"}, "cause": null} +{"env_id": 2, "seq": 5, "step": 6788, "t": 33.94, "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": 6788, "t": 33.94, "topic": "a4s_sealer_1.seal.started", "source": "a4s_sealer_1", "data": {"dwell": 3.210338839434325}, "cause": "task-2-1"} +{"env_id": 2, "seq": 7, "step": 6788, "t": 33.94, "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": 6788, "t": 33.94, "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": 6788, "t": 33.94, "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": 7207, "t": 36.035, "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": 7207, "t": 36.035, "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": 7207, "t": 36.035, "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": 7207, "t": 36.035, "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": 7207, "t": 36.035, "topic": "labware.plate_2.changed", "source": "labware.plate_2", "data": {"key": "sealed", "value": true}, "cause": "task-2-1"} +{"env_id": 2, "seq": 15, "step": 7207, "t": 36.035, "topic": "a4s_sealer_1.sealed", "source": "a4s_sealer_1", "data": {"plate": "plate_2"}, "cause": "task-2-1"} +{"env_id": 2, "seq": 16, "step": 7207, "t": 36.035, "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": 7207, "t": 36.035, "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": 7207, "t": 36.035, "topic": "a4s_sealer_1.heater.started", "source": "a4s_sealer_1.heater", "data": {"duration": 3.210338839434325}, "cause": "program-2-3"} +{"env_id": 2, "seq": 19, "step": 7850, "t": 39.25, "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": 7850, "t": 39.25, "topic": "a4s_sealer_1.heater.finished", "source": "a4s_sealer_1.heater", "data": {"elapsed": 3.2150000000016448}, "cause": "program-2-3"} +{"env_id": 2, "seq": 21, "step": 7850, "t": 39.25, "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": 3.2150000000016448}}, "cause": "program-2-3"} +{"env_id": 2, "seq": 22, "step": 7850, "t": 39.25, "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": 7850, "t": 39.25, "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": 7850, "t": 39.25, "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": 8270, "t": 41.35, "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": 8270, "t": 41.35, "topic": "a4s_sealer_1.drawer.reached", "source": "a4s_sealer_1.drawer", "data": {"position": "out", "q": 2.6074628567407387e-11}, "cause": "program-2-4"} +{"env_id": 2, "seq": 27, "step": 8270, "t": 41.35, "topic": "a4s_sealer_1.drawer.at_out", "source": "a4s_sealer_1.drawer", "data": {"q": 2.6074628567407387e-11}, "cause": "program-2-4"} +{"env_id": 2, "seq": 28, "step": 8270, "t": 41.35, "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": 8270, "t": 41.35, "topic": "a4s_sealer_1.seal.finished", "source": "a4s_sealer_1", "data": {}, "cause": "task-2-1"} +{"env_id": 2, "seq": 30, "step": 8270, "t": 41.35, "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": 8851, "t": 44.255, "topic": "a4s_sealer_1.plate_present.absent", "source": "a4s_sealer_1.plate_present", "data": {"object": "plate_2"}, "cause": null} +{"env_id": 2, "seq": 32, "step": 10608, "t": 53.04, "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": 10608, "t": 53.04, "topic": "conveyor_1.belt.station.pick.released", "source": "conveyor_1.belt", "data": {"rider": "carrier_2"}, "cause": "task-2-5"} +{"env_id": 2, "seq": 34, "step": 10608, "t": 53.04, "topic": "conveyor_1.belt.state.changed", "source": "conveyor_1.belt", "data": {"from": "at_station", "to": "running"}, "cause": null} +{"env_id": 2, "seq": 35, "step": 10608, "t": 53.04, "topic": "conveyor_1.belt.command.succeeded", "source": "conveyor_1.belt", "data": {"command_id": "task-2-5", "name": "release", "source": "task", "result": {"state": "running"}}, "cause": "task-2-5"} diff --git a/episodes/c8_p017_e001/env.mp4 b/episodes/c8_p017_e001/env.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..80780cfb4ae3e6dbcee9fbc17bb6dfdcd6642fb0 --- /dev/null +++ b/episodes/c8_p017_e001/env.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:57359083e548ddfc61043f79d40c290c0ee5f4ff12cae2a7ffc184c400cb1609 +size 1326979 diff --git a/episodes/c8_p017_e001/meta.json b/episodes/c8_p017_e001/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..8e9f776d9660c413dc2f72ce80e16d9c26a9ee65 --- /dev/null +++ b/episodes/c8_p017_e001/meta.json @@ -0,0 +1,32 @@ +{ + "source": "raw/c8_p017/magicsim/1", + "fps": 25, + "frames": 1250, + "kept_ticks": "even", + "video_frames": { + "wrist": 1250, + "env": 1250 + }, + "joint_target_source": "joint_pos_target", + "fk_vs_recorded_eef_max_m": 0.0, + "curobo_joints": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "joint_order": [ + "shoulder_pan", + "shoulder_lift", + "elbow", + "wrist_1", + "wrist_2", + "wrist_3", + "finger_left", + "finger_right" + ], + "frames_note": "eef / actions in the robot base frame; camera_pose = local pose (wrist: in plate_gripper_base, env: env frame), pos + quat wxyz", + "dr_version": "v2" +} \ No newline at end of file diff --git a/episodes/c8_p017_e001/scene_snapshot.json b/episodes/c8_p017_e001/scene_snapshot.json new file mode 100644 index 0000000000000000000000000000000000000000..cd89a68bec30e89e4d5fa0d7742c3975a4d96a33 --- /dev/null +++ b/episodes/c8_p017_e001/scene_snapshot.json @@ -0,0 +1,1558 @@ +{ + "trajectory_id": 1, + "env_id": 2, + "run_id": "c8_p017", + "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_48_clear/plate_48_clear.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 0.9605 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_48_clear/plate_48_clear.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.0285 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_12_clear/plate_12_clear.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.0965 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/pcr_96_blue/pcr_96_blue.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.1645 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_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": [ + 0.4881591796875, + 0.12302112579345703, + 0.8999999761581421 + ], + "ori": [ + 0.7281026840209961, + 0.0, + 0.0, + -0.6854680776596069 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "articulation", + "solver_position_iteration_count": 16.0, + "solver_velocity_iteration_count": 1.0, + "enabled_self_collisions": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "joint_position": [ + 1.0843458292733588e-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": 0.16667365094724196, + "direction": [ + 1.0, + 0.0, + 0.0 + ], + "enabled": true, + "drive": "surface_velocity", + "lines": null, + "station_line": null, + "riders": [ + "carrier" + ], + "stations": { + "pick": { + "position": -0.20452737417419165, + "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": 0.16667365094724196, + "holds": [], + "station": "pick", + "rider": "carrier_2", + "arrived": true, + "applied_speed": 0.0 + } + } + } + ], + "carrier": [ + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + 1.6823205947875977, + 0.6994199752807617, + 0.8999999761581421 + ], + "ori": [ + 0.8053421974182129, + -8.892222780332304e-08, + 7.087850661946504e-08, + 0.5928103923797607 + ], + "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": [ + -3.230998402159457e-08, + 3.4406681947984907e-09, + -2.2351741790771484e-08 + ], + "angular_velocity": [ + -5.744106488236866e-07, + -1.4043757801118772e-06, + -2.8270335405977676e-07 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + -0.0547027587890625, + 0.4499959945678711, + 0.8999999761581421 + ], + "ori": [ + 1.0, + 1.1098524321795367e-09, + 3.779399015968465e-09, + -2.1645497326971963e-05 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 6.133149543785521e-10, + 1.1529508459062754e-09, + 0.0 + ], + "angular_velocity": [ + -1.2708295571428607e-07, + 3.659834391100958e-08, + -7.947310365352678e-09 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + 0.3543853759765625, + 1.1500024795532227, + 0.8999999761581421 + ], + "ori": [ + -1.0106845365953632e-05, + 4.663249786318602e-10, + 2.335066584535639e-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": [ + -2.1574737552043644e-09, + -1.3151113531506553e-09, + 1.4901161193847656e-08 + ], + "angular_velocity": [ + 1.1302466162987912e-07, + -2.0235026454429317e-07, + -2.3033379648040864e-09 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + -1.2272186279296875, + 1.0986690521240234, + 0.8999999761581421 + ], + "ori": [ + -0.2650192677974701, + 4.503126316279804e-09, + -1.3719694713643094e-08, + 0.9642431735992432 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -7.956469261216625e-09, + 9.891357066749151e-09, + 2.60770320892334e-08 + ], + "angular_velocity": [ + -2.4935962983363424e-07, + -4.448793902156467e-07, + 8.921961125452071e-08 + ] + } + } + ], + "plate": [ + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_24_clear/Object.usd", + "pose": { + "pos": [ + 1.6749267578125, + 0.6929397583007812, + 0.9179999828338623 + ], + "ori": [ + 0.808323085308075, + 2.5631447897467297e-07, + 2.940062699963164e-07, + 0.5887391567230225 + ], + "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": [ + -4.177198206889443e-06, + 1.0435005606268533e-06, + -7.62939453125e-06 + ], + "angular_velocity": [ + 3.693168400786817e-05, + 9.326933650299907e-05, + 2.8590769943548366e-05 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_384_black/Object.usd", + "pose": { + "pos": [ + -0.04948616027832031, + 0.46121883392333984, + 0.9180000424385071 + ], + "ori": [ + 0.9980484843254089, + 1.3536228804511552e-09, + 4.062759018097495e-09, + 0.06244327500462532 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -1.771722679677623e-08, + -7.13134973295837e-09, + -5.114823579788208e-06 + ], + "angular_velocity": [ + 1.25787357774243e-06, + -1.5567391074000625e-06, + 7.52338422671528e-08 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_1536_black/Object.usd", + "pose": { + "pos": [ + 0.3514728546142578, + 1.1541404724121094, + 0.9180000424385071 + ], + "ori": [ + 0.017495829612016678, + 5.998780638893919e-11, + 6.006976027705946e-10, + 0.9998469948768616 + ], + "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": [ + 1.6139625191868845e-09, + -1.6953888959392316e-08, + -5.260109901428223e-06 + ], + "angular_velocity": [ + -2.3374230551098663e-08, + 1.6668410580678028e-06, + -3.015460237065781e-08 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/deep_well_24_10ml/Object.usd", + "pose": { + "pos": [ + -1.2153291702270508, + 1.099766731262207, + 0.9179999828338623 + ], + "ori": [ + -0.20953980088233948, + 4.270964026886759e-09, + -1.362347568090172e-08, + 0.9778001308441162 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -1.0296618668803603e-08, + 1.1819957279612936e-07, + -1.2442469596862793e-06 + ], + "angular_velocity": [ + -4.250582605891395e-06, + 3.7952156617393484e-07, + 7.786254485608879e-08 + ] + } + } + ], + "deco_hub_west": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/hub_c.usd", + "pose": { + "pos": [ + -3.36, + 0.0, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_hub_east": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/hub_a.usd", + "pose": { + "pos": [ + 3.36, + 0.0, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_hub_back": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/hub_e.usd", + "pose": { + "pos": [ + -3.0, + -2.1, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_bench_east": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/bench_a.usd", + "pose": { + "pos": [ + 2.6, + -2.5, + 0.0 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_bench_gap": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/bench_b.usd", + "pose": { + "pos": [ + -0.1, + -2.9, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ] + }, + {} + ], + "devices": { + "hub": [ + null, + null, + { + "t": 3.299999999999952, + "step": 660, + "counter": 0, + "devices": { + "a4s_sealer_1": { + "mode": "auto", + "units": { + "drawer": { + "state": "at_out", + "active": null, + "target": 0.0, + "goal_name": "out", + "profile": null, + "q_start": null, + "reversing": false, + "blocked_for": 0.0, + "settled_for": 0.0, + "last_q": 1.0843458292733588e-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": 0.16667365094724196, + "holds": [], + "station": "pick", + "rider": "carrier_2", + "arrived": true, + "settle_count": 560, + "released": { + "pick": [] + }, + "last_pos": { + "carrier_1": [ + 1.5323205888271332, + 0.24941998720169067, + 0.0 + ], + "carrier_2": [ + -0.20470276474952698, + -3.993511199951172e-06, + 0.0 + ], + "carrier_3": [ + 0.20438537001609802, + 0.7000024914741516, + 0.0 + ], + "carrier_4": [ + -1.377218633890152, + 0.6486690640449524, + 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": [ + -0.4100823656394398, + -0.3524950596987023, + 2.8269277584292136 + ], + "ori": [ + 2.2156645174579417, + -7.153675287279163, + 4.481544529917109 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "color_temperature": 4101.669688402038, + "color": [ + 0.917199009483084, + 0.9158190417565929, + 0.8239837004456707 + ], + "intensity": 12203.712860281521, + "width": 2.078513334271143, + "height": 1.0205646429607713 + } + }, + "key": { + "type": "sphere", + "pose": { + "pos": [ + -0.9594974252137588, + -0.33768879510968675, + 2.4471657712905936 + ], + "ori": [ + -9.880424070293508, + -31.31171020290128, + -31.756314792025996 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "color_temperature": 5918.259214215257, + "color": [ + 0.9463604912950329, + 0.8035333238782032, + 0.8215934508167912 + ], + "intensity": 6689.135672573638, + "radius": 0.1130560279067971 + } + } + }, + {} + ], + "background": { + "type": "dome", + "pose": { + "pos": null, + "ori": null, + "scale": null + }, + "dr": { + "intensity": 1481.4738996467133, + "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": [ + [ + 0.9141025543212891, + -1.719397783279419, + 2.0904994010925293, + -1.9419012069702148, + -1.5707999467849731, + 2.484901189804077, + 0.01799999736249447, + 0.018000001087784767 + ], + [ + 1.2158275842666626, + -1.433901309967041, + 2.166584014892578, + -2.303438186645508, + -1.5707961320877075, + 2.7125000953674316, + 0.018000047653913498, + 0.017999952659010887 + ], + [ + 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": [ + [ + -2.442258073222979e-38, + 2.97718246224232e-38, + 2.7947636702340584e-38, + 4.5719288343206525e-37, + -5.715706756220798e-37, + -7.685524002637048e-38, + 2.5990400942532688e-08, + -2.5990388508034812e-08 + ], + [ + -0.0001137785948230885, + 0.015540475957095623, + 0.009322487749159336, + -0.0236385278403759, + -8.222250471590087e-06, + 1.995601996895857e-05, + -7.229887614812469e-06, + 7.205804195109522e-06 + ], + [ + 3.4059653444273863e-06, + 1.6456055268454506e-12, + 1.6180794768297369e-12, + -3.405976030990132e-06, + -3.405978077353211e-06, + 7.841566480350226e-13, + 2.0093154299693355e-13, + 5.734646156378698e-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": [ + [ + 0.05124126002192497, + -0.0012269426370039582, + -0.029173528775572777, + -0.26806944608688354, + 0.6489065885543823, + 0.6518362164497375, + -0.286650687456131 + ], + [ + 0.05428828299045563, + 0.00017602232401259243, + -0.029307033866643906, + -0.2785658836364746, + 0.6506490111351013, + 0.641435980796814, + -0.2960014343261719 + ], + [ + 0.05162651464343071, + -0.0008763412479311228, + -0.027227560058236122, + -0.2788112163543701, + 0.6461190581321716, + 0.6474500298500061, + -0.29257985949516296 + ], + [ + 0.04668344929814339, + 0.0007336260168813169, + -0.03172324597835541, + -0.2812213897705078, + 0.6428438425064087, + 0.6547752022743225, + -0.28095507621765137 + ] + ], + "camera1": [ + [ + 0.07491359859704971, + 0.5962027907371521, + 1.935456395149231, + 0.05469208583235741, + 0.00409278878942132, + 0.2727888524532318, + 0.9605093598365784 + ], + [ + 0.06471529603004456, + 0.587897777557373, + 1.9683809280395508, + 0.04781081900000572, + 0.01457906886935234, + 0.2844037711620331, + 0.9574006795883179 + ], + [ + 0.068135567009449, + 0.5614282488822937, + 1.9274623394012451, + 0.04418894276022911, + 0.007301605772227049, + 0.2747696042060852, + 0.9604663848876953 + ], + [ + 0.05140060931444168, + 0.5622696280479431, + 1.9367109537124634, + 0.03202955052256584, + 0.02843022346496582, + 0.2649160325527191, + 0.9633199572563171 + ] + ] + } + } + } +} \ No newline at end of file diff --git a/episodes/c8_p017_e001/wrist.mp4 b/episodes/c8_p017_e001/wrist.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..01f29a5a226faded999e7753dd86dbee384e756f --- /dev/null +++ b/episodes/c8_p017_e001/wrist.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:66b524003619281daeffa9be67fdae10a2d3d4576a40b4f7be3f501cbdcb0046 +size 7432585 diff --git a/episodes/c8_p017_e002/data.npz b/episodes/c8_p017_e002/data.npz new file mode 100644 index 0000000000000000000000000000000000000000..6149a8e07e520e518e9e9fcb9664a8ce3c41e7f4 --- /dev/null +++ b/episodes/c8_p017_e002/data.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:794fa02ab1368c3a6fd5817658d985a05aff13ca54f640b8d2f21a2249b35945 +size 188059 diff --git a/episodes/c8_p017_e002/device_events.jsonl b/episodes/c8_p017_e002/device_events.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..9c3332fe542c06abb58895d99ec5d4f7e078ace6 --- /dev/null +++ b/episodes/c8_p017_e002/device_events.jsonl @@ -0,0 +1,36 @@ +{"env_id": 0, "seq": 1, "step": 171, "t": 0.855, "topic": "conveyor_1.belt.station.pick.captured", "source": "conveyor_1.belt", "data": {"rider": "carrier_2"}, "cause": null} +{"env_id": 0, "seq": 2, "step": 171, "t": 0.855, "topic": "conveyor_1.belt.state.changed", "source": "conveyor_1.belt", "data": {"from": "running", "to": "at_station"}, "cause": null} +{"env_id": 0, "seq": 3, "step": 176, "t": 0.88, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_2"}, "cause": null} +{"env_id": 0, "seq": 4, "step": 1706, "t": 8.53, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_2"}, "cause": null} +{"env_id": 0, "seq": 5, "step": 6526, "t": 32.63, "topic": "a4s_sealer_1.plate_present.present", "source": "a4s_sealer_1.plate_present", "data": {"object": "plate_2"}, "cause": null} +{"env_id": 0, "seq": 6, "step": 7140, "t": 35.7, "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": 7140, "t": 35.7, "topic": "a4s_sealer_1.seal.started", "source": "a4s_sealer_1", "data": {"dwell": 2.7807807626466268}, "cause": "task-0-1"} +{"env_id": 0, "seq": 8, "step": 7140, "t": 35.7, "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": 7140, "t": 35.7, "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": 7140, "t": 35.7, "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": 7559, "t": 37.795, "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": 7559, "t": 37.795, "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": 7559, "t": 37.795, "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": 7559, "t": 37.795, "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": 7559, "t": 37.795, "topic": "labware.plate_2.changed", "source": "labware.plate_2", "data": {"key": "sealed", "value": true}, "cause": "task-0-1"} +{"env_id": 0, "seq": 16, "step": 7559, "t": 37.795, "topic": "a4s_sealer_1.sealed", "source": "a4s_sealer_1", "data": {"plate": "plate_2"}, "cause": "task-0-1"} +{"env_id": 0, "seq": 17, "step": 7559, "t": 37.795, "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": 7559, "t": 37.795, "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": 7559, "t": 37.795, "topic": "a4s_sealer_1.heater.started", "source": "a4s_sealer_1.heater", "data": {"duration": 2.7807807626466268}, "cause": "program-0-3"} +{"env_id": 0, "seq": 20, "step": 8116, "t": 40.58, "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": 8116, "t": 40.58, "topic": "a4s_sealer_1.heater.finished", "source": "a4s_sealer_1.heater", "data": {"elapsed": 2.785000000001425}, "cause": "program-0-3"} +{"env_id": 0, "seq": 22, "step": 8116, "t": 40.58, "topic": "a4s_sealer_1.heater.command.succeeded", "source": "a4s_sealer_1.heater", "data": {"command_id": "program-0-3", "name": "run", "source": "program:seal", "result": {"elapsed": 2.785000000001425}}, "cause": "program-0-3"} +{"env_id": 0, "seq": 23, "step": 8116, "t": 40.58, "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": 8116, "t": 40.58, "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": 8116, "t": 40.58, "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": 8536, "t": 42.68, "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": 8536, "t": 42.68, "topic": "a4s_sealer_1.drawer.reached", "source": "a4s_sealer_1.drawer", "data": {"position": "out", "q": 0.0}, "cause": "program-0-4"} +{"env_id": 0, "seq": 28, "step": 8536, "t": 42.68, "topic": "a4s_sealer_1.drawer.at_out", "source": "a4s_sealer_1.drawer", "data": {"q": 0.0}, "cause": "program-0-4"} +{"env_id": 0, "seq": 29, "step": 8536, "t": 42.68, "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": 8536, "t": 42.68, "topic": "a4s_sealer_1.seal.finished", "source": "a4s_sealer_1", "data": {}, "cause": "task-0-1"} +{"env_id": 0, "seq": 31, "step": 8536, "t": 42.68, "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": 9113, "t": 45.565, "topic": "a4s_sealer_1.plate_present.absent", "source": "a4s_sealer_1.plate_present", "data": {"object": "plate_2"}, "cause": null} +{"env_id": 0, "seq": 33, "step": 10908, "t": 54.54, "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": 10908, "t": 54.54, "topic": "conveyor_1.belt.station.pick.released", "source": "conveyor_1.belt", "data": {"rider": "carrier_2"}, "cause": "task-0-5"} +{"env_id": 0, "seq": 35, "step": 10908, "t": 54.54, "topic": "conveyor_1.belt.state.changed", "source": "conveyor_1.belt", "data": {"from": "at_station", "to": "running"}, "cause": null} +{"env_id": 0, "seq": 36, "step": 10908, "t": 54.54, "topic": "conveyor_1.belt.command.succeeded", "source": "conveyor_1.belt", "data": {"command_id": "task-0-5", "name": "release", "source": "task", "result": {"state": "running"}}, "cause": "task-0-5"} diff --git a/episodes/c8_p017_e002/env.mp4 b/episodes/c8_p017_e002/env.