add 12 episodes (c2_p015_e022 .. c9_p017_e035); total 3800 {'v1': 1088, 'v2': 2712}
Browse filesThis view is limited to 50 files because it contains too many changes. See raw diff
- episodes/c2_p015_e022/data.npz +3 -0
- episodes/c2_p015_e022/device_events.jsonl +40 -0
- episodes/c2_p015_e022/env.mp4 +3 -0
- episodes/c2_p015_e022/meta.json +32 -0
- episodes/c2_p015_e022/scene_snapshot.json +1558 -0
- episodes/c2_p015_e022/wrist.mp4 +3 -0
- episodes/c2_p015_e023/data.npz +3 -0
- episodes/c2_p015_e023/device_events.jsonl +35 -0
- episodes/c2_p015_e023/env.mp4 +3 -0
- episodes/c2_p015_e023/meta.json +32 -0
- episodes/c2_p015_e023/scene_snapshot.json +1558 -0
- episodes/c2_p015_e023/wrist.mp4 +3 -0
- episodes/c3_p012_e011/data.npz +3 -0
- episodes/c3_p012_e011/device_events.jsonl +38 -0
- episodes/c3_p012_e011/env.mp4 +3 -0
- episodes/c3_p012_e011/meta.json +32 -0
- episodes/c3_p012_e011/scene_snapshot.json +1558 -0
- episodes/c3_p012_e011/wrist.mp4 +3 -0
- episodes/c4_p012_e030/data.npz +3 -0
- episodes/c4_p012_e030/device_events.jsonl +36 -0
- episodes/c4_p012_e030/env.mp4 +3 -0
- episodes/c4_p012_e030/meta.json +32 -0
- episodes/c4_p012_e030/scene_snapshot.json +1558 -0
- episodes/c4_p012_e030/wrist.mp4 +3 -0
- episodes/c4_p012_e031/data.npz +3 -0
- episodes/c4_p012_e031/device_events.jsonl +35 -0
- episodes/c4_p012_e031/env.mp4 +3 -0
- episodes/c4_p012_e031/meta.json +32 -0
- episodes/c4_p012_e031/scene_snapshot.json +1558 -0
- episodes/c4_p012_e031/wrist.mp4 +3 -0
- episodes/c6_p012_e028/data.npz +3 -0
- episodes/c6_p012_e028/device_events.jsonl +35 -0
- episodes/c6_p012_e028/env.mp4 +3 -0
- episodes/c6_p012_e028/meta.json +32 -0
- episodes/c6_p012_e028/scene_snapshot.json +1558 -0
- episodes/c6_p012_e028/wrist.mp4 +3 -0
- episodes/c7_p014_e004/data.npz +3 -0
- episodes/c7_p014_e004/device_events.jsonl +36 -0
- episodes/c7_p014_e004/env.mp4 +3 -0
- episodes/c7_p014_e004/meta.json +32 -0
- episodes/c7_p014_e004/scene_snapshot.json +1558 -0
- episodes/c7_p014_e004/wrist.mp4 +3 -0
- episodes/c7_p014_e005/data.npz +3 -0
- episodes/c7_p014_e005/device_events.jsonl +40 -0
- episodes/c7_p014_e005/env.mp4 +3 -0
- episodes/c7_p014_e005/meta.json +32 -0
- episodes/c7_p014_e005/scene_snapshot.json +1558 -0
- episodes/c7_p014_e005/wrist.mp4 +3 -0
- episodes/c7_p014_e006/data.npz +3 -0
- episodes/c7_p014_e006/device_events.jsonl +39 -0
episodes/c2_p015_e022/data.npz
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version https://git-lfs.github.com/spec/v1
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oid sha256:1dd1ddbd6d443539abf553fe9f58ecbb02721ee07ef41e7b92fb8f391ff5fb54
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size 190765
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episodes/c2_p015_e022/device_events.jsonl
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| 1 |
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{"env_id": 0, "seq": 1, "step": 106, "t": 0.53, "topic": "conveyor_1.belt.station.pick.captured", "source": "conveyor_1.belt", "data": {"rider": "carrier_2"}, "cause": null}
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| 2 |
+
{"env_id": 0, "seq": 2, "step": 106, "t": 0.53, "topic": "conveyor_1.belt.state.changed", "source": "conveyor_1.belt", "data": {"from": "running", "to": "at_station"}, "cause": null}
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| 3 |
+
{"env_id": 0, "seq": 3, "step": 111, "t": 0.555, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_2"}, "cause": null}
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| 4 |
+
{"env_id": 0, "seq": 4, "step": 2038, "t": 10.19, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_2"}, "cause": null}
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| 5 |
+
{"env_id": 0, "seq": 5, "step": 2074, "t": 10.37, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_2"}, "cause": null}
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| 6 |
+
{"env_id": 0, "seq": 6, "step": 2111, "t": 10.555, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_2"}, "cause": null}
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| 7 |
+
{"env_id": 0, "seq": 7, "step": 2145, "t": 10.725, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_2"}, "cause": null}
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| 8 |
+
{"env_id": 0, "seq": 8, "step": 2217, "t": 11.085, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_2"}, "cause": null}
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| 9 |
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{"env_id": 0, "seq": 9, "step": 6839, "t": 34.195, "topic": "a4s_sealer_1.plate_present.present", "source": "a4s_sealer_1.plate_present", "data": {"object": "plate_2"}, "cause": null}
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| 10 |
+
{"env_id": 0, "seq": 10, "step": 7452, "t": 37.26, "topic": "a4s_sealer_1.command.started", "source": "a4s_sealer_1", "data": {"command_id": "task-0-1", "name": "seal", "source": "task"}, "cause": "task-0-1"}
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| 11 |
+
{"env_id": 0, "seq": 11, "step": 7452, "t": 37.26, "topic": "a4s_sealer_1.seal.started", "source": "a4s_sealer_1", "data": {"dwell": 4.876240606071529}, "cause": "task-0-1"}
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| 12 |
+
{"env_id": 0, "seq": 12, "step": 7452, "t": 37.26, "topic": "a4s_sealer_1.drawer.command.started", "source": "a4s_sealer_1.drawer", "data": {"command_id": "program-0-2", "name": "close", "source": "program:seal"}, "cause": "program-0-2"}
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| 13 |
+
{"env_id": 0, "seq": 13, "step": 7452, "t": 37.26, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "at_out", "to": "moving"}, "cause": null}
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| 14 |
+
{"env_id": 0, "seq": 14, "step": 7452, "t": 37.26, "topic": "a4s_sealer_1.drawer.moving", "source": "a4s_sealer_1.drawer", "data": {"target": 0.3, "goal": "in"}, "cause": "program-0-2"}
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| 15 |
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{"env_id": 0, "seq": 15, "step": 7871, "t": 39.355, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "moving", "to": "at_in"}, "cause": null}
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| 16 |
+
{"env_id": 0, "seq": 16, "step": 7871, "t": 39.355, "topic": "a4s_sealer_1.drawer.reached", "source": "a4s_sealer_1.drawer", "data": {"position": "in", "q": 0.30000001192092896}, "cause": "program-0-2"}
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| 17 |
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{"env_id": 0, "seq": 17, "step": 7871, "t": 39.355, "topic": "a4s_sealer_1.drawer.at_in", "source": "a4s_sealer_1.drawer", "data": {"q": 0.30000001192092896}, "cause": "program-0-2"}
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| 18 |
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{"env_id": 0, "seq": 18, "step": 7871, "t": 39.355, "topic": "a4s_sealer_1.drawer.command.succeeded", "source": "a4s_sealer_1.drawer", "data": {"command_id": "program-0-2", "name": "close", "source": "program:seal", "result": {"position": "in"}}, "cause": "program-0-2"}
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| 19 |
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{"env_id": 0, "seq": 19, "step": 7871, "t": 39.355, "topic": "labware.plate_2.changed", "source": "labware.plate_2", "data": {"key": "sealed", "value": true}, "cause": "task-0-1"}
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| 20 |
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{"env_id": 0, "seq": 20, "step": 7871, "t": 39.355, "topic": "a4s_sealer_1.sealed", "source": "a4s_sealer_1", "data": {"plate": "plate_2"}, "cause": "task-0-1"}
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| 21 |
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{"env_id": 0, "seq": 21, "step": 7871, "t": 39.355, "topic": "a4s_sealer_1.heater.command.started", "source": "a4s_sealer_1.heater", "data": {"command_id": "program-0-3", "name": "run", "source": "program:seal"}, "cause": "program-0-3"}
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| 22 |