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..bdd6f707d2b060105ea8bbe2f51fecd560b494a4 --- /dev/null +++ b/episodes/c8_p017_e002/env.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:dddfbcec86dd9e160470a6aed5b832627c7ce6f2003bb51e7fedc072ea4b4291 +size 1233904 diff --git a/episodes/c8_p017_e002/meta.json b/episodes/c8_p017_e002/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..faf6092127883839e44b0f5b87f7dbdfd8cb5cf8 --- /dev/null +++ b/episodes/c8_p017_e002/meta.json @@ -0,0 +1,32 @@ +{ + "source": "raw/c8_p017/magicsim/2", + "fps": 25, + "frames": 1208, + "kept_ticks": "even", + "video_frames": { + "wrist": 1208, + "env": 1208 + }, + "joint_target_source": "joint_pos_target", + "fk_vs_recorded_eef_max_m": 0.0, + "curobo_joints": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "joint_order": [ + "shoulder_pan", + "shoulder_lift", + "elbow", + "wrist_1", + "wrist_2", + "wrist_3", + "finger_left", + "finger_right" + ], + "frames_note": "eef / actions in the robot base frame; camera_pose = local pose (wrist: in plate_gripper_base, env: env frame), pos + quat wxyz", + "dr_version": "v2" +} \ No newline at end of file diff --git a/episodes/c8_p017_e002/scene_snapshot.json b/episodes/c8_p017_e002/scene_snapshot.json new file mode 100644 index 0000000000000000000000000000000000000000..4eb013f26bfd94a33e4a7f954e617c6cea8cc057 --- /dev/null +++ b/episodes/c8_p017_e002/scene_snapshot.json @@ -0,0 +1,1558 @@ +{ + "trajectory_id": 2, + "env_id": 0, + "run_id": "c8_p017", + "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": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_384_white/plate_384_white.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 0.9605 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_48_clear/plate_48_clear.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.0285 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_96_black/plate_96_black.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.0965 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_96_white/plate_96_white.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.1645 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_96_white/plate_96_white.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.2325 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "a4s_sealer": [ + { + "asset": "$MAGICSIM_ASSETS/Articulated/A4SSealer/Object.usd", + "pose": { + "pos": [ + 0.5213470458984375, + 0.08469390869140625, + 0.8999999761581421 + ], + "ori": [ + -0.6827499270439148, + 0.0, + 0.0, + 0.7306521534919739 + ], + "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": 0.18289370542270644, + "direction": [ + 1.0, + 0.0, + 0.0 + ], + "enabled": true, + "drive": "surface_velocity", + "lines": null, + "station_line": null, + "riders": [ + "carrier" + ], + "stations": { + "pick": { + "position": -0.22784251348106094, + "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": 0.18289370542270644, + "holds": [], + "station": "pick", + "rider": "carrier_2", + "arrived": true, + "applied_speed": 0.0 + } + } + } + ], + "carrier": [ + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + 0.41977500915527344, + 1.152817726135254, + 0.8999999761581421 + ], + "ori": [ + -0.009082762524485588, + 7.907661192518844e-09, + 3.7026754995395095e-09, + 0.9999587535858154 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -1.921864445364463e-09, + -1.611328181994054e-09, + 1.4901161193847656e-08 + ], + "angular_velocity": [ + 2.7497485177718772e-08, + -1.6694700377684057e-07, + -3.681849136683013e-08 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + -0.07817745208740234, + 0.44773006439208984, + 0.8999999761581421 + ], + "ori": [ + 0.9999041557312012, + -1.7072047941990576e-10, + -3.0466094091963214e-09, + 0.01384491566568613 + ], + "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": [ + 3.833462436375612e-10, + -2.49048515144068e-09, + 1.4901161193847656e-08 + ], + "angular_velocity": [ + 1.8039324345409113e-07, + -8.479958779616936e-08, + 1.6320997886509758e-08 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + 1.4400825500488281, + 0.4651660919189453, + 0.8999999761581421 + ], + "ori": [ + 0.9919873476028442, + -2.323361059097806e-09, + 1.7658280171417573e-07, + 0.1263371706008911 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 1.1380757314327639e-06, + 4.417848913362832e-07, + -2.7455389499664307e-06 + ], + "angular_velocity": [ + -3.295329224783927e-05, + 0.00010219099931418896, + 1.465922650822904e-06 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + -1.1082372665405273, + 1.1422548294067383, + 0.8999999761581421 + ], + "ori": [ + -0.08514443039894104, + 3.249886759704168e-08, + -1.9580092214255274e-08, + 0.9963686466217041 + ], + "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": [ + 1.1087158968692279e-09, + -2.6658066865081764e-09, + 7.450580596923828e-09 + ], + "angular_velocity": [ + 2.109030816654922e-07, + 5.824577797852726e-08, + -6.688265941079408e-09 + ] + } + } + ], + "plate": [ + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_6_clear/Object.usd", + "pose": { + "pos": [ + 0.41933345794677734, + 1.1649131774902344, + 0.9179999828338623 + ], + "ori": [ + -0.020200053229928017, + 8.457557321150944e-09, + 1.3439752644117675e-09, + 0.9997960329055786 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 1.5014565590831808e-08, + -2.528139120272499e-08, + 1.7508864402770996e-07 + ], + "angular_velocity": [ + 4.940158078170498e-07, + 1.7346262666251278e-06, + 9.265566092153676e-09 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_96_black/Object.usd", + "pose": { + "pos": [ + -0.06696701049804688, + 0.44954586029052734, + 0.9180000424385071 + ], + "ori": [ + 0.9999926090240479, + 1.6294103843961238e-09, + -3.3188598536071368e-09, + -0.00386463338509202 + ], + "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": [ + -3.052046082530069e-08, + -4.05584863472086e-08, + -5.032867193222046e-06 + ], + "angular_velocity": [ + 1.5056933762025437e-06, + -2.796699618556886e-06, + 9.408857692960737e-08 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/pcr_96_blue/Object.usd", + "pose": { + "pos": [ + 1.4373855590820312, + 0.4586448669433594, + 0.9179999828338623 + ], + "ori": [ + 0.9784632921218872, + 1.5714043399839284e-08, + 1.7070837543542439e-07, + 0.20642109215259552 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 2.4322259832842974e-06, + 8.60546606418211e-07, + -8.363276720046997e-06 + ], + "angular_velocity": [ + -3.118551830993965e-05, + 0.00010315817053196952, + 1.5863129192439374e-06 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/deep_well_96_2ml/Object.usd", + "pose": { + "pos": [ + -1.1005935668945312, + 1.1403865814208984, + 0.9179999828338623 + ], + "ori": [ + -0.18269436061382294, + 3.477146037766943e-08, + -4.5711409768500744e-08, + 0.9831698536872864 + ], + "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": [ + 6.221863202426903e-08, + 2.0146030976775364e-07, + -1.7024576663970947e-06 + ], + "angular_velocity": [ + -1.0656859558366705e-05, + -1.1974045719398418e-06, + 5.136521963322593e-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": 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": 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": 0.18289370542270644, + "holds": [], + "station": "pick", + "rider": "carrier_2", + "arrived": true, + "settle_count": 1124, + "released": { + "pick": [] + }, + "last_pos": { + "carrier_1": [ + 0.26977500319480896, + 0.7028177380561829, + 0.0 + ], + "carrier_2": [ + -0.22817745804786682, + -0.002269923686981201, + 0.0 + ], + "carrier_3": [ + 1.2900825440883636, + 0.015166103839874268, + 0.0 + ], + "carrier_4": [ + -1.2582372725009918, + 0.6922548413276672, + 0.0 + ] + }, + "command": 0.0 + }, + "belt": { + "target_speed": 0.0, + "command_speed": 0.0 + }, + "seen": { + "state": "at_station", + "station": "pick", + "rider": "carrier_2", + "arrived": true + } + } + }, + "queues": {}, + "program": null, + "sensors": {}, + "interlocks": {} + } + }, + "zones": {}, + "labware": { + "plate_1": { + "sealed": false + }, + "plate_2": { + "sealed": false + }, + "plate_3": { + "sealed": false + }, + "plate_4": { + "sealed": false + } + }, + "rules": {}, + "records": [], + "bus": { + "seq": 3, + "queue": [] + } + }, + null, + null, + null + ], + "drives": [ + {}, + null, + null, + null + ] + }, + "artifacts": [ + { + "ceiling": { + "type": "rect", + "pose": { + "pos": [ + 0.1787080949141181, + -0.46571702559140077, + 2.7413572359866594 + ], + "ori": [ + 10.930526206904279, + -10.459495449865859, + 28.144486692573444 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "color_temperature": 6121.357142940659, + "color": [ + 0.9823828584657006, + 0.8696806084085613, + 0.8339052972095409 + ], + "intensity": 10818.252687695065, + "width": 2.4865965765003324, + "height": 1.86085506436228 + } + }, + "key": { + "type": "disk", + "pose": { + "pos": [ + 0.7383325387500652, + -0.7781168948038804, + 2.351517455503679 + ], + "ori": [ + 34.949081161389074, + -6.596684684927979, + 17.747635751550362 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "color_temperature": 5551.0002033598, + "color": [ + 0.8481076273932205, + 0.8750002276906416, + 0.7872629366032866 + ], + "intensity": 8525.607085778462, + "radius": 0.19781963321747353 + } + } + }, + {}, + {}, + {} + ], + "background": { + "type": "dome", + "pose": { + "pos": null, + "ori": null, + "scale": null + }, + "dr": { + "intensity": 1481.4738996467133, + "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": [ + [ + 0.9141119122505188, + -1.7193934917449951, + 2.0904970169067383, + -1.9419018030166626, + -1.5707999467849731, + 2.4849064350128174, + 0.017999999225139618, + 0.017999999225139618 + ], + [ + 1.2160056829452515, + -1.5125219821929932, + 2.108609437942505, + -2.166893720626831, + -1.5707809925079346, + 2.7127339839935303, + 0.0076490542851388454, + 0.007107217330485582 + ], + [ + 1.108843207359314, + -1.2562161684036255, + 2.1775712966918945, + -2.492084264755249, + -1.570863962173462, + 2.5544025897979736, + 0.007728887721896172, + 0.007109714671969414 + ], + [ + 0.9141013622283936, + -1.7193995714187622, + 2.0905003547668457, + -1.9419008493423462, + -1.5707999467849731, + 2.48490047454834, + 0.01799999736249447, + 0.018000001087784767 + ] + ], + "joint_vel": [ + [ + 2.4431411715151965e-38, + 0.0, + 0.0, + -5.575588120176031e-37, + 3.763895746655613e-37, + 1.8651843079549045e-37, + 2.7494316649131506e-38, + -1.1178709400994624e-37 + ], + [ + 8.390562288695946e-05, + -3.440965883783065e-05, + -0.00019223691197112203, + 