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{"env_id": 0, "seq": 22, "step": 7871, "t": 39.355, "topic": "a4s_sealer_1.heater.state.changed", "source": "a4s_sealer_1.heater", "data": {"from": "ready", "to": "running"}, "cause": null}
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| 23 |
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{"env_id": 0, "seq": 23, "step": 7871, "t": 39.355, "topic": "a4s_sealer_1.heater.started", "source": "a4s_sealer_1.heater", "data": {"duration": 4.876240606071529}, "cause": "program-0-3"}
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| 24 |
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{"env_id": 0, "seq": 24, "step": 8847, "t": 44.235, "topic": "a4s_sealer_1.heater.state.changed", "source": "a4s_sealer_1.heater", "data": {"from": "running", "to": "ready"}, "cause": null}
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| 25 |
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{"env_id": 0, "seq": 25, "step": 8847, "t": 44.235, "topic": "a4s_sealer_1.heater.finished", "source": "a4s_sealer_1.heater", "data": {"elapsed": 4.880000000002497}, "cause": "program-0-3"}
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| 26 |
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{"env_id": 0, "seq": 26, "step": 8847, "t": 44.235, "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": 4.880000000002497}}, "cause": "program-0-3"}
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| 27 |
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{"env_id": 0, "seq": 27, "step": 8847, "t": 44.235, "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"}
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| 28 |
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{"env_id": 0, "seq": 28, "step": 8847, "t": 44.235, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "at_in", "to": "moving"}, "cause": null}
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| 29 |
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{"env_id": 0, "seq": 29, "step": 8847, "t": 44.235, "topic": "a4s_sealer_1.drawer.moving", "source": "a4s_sealer_1.drawer", "data": {"target": 0.0, "goal": "out"}, "cause": "program-0-4"}
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| 30 |
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{"env_id": 0, "seq": 30, "step": 9267, "t": 46.335, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "moving", "to": "at_out"}, "cause": null}
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| 31 |
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{"env_id": 0, "seq": 31, "step": 9267, "t": 46.335, "topic": "a4s_sealer_1.drawer.reached", "source": "a4s_sealer_1.drawer", "data": {"position": "out", "q": 2.963519030174666e-08}, "cause": "program-0-4"}
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| 32 |
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{"env_id": 0, "seq": 32, "step": 9267, "t": 46.335, "topic": "a4s_sealer_1.drawer.at_out", "source": "a4s_sealer_1.drawer", "data": {"q": 2.963519030174666e-08}, "cause": "program-0-4"}
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| 33 |
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{"env_id": 0, "seq": 33, "step": 9267, "t": 46.335, "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"}
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| 34 |
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{"env_id": 0, "seq": 34, "step": 9267, "t": 46.335, "topic": "a4s_sealer_1.seal.finished", "source": "a4s_sealer_1", "data": {}, "cause": "task-0-1"}
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| 35 |
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{"env_id": 0, "seq": 35, "step": 9267, "t": 46.335, "topic": "a4s_sealer_1.command.succeeded", "source": "a4s_sealer_1", "data": {"command_id": "task-0-1", "name": "seal", "source": "task"}, "cause": "task-0-1"}
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| 36 |
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{"env_id": 0, "seq": 36, "step": 9846, "t": 49.23, "topic": "a4s_sealer_1.plate_present.absent", "source": "a4s_sealer_1.plate_present", "data": {"object": "plate_2"}, "cause": null}
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| 37 |
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{"env_id": 0, "seq": 37, "step": 11564, "t": 57.82, "topic": "conveyor_1.belt.command.started", "source": "conveyor_1.belt", "data": {"command_id": "task-0-5", "name": "release", "source": "task"}, "cause": "task-0-5"}
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| 38 |
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{"env_id": 0, "seq": 38, "step": 11564, "t": 57.82, "topic": "conveyor_1.belt.station.pick.released", "source": "conveyor_1.belt", "data": {"rider": "carrier_2"}, "cause": "task-0-5"}
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| 39 |
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{"env_id": 0, "seq": 39, "step": 11564, "t": 57.82, "topic": "conveyor_1.belt.state.changed", "source": "conveyor_1.belt", "data": {"from": "at_station", "to": "running"}, "cause": null}
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| 40 |
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{"env_id": 0, "seq": 40, "step": 11564, "t": 57.82, "topic": "conveyor_1.belt.command.succeeded", "source": "conveyor_1.belt", "data": {"command_id": "task-0-5", "name": "release", "source": "task", "result": {"state": "running"}}, "cause": "task-0-5"}
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episodes/c2_p015_e022/env.mp4
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version https://git-lfs.github.com/spec/v1
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oid sha256:7db3d43734c44abfa4a79d82313a759e5710440b33d73224ba999b85f36fc13d
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size 1228982
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episodes/c2_p015_e022/meta.json
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{
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"source": "raw/c2_p015/magicsim/22",
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"fps": 25,
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| 4 |
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"frames": 1249,
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| 5 |
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"kept_ticks": "even",
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| 6 |
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"video_frames": {
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| 7 |
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"wrist": 1249,
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| 8 |
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"env": 1249
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| 9 |
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},
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| 10 |
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"joint_target_source": "joint_pos_target",
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| 11 |
+
"fk_vs_recorded_eef_max_m": 0.0,
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| 12 |
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"curobo_joints": [
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| 13 |
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"shoulder_pan_joint",
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| 14 |
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"shoulder_lift_joint",
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| 15 |
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"elbow_joint",
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| 16 |
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"wrist_1_joint",
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| 17 |
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"wrist_2_joint",
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| 18 |
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"wrist_3_joint"
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| 19 |
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],
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| 20 |
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"joint_order": [
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| 21 |
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"shoulder_pan",
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| 22 |
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"shoulder_lift",
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| 23 |
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"elbow",
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| 24 |
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"wrist_1",
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| 25 |
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"wrist_2",
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| 26 |
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"wrist_3",
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| 27 |
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"finger_left",
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| 28 |
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"finger_right"
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| 29 |
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],
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| 30 |
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"frames_note": "eef / actions in the robot base frame; camera_pose = local pose (wrist: in plate_gripper_base, env: env frame), pos + quat wxyz",
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| 31 |
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"dr_version": "v2"
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}
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episodes/c2_p015_e022/scene_snapshot.json
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|
| 1 |
+
{
|
| 2 |
+
"trajectory_id": 22,
|
| 3 |
+
"env_id": 0,
|
| 4 |
+
"run_id": "c2_p015",
|
| 5 |
+
"task_type": "BioPlateCell",
|
| 6 |
+
"success": true,
|
| 7 |
+
"timing": {
|
| 8 |
+
"fps": 50.0,
|
| 9 |
+
"sim_dt": 0.005,
|
| 10 |
+
"decimation": 4
|
| 11 |
+
},
|
| 12 |
+
"restore_interface": {
|
| 13 |
+
"scene": "scene_manager.reset_to(snapshot['scene'], env_ids=[env_id])",
|
| 14 |
+
"robots": "robot_manager.set_state({'robots': snapshot['robots']}, env_ids=[env_id])"
|
| 15 |
+
},
|
| 16 |
+
"snapshot": {
|
| 17 |
+
"env_id": 0,
|
| 18 |
+
"scene": {
|
| 19 |
+
"objects": [
|
| 20 |
+
{
|
| 21 |
+
"rac_cell": [
|
| 22 |
+
{
|
| 23 |
+
"asset": "$MAGICSIM_ASSETS/Bio/Lab/rac_cell.usd",
|
| 24 |
+
"pose": {
|
| 25 |
+
"pos": [
|
| 26 |
+
0.0,
|
| 27 |
+
0.0,
|
| 28 |
+
0.0
|
| 29 |
+
],
|
| 30 |
+
"ori": [
|
| 31 |
+
1.0,
|
| 32 |
+
0.0,
|
| 33 |
+
0.0,
|
| 34 |
+
0.0
|
| 35 |
+
],
|
| 36 |
+
"scale": [
|
| 37 |
+
1.0,
|
| 38 |
+
1.0,
|
| 39 |
+
1.0
|
| 40 |
+
]
|
| 41 |
+
},
|
| 42 |
+
"dr": {
|
| 43 |
+
"visual": {
|
| 44 |
+
"kind": null,
|
| 45 |
+
"value": null,
|
| 46 |
+
"visible": true
|
| 47 |
+
},
|
| 48 |
+
"physics": {
|
| 49 |
+
"type": "geometry",
|
| 50 |
+
"collision": false,
|
| 51 |
+
"physics_material": {
|
| 52 |
+
"static_friction": 0.6,
|
| 53 |
+
"dynamic_friction": 0.5,
|
| 54 |
+
"restitution": 0.0
|
| 55 |
+
},
|
| 56 |
+
"ratio": 1.0
|
| 57 |
+
},
|
| 58 |
+
"primitive_params": null
|
| 59 |
+
},
|
| 60 |
+
"type_specific": {}
|
| 61 |
+
}
|
| 62 |
+
],
|
| 63 |
+
"robot_mount": [
|
| 64 |
+
{
|
| 65 |
+
"asset": "Cube",
|
| 66 |
+
"pose": {
|
| 67 |
+
"pos": [
|
| 68 |
+
0.0,
|
| 69 |
+
0.0,
|
| 70 |
+
0.9075
|
| 71 |
+
],
|
| 72 |
+
"ori": [
|
| 73 |
+
1.0,
|
| 74 |
+
0.0,
|
| 75 |
+
0.0,
|
| 76 |
+
0.0
|
| 77 |
+
],
|
| 78 |
+
"scale": [
|
| 79 |
+
1.0,
|
| 80 |
+
1.0,
|
| 81 |
+
1.0
|
| 82 |
+
]
|
| 83 |
+
},
|
| 84 |
+
"dr": {
|
| 85 |
+
"visual": {
|
| 86 |
+
"kind": "color",
|
| 87 |
+
"value": [
|
| 88 |
+
0.55,
|
| 89 |
+
0.56,
|
| 90 |
+
0.58
|
| 91 |
+
],
|
| 92 |
+
"visible": true
|
| 93 |
+
},
|
| 94 |
+
"physics": {
|
| 95 |
+
"type": "geometry",
|
| 96 |
+
"collision": false,
|
| 97 |
+
"ratio": 1.0
|
| 98 |
+
},
|
| 99 |
+
"primitive_params": {
|
| 100 |
+
"size": [
|
| 101 |
+
0.2,
|
| 102 |
+
0.2,
|
| 103 |
+
0.015
|
| 104 |
+
]
|
| 105 |
+
}
|
| 106 |
+
},
|
| 107 |
+
"type_specific": {}
|
| 108 |
+
}
|
| 109 |
+
],
|
| 110 |
+
"plate_rack": [
|
| 111 |
+
{
|
| 112 |
+
"asset": "$MAGICSIM_ASSETS/Bio/Lab/plate_hotel.usd",
|
| 113 |
+
"pose": {
|
| 114 |
+
"pos": [
|
| 115 |
+
-0.6,
|
| 116 |
+
0.02,
|
| 117 |
+
0.9
|
| 118 |
+
],
|
| 119 |
+
"ori": [
|
| 120 |
+
6.123234262925839e-17,
|
| 121 |
+
0.0,
|
| 122 |
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0.0,
|
| 123 |
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1.0
|
| 124 |
+
],
|
| 125 |
+
"scale": [
|
| 126 |
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1.0,
|
| 127 |
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1.0,
|
| 128 |
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1.0
|
| 129 |
+
]
|
| 130 |
+
},
|
| 131 |
+
"dr": {
|
| 132 |
+
"visual": {
|
| 133 |
+
"kind": null,
|
| 134 |
+
"value": null,
|
| 135 |
+
"visible": true
|
| 136 |
+
},
|
| 137 |
+
"physics": {
|
| 138 |
+
"type": "geometry",
|
| 139 |
+
"collision": false,
|
| 140 |
+
"physics_material": {
|
| 141 |
+
"static_friction": 0.6,
|
| 142 |
+
"dynamic_friction": 0.5,
|
| 143 |
+
"restitution": 0.0
|
| 144 |
+
},
|
| 145 |
+
"ratio": 1.0
|
| 146 |
+
},
|
| 147 |
+
"primitive_params": null
|
| 148 |
+
},
|
| 149 |
+
"type_specific": {}
|
| 150 |
+
}
|
| 151 |
+
],
|
| 152 |
+
"hotel_plate": [
|
| 153 |
+
{
|
| 154 |
+
"asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/deep_well_24_10ml/deep_well_24_10ml.usd",
|
| 155 |
+
"pose": {
|
| 156 |
+
"pos": [
|
| 157 |
+
-0.6,
|
| 158 |
+
0.02,
|
| 159 |
+
0.9605
|
| 160 |
+
],
|
| 161 |
+
"ori": [
|
| 162 |
+
1.0,
|
| 163 |
+
0.0,
|
| 164 |
+
0.0,
|
| 165 |
+
0.0
|
| 166 |
+
],
|
| 167 |
+
"scale": [
|
| 168 |
+
1.0,
|
| 169 |
+
1.0,
|
| 170 |
+
1.0
|
| 171 |
+
]
|
| 172 |
+
},
|
| 173 |
+
"dr": {
|
| 174 |
+
"visual": {
|
| 175 |
+
"kind": null,
|
| 176 |
+
"value": null,
|
| 177 |
+
"visible": true
|
| 178 |
+
},
|
| 179 |
+
"physics": {
|
| 180 |
+
"type": "geometry",
|
| 181 |
+
"collision": false,
|
| 182 |
+
"ratio": 1.0
|
| 183 |
+
},
|
| 184 |
+
"primitive_params": null
|
| 185 |
+
},
|
| 186 |
+
"type_specific": {}
|
| 187 |
+
},
|
| 188 |
+
{
|
| 189 |
+
"asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/pcr_384_red/pcr_384_red.usd",
|
| 190 |
+
"pose": {
|
| 191 |
+
"pos": [
|
| 192 |
+
-0.6,
|
| 193 |
+
0.02,
|
| 194 |
+
1.0285
|
| 195 |
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],
|
| 196 |
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"ori": [
|
| 197 |
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6.123234262925839e-17,
|
| 198 |
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0.0,
|
| 199 |
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0.0,
|
| 200 |
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1.0
|
| 201 |
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episodes/c2_p015_e022/wrist.mp4
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episodes/c2_p015_e023/data.npz
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episodes/c2_p015_e023/device_events.jsonl
ADDED
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{"env_id": 1, "seq": 1, "step": 80, "t": 0.4, "topic": "conveyor_1.belt.station.pick.captured", "source": "conveyor_1.belt", "data": {"rider": "carrier_2"}, "cause": null}
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| 2 |
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{"env_id": 1, "seq": 2, "step": 80, "t": 0.4, "topic": "conveyor_1.belt.state.changed", "source": "conveyor_1.belt", "data": {"from": "running", "to": "at_station"}, "cause": null}
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{"env_id": 1, "seq": 3, "step": 85, "t": 0.425, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_2"}, "cause": null}
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| 4 |
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{"env_id": 1, "seq": 4, "step": 6465, "t": 32.325, "topic": "a4s_sealer_1.plate_present.present", "source": "a4s_sealer_1.plate_present", "data": {"object": "plate_2"}, "cause": null}
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| 5 |
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{"env_id": 1, "seq": 5, "step": 7072, "t": 35.36, "topic": "a4s_sealer_1.command.started", "source": "a4s_sealer_1", "data": {"command_id": "task-1-1", "name": "seal", "source": "task"}, "cause": "task-1-1"}