0.000446497491793707, + -0.00026173153310082853, + -0.0013780087465420365, + -0.0069072190672159195, + 0.00020835128088947386 + ], + [ + 0.00024612073320895433, + -0.013627305626869202, + -0.0046378192491829395, + 0.01704254001379013, + 0.00010780595039250329, + 0.00022602610988542438, + -0.007687259465456009, + 0.0002876365033444017 + ], + [ + -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": [ + [ + 0.05091959238052368, + -0.002915062941610813, + -0.02837475761771202, + -0.26939886808395386, + 0.6543847322463989, + 0.64640212059021, + -0.28525277972221375 + ], + [ + 0.051114875823259354, + 0.001971218967810273, + -0.02944311499595642, + -0.2797747552394867, + 0.6544351577758789, + 0.6346951127052307, + -0.30100297927856445 + ], + [ + 0.05189654976129532, + -0.00042467439197935164, + -0.028957752510905266, + -0.27834033966064453, + 0.6483224630355835, + 0.6474187970161438, + -0.288190096616745 + ], + [ + 0.0468083880841732, + 0.0001693241356406361, + -0.03016975335776806, + -0.28068339824676514, + 0.6449339985847473, + 0.6509523987770081, + -0.28554853796958923 + ] + ], + "camera1": [ + [ + 0.07491359859704971, + 0.5962027907371521, + 1.935456395149231, + 0.05469208583235741, + 0.00409278878942132, + 0.2727888524532318, + 0.9605093598365784 + ], + [ + 0.06471529603004456, + 0.587897777557373, + 1.9683809280395508, + 0.04781081900000572, + 0.01457906886935234, + 0.2844037711620331, + 0.9574006795883179 + ], + [ + 0.068135567009449, + 0.5614282488822937, + 1.9274623394012451, + 0.04418894276022911, + 0.007301605772227049, + 0.2747696042060852, + 0.9604663848876953 + ], + [ + 0.05140060931444168, + 0.5622696280479431, + 1.9367109537124634, + 0.03202955052256584, + 0.02843022346496582, + 0.2649160325527191, + 0.9633199572563171 + ] + ] + } + } + } +} \ No newline at end of file diff --git a/episodes/c8_p017_e002/wrist.mp4 b/episodes/c8_p017_e002/wrist.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..d6ca799e57b678a50fca02da23b4970dce79e212 --- /dev/null +++ b/episodes/c8_p017_e002/wrist.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:63a5e2ab346f4399849c80e5e12b445796547769666540a8cbb0861070ed1cce +size 6582330 diff --git a/episodes/c8_p017_e003/data.npz b/episodes/c8_p017_e003/data.npz new file mode 100644 index 0000000000000000000000000000000000000000..2747c01f91d770139a92eff3fbfd8f9af59f53d8 --- /dev/null +++ b/episodes/c8_p017_e003/data.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:73ae7dde5c443e9a9f2a594d85e709f25dedf26d3fd72f9dd5dc9406ab916e91 +size 188823 diff --git a/episodes/c8_p017_e003/device_events.jsonl b/episodes/c8_p017_e003/device_events.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..aab6e6f048bfe298e1a60d7a9366dda32094cd5e --- /dev/null +++ b/episodes/c8_p017_e003/device_events.jsonl @@ -0,0 +1,36 @@ +{"env_id": 3, "seq": 1, "step": 153, "t": 0.765, "topic": "conveyor_1.belt.station.pick.captured", "source": "conveyor_1.belt", "data": {"rider": "carrier_2"}, "cause": null} +{"env_id": 3, "seq": 2, "step": 153, "t": 0.765, "topic": "conveyor_1.belt.state.changed", "source": "conveyor_1.belt", "data": {"from": "running", "to": "at_station"}, "cause": null} +{"env_id": 3, "seq": 3, "step": 158, "t": 0.79, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_2"}, "cause": null} +{"env_id": 3, "seq": 4, "step": 1997, "t": 9.985, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_2"}, "cause": null} +{"env_id": 3, "seq": 5, "step": 6914, "t": 34.57, "topic": "a4s_sealer_1.plate_present.present", "source": "a4s_sealer_1.plate_present", "data": {"object": "plate_2"}, "cause": null} +{"env_id": 3, "seq": 6, "step": 7524, "t": 37.62, "topic": "a4s_sealer_1.command.started", "source": "a4s_sealer_1", "data": {"command_id": "task-3-1", "name": "seal", "source": "task"}, "cause": "task-3-1"} +{"env_id": 3, "seq": 7, "step": 7524, "t": 37.62, "topic": "a4s_sealer_1.seal.started", "source": "a4s_sealer_1", "data": {"dwell": 2.9633691102922475}, "cause": "task-3-1"} +{"env_id": 3, "seq": 8, "step": 7524, "t": 37.62, "topic": "a4s_sealer_1.drawer.command.started", "source": "a4s_sealer_1.drawer", "data": {"command_id": "program-3-2", "name": "close", "source": "program:seal"}, "cause": "program-3-2"} +{"env_id": 3, "seq": 9, "step": 7524, "t": 37.62, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "at_out", "to": "moving"}, "cause": null} +{"env_id": 3, "seq": 10, "step": 7524, "t": 37.62, "topic": "a4s_sealer_1.drawer.moving", "source": "a4s_sealer_1.drawer", "data": {"target": 0.3, "goal": "in"}, "cause": "program-3-2"} +{"env_id": 3, "seq": 11, "step": 7943, "t": 39.715, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "moving", "to": "at_in"}, "cause": null} +{"env_id": 3, "seq": 12, "step": 7943, "t": 39.715, "topic": "a4s_sealer_1.drawer.reached", "source": "a4s_sealer_1.drawer", "data": {"position": "in", "q": 0.30000001192092896}, "cause": "program-3-2"} +{"env_id": 3, "seq": 13, "step": 7943, "t": 39.715, "topic": "a4s_sealer_1.drawer.at_in", "source": "a4s_sealer_1.drawer", "data": {"q": 0.30000001192092896}, "cause": "program-3-2"} +{"env_id": 3, "seq": 14, "step": 7943, "t": 39.715, "topic": "a4s_sealer_1.drawer.command.succeeded", "source": "a4s_sealer_1.drawer", "data": {"command_id": "program-3-2", "name": "close", "source": "program:seal", "result": {"position": "in"}}, "cause": "program-3-2"} +{"env_id": 3, "seq": 15, "step": 7943, "t": 39.715, "topic": "labware.plate_2.changed", "source": "labware.plate_2", "data": {"key": "sealed", "value": true}, "cause": "task-3-1"} +{"env_id": 3, "seq": 16, "step": 7943, "t": 39.715, "topic": "a4s_sealer_1.sealed", "source": "a4s_sealer_1", "data": {"plate": "plate_2"}, "cause": "task-3-1"} +{"env_id": 3, "seq": 17, "step": 7943, "t": 39.715, "topic": "a4s_sealer_1.heater.command.started", "source": "a4s_sealer_1.heater", "data": {"command_id": "program-3-3", "name": "run", "source": "program:seal"}, "cause": "program-3-3"} +{"env_id": 3, "seq": 18, "step": 7943, "t": 39.715, "topic": "a4s_sealer_1.heater.state.changed", "source": "a4s_sealer_1.heater", "data": {"from": "ready", "to": "running"}, "cause": null} +{"env_id": 3, "seq": 19, "step": 7943, "t": 39.715, "topic": "a4s_sealer_1.heater.started", "source": "a4s_sealer_1.heater", "data": {"duration": 2.9633691102922475}, "cause": "program-3-3"} +{"env_id": 3, "seq": 20, "step": 8536, "t": 42.68, "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": 8536, "t": 42.68, "topic": "a4s_sealer_1.heater.finished", "source": "a4s_sealer_1.heater", "data": {"elapsed": 2.965000000001517}, "cause": "program-3-3"} +{"env_id": 3, "seq": 22, "step": 8536, "t": 42.68, "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": 2.965000000001517}}, "cause": "program-3-3"} +{"env_id": 3, "seq": 23, "step": 8536, "t": 42.68, "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": 8536, "t": 42.68, "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": 8536, "t": 42.68, "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": 8956, "t": 44.78, "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": 8956, "t": 44.78, "topic": "a4s_sealer_1.drawer.reached", "source": "a4s_sealer_1.drawer", "data": {"position": "out", "q": 7.950034727755018e-12}, "cause": "program-3-4"} +{"env_id": 3, "seq": 28, "step": 8956, "t": 44.78, "topic": "a4s_sealer_1.drawer.at_out", "source": "a4s_sealer_1.drawer", "data": {"q": 7.950034727755018e-12}, "cause": "program-3-4"} +{"env_id": 3, "seq": 29, "step": 8956, "t": 44.78, "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": 8956, "t": 44.78, "topic": "a4s_sealer_1.seal.finished", "source": "a4s_sealer_1", "data": {}, "cause": "task-3-1"} +{"env_id": 3, "seq": 31, "step": 8956, "t": 44.78, "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": 9535, "t": 47.675, "topic": "a4s_sealer_1.plate_present.absent", "source": "a4s_sealer_1.plate_present", "data": {"object": "plate_2"}, "cause": null} +{"env_id": 3, "seq": 33, "step": 11288, "t": 56.44, "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": 11288, "t": 56.44, "topic": "conveyor_1.belt.station.pick.released", "source": "conveyor_1.belt", "data": {"rider": "carrier_2"}, "cause": "task-3-5"} +{"env_id": 3, "seq": 35, "step": 11288, "t": 56.44, "topic": "conveyor_1.belt.state.changed", "source": "conveyor_1.belt", "data": {"from": "at_station", "to": "running"}, "cause": null} +{"env_id": 3, "seq": 36, "step": 11288, "t": 56.44, "topic": "conveyor_1.belt.command.succeeded", "source": "conveyor_1.belt", "data": {"command_id": "task-3-5", "name": "release", "source": "task", "result": {"state": "running"}}, "cause": "task-3-5"} diff --git a/episodes/c8_p017_e003/env.mp4 b/episodes/c8_p017_e003/env.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..982422ab81931203021eb4bd29db939af082236e --- /dev/null +++ b/episodes/c8_p017_e003/env.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:1434b8ea24b19c28434733749110600c9a014a7a7a370252a261cf0a7a3e0186 +size 1273613 diff --git a/episodes/c8_p017_e003/meta.json b/episodes/c8_p017_e003/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..4449b57f45207beea36e434848b9e3aec8639453 --- /dev/null +++ b/episodes/c8_p017_e003/meta.json @@ -0,0 +1,32 @@ +{ + "source": "raw/c8_p017/magicsim/3", + "fps": 25, + "frames": 1221, + "kept_ticks": "even", + "video_frames": { + "wrist": 1221, + "env": 1221 + }, + "joint_target_source": "joint_pos_target", + "fk_vs_recorded_eef_max_m": 0.0, + "curobo_joints": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "joint_order": [ + "shoulder_pan", + "shoulder_lift", + "elbow", + "wrist_1", + "wrist_2", + "wrist_3", + "finger_left", + "finger_right" + ], + "frames_note": "eef / actions in the robot base frame; camera_pose = local pose (wrist: in plate_gripper_base, env: env frame), pos + quat wxyz", + "dr_version": "v2" +} \ No newline at end of file diff --git a/episodes/c8_p017_e003/scene_snapshot.json b/episodes/c8_p017_e003/scene_snapshot.json new file mode 100644 index 0000000000000000000000000000000000000000..a8ddcf7d41dbb3e793efb09bdb35851b01189546 --- /dev/null +++ b/episodes/c8_p017_e003/scene_snapshot.json @@ -0,0 +1,1558 @@ +{ + "trajectory_id": 3, + "env_id": 3, + "run_id": "c8_p017", + "task_type": "BioPlateCell", + "success": true, + "timing": { + "fps": 50.0, + "sim_dt": 0.005, + "decimation": 4 + }, + "restore_interface": { + "scene": "scene_manager.reset_to(snapshot['scene'], env_ids=[env_id])", + "robots": "robot_manager.set_state({'robots': snapshot['robots']}, env_ids=[env_id])" + }, + "snapshot": { + "env_id": 3, + "scene": { + "objects": [ + {}, + {}, + {}, + { + "rac_cell": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/rac_cell.usd", + "pose": { + "pos": [ + 0.0, + 0.0, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "physics_material": { + "static_friction": 0.6, + "dynamic_friction": 0.5, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "robot_mount": [ + { + "asset": "Cube", + "pose": { + "pos": [ + 0.0, + 0.0, + 0.9075 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": "color", + "value": [ + 0.55, + 0.56, + 0.58 + ], + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": { + "size": [ + 0.2, + 0.2, + 0.015 + ] + } + }, + "type_specific": {} + } + ], + "plate_rack": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/plate_hotel.