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| 6 |
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{"env_id": 1, "seq": 6, "step": 7072, "t": 35.36, "topic": "a4s_sealer_1.seal.started", "source": "a4s_sealer_1", "data": {"dwell": 4.230285082238122}, "cause": "task-1-1"}
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| 7 |
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{"env_id": 1, "seq": 7, "step": 7072, "t": 35.36, "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"}
|
| 8 |
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{"env_id": 1, "seq": 8, "step": 7072, "t": 35.36, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "at_out", "to": "moving"}, "cause": null}
|
| 9 |
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|
| 10 |
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|
| 11 |
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|
| 12 |
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|
| 14 |
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|
| 15 |
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{"env_id": 1, "seq": 15, "step": 7491, "t": 37.455, "topic": "a4s_sealer_1.sealed", "source": "a4s_sealer_1", "data": {"plate": "plate_2"}, "cause": "task-1-1"}
|
| 16 |
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|
| 17 |
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{"env_id": 1, "seq": 17, "step": 7491, "t": 37.455, "topic": "a4s_sealer_1.heater.state.changed", "source": "a4s_sealer_1.heater", "data": {"from": "ready", "to": "running"}, "cause": null}
|
| 18 |
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{"env_id": 1, "seq": 18, "step": 7491, "t": 37.455, "topic": "a4s_sealer_1.heater.started", "source": "a4s_sealer_1.heater", "data": {"duration": 4.230285082238122}, "cause": "program-1-3"}
|
| 19 |
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|
| 20 |
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|
| 21 |
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{"env_id": 1, "seq": 21, "step": 8338, "t": 41.69, "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": 4.235000000002167}}, "cause": "program-1-3"}
|
| 22 |
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{"env_id": 1, "seq": 22, "step": 8338, "t": 41.69, "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"}
|
| 23 |
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{"env_id": 1, "seq": 23, "step": 8338, "t": 41.69, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "at_in", "to": "moving"}, "cause": null}
|
| 24 |
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{"env_id": 1, "seq": 24, "step": 8338, "t": 41.69, "topic": "a4s_sealer_1.drawer.moving", "source": "a4s_sealer_1.drawer", "data": {"target": 0.0, "goal": "out"}, "cause": "program-1-4"}
|
| 25 |
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{"env_id": 1, "seq": 25, "step": 8758, "t": 43.79, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "moving", "to": "at_out"}, "cause": null}
|
| 26 |
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{"env_id": 1, "seq": 26, "step": 8758, "t": 43.79, "topic": "a4s_sealer_1.drawer.reached", "source": "a4s_sealer_1.drawer", "data": {"position": "out", "q": 0.0}, "cause": "program-1-4"}
|
| 27 |
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{"env_id": 1, "seq": 27, "step": 8758, "t": 43.79, "topic": "a4s_sealer_1.drawer.at_out", "source": "a4s_sealer_1.drawer", "data": {"q": 0.0}, "cause": "program-1-4"}
|
| 28 |
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{"env_id": 1, "seq": 28, "step": 8758, "t": 43.79, "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"}
|
| 29 |
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{"env_id": 1, "seq": 29, "step": 8758, "t": 43.79, "topic": "a4s_sealer_1.seal.finished", "source": "a4s_sealer_1", "data": {}, "cause": "task-1-1"}
|
| 30 |
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{"env_id": 1, "seq": 30, "step": 8758, "t": 43.79, "topic": "a4s_sealer_1.command.succeeded", "source": "a4s_sealer_1", "data": {"command_id": "task-1-1", "name": "seal", "source": "task"}, "cause": "task-1-1"}
|
| 31 |
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|
| 32 |
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{"env_id": 1, "seq": 32, "step": 11056, "t": 55.28, "topic": "conveyor_1.belt.command.started", "source": "conveyor_1.belt", "data": {"command_id": "task-1-5", "name": "release", "source": "task"}, "cause": "task-1-5"}
|
| 33 |
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{"env_id": 1, "seq": 33, "step": 11056, "t": 55.28, "topic": "conveyor_1.belt.station.pick.released", "source": "conveyor_1.belt", "data": {"rider": "carrier_2"}, "cause": "task-1-5"}
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| 34 |
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{"env_id": 1, "seq": 34, "step": 11056, "t": 55.28, "topic": "conveyor_1.belt.state.changed", "source": "conveyor_1.belt", "data": {"from": "at_station", "to": "running"}, "cause": null}
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| 35 |
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{"env_id": 1, "seq": 35, "step": 11056, "t": 55.28, "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"}
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episodes/c2_p015_e023/env.mp4
ADDED
|
@@ -0,0 +1,3 @@
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| 1 |
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version https://git-lfs.github.com/spec/v1
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| 3 |
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size 1284320
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episodes/c2_p015_e023/meta.json
ADDED
|
@@ -0,0 +1,32 @@
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|
|
|
|
| 1 |
+
{
|
| 2 |
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"source": "raw/c2_p015/magicsim/23",
|
| 3 |
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|
| 4 |
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|
| 5 |
+
"kept_ticks": "even",
|
| 6 |
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|
| 7 |
+
"wrist": 1234,
|
| 8 |
+
"env": 1234
|
| 9 |
+
},
|
| 10 |
+
"joint_target_source": "joint_pos_target",
|
| 11 |
+
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|
| 12 |
+
"curobo_joints": [
|
| 13 |
+
"shoulder_pan_joint",
|
| 14 |
+
"shoulder_lift_joint",
|
| 15 |
+
"elbow_joint",
|
| 16 |
+
"wrist_1_joint",
|
| 17 |
+
"wrist_2_joint",
|
| 18 |
+
"wrist_3_joint"
|
| 19 |
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],
|
| 20 |
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"joint_order": [
|
| 21 |
+
"shoulder_pan",
|
| 22 |
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"shoulder_lift",
|
| 23 |
+
"elbow",
|
| 24 |
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"wrist_1",
|
| 25 |
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"wrist_2",
|
| 26 |
+
"wrist_3",
|
| 27 |
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"finger_left",
|
| 28 |
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"finger_right"
|
| 29 |
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],
|
| 30 |
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"frames_note": "eef / actions in the robot base frame; camera_pose = local pose (wrist: in plate_gripper_base, env: env frame), pos + quat wxyz",
|
| 31 |
+
"dr_version": "v2"
|
| 32 |
+
}
|
episodes/c2_p015_e023/scene_snapshot.json
ADDED
|
@@ -0,0 +1,1558 @@
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|
| 1 |
+
{
|
| 2 |
+
"trajectory_id": 23,
|
| 3 |
+
"env_id": 1,
|
| 4 |
+
"run_id": "c2_p015",
|
| 5 |
+
"task_type": "BioPlateCell",
|
| 6 |
+
"success": true,
|
| 7 |
+
"timing": {
|
| 8 |
+
"fps": 50.0,
|
| 9 |
+
"sim_dt": 0.005,
|
| 10 |
+
"decimation": 4
|
| 11 |
+
},
|
| 12 |
+
"restore_interface": {
|
| 13 |
+
"scene": "scene_manager.reset_to(snapshot['scene'], env_ids=[env_id])",
|
| 14 |
+
"robots": "robot_manager.set_state({'robots': snapshot['robots']}, env_ids=[env_id])"
|
| 15 |
+
},
|
| 16 |
+
"snapshot": {
|
| 17 |
+
"env_id": 1,
|
| 18 |
+
"scene": {
|
| 19 |
+
"objects": [
|
| 20 |
+
{},
|
| 21 |
+
{
|
| 22 |
+
"rac_cell": [
|
| 23 |
+
{
|
| 24 |
+
"asset": "$MAGICSIM_ASSETS/Bio/Lab/rac_cell.usd",
|
| 25 |
+
"pose": {
|
| 26 |
+
"pos": [
|
| 27 |
+
0.0,
|
| 28 |
+
0.0,
|
| 29 |
+
0.0
|
| 30 |
+
],
|
| 31 |
+
"ori": [
|
| 32 |
+
1.0,
|
| 33 |
+
0.0,
|
| 34 |
+
0.0,
|
| 35 |
+
0.0
|
| 36 |
+
],
|
| 37 |
+
"scale": [
|
| 38 |
+
1.0,
|
| 39 |
+
1.0,
|
| 40 |
+
1.0
|
| 41 |
+
]
|
| 42 |
+
},
|
| 43 |
+
"dr": {
|
| 44 |
+
"visual": {
|
| 45 |
+
"kind": null,
|
| 46 |
+
"value": null,
|
| 47 |
+
"visible": true
|
| 48 |
+
},
|
| 49 |
+
"physics": {
|
| 50 |
+
"type": "geometry",
|
| 51 |
+
"collision": false,
|
| 52 |
+
"physics_material": {
|
| 53 |
+
"static_friction": 0.6,
|
| 54 |
+
"dynamic_friction": 0.5,
|
| 55 |
+
"restitution": 0.0
|
| 56 |
+
},
|
| 57 |
+
"ratio": 1.0
|
| 58 |
+
},
|
| 59 |
+
"primitive_params": null
|
| 60 |
+
},
|
| 61 |
+
"type_specific": {}
|
| 62 |
+
}
|
| 63 |
+
],
|
| 64 |
+
"robot_mount": [
|
| 65 |
+
{
|
| 66 |
+
"asset": "Cube",
|
| 67 |
+
"pose": {
|
| 68 |
+
"pos": [
|
| 69 |
+
0.0,
|
| 70 |
+
0.0,
|
| 71 |
+
0.9075
|
| 72 |
+
],
|
| 73 |
+
"ori": [
|
| 74 |
+
1.0,
|
| 75 |
+
0.0,
|
| 76 |
+
0.0,
|
| 77 |
+
0.0
|
| 78 |
+
],
|
| 79 |
+
"scale": [
|
| 80 |
+
1.0,
|
| 81 |
+
1.0,
|
| 82 |
+
1.0
|
| 83 |
+
]
|
| 84 |
+
},
|
| 85 |
+
"dr": {
|
| 86 |
+
"visual": {
|
| 87 |
+
"kind": "color",
|
| 88 |
+
"value": [
|
| 89 |
+
0.55,
|
| 90 |
+
0.56,
|
| 91 |
+
0.58
|
| 92 |
+
],
|
| 93 |
+
"visible": true
|
| 94 |
+
},
|
| 95 |
+
"physics": {
|
| 96 |
+
"type": "geometry",
|
| 97 |
+
"collision": false,
|
| 98 |
+
"ratio": 1.0
|
| 99 |
+
},
|
| 100 |
+
"primitive_params": {
|
| 101 |
+
"size": [
|
| 102 |
+
0.2,
|
| 103 |
+
0.2,
|
| 104 |
+
0.015
|
| 105 |
+
]
|
| 106 |
+
}
|
| 107 |
+
},
|
| 108 |
+
"type_specific": {}
|
| 109 |
+
}
|
| 110 |
+
],
|
| 111 |
+
"plate_rack": [
|
| 112 |
+
{
|
| 113 |
+
"asset": "$MAGICSIM_ASSETS/Bio/Lab/plate_hotel.usd",
|
| 114 |
+
"pose": {
|
| 115 |
+
"pos": [
|
| 116 |
+
-0.6,
|
| 117 |
+
0.02,
|
| 118 |
+
0.9
|
| 119 |
+
],
|
| 120 |
+
"ori": [
|
| 121 |
+
6.123234262925839e-17,
|
| 122 |
+
0.0,
|
| 123 |
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0.0,
|
| 124 |
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1.0
|
| 125 |
+
],
|
| 126 |
+
"scale": [
|
| 127 |
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1.0,
|
| 128 |
+
1.0,
|
| 129 |
+
1.0
|
| 130 |
+
]
|
| 131 |
+
},
|
| 132 |
+
"dr": {
|
| 133 |
+
"visual": {
|
| 134 |
+
"kind": null,
|
| 135 |
+
"value": null,
|
| 136 |
+
"visible": true
|
| 137 |
+
},
|
| 138 |
+
"physics": {
|
| 139 |
+
"type": "geometry",
|
| 140 |
+
"collision": false,
|
| 141 |
+
"physics_material": {
|
| 142 |
+
"static_friction": 0.6,
|
| 143 |
+
"dynamic_friction": 0.5,
|
| 144 |
+
"restitution": 0.0
|
| 145 |
+
},
|
| 146 |
+
"ratio": 1.0
|
| 147 |
+
},
|
| 148 |
+
"primitive_params": null
|
| 149 |
+
},
|
| 150 |
+
"type_specific": {}
|
| 151 |
+
}
|
| 152 |
+
],
|
| 153 |
+
"hotel_plate": [
|
| 154 |
+
{
|
| 155 |
+
"asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_6_clear/plate_6_clear.usd",
|
| 156 |
+
"pose": {
|
| 157 |
+
"pos": [
|
| 158 |
+
-0.6,
|
| 159 |
+
0.02,
|
| 160 |
+
0.9605
|
| 161 |
+
],
|
| 162 |
+
"ori": [
|
| 163 |
+
1.0,
|
| 164 |
+
0.0,
|
| 165 |
+
0.0,
|
| 166 |
+
0.0
|
| 167 |
+
],
|
| 168 |
+
"scale": [
|
| 169 |
+
1.0,
|
| 170 |
+
1.0,
|
| 171 |
+
1.0
|
| 172 |
+
]
|
| 173 |
+
},
|
| 174 |
+
"dr": {
|
| 175 |
+
"visual": {
|
| 176 |
+
"kind": null,
|
| 177 |
+
"value": null,
|
| 178 |
+
"visible": true
|
| 179 |
+
},
|
| 180 |
+
"physics": {
|
| 181 |
+
"type": "geometry",
|
| 182 |
+
"collision": false,
|
| 183 |
+
"ratio": 1.0
|
| 184 |
+
},
|
| 185 |
+
"primitive_params": null
|
| 186 |
+
},
|
| 187 |
+
"type_specific": {}
|
| 188 |
+
},
|
| 189 |
+
{
|
| 190 |
+
"asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_24_clear/plate_24_clear.usd",
|
| 191 |
+
"pose": {
|
| 192 |
+
"pos": [
|
| 193 |
+
-0.6,
|
| 194 |
+
0.02,
|
| 195 |
+
1.0285
|
| 196 |
+
],
|
| 197 |
+
"ori": [
|
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episodes/c2_p015_e023/wrist.mp4
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episodes/c3_p012_e011/device_events.jsonl
ADDED
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| 7 |
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{"env_id": 1, "seq": 7, "step": 6551, "t": 32.755, "topic": "a4s_sealer_1.plate_present.present", "source": "a4s_sealer_1.plate_present", "data": {"object": "plate_4"}, "cause": null}
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| 8 |
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{"env_id": 1, "seq": 8, "step": 7164, "t": 35.82, "topic": "a4s_sealer_1.command.started", "source": "a4s_sealer_1", "data": {"command_id": "task-1-1", "name": "seal", "source": "task"}, "cause": "task-1-1"}
|
| 9 |
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|
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|
| 13 |
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|
| 14 |
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| 15 |
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|
| 18 |
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|
| 19 |
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|
| 20 |
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|
| 21 |
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{"env_id": 1, "seq": 21, "step": 7583, "t": 37.915, "topic": "a4s_sealer_1.heater.started", "source": "a4s_sealer_1.heater", "data": {"duration": 4.65337452759602}, "cause": "program-1-3"}
|
| 22 |
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|
| 23 |
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{"env_id": 1, "seq": 23, "step": 8514, "t": 42.57, "topic": "a4s_sealer_1.heater.finished", "source": "a4s_sealer_1.heater", "data": {"elapsed": 4.6550000000023815}, "cause": "program-1-3"}
|
| 24 |
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{"env_id": 1, "seq": 24, "step": 8514, "t": 42.57, "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": 4.6550000000023815}}, "cause": "program-1-3"}
|
| 25 |
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| 26 |
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| 27 |
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| 28 |
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| 29 |
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{"env_id": 1, "seq": 29, "step": 8934, "t": 44.67, "topic": "a4s_sealer_1.drawer.reached", "source": "a4s_sealer_1.drawer", "data": {"position": "out", "q": 1.9196328082671243e-08}, "cause": "program-1-4"}
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| 30 |
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{"env_id": 1, "seq": 30, "step": 8934, "t": 44.67, "topic": "a4s_sealer_1.drawer.at_out", "source": "a4s_sealer_1.drawer", "data": {"q": 1.9196328082671243e-08}, "cause": "program-1-4"}
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| 31 |
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|
| 32 |
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| 33 |
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|
| 34 |
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| 35 |
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{"env_id": 1, "seq": 35, "step": 11244, "t": 56.22, "topic": "conveyor_1.belt.command.started", "source": "conveyor_1.belt", "data": {"command_id": "task-1-5", "name": "release", "source": "task"}, "cause": "task-1-5"}
|
| 36 |
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{"env_id": 1, "seq": 36, "step": 11244, "t": 56.22, "topic": "conveyor_1.belt.station.pick.released", "source": "conveyor_1.belt", "data": {"rider": "carrier_4"}, "cause": "task-1-5"}
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| 37 |
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| 38 |
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episodes/c3_p012_e011/env.mp4
ADDED
|
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| 1 |
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version https://git-lfs.github.com/spec/v1
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| 3 |
+
size 1291642
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episodes/c3_p012_e011/meta.json
ADDED
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@@ -0,0 +1,32 @@