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 0.9 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "physics_material": { + "static_friction": 0.6, + "dynamic_friction": 0.5, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "hotel_plate": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_48_clear/plate_48_clear.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 0.9605 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_96_white/plate_96_white.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.0285 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_24_clear/plate_24_clear.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.0965 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_384_white/plate_384_white.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.1645 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_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": [ + 0.4771852493286133, + 0.10801124572753906, + 0.8999999761581421 + ], + "ori": [ + -0.699337899684906, + 0.0, + 0.0, + 0.7147912383079529 + ], + "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": [ + 7.228973821458984e-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": 0.29025009876683505, + "direction": [ + 1.0, + 0.0, + 0.0 + ], + "enabled": true, + "drive": "surface_velocity", + "lines": null, + "station_line": null, + "riders": [ + "carrier" + ], + "stations": { + "pick": { + "position": -0.1968840068721367, + "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": 0.29025009876683505, + "holds": [], + "station": "pick", + "rider": "carrier_2", + "arrived": true, + "applied_speed": 0.0 + } + } + } + ], + "carrier": [ + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + -1.383819580078125, + 0.7023487091064453, + 0.8999999761581421 + ], + "ori": [ + -0.7946335673332214, + -7.943088320416791e-08, + -9.257397692863378e-08, + 0.6070894002914429 + ], + "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": [ + 3.6700972816383626e-10, + -3.648970015035502e-10, + 0.0 + ], + "angular_velocity": [ + 1.69078475664719e-08, + 5.5245656938041066e-08, + -6.385378448214851e-09 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + -0.04692554473876953, + 0.4474143981933594, + 0.8999999761581421 + ], + "ori": [ + 0.9999386072158813, + 3.896902356359533e-09, + -1.2519779657438335e-10, + 0.01108540315181017 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 1.6523942214519138e-09, + 7.142323954489882e-10, + 7.450580596923828e-09 + ], + "angular_velocity": [ + -2.667564302782921e-08, + 1.5445019130311266e-07, + -1.447591913006363e-08 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + 0.02761554718017578, + 1.1525039672851562, + 0.8999999761581421 + ], + "ori": [ + -0.010016771964728832, + -4.088769145482729e-08, + -5.679127834667952e-09, + 0.9999498724937439 + ], + "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": [ + 1.5987988710719492e-10, + 1.7511760930233322e-09, + 0.0 + ], + "angular_velocity": [ + -3.333049392040266e-10, + -2.3822437356102455e-08, + 4.100667183593032e-08 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + 1.6608572006225586, + 0.9560556411743164, + 0.8999999761581421 + ], + "ori": [ + 0.5336742997169495, + -2.9866590978144814e-08, + 2.7140906411204924e-08, + 0.845690131187439 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -2.074567184706666e-09, + 1.459240950296703e-09, + 1.862645149230957e-08 + ], + "angular_velocity": [ + -1.7473489322128444e-07, + -1.1748405626121894e-07, + -1.0473405254174395e-08 + ] + } + } + ], + "plate": [ + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_48_clear/Object.usd", + "pose": { + "pos": [ + -1.3768949508666992, + 0.6951475143432617, + 0.9179999828338623 + ], + "ori": [ + -0.841212272644043, + -9.018058477749946e-08, + -8.362069081613299e-08, + 0.5407049655914307 + ], + "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": [ + -3.918537316849324e-08, + 3.602514198064455e-08, + 1.043081283569336e-07 + ], + "angular_velocity": [ + -1.2873849755123956e-06, + -2.3882380446593743e-06, + -4.149566734668042e-08 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_384_white/Object.usd", + "pose": { + "pos": [ + -0.05242443084716797, + 0.45511436462402344, + 0.9180000424385071 + ], + "ori": [ + 0.9974694848060608, + 3.7057439339349685e-09, + -1.2157838069626337e-09, + -0.07109566032886505 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -7.47136663648007e-09, + 4.353235105725162e-09, + -5.0477683544158936e-06 + ], + "angular_velocity": [ + 9.873300541585195e-07, + -2.0688862605311442e-06, + -1.1541118283275864e-08 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_96_clear/Object.usd", + "pose": { + "pos": [ + 0.019845008850097656, + 1.1510095596313477, + 0.9180000424385071 + ], + "ori": [ + -0.02947293221950531, + -4.0995168149038363e-08, + -4.721235846716354e-09, + 0.999565601348877 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 7.163373005880658e-09, + 2.4187606584291643e-08, + -5.323439836502075e-06 + ], + "angular_velocity": [ + -7.972718094606535e-07, + 1.1781937701016432e-06, + 2.8457320055963464e-08 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/reservoir_12ch/Object.usd", + "pose": { + "pos": [ + 1.6532526016235352, + 0.953460693359375, + 0.9179999828338623 + ], + "ori": [ + 0.589507520198822, + -3.2585756315484105e-08, + 2.9848663984921586e-08, + 0.807762861251831 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 1.7530734197634956e-08, + -1.2704049368039705e-08, + -2.086162567138672e-06 + ], + "angular_velocity": [ + 9.94578613244812e-07, + 1.4146019111649366e-06, + 2.8293555942582316e-08 + ] + } + } + ], + "deco_hub_west": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/hub_e.usd", + "pose": { + "pos": [ + -3.36, + 0.0, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_hub_east": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/hub_d.usd", + "pose": { + "pos": [ + 3.36, + 0.0, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_hub_back": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/hub_a.usd", + "pose": { + "pos": [ + -3.0, + -2.1, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_bench_east": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/bench_c.usd", + "pose": { + "pos": [ + 2.6, + -2.5, + 0.0 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_bench_gap": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/bench_b.usd", + "pose": { + "pos": [ + -0.1, + -2.9, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ] + } + ], + "devices": { + "hub": [ + null, + null, + null, + { + "t": 7.739999999999857, + "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": 7.228973821458984e-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": 0.29025009876683505, + "holds": [], + "station": "pick", + "rider": "carrier_2", + "arrived": true, + "settle_count": 1394, + "released": { + "pick": [] + }, + "last_pos": { + "carrier_1": [ + -1.5338195860385895, + 0.25234872102737427, + 0.0 + ], + "carrier_2": [ + -0.196925550699234, + -0.00258558988571167, + 0.0 + ], + "carrier_3": [ + -0.1223844587802887, + 0.7025039792060852, + 0.0 + ], + "carrier_4": [ + 1.5108571946620941, + 0.5060556530952454, + 0.0 + ] + }, + "command": 0.0 + }, + "belt": { + "target_speed": 0.0, + "command_speed": 0.0 + }, + "seen": { + "state": "at_station", + "station": "pick", + "rider": "carrier_2", + "arrived": true + } + } + }, + "queues": {}, + "program": null, + "sensors": {}, + "interlocks": {} + } + }, + "zones": {}, + "labware": { + "plate_1": { + "sealed": false + }, + "plate_2": { + "sealed": false + }, + "plate_3": { + "sealed": false + }, + "plate_4": { + "sealed": false + } + }, + "rules": {}, + "records": [], + "bus": { + "seq": 3, + "queue": [] + } + } + ], + "drives": [ + null, + null, + null, + {} + ] + }, + "artifacts": [ + {}, + {}, + {}, + { + "ceiling": { + "type": "rect", + "pose": { + "pos": [ + 0.574741016886353, + -0.3226167185224176, + 3.003353025563246 + ], + "ori": [ + -2.1196184236741225, + 12.097962027478381, + 9.956813365261695 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "color_temperature": 5881.885400592974, + "color": [ + 0.866234350481407, + 0.9260114130960766, + 0.8299909392318944 + ], + "intensity": 6852.647548867551, + "width": 1.409001070001994, + "height": 1.6778317222262138 + } + }, + "key": { + "type": "sphere", + "pose": { + "pos": [ + 1.275286713128437, + 0.2715483198277737, + 2.3225157660295133 + ], + "ori": [ + -8.514748277309991, + 23.006824541050264, + -4.939733757576107 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "color_temperature": 7320.225615319438, + "color": [ + 0.9642959052480988, + 0.9026222157289971, + 0.7932581538050101 + ], + "intensity": 5587.651528936156, + "radius": 0.1967133837276182 + } + } + } + ], + "background": { + "type": "dome", + "pose": { + "pos": null, + "ori": null, + "scale": null + }, + "dr": { + "intensity": 1481.4738996467133, + "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": [ + [ + 1.1113367080688477, + -1.4657325744628906, + 2.203054666519165, + -2.308086395263672, + -1.5707863569259644, + 2.6898577213287354, + 0.018000051379203796, + 0.01799994893372059 + ], + [ + 1.2156729698181152, + -1.5123423337936401, + 2.1087026596069336, + -2.1670145988464355, + -1.5709372758865356, + 2.7127273082733154, + 0.007749488111585379, + 0.007001720834523439 + ], + [ + 1.1088213920593262, + -1.4692137241363525, + 2.060791492462158, + -2.162362575531006, + -1.570791244506836, + 2.5546960830688477, + 0.007735947147011757, + 0.0071026417426764965 + ], + [ + 0.9141026139259338, + -1.719398021697998, + 2.0905003547668457, + -1.9419009685516357, + -1.5707999467849731, + 2.484900951385498, + 0.01799999549984932, + 0.018000002950429916 + ] + ], + "joint_vel": [ + [ + -9.804102592170238e-05, + 0.01592247001826763, + 0.009464534930884838, + -0.02419215440750122, + -8.030970093386713e-06, + 2.6808404072653502e-05, + -6.887053132231813e-06, + 6.862832378828898e-06 + ], + [ + 0.0039006168954074383, + 0.0010592686012387276, + 7.483887020498514e-05, + 0.002919215941801667, + -0.00019620262901298702, + -0.0004684458835981786, + -0.007066076155751944, + 0.000197691420908086 + ], + [ + 0.00016539338685106486, + 1.1663396435324103e-06, + -0.0003218635974917561, + 8.883302507456392e-05, + 0.0001539937948109582, + 0.00038597724051214755, + -0.007805199362337589, + 0.00037300074473023415 + ], + [ + 2.3645759718143613e-38, + -1.6901573653459562e-38, + 1.627927662363141e-38, + -4.868056158372367e-37, + 