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|
|
| 1 |
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{
|
| 2 |
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"source": "raw/c3_p012/magicsim/11",
|
| 3 |
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|
| 4 |
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|
| 5 |
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|
| 6 |
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| 7 |
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|
| 8 |
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|
| 9 |
+
},
|
| 10 |
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"joint_target_source": "joint_pos_target",
|
| 11 |
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|
| 12 |
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"curobo_joints": [
|
| 13 |
+
"shoulder_pan_joint",
|
| 14 |
+
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|
| 15 |
+
"elbow_joint",
|
| 16 |
+
"wrist_1_joint",
|
| 17 |
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"wrist_2_joint",
|
| 18 |
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|
| 19 |
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],
|
| 20 |
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"joint_order": [
|
| 21 |
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"shoulder_pan",
|
| 22 |
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|
| 23 |
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| 24 |
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|
| 25 |
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|
| 26 |
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|
| 27 |
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"finger_left",
|
| 28 |
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"finger_right"
|
| 29 |
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],
|
| 30 |
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"frames_note": "eef / actions in the robot base frame; camera_pose = local pose (wrist: in plate_gripper_base, env: env frame), pos + quat wxyz",
|
| 31 |
+
"dr_version": "v2"
|
| 32 |
+
}
|
episodes/c3_p012_e011/scene_snapshot.json
ADDED
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|
| 1 |
+
{
|
| 2 |
+
"trajectory_id": 11,
|
| 3 |
+
"env_id": 1,
|
| 4 |
+
"run_id": "c3_p012",
|
| 5 |
+
"task_type": "BioPlateCell",
|
| 6 |
+
"success": true,
|
| 7 |
+
"timing": {
|
| 8 |
+
"fps": 50.0,
|
| 9 |
+
"sim_dt": 0.005,
|
| 10 |
+
"decimation": 4
|
| 11 |
+
},
|
| 12 |
+
"restore_interface": {
|
| 13 |
+
"scene": "scene_manager.reset_to(snapshot['scene'], env_ids=[env_id])",
|
| 14 |
+
"robots": "robot_manager.set_state({'robots': snapshot['robots']}, env_ids=[env_id])"
|
| 15 |
+
},
|
| 16 |
+
"snapshot": {
|
| 17 |
+
"env_id": 1,
|
| 18 |
+
"scene": {
|
| 19 |
+
"objects": [
|
| 20 |
+
{},
|
| 21 |
+
{
|
| 22 |
+
"rac_cell": [
|
| 23 |
+
{
|
| 24 |
+
"asset": "$MAGICSIM_ASSETS/Bio/Lab/rac_cell.usd",
|
| 25 |
+
"pose": {
|
| 26 |
+
"pos": [
|
| 27 |
+
0.0,
|
| 28 |
+
0.0,
|
| 29 |
+
0.0
|
| 30 |
+
],
|
| 31 |
+
"ori": [
|
| 32 |
+
1.0,
|
| 33 |
+
0.0,
|
| 34 |
+
0.0,
|
| 35 |
+
0.0
|
| 36 |
+
],
|
| 37 |
+
"scale": [
|
| 38 |
+
1.0,
|
| 39 |
+
1.0,
|
| 40 |
+
1.0
|
| 41 |
+
]
|
| 42 |
+
},
|
| 43 |
+
"dr": {
|
| 44 |
+
"visual": {
|
| 45 |
+
"kind": null,
|
| 46 |
+
"value": null,
|
| 47 |
+
"visible": true
|
| 48 |
+
},
|
| 49 |
+
"physics": {
|
| 50 |
+
"type": "geometry",
|
| 51 |
+
"collision": false,
|
| 52 |
+
"physics_material": {
|
| 53 |
+
"static_friction": 0.6,
|
| 54 |
+
"dynamic_friction": 0.5,
|
| 55 |
+
"restitution": 0.0
|
| 56 |
+
},
|
| 57 |
+
"ratio": 1.0
|
| 58 |
+
},
|
| 59 |
+
"primitive_params": null
|
| 60 |
+
},
|
| 61 |
+
"type_specific": {}
|
| 62 |
+
}
|
| 63 |
+
],
|
| 64 |
+
"robot_mount": [
|
| 65 |
+
{
|
| 66 |
+
"asset": "Cube",
|
| 67 |
+
"pose": {
|
| 68 |
+
"pos": [
|
| 69 |
+
0.0,
|
| 70 |
+
0.0,
|
| 71 |
+
0.9075
|
| 72 |
+
],
|
| 73 |
+
"ori": [
|
| 74 |
+
1.0,
|
| 75 |
+
0.0,
|
| 76 |
+
0.0,
|
| 77 |
+
0.0
|
| 78 |
+
],
|
| 79 |
+
"scale": [
|
| 80 |
+
1.0,
|
| 81 |
+
1.0,
|
| 82 |
+
1.0
|
| 83 |
+
]
|
| 84 |
+
},
|
| 85 |
+
"dr": {
|
| 86 |
+
"visual": {
|
| 87 |
+
"kind": "color",
|
| 88 |
+
"value": [
|
| 89 |
+
0.55,
|
| 90 |
+
0.56,
|
| 91 |
+
0.58
|
| 92 |
+
],
|
| 93 |
+
"visible": true
|
| 94 |
+
},
|
| 95 |
+
"physics": {
|
| 96 |
+
"type": "geometry",
|
| 97 |
+
"collision": false,
|
| 98 |
+
"ratio": 1.0
|
| 99 |
+
},
|
| 100 |
+
"primitive_params": {
|
| 101 |
+
"size": [
|
| 102 |
+
0.2,
|
| 103 |
+
0.2,
|
| 104 |
+
0.015
|
| 105 |
+
]
|
| 106 |
+
}
|
| 107 |
+
},
|
| 108 |
+
"type_specific": {}
|
| 109 |
+
}
|
| 110 |
+
],
|
| 111 |
+
"plate_rack": [
|
| 112 |
+
{
|
| 113 |
+
"asset": "$MAGICSIM_ASSETS/Bio/Lab/plate_hotel.usd",
|
| 114 |
+
"pose": {
|
| 115 |
+
"pos": [
|
| 116 |
+
-0.6,
|
| 117 |
+
0.02,
|
| 118 |
+
0.9
|
| 119 |
+
],
|
| 120 |
+
"ori": [
|
| 121 |
+
6.123234262925839e-17,
|
| 122 |
+
0.0,
|
| 123 |
+
0.0,
|
| 124 |
+
1.0
|
| 125 |
+
],
|
| 126 |
+
"scale": [
|
| 127 |
+
1.0,
|
| 128 |
+
1.0,
|
| 129 |
+
1.0
|
| 130 |
+
]
|
| 131 |
+
},
|
| 132 |
+
"dr": {
|
| 133 |
+
"visual": {
|
| 134 |
+
"kind": null,
|
| 135 |
+
"value": null,
|
| 136 |
+
"visible": true
|
| 137 |
+
},
|
| 138 |
+
"physics": {
|
| 139 |
+
"type": "geometry",
|
| 140 |
+
"collision": false,
|
| 141 |
+
"physics_material": {
|
| 142 |
+
"static_friction": 0.6,
|
| 143 |
+
"dynamic_friction": 0.5,
|
| 144 |
+
"restitution": 0.0
|
| 145 |
+
},
|
| 146 |
+
"ratio": 1.0
|
| 147 |
+
},
|
| 148 |
+
"primitive_params": null
|
| 149 |
+
},
|
| 150 |
+
"type_specific": {}
|
| 151 |
+
}
|
| 152 |
+
],
|
| 153 |
+
"hotel_plate": [
|
| 154 |
+
{
|
| 155 |
+
"asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_48_clear/plate_48_clear.usd",
|
| 156 |
+
"pose": {
|
| 157 |
+
"pos": [
|
| 158 |
+
-0.6,
|
| 159 |
+
0.02,
|
| 160 |
+
0.9605
|
| 161 |
+
],
|
| 162 |
+
"ori": [
|
| 163 |
+
1.0,
|
| 164 |
+
0.0,
|
| 165 |
+
0.0,
|
| 166 |
+
0.0
|
| 167 |
+
],
|
| 168 |
+
"scale": [
|
| 169 |
+
1.0,
|
| 170 |
+
1.0,
|
| 171 |
+
1.0
|
| 172 |
+
]
|
| 173 |
+
},
|
| 174 |
+
"dr": {
|
| 175 |
+
"visual": {
|
| 176 |
+
"kind": null,
|
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episodes/c3_p012_e011/wrist.mp4
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episodes/c4_p012_e030/env.mp4
ADDED
|
@@ -0,0 +1,3 @@
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version https://git-lfs.github.com/spec/v1
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episodes/c4_p012_e030/meta.json
ADDED
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| 1 |
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{
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| 2 |
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| 3 |
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|
| 4 |
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|
| 5 |
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| 6 |
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|
| 8 |
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| 9 |
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},
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| 10 |
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| 11 |
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| 12 |
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| 13 |
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| 14 |
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|
| 15 |
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|
| 16 |
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| 17 |
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| 20 |
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| 21 |
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| 22 |
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|
| 30 |
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"frames_note": "eef / actions in the robot base frame; camera_pose = local pose (wrist: in plate_gripper_base, env: env frame), pos + quat wxyz",
|
| 31 |
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|
| 32 |
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episodes/c4_p012_e030/scene_snapshot.json
ADDED
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|
| 1 |
+
{
|
| 2 |
+
"trajectory_id": 30,
|
| 3 |
+
"env_id": 0,
|
| 4 |
+
"run_id": "c4_p012",
|
| 5 |
+
"task_type": "BioPlateCell",
|
| 6 |
+
"success": true,
|
| 7 |
+
"timing": {
|
| 8 |
+
"fps": 50.0,
|
| 9 |
+
"sim_dt": 0.005,
|
| 10 |
+
"decimation": 4
|
| 11 |
+
},
|
| 12 |
+
"restore_interface": {
|
| 13 |
+
"scene": "scene_manager.reset_to(snapshot['scene'], env_ids=[env_id])",
|
| 14 |
+
"robots": "robot_manager.set_state({'robots': snapshot['robots']}, env_ids=[env_id])"
|
| 15 |
+
},
|
| 16 |
+
"snapshot": {
|
| 17 |
+
"env_id": 0,
|
| 18 |
+
"scene": {
|
| 19 |
+
"objects": [
|
| 20 |
+
{
|
| 21 |
+
"rac_cell": [
|
| 22 |
+
{
|
| 23 |
+
"asset": "$MAGICSIM_ASSETS/Bio/Lab/rac_cell.usd",
|
| 24 |
+
"pose": {
|
| 25 |
+
"pos": [
|
| 26 |
+
0.0,
|
| 27 |
+
0.0,
|
| 28 |
+
0.0
|
| 29 |
+
],
|
| 30 |
+
"ori": [
|
| 31 |
+
1.0,
|
| 32 |
+
0.0,
|
| 33 |
+
0.0,
|
| 34 |
+
0.0
|
| 35 |
+
],
|
| 36 |
+
"scale": [
|
| 37 |
+
1.0,
|
| 38 |
+
1.0,
|
| 39 |
+
1.0
|
| 40 |
+
]
|
| 41 |
+
},
|
| 42 |
+
"dr": {
|
| 43 |
+
"visual": {
|
| 44 |
+
"kind": null,
|
| 45 |
+
"value": null,
|
| 46 |
+
"visible": true
|
| 47 |
+
},
|
| 48 |
+
"physics": {
|
| 49 |
+
"type": "geometry",
|
| 50 |
+
"collision": false,
|
| 51 |
+
"physics_material": {
|
| 52 |
+
"static_friction": 0.6,
|
| 53 |
+
"dynamic_friction": 0.5,
|
| 54 |
+
"restitution": 0.0
|
| 55 |
+
},
|
| 56 |
+
"ratio": 1.0
|
| 57 |
+
},
|
| 58 |
+
"primitive_params": null
|
| 59 |
+
},
|
| 60 |
+
"type_specific": {}
|
| 61 |
+
}
|
| 62 |
+
],
|
| 63 |
+
"robot_mount": [
|
| 64 |
+
{
|
| 65 |
+
"asset": "Cube",
|
| 66 |
+
"pose": {
|
| 67 |
+
"pos": [
|
| 68 |
+
0.0,
|
| 69 |
+
0.0,
|
| 70 |
+
0.9075
|
| 71 |
+
],
|
| 72 |
+
"ori": [
|
| 73 |
+
1.0,
|
| 74 |
+
0.0,
|
| 75 |
+
0.0,
|
| 76 |
+
0.0
|
| 77 |
+
],
|
| 78 |
+
"scale": [
|
| 79 |
+
1.0,
|
| 80 |
+
1.0,
|
| 81 |
+
1.0
|
| 82 |
+
]
|
| 83 |
+
},
|
| 84 |
+
"dr": {
|
| 85 |
+
"visual": {
|
| 86 |
+
"kind": "color",
|
| 87 |
+
"value": [
|
| 88 |
+
0.55,
|
| 89 |
+
0.56,
|
| 90 |
+
0.58
|
| 91 |
+
],
|
| 92 |
+
"visible": true
|
| 93 |
+
},
|
| 94 |
+
"physics": {
|
| 95 |
+
"type": "geometry",
|
| 96 |
+
"collision": false,
|
| 97 |
+
"ratio": 1.0
|
| 98 |
+
},
|
| 99 |
+
"primitive_params": {
|
| 100 |
+
"size": [
|
| 101 |
+
0.2,
|
| 102 |
+
0.2,
|
| 103 |
+
0.015
|
| 104 |
+
]
|
| 105 |
+
}
|
| 106 |
+
},
|
| 107 |
+
"type_specific": {}
|
| 108 |
+
}
|
| 109 |
+
],
|
| 110 |
+
"plate_rack": [
|
| 111 |
+
{
|
| 112 |
+
"asset": "$MAGICSIM_ASSETS/Bio/Lab/plate_hotel.usd",
|
| 113 |
+
"pose": {
|
| 114 |
+
"pos": [
|
| 115 |
+
-0.6,
|
| 116 |
+
0.02,
|
| 117 |
+
0.9
|
| 118 |
+
],
|
| 119 |
+
"ori": [
|
| 120 |
+
6.123234262925839e-17,
|
| 121 |
+
0.0,
|
| 122 |
+
0.0,
|
| 123 |
+
1.0
|
| 124 |
+
],
|
| 125 |
+
"scale": [
|
| 126 |
+
1.0,
|
| 127 |
+
1.0,
|
| 128 |
+
1.0
|
| 129 |
+
]
|
| 130 |
+
},
|
| 131 |
+
"dr": {
|
| 132 |
+
"visual": {
|
| 133 |
+
"kind": null,
|
| 134 |
+
"value": null,
|
| 135 |
+
"visible": true
|
| 136 |
+
},
|
| 137 |
+
"physics": {
|
| 138 |
+
"type": "geometry",
|
| 139 |
+
"collision": false,
|
| 140 |
+
"physics_material": {
|
| 141 |
+
"static_friction": 0.6,
|
| 142 |
+
"dynamic_friction": 0.5,
|
| 143 |
+
"restitution": 0.0
|
| 144 |
+
},
|
| 145 |
+
"ratio": 1.0
|
| 146 |
+
},
|
| 147 |
+
"primitive_params": null
|
| 148 |
+
},
|
| 149 |
+
"type_specific": {}
|
| 150 |
+
}
|
| 151 |
+
],
|
| 152 |
+
"hotel_plate": [
|
| 153 |
+
{
|
| 154 |
+
"asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/deep_well_24_10ml/deep_well_24_10ml.usd",
|
| 155 |
+
"pose": {
|
| 156 |
+
"pos": [
|
| 157 |
+
-0.6,
|
| 158 |
+
0.02,
|
| 159 |
+
0.9605
|
| 160 |
+
],
|
| 161 |
+
"ori": [
|
| 162 |
+
1.0,
|
| 163 |
+
0.0,
|
| 164 |
+
0.0,
|
| 165 |
+
0.0
|
| 166 |
+
],
|
| 167 |
+
"scale": [
|
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episodes/c4_p012_e030/wrist.mp4
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episodes/c4_p012_e031/data.npz
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episodes/c4_p012_e031/device_events.jsonl
ADDED
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{"env_id": 2, "seq": 1, "step": 74, "t": 0.37, "topic": "conveyor_1.belt.station.pick.captured", "source": "conveyor_1.belt", "data": {"rider": "carrier_1"}, "cause": null}
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| 2 |
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{"env_id": 2, "seq": 2, "step": 74, "t": 0.37, "topic": "conveyor_1.belt.state.changed", "source": "conveyor_1.belt", "data": {"from": "running", "to": "at_station"}, "cause": null}
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{"env_id": 2, "seq": 3, "step": 79, "t": 0.395, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_1"}, "cause": null}
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{"env_id": 2, "seq": 4, "step": 6519, "t": 32.595, "topic": "a4s_sealer_1.plate_present.present", "source": "a4s_sealer_1.plate_present", "data": {"object": "plate_1"}, "cause": null}
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{"env_id": 2, "seq": 5, "step": 7132, "t": 35.66, "topic": "a4s_sealer_1.command.started", "source": "a4s_sealer_1", "data": {"command_id": "task-2-1", "name": "seal", "source": "task"}, "cause": "task-2-1"}
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{"env_id": 2, "seq": 6, "step": 7132, "t": 35.66, "topic": "a4s_sealer_1.seal.started", "source": "a4s_sealer_1", "data": {"dwell": 4.74305172317383}, "cause": "task-2-1"}
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| 7 |
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{"env_id": 2, "seq": 7, "step": 7132, "t": 35.66, "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"}
|
| 8 |
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{"env_id": 2, "seq": 8, "step": 7132, "t": 35.66, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "at_out", "to": "moving"}, "cause": null}
|
| 9 |
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|
| 10 |
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| 11 |
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| 14 |
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|
| 15 |
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{"env_id": 2, "seq": 15, "step": 7551, "t": 37.755, "topic": "a4s_sealer_1.sealed", "source": "a4s_sealer_1", "data": {"plate": "plate_1"}, "cause": "task-2-1"}
|
| 16 |
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|
| 17 |
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|
| 18 |
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{"env_id": 2, "seq": 18, "step": 7551, "t": 37.755, "topic": "a4s_sealer_1.heater.started", "source": "a4s_sealer_1.heater", "data": {"duration": 4.74305172317383}, "cause": "program-2-3"}
|
| 19 |
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|
| 20 |
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{"env_id": 2, "seq": 20, "step": 8500, "t": 42.5, "topic": "a4s_sealer_1.heater.finished", "source": "a4s_sealer_1.heater", "data": {"elapsed": 4.7450000000024275}, "cause": "program-2-3"}
|
| 21 |
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{"env_id": 2, "seq": 21, "step": 8500, "t": 42.5, "topic": "a4s_sealer_1.heater.command.succeeded", "source": "a4s_sealer_1.heater", "data": {"command_id": "program-2-3", "name": "run", "source": "program:seal", "result": {"elapsed": 4.7450000000024275}}, "cause": "program-2-3"}
|
| 22 |
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{"env_id": 2, "seq": 22, "step": 8500, "t": 42.5, "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"}
|
| 23 |
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{"env_id": 2, "seq": 23, "step": 8500, "t": 42.5, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "at_in", "to": "moving"}, "cause": null}
|
| 24 |
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{"env_id": 2, "seq": 24, "step": 8500, "t": 42.5, "topic": "a4s_sealer_1.drawer.moving", "source": "a4s_sealer_1.drawer", "data": {"target": 0.0, "goal": "out"}, "cause": "program-2-4"}
|
| 25 |
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{"env_id": 2, "seq": 25, "step": 8920, "t": 44.6, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "moving", "to": "at_out"}, "cause": null}