4.2111009817818866e-37, + -2.8939064334160564e-37, + 5.1980777016069624e-08, + -5.1980773463355945e-08 + ] + ] + } + }, + "cameras": { + "cameras": { + "camera0": [ + [ + 0.05251961573958397, + -0.001276489463634789, + -0.030305912718176842, + -0.2689783573150635, + 0.6550502777099609, + 0.648506224155426, + -0.2792838215827942 + ], + [ + 0.05366058647632599, + 0.0030514823738485575, + -0.031243206933140755, + -0.2777153551578522, + 0.6523212790489197, + 0.6408037543296814, + -0.2944854199886322 + ], + [ + 0.050375912338495255, + -0.0018958403961732984, + -0.030393296852707863, + -0.2778158187866211, + 0.6476879715919495, + 0.6460458636283875, + -0.29316097497940063 + ], + [ + 0.04822966083884239, + 0.0015928527573123574, + -0.03373197093605995, + -0.28259551525115967, + 0.641965389251709, + 0.6536245346069336, + -0.28424498438835144 + ] + ], + "camera1": [ + [ + 0.07491359859704971, + 0.5962027907371521, + 1.935456395149231, + 0.05469208583235741, + 0.00409278878942132, + 0.2727888524532318, + 0.9605093598365784 + ], + [ + 0.06471529603004456, + 0.587897777557373, + 1.9683809280395508, + 0.04781081900000572, + 0.01457906886935234, + 0.2844037711620331, + 0.9574006795883179 + ], + [ + 0.068135567009449, + 0.5614282488822937, + 1.9274623394012451, + 0.04418894276022911, + 0.007301605772227049, + 0.2747696042060852, + 0.9604663848876953 + ], + [ + 0.05140060931444168, + 0.5622696280479431, + 1.9367109537124634, + 0.03202955052256584, + 0.02843022346496582, + 0.2649160325527191, + 0.9633199572563171 + ] + ] + } + } + } +} \ No newline at end of file diff --git a/episodes/c8_p017_e003/wrist.mp4 b/episodes/c8_p017_e003/wrist.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..0247699a25ca0a23e27a7df62c666327eb95ee87 --- /dev/null +++ b/episodes/c8_p017_e003/wrist.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:c27387beb85f1feb63615cd58681b49a08a513e2eb237f452b8089ab05603bdf +size 6827512 diff --git a/episodes/c9_p021_e011/data.npz b/episodes/c9_p021_e011/data.npz new file mode 100644 index 0000000000000000000000000000000000000000..af24dde509c720198020a30fc6bc189a8432fe31 --- /dev/null +++ b/episodes/c9_p021_e011/data.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:5d6f86eca63eb3e1ec482382ece0bb2759e869af6c10e16bc7be34a4ddaa0b48 +size 189657 diff --git a/episodes/c9_p021_e011/device_events.jsonl b/episodes/c9_p021_e011/device_events.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..d52ca3192821f61806ed315acf2da157adb80d79 --- /dev/null +++ b/episodes/c9_p021_e011/device_events.jsonl @@ -0,0 +1,36 @@ +{"env_id": 0, "seq": 1, "step": 189, "t": 0.945, "topic": "conveyor_1.belt.station.pick.captured", "source": "conveyor_1.belt", "data": {"rider": "carrier_4"}, "cause": null} +{"env_id": 0, "seq": 2, "step": 189, "t": 0.945, "topic": "conveyor_1.belt.state.changed", "source": "conveyor_1.belt", "data": {"from": "running", "to": "at_station"}, "cause": null} +{"env_id": 0, "seq": 3, "step": 194, "t": 0.97, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_4"}, "cause": null} +{"env_id": 0, "seq": 4, "step": 2254, "t": 11.27, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_4"}, "cause": null} +{"env_id": 0, "seq": 5, "step": 7263, "t": 36.315, "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": 7872, "t": 39.36, "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": 7872, "t": 39.36, "topic": "a4s_sealer_1.seal.started", "source": "a4s_sealer_1", "data": {"dwell": 1.6074510515087899}, "cause": "task-0-1"} +{"env_id": 0, "seq": 8, "step": 7872, "t": 39.36, "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": 7872, "t": 39.36, "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": 7872, "t": 39.36, "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": 8291, "t": 41.455, "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": 8291, "t": 41.455, "topic": "a4s_sealer_1.drawer.reached", "source": "a4s_sealer_1.drawer", "data": {"position": "in", "q": 0.29999998211860657}, "cause": "program-0-2"} +{"env_id": 0, "seq": 13, "step": 8291, "t": 41.455, "topic": "a4s_sealer_1.drawer.at_in", "source": "a4s_sealer_1.drawer", "data": {"q": 0.29999998211860657}, "cause": "program-0-2"} +{"env_id": 0, "seq": 14, "step": 8291, "t": 41.455, "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": 8291, "t": 41.455, "topic": "labware.plate_4.changed", "source": "labware.plate_4", "data": {"key": "sealed", "value": true}, "cause": "task-0-1"} +{"env_id": 0, "seq": 16, "step": 8291, "t": 41.455, "topic": "a4s_sealer_1.sealed", "source": "a4s_sealer_1", "data": {"plate": "plate_4"}, "cause": "task-0-1"} +{"env_id": 0, "seq": 17, "step": 8291, "t": 41.455, "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": 8291, "t": 41.455, "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": 8291, "t": 41.455, "topic": "a4s_sealer_1.heater.started", "source": "a4s_sealer_1.heater", "data": {"duration": 1.6074510515087899}, "cause": "program-0-3"} +{"env_id": 0, "seq": 20, "step": 8613, "t": 43.065, "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": 8613, "t": 43.065, "topic": "a4s_sealer_1.heater.finished", "source": "a4s_sealer_1.heater", "data": {"elapsed": 1.6100000000008237}, "cause": "program-0-3"} +{"env_id": 0, "seq": 22, "step": 8613, "t": 43.065, "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": 1.6100000000008237}}, "cause": "program-0-3"} +{"env_id": 0, "seq": 23, "step": 8613, "t": 43.065, "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": 8613, "t": 43.065, "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": 8613, "t": 43.065, "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": 9033, "t": 45.165, "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": 9033, "t": 45.165, "topic": "a4s_sealer_1.drawer.reached", "source": "a4s_sealer_1.drawer", "data": {"position": "out", "q": 3.810509241475302e-09}, "cause": "program-0-4"} +{"env_id": 0, "seq": 28, "step": 9033, "t": 45.165, "topic": "a4s_sealer_1.drawer.at_out", "source": "a4s_sealer_1.drawer", "data": {"q": 3.810509241475302e-09}, "cause": "program-0-4"} +{"env_id": 0, "seq": 29, "step": 9033, "t": 45.165, "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": 9033, "t": 45.165, "topic": "a4s_sealer_1.seal.finished", "source": "a4s_sealer_1", "data": {}, "cause": "task-0-1"} +{"env_id": 0, "seq": 31, "step": 9033, "t": 45.165, "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": 9615, "t": 48.075, "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": 11340, "t": 56.7, "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": 11340, "t": 56.7, "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": 11340, "t": 56.7, "topic": "conveyor_1.belt.state.changed", "source": "conveyor_1.belt", "data": {"from": "at_station", "to": "running"}, "cause": null} +{"env_id": 0, "seq": 36, "step": 11340, "t": 56.7, "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/c9_p021_e011/env.mp4 b/episodes/c9_p021_e011/env.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..ad1b06b8f8a210d0bdb44a016b0c2bbf1b0cf8b1 --- /dev/null +++ b/episodes/c9_p021_e011/env.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:174b6027d68bc4d4b3fea1b8e31bfda666dfde47e2ceb59a99966496f145ede7 +size 1211898 diff --git a/episodes/c9_p021_e011/meta.json b/episodes/c9_p021_e011/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..d72978dcf022f71fc9c5a6801851889cab6bb2d6 --- /dev/null +++ b/episodes/c9_p021_e011/meta.json @@ -0,0 +1,32 @@ +{ + "source": "raw/c9_p021/magicsim/11", + "fps": 25, + "frames": 1200, + "kept_ticks": "even", + "video_frames": { + "wrist": 1200, + "env": 1200 + }, + "joint_target_source": "joint_pos_target", + "fk_vs_recorded_eef_max_m": 0.0, + "curobo_joints": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "joint_order": [ + "shoulder_pan", + "shoulder_lift", + "elbow", + "wrist_1", + "wrist_2", + "wrist_3", + "finger_left", + "finger_right" + ], + "frames_note": "eef / actions in the robot base frame; camera_pose = local pose (wrist: in plate_gripper_base, env: env frame), pos + quat wxyz", + "dr_version": "v2" +} \ No newline at end of file diff --git a/episodes/c9_p021_e011/scene_snapshot.json b/episodes/c9_p021_e011/scene_snapshot.json new file mode 100644 index 0000000000000000000000000000000000000000..eaaff17af8db44b718f7faf22c650839426acef0 --- /dev/null +++ b/episodes/c9_p021_e011/scene_snapshot.json @@ -0,0 +1,1558 @@ +{ + "trajectory_id": 11, + "env_id": 0, + "run_id": "c9_p021", + "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": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_6_clear/plate_6_clear.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 0.9605 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/pcr_96_blue/pcr_96_blue.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.0285 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/pcr_384_red/pcr_384_red.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.0965 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_12_clear/plate_12_clear.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.1645 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_96_clear/plate_96_clear.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.2325 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "a4s_sealer": [ + { + "asset": "$MAGICSIM_ASSETS/Articulated/A4SSealer/Object.usd", + "pose": { + "pos": [ + 0.526087760925293, + 0.08208084106445312, + 0.8999999761581421 + ], + "ori": [ + 0.7248749732971191, + 0.0, + 0.0, + -0.688880443572998 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "articulation", + "solver_position_iteration_count": 16.0, + "solver_velocity_iteration_count": 1.0, + "enabled_self_collisions": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "joint_position": [ + 1.6820830752578564e-12 + ], + "joint_velocity": [ + 0.0 + ], + "linear_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "angular_velocity": [ + 0.0, + 0.0, + 0.0 + ] + } + } + ], + "conveyor": [ + { + "asset": "Cube", + "pose": { + "pos": [ + 0.15, + 0.45, + 0.9 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "conveyor", + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9 + }, + "ratio": 1.0 + }, + "primitive_params": { + "size": [ + 2.4, + 0.076, + 0.03 + ] + }, + "conveyor": { + "speed": 0.22417855429179506, + "direction": [ + 1.0, + 0.0, + 0.0 + ], + "enabled": true, + "drive": "surface_velocity", + "lines": null, + "station_line": null, + "riders": [ + "carrier" + ], + "stations": { + "pick": { + "position": -0.2539059583190209, + "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": 0.22417855429179506, + "holds": [], + "station": "pick", + "rider": "carrier_4", + "arrived": true, + "applied_speed": 0.0 + } + } + } + ], + "carrier": [ + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + -1.0519580841064453, + 1.1485071182250977, + 0.8999999761581421 + ], + "ori": [ + -0.01378838624805212, + -4.283063148591282e-08, + -2.3761453249449005e-08, + 0.9999049305915833 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 1.1884987438648409e-09, + 9.462719496866612e-09, + 3.725290298461914e-09 + ], + "angular_velocity": [ + -2.3717507247056346e-07, + 1.0928197013981844e-08, + 3.1184242743620416e-08 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + 0.2710113525390625, + 1.1525554656982422, + 0.8999999761581421 + ], + "ori": [ + -0.00979839637875557, + 7.519005418288316e-10, + -1.8301608006865422e-09, + 0.9999520778656006 + ], + "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": [ + 9.57680046376197e-10, + 5.749520859410495e-10, + 0.0 + ], + "angular_velocity": [ + -5.3267655175659456e-08, + 7.46290780284653e-08, + 5.735747432566995e-10 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + 1.6366405487060547, + 0.6039533615112305, + 0.8999999761581421 + ], + "ori": [ + 0.8880425691604614, + 6.011381259440896e-08, + -6.448784972690191e-08, + 0.4597611427307129 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -1.535386218165513e-08, + 6.396533080987865e-09, + -3.725290298461914e-09 + ], + "angular_velocity": [ + -4.872817953582853e-07, + -7.115231710486114e-07, + -7.702908533246955e-08 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + -0.10439205169677734, + 0.4473304748535156, + 0.8999999761581421 + ], + "ori": [ + -0.9999441504478455, + 1.859560977424124e-10, + -1.5358707639023805e-09, + -0.010572711937129498 + ], + "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": [ + -3.08448067087852e-09, + -3.404307724608202e-09, + 2.2351741790771484e-08 + ], + "angular_velocity": [ + 1.4645550550085318e-07, + -2.6316487833355495e-07, + -3.7380253559149423e-08 + ] + } + } + ], + "plate": [ + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_6_clear/Object.usd", + "pose": { + "pos": [ + -1.0628900527954102, + 1.1388206481933594, + 0.9179999828338623 + ], + "ori": [ + 0.07647178322076797, + -4.459718638827326e-08, + -5.684723092258537e-08, + 0.9970718026161194 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 5.608185915662034e-08, + 7.683323133278464e-08, + 1.341104507446289e-07 + ], + "angular_velocity": [ + -1.5555967820546357e-06, + 2.840182787622325e-06, + 2.2844784552944475e-07 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_96_black/Object.usd", + "pose": { + "pos": [ + 0.2595024108886719, + 1.1513786315917969, + 0.9180000424385071 + ], + "ori": [ + 0.012370716780424118, + 3.846157003994932e-10, + -2.9079836316725505e-09, + 0.9999234676361084 + ], + "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": [ + 4.034346190451288e-08, + 6.103021199521663e-09, + -5.383044481277466e-06 + ], + "angular_velocity": [ + -3.153370471409289e-07, + 2.2051287942304043e-06, + 2.0956164803465072e-07 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/pcr_96_blue/Object.usd", + "pose": { + "pos": [ + 1.6411371231079102, + 0.6087160110473633, + 0.9180000424385071 + ], + "ori": [ + 0.8470098376274109, + 4.2608917283359915e-07, + 1.9370298787180218e-07, + 0.5315772891044617 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -9.485460395808332e-06, + 1.6415383470302913e-06, + -6.2212347984313965e-06 + ], + "angular_velocity": [ + -9.374102955916896e-05, + -0.0002102698344970122, + 5.8049601648235694e-05 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/deep_well_96_2ml/Object.usd", + "pose": { + "pos": [ + -0.11253738403320312, + 0.4359149932861328, + 0.9179999828338623 + ], + "ori": [ + -0.9955280423164368, + -1.481260780700211e-09, + -1.2723437858852549e-09, + 0.094466932117939 + ], + "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": [ + -1.086166321329074e-07, + 2.624197747991275e-09, + -1.5310943126678467e-06 + ], + "angular_velocity": [ + -1.1257671985731577e-06, + -3.7361130580393365e-06, + -1.7339617386369355e-07 + ] + } + } + ], + "deco_hub_west": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/hub_d.usd", + "pose": { + "pos": [ + -3.36, + 0.0, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_hub_east": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/hub_e.usd", + "pose": { + "pos": [ + 3.36, + 0.0, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_hub_back": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/hub_b.usd", + "pose": { + "pos": [ + -3.0, + -2.1, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_bench_east": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/bench_a.usd", + "pose": { + "pos": [ + 2.6, + -2.5, + 0.0 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_bench_gap": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/bench_b.usd", + "pose": { + "pos": [ + -0.1, + -2.9, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ] + }, + {}, + {}, + {} + ], + "devices": { + "hub": [ + { + "t": 8.879999999999988, + "step": 1776, + "counter": 0, + "devices": { + "a4s_sealer_1": { + "mode": "auto", + "units": { + "drawer": { + "state": "at_out", + "active": null, + "target": 0.0, + "goal_name": "out", + "profile": null, + "q_start": null, + "reversing": false, + "blocked_for": 0.0, + "settled_for": 0.0, + "last_q": 1.6820830752578564e-12 + }, + "heater": { + "state": "ready", + "active": null, + "duration": 0.0, + "t_start": null, + "elapsed": 0.0 + } + }, + "queues": {}, + "program": null, + "sensors": { + "plate_present": { + "occupants": [], + "pending": {} + } + }, + "interlocks": {} + }, + "conveyor_1": { + "mode": "auto", + "units": { + "belt": { + "state": "at_station", + "active": null, + "controller": { + "speed": 0.22417855429179506, + "holds": [], + "station": "pick", + "rider": "carrier_4", + "arrived": true, + "settle_count": 1586, + "released": { + "pick": [] + }, + "last_pos": { + "carrier_1": [ + -1.2019580900669098, + 0.6985071301460266, + 0.0 + ], + "carrier_2": [ + 0.12101134657859802, + 0.7025554776191711, + 0.0 + ], + "carrier_3": [ + 1.4866405427455902, + 0.15395337343215942, + 0.0 + ], + "carrier_4": [ + -0.2543920576572418, + -0.00266951322555542, + 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": [ + 0.5177262071403418, + 0.5550069594769682, + 2.7895288246239702 + ], + "ori": [ + -1.2193563285890647, + 11.9035940046084, + -24.719551350093983 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "color_temperature": 6319.641659246757, + "color": [ + 0.8870079515535556, + 0.8557796564885937, + 0.8632805693911951 + ], + "intensity": 14948.577315743596, + "width": 1.6848860504198053, + "height": 0.9551724370560604 + } + }, + "key": { + "type": "sphere", + "pose": { + "pos": [ + -0.3377818811224993, + -1.1696483499771757, + 1.9343811455449345 + ], + "ori": [ + -9.448181860564915, + -36.42196569538497, + 36.29995606040097 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "color_temperature": 4290.434498936367, + "color": [ + 0.8995199049098634, + 0.9650776351828079, + 0.9647721976650397 + ], + "intensity": 2549.3706486481306, + "radius": 0.1602245141555092 + } + } + }, + {}, + {}, + {} + ], + "background": { + "type": "dome", + "pose": { + "pos": null, + "ori": null, + "scale": null + }, + "dr": { + "intensity": 744.8884610638985, + "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": [ + [ + 0.9141125082969666, + -1.7193928956985474, + 2.09049654006958, + -1.941900372505188, + -1.5707999467849731, + 2.484905958175659, + 0.017999999225139618, + 0.017999999225139618 + ], + [ + 1.37760591506958, + -1.8311809301376343, + 2.2598025798797607, + -2.0001626014709473, + -1.5711159706115723, + 2.9474382400512695, + 0.007766567636281252, + 0.00600640382617712 + ], + [ + 2.353545665740967, + -2.4008381366729736, + 2.10601806640625, + -1.2772576808929443, + -1.5704140663146973, + 3.924570083618164, + 0.007678896654397249, + 0.007005360443145037 + ], + [ + 2.3188068866729736, + -2.476348400115967, + 2.2938625812530518, + -1.38802170753479, + -1.5709493160247803, + 3.8904316425323486, + 0.007731910329312086, + 0.007107374724000692 + ] + ], + "joint_vel": [ + [ + 2.1750548386695156e-38, + -2.1525432590998303e-38, + -1.830403239291284e-38, + -3.328568141520711e-37, + 5.753877677973497e-37, + 3.3535724629026147e-37, + 3.0736416828131976e-38, + -3.4493533429128817e-38 + ], + [ + 0.074569933116436, + -0.052571073174476624, + 0.030235523357987404, + 0.02187083475291729, + -0.000302196858683601, + 0.068304143846035, + -0.011649008840322495, + -0.0011277662124484777 + ], + [ + 0.02342870831489563, + 0.019131476059556007, + -0.0036205900833010674, + -0.015718072652816772, + -0.0005193500546738505, + 0.024937700480222702, + -0.008565092459321022, + 0.00026965860160999 + ], + [ + 0.009471958503127098, + -0.006394565105438232, + 0.001195691293105483, + 0.004854504484683275, + 0.000515115330927074, + 0.006238726433366537, + -0.007735806982964277, + 0.0003963541239500046 + ] + ] + } + }, + "cameras": { + "cameras": { + "camera0": [ + [ + 0.049368370324373245, + -0.0032413816079497337, + -0.029499297961592674, + -0.27766555547714233, + 0.652167558670044, + 0.646587073802948, + -0.2819654047489166 + ], + [ + 0.04997531697154045, + -0.003394921077415347, + -0.03064860962331295, + -0.27756088972091675, + 0.6533945798873901, + 0.6490676403045654, + -0.27339839935302734 + ], + [ + 0.04802239313721657, + -0.0008084653527475893, + -0.025678295642137527, + -0.2636753022670746, + 0.6508651971817017, + 0.6540803909301758, + -0.2811203598976135 + ], + [ + 0.0480787418782711, + -0.0013508698903024197, + -0.03305293619632721, + -0.29066547751426697, + 0.6426321864128113, + 0.6561636328697205, + -0.26830345392227173 + ] + ], + "camera1": [ + [ + 0.04320855811238289, + 0.5778028964996338, + 1.9286690950393677, + 0.034187380224466324, + 0.01364927738904953, + 0.2562903165817261, + 0.9658986330032349 + ], + [ + 0.04721579700708389, + 0.594870924949646, + 1.9653282165527344, + 0.02889455109834671, + 0.01568521000444889, + 0.2569652795791626, + 0.9658612608909607 + ], + [ + 0.046471014618873596, + 0.5786323547363281, + 1.9584269523620605, + 0.0344715416431427, + -0.0018093351973220706, + 0.2847702205181122, + 0.9579740762710571 + ], + [ + 0.05481560900807381, + 0.5902533531188965, + 1.9437521696090698, + 0.037094756960868835, + 0.02250211127102375, + 0.2551353871822357, + 0.9659314751625061 + ] + ] + } + } + } +} \ No newline at end of file diff --git a/episodes/c9_p021_e011/wrist.mp4 b/episodes/c9_p021_e011/wrist.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..15cb00a90773457a2a4a2f76a5228bd1908ef336 --- /dev/null +++ b/episodes/c9_p021_e011/wrist.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:2290f828ff7c3b6fe9dc44ad7dbcd5cd9dd421ae26ebec8ca48d350e2984502e +size 6703181 diff --git a/index/episodes.csv b/index/episodes.csv index a7237301cde5fb813f0bf21d512b1a178e0182cc..869736c08c7474862515adae4507bb7ecf6c210d 100644 --- a/index/episodes.csv +++ b/index/episodes.csv @@ -4502,3 +4502,12 @@ c5_p014_e023,0,True,-0.04892539978027344,0.4499931335449219,-0.00579622386582578 c9_p021_e008,2,True,0.13831329345703125,0.4500007629394531,-0.011626920806293536,0.010545937682212287,6.921268334149346,plate_24_clear,0.4649391174316406,0.10002994537353516,-90.10800180179169,0.27471260730774827,744.8884610638985,rect,-0.008018504831503237,-0.057909204558939664,2.731397996223472,10797.067611580376,4045.6413963839314,disk,-0.9928347614658066,0.8338154921496097,1.7122584892345236,5910.833119617196,3038.846849457311,0.047141797840595245,0.0009490407537668943,-0.025450417771935463,-0.26821842789649963,0.6468455791473389,0.657111644744873,-0.27902311086654663,0.046471014618873596,0.5786323547363281,1.9584269523620605,0.0344715416431427,-0.0018093351973220706,0.2847702205181122,0.9579740762710571,1135,1,,2.0714190006256104,0.32689082043361173,0.0,0.007290172856301069,0.5533039647577093,12,release,0.04234355688095093,"Pre-grasping the small plate, moving the arm toward it; the ",v2,True,False c9_p021_e009,3,True,0.13301753997802734,0.4499998092651367,-0.011105537246835885,-0.0024042137263684585,-11.149054985200621,plate_384_white,0.5247726440429688,0.0938873291015625,-93.80799500765366,0.1691179989170035,744.8884610638985,rect,0.38249588905358134,0.29791696690074876,2.6496003074695746,15034.949963215775,4462.803751561314,disk,0.4621777380954928,0.2397020489846151,2.0338067838839193,3083.530999738456,5621.059955696491,0.04963356629014015,0.0020665123593062162,-0.030725566670298576,-0.28978756070137024,0.6433305740356445,0.6537868976593018,-0.27333423495292664,0.05481560900807381,0.5902533531188965,1.9437521696090698,0.037094756960868835,0.02250211127102375,0.2551353871822357,0.9659314751625061,1234,1,,2.0970401763916016,0.26340205303084085,0.0,0.007417154498398304,0.5194489465153971,12,release,0.04215669631958008,"Pre-grasping the small plate, moving the arm toward it; the ",v2,True,False c9_p021_e010,1,True,0.07312870025634766,0.4499998092651367,0.013874053975045883,-0.00701713558063758,-0.04487943109597836,pcr_384_red,0.4907093048095703,0.12754058837890625,-87.03385172275225,0.1978919052952422,744.8884610638985,rect,-0.3811550000947325,0.06432049911797189,2.854549975657394,12340.678628980528,3996.221899471383,disk,1.169084636560442,-0.4470299504023064,2.5724452898892136,10507.563367072818,3281.261836681907,0.05400014668703079,-0.0006329537718556821,-0.03093583881855011,-0.2758164703845978,0.6531264781951904,0.6485818028450012,-0.276934415102005,0.04721579700708389,0.594870924949646,1.9653282165527344,0.02889455109834671,0.01568521000444889,0.2569652795791626,0.9658612608909607,1213,1,,2.0643310546875,0.2603596540922407,0.0,0.006838749162852764,0.5350370981038747,12,release,0.04241323471069336,"Pre-grasping the small plate, moving the arm toward it; the ",v2,True,False +c2_p018_e027,3,True,0.0046329498291015625,0.45000171661376953,-0.012187294182640796,-0.006107700935821829,-11.55127028564982,plate_48_clear,0.5298547744750977,0.07348442077636719,-91.26108372810012,0.1999541090953872,644.563958750842,rect,0.3078937059386756,0.4159593854458433,2.9172211173842912,7854.7877430547,6353.055472144089,sphere,-0.23013930344165767,-1.0438874633047828,1.7799054040712246,6960.694571768499,5109.644571463017,0.05062884837388992,-0.0006924523040652275,-0.030819054692983627,-0.2802102267742157,0.6478123068809509,0.6503419280052185,-0.2808501720428467,0.049956314265728,0.5635393857955933,1.9500309228897095,0.05871802568435669,0.01001367624849081,0.2832576632499695,0.9571922421455383,1270,1,,2.0940816402435303,0.28221715150548105,0.0,0.0072896601632237434,0.5566929133858268,12,release,0.04233217239379883,"Pre-grasping the small plate, moving the arm toward it; the ",v2,True,False +c4_p015_e035,1,True,0.0397796630859375,0.4499998092651367,-0.013503363869765245,0.008943588797192157,1.0067364556630878,plate_12_clear,0.4817361831665039,0.11155509948730469,-85.32433135693418,0.26580267614424236,1102.808417937825,rect,-0.312740764795695,0.24635582160628677,2.708013025058886,11722.772349108396,3721.45511936765,sphere,-0.35275365439764794,-1.0379619702137184,2.7870832840750728,6080.410782708083,5836.176081503294,0.04845324903726578,0.0032515896018594503,-0.027137519791722298,-0.2760024070739746,0.651595413684845,0.6509614586830139,-0.27476394176483154,0.06390172988176346,0.5745898485183716,1.9514329433441162,0.041862666606903076,0.02297765575349331,0.2752521336078644,0.9601852893829346,1213,1,,2.131709098815918,0.2916833978337628,0.0,0.007375519722700119,0.5226710634789777,12,release,0.042174696922302246,"Pre-grasping the small plate, moving the arm toward it; the ",v2,True,False +c6_p015_e011,0,True,0.13337421417236328,0.45000171661376953,0.0005422329272880187,-0.007374723370169053,-4.043230169753031,pcr_96_blue,0.478240966796875,0.061928749084472656,-94.39775395472809,0.23276786864398957,442.6767337829358,rect,0.5214684726699194,0.46981402443387243,2.8527718153295702,14249.36337752033,6955.428800612215,disk,-1.4721255696552502,1.5330650600999525,2.3038083379625194,5197.968145229598,2824.2496210656677,0.05200976878404617,0.002101778518408537,-0.02792029082775116,-0.27979323267936707,0.6512627601623535,0.6462950110435486,-0.28262221813201904,0.043791308999061584,0.5578715801239014,1.9430233240127563,0.0431101992726326,0.0031966601964086294,0.2779116928577423,0.959633469581604,1224,1,,2.0697131156921387,0.29038730824791076,0.0,0.006855921819806099,0.5196078431372549,12,release,0.04215359687805176,"Pre-grasping the small plate, moving the arm toward it; the ",v2,True,False +c6_p015_e012,1,True,0.0655984878540039,0.4499998092651367,0.011494763396447583,0.004222524542373897,-0.43074868577221537,pcr_384_red,0.5198965072631836,0.10860538482666016,-86.17251372599831,0.2613215454265247,442.6767337829358,rect,-0.29980777455608,0.41761381265657804,3.188052057009748,8659.275335164897,5600.8846811805815,disk,0.43922931600675863,-1.1847163455706544,1.9514348298913544,9782.97841222604,6225.247789184248,0.04973386600613594,-0.0017704586498439312,-0.030416090041399002,-0.2735287547111511,0.6536200046539307,0.6445314288139343,-0.28730159997940063,0.048044417053461075,0.5939530730247498,1.944770336151123,0.024703459814190865,0.008361013606190681,0.2837070822715759,0.9585562944412231,1266,1,,2.1339406967163086,0.3114118271398646,0.0,0.0067990440875291824,0.5134281200631912,12,release,0.0421297550201416,"Pre-grasping the small plate, moving the arm toward it; the ",v2,True,False +c8_p017_e000,1,True,-0.11801719665527344,0.44870948791503906,0.009745887445516256,0.007846181634431345,1.698537769078257,plate_12_clear,0.46161746978759766,0.08483600616455078,-93.4553000116265,0.15287437402826212,1481.4738996467133,rect,0.37589412260671884,0.41745093972659153,2.6786436770523916,14425.63799940557,3340.9327326993475,disk,-1.0881643565523829,0.2957498773890306,2.7481166910812025,5232.058438787051,4288.0427452627355,0.054590094834566116,0.0016420307802036405,-0.02859506942331791,-0.2752179205417633,0.6531468033790588,0.6406491994857788,-0.2953352630138397,0.06471529603004456,0.587897777557373,1.9683809280395508,0.04781081900000572,0.01457906886935234,0.2844037711620331,0.9574006795883179,1204,1,,2.0971295833587646,0.2759965561016742,0.0,0.007297874428331852,0.5290697674418605,12,release,0.042411088943481445,"Pre-grasping the small plate, moving the arm toward it; the ",v2,True,False +c8_p017_e001,2,True,-0.0547027587890625,0.4499959945678711,0.005216112657975408,0.011223065176690571,7.162610646505755,plate_384_black,0.4881591796875,0.12302112579345703,-86.54485987223711,0.16667365094724196,1481.4738996467133,rect,-0.4100823656394398,-0.3524950596987023,2.8269277584292136,12203.712860281521,4101.669688402038,sphere,-0.9594974252137588,-0.33768879510968675,2.4471657712905936,6689.135672573638,5918.259214215257,0.05162651464343071,-0.0008763412479311228,-0.027227560058236122,-0.2788112163543701,0.6461190581321716,0.6474500298500061,-0.29257985949516296,0.068135567009449,0.5614282488822937,1.9274623394012451,0.04418894276022911,0.007301605772227049,0.2747696042060852,0.9604663848876953,1250,1,,2.07035231590271,0.27607349068282155,0.0,0.00741883460432291,0.512,12,release,0.042406558990478516,"Pre-grasping the small plate, moving the arm toward it; the ",v2,True,False +c8_p017_e002,0,True,-0.07817745208740234,0.44773006439208984,0.011256418179769167,0.0015047143035458363,-2.0294166621352474,plate_96_black,0.5213470458984375,0.08469390869140625,-93.88218841504512,0.18289370542270644,1481.4738996467133,rect,0.1787080949141181,-0.46571702559140077,2.7413572359866594,10818.252687695065,6121.357142940659,disk,0.7383325387500652,-0.7781168948038804,2.351517455503679,8525.607085778462,5551.0002033598,0.05091959238052368,-0.002915062941610813,-0.02837475761771202,-0.26939886808395386,0.6543847322463989,0.64640212059021,-0.28525277972221375,0.07491359859704971,0.5962027907371521,1.935456395149231,0.05469208583235741,0.00409278878942132,0.2727888524532318,0.9605093598365784,1208,1,,2.102876663208008,0.2509451839759838,0.0,0.007256306242197752,0.5281456953642384,12,release,0.042294204235076904,"Pre-grasping the small plate, moving the arm toward it; the ",v2,True,False +c8_p017_e003,3,True,-0.04692554473876953,0.4474143981933594,-0.005326830650589735,0.007819981245912839,-9.424161055301226,plate_384_white,0.4771852493286133,0.10801124572753906,-91.2521859777786,0.29025009876683505,1481.4738996467133,rect,0.574741016886353,-0.3226167185224176,3.003353025563246,6852.647548867551,5881.885400592974,sphere,1.275286713128437,0.2715483198277737,2.3225157660295133,5587.651528936156,7320.225615319438,0.04822966083884239,0.0015928527573123574,-0.03373197093605995,-0.28259551525115967,0.641965389251709,0.6536245346069336,-0.28424498438835144,0.05140060931444168,0.5622696280479431,1.9367109537124634,0.03202955052256584,0.02843022346496582,0.2649160325527191,0.9633199572563171,1221,1,,2.07193660736084,0.28348797914726914,0.0,0.00737810181453824,0.5217035217035217,12,release,0.04220116138458252,"Pre-grasping the small plate, moving the arm toward it; the ",v2,True,False +c9_p021_e011,0,True,-0.10439205169677734,0.4473304748535156,-0.008384883044529235,-0.011240702585499111,-12.052845202753105,deep_well_96_2ml,0.526087760925293,0.08208084106445312,-87.08310295375541,0.22417855429179506,744.8884610638985,rect,0.5177262071403418,0.5550069594769682,2.7895288246239702,14948.577315743596,6319.641659246757,sphere,-0.3377818811224993,-1.1696483499771757,1.9343811455449345,2549.3706486481306,4290.434498936367,0.049368370324373245,-0.0032413816079497337,-0.029499297961592674,-0.27766555547714233,0.652167558670044,0.646587073802948,-0.2819654047489166,0.04320855811238289,0.5778028964996338,1.9286690950393677,0.034187380224466324,0.01364927738904953,0.2562903165817261,0.9658986330032349,1200,1,,2.1338512897491455,0.2942392858143714,0.0,0.007504677399992943,0.5291666666666667,12,release,0.042191505432128906,"Pre-grasping the small plate, moving the arm toward it; the ",v2,True,False