|
| 26 |
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{"env_id": 2, "seq": 26, "step": 8920, "t": 44.6, "topic": "a4s_sealer_1.drawer.reached", "source": "a4s_sealer_1.drawer", "data": {"position": "out", "q": 3.5176028756467304e-09}, "cause": "program-2-4"}
|
| 27 |
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{"env_id": 2, "seq": 27, "step": 8920, "t": 44.6, "topic": "a4s_sealer_1.drawer.at_out", "source": "a4s_sealer_1.drawer", "data": {"q": 3.5176028756467304e-09}, "cause": "program-2-4"}
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| 28 |
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{"env_id": 2, "seq": 28, "step": 8920, "t": 44.6, "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"}
|
| 29 |
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{"env_id": 2, "seq": 29, "step": 8920, "t": 44.6, "topic": "a4s_sealer_1.seal.finished", "source": "a4s_sealer_1", "data": {}, "cause": "task-2-1"}
|
| 30 |
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|
| 31 |
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| 32 |
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{"env_id": 2, "seq": 32, "step": 11232, "t": 56.16, "topic": "conveyor_1.belt.command.started", "source": "conveyor_1.belt", "data": {"command_id": "task-2-5", "name": "release", "source": "task"}, "cause": "task-2-5"}
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| 33 |
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{"env_id": 2, "seq": 33, "step": 11232, "t": 56.16, "topic": "conveyor_1.belt.station.pick.released", "source": "conveyor_1.belt", "data": {"rider": "carrier_1"}, "cause": "task-2-5"}
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| 34 |
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{"env_id": 2, "seq": 34, "step": 11232, "t": 56.16, "topic": "conveyor_1.belt.state.changed", "source": "conveyor_1.belt", "data": {"from": "at_station", "to": "running"}, "cause": null}
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| 35 |
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{"env_id": 2, "seq": 35, "step": 11232, "t": 56.16, "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"}
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episodes/c4_p012_e031/env.mp4
ADDED
|
@@ -0,0 +1,3 @@
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| 1 |
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version https://git-lfs.github.com/spec/v1
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| 3 |
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size 1325487
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episodes/c4_p012_e031/meta.json
ADDED
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@@ -0,0 +1,32 @@
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|
|
| 1 |
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{
|
| 2 |
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"source": "raw/c4_p012/magicsim/31",
|
| 3 |
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|
| 4 |
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|
| 5 |
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|
| 6 |
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|
| 7 |
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|
| 8 |
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"env": 1224
|
| 9 |
+
},
|
| 10 |
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"joint_target_source": "joint_pos_target",
|
| 11 |
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|
| 12 |
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"curobo_joints": [
|
| 13 |
+
"shoulder_pan_joint",
|
| 14 |
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|
| 15 |
+
"elbow_joint",
|
| 16 |
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|
| 17 |
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"wrist_2_joint",
|
| 18 |
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|
| 19 |
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],
|
| 20 |
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"joint_order": [
|
| 21 |
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"shoulder_pan",
|
| 22 |
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|
| 23 |
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| 24 |
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| 25 |
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|
| 26 |
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|
| 27 |
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"finger_left",
|
| 28 |
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|
| 29 |
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],
|
| 30 |
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"frames_note": "eef / actions in the robot base frame; camera_pose = local pose (wrist: in plate_gripper_base, env: env frame), pos + quat wxyz",
|
| 31 |
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"dr_version": "v2"
|
| 32 |
+
}
|
episodes/c4_p012_e031/scene_snapshot.json
ADDED
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|
| 1 |
+
{
|
| 2 |
+
"trajectory_id": 31,
|
| 3 |
+
"env_id": 2,
|
| 4 |
+
"run_id": "c4_p012",
|
| 5 |
+
"task_type": "BioPlateCell",
|
| 6 |
+
"success": true,
|
| 7 |
+
"timing": {
|
| 8 |
+
"fps": 50.0,
|
| 9 |
+
"sim_dt": 0.005,
|
| 10 |
+
"decimation": 4
|
| 11 |
+
},
|
| 12 |
+
"restore_interface": {
|
| 13 |
+
"scene": "scene_manager.reset_to(snapshot['scene'], env_ids=[env_id])",
|
| 14 |
+
"robots": "robot_manager.set_state({'robots': snapshot['robots']}, env_ids=[env_id])"
|
| 15 |
+
},
|
| 16 |
+
"snapshot": {
|
| 17 |
+
"env_id": 2,
|
| 18 |
+
"scene": {
|
| 19 |
+
"objects": [
|
| 20 |
+
{},
|
| 21 |
+
{},
|
| 22 |
+
{
|
| 23 |
+
"rac_cell": [
|
| 24 |
+
{
|
| 25 |
+
"asset": "$MAGICSIM_ASSETS/Bio/Lab/rac_cell.usd",
|
| 26 |
+
"pose": {
|
| 27 |
+
"pos": [
|
| 28 |
+
0.0,
|
| 29 |
+
0.0,
|
| 30 |
+
0.0
|
| 31 |
+
],
|
| 32 |
+
"ori": [
|
| 33 |
+
1.0,
|
| 34 |
+
0.0,
|
| 35 |
+
0.0,
|
| 36 |
+
0.0
|
| 37 |
+
],
|
| 38 |
+
"scale": [
|
| 39 |
+
1.0,
|
| 40 |
+
1.0,
|
| 41 |
+
1.0
|
| 42 |
+
]
|
| 43 |
+
},
|
| 44 |
+
"dr": {
|
| 45 |
+
"visual": {
|
| 46 |
+
"kind": null,
|
| 47 |
+
"value": null,
|
| 48 |
+
"visible": true
|
| 49 |
+
},
|
| 50 |
+
"physics": {
|
| 51 |
+
"type": "geometry",
|
| 52 |
+
"collision": false,
|
| 53 |
+
"physics_material": {
|
| 54 |
+
"static_friction": 0.6,
|
| 55 |
+
"dynamic_friction": 0.5,
|
| 56 |
+
"restitution": 0.0
|
| 57 |
+
},
|
| 58 |
+
"ratio": 1.0
|
| 59 |
+
},
|
| 60 |
+
"primitive_params": null
|
| 61 |
+
},
|
| 62 |
+
"type_specific": {}
|
| 63 |
+
}
|
| 64 |
+
],
|
| 65 |
+
"robot_mount": [
|
| 66 |
+
{
|
| 67 |
+
"asset": "Cube",
|
| 68 |
+
"pose": {
|
| 69 |
+
"pos": [
|
| 70 |
+
0.0,
|
| 71 |
+
0.0,
|
| 72 |
+
0.9075
|
| 73 |
+
],
|
| 74 |
+
"ori": [
|
| 75 |
+
1.0,
|
| 76 |
+
0.0,
|
| 77 |
+
0.0,
|
| 78 |
+
0.0
|
| 79 |
+
],
|
| 80 |
+
"scale": [
|
| 81 |
+
1.0,
|
| 82 |
+
1.0,
|
| 83 |
+
1.0
|
| 84 |
+
]
|
| 85 |
+
},
|
| 86 |
+
"dr": {
|
| 87 |
+
"visual": {
|
| 88 |
+
"kind": "color",
|
| 89 |
+
"value": [
|
| 90 |
+
0.55,
|
| 91 |
+
0.56,
|
| 92 |
+
0.58
|
| 93 |
+
],
|
| 94 |
+
"visible": true
|
| 95 |
+
},
|
| 96 |
+
"physics": {
|
| 97 |
+
"type": "geometry",
|
| 98 |
+
"collision": false,
|
| 99 |
+
"ratio": 1.0
|
| 100 |
+
},
|
| 101 |
+
"primitive_params": {
|
| 102 |
+
"size": [
|
| 103 |
+
0.2,
|
| 104 |
+
0.2,
|
| 105 |
+
0.015
|
| 106 |
+
]
|
| 107 |
+
}
|
| 108 |
+
},
|
| 109 |
+
"type_specific": {}
|
| 110 |
+
}
|
| 111 |
+
],
|
| 112 |
+
"plate_rack": [
|
| 113 |
+
{
|
| 114 |
+
"asset": "$MAGICSIM_ASSETS/Bio/Lab/plate_hotel.usd",
|
| 115 |
+
"pose": {
|
| 116 |
+
"pos": [
|
| 117 |
+
-0.6,
|
| 118 |
+
0.02,
|
| 119 |
+
0.9
|
| 120 |
+
],
|
| 121 |
+
"ori": [
|
| 122 |
+
6.123234262925839e-17,
|
| 123 |
+
0.0,
|
| 124 |
+
0.0,
|
| 125 |
+
1.0
|
| 126 |
+
],
|
| 127 |
+
"scale": [
|
| 128 |
+
1.0,
|
| 129 |
+
1.0,
|
| 130 |
+
1.0
|
| 131 |
+
]
|
| 132 |
+
},
|
| 133 |
+
"dr": {
|
| 134 |
+
"visual": {
|
| 135 |
+
"kind": null,
|
| 136 |
+
"value": null,
|
| 137 |
+
"visible": true
|
| 138 |
+
},
|
| 139 |
+
"physics": {
|
| 140 |
+
"type": "geometry",
|
| 141 |
+
"collision": false,
|
| 142 |
+
"physics_material": {
|
| 143 |
+
"static_friction": 0.6,
|
| 144 |
+
"dynamic_friction": 0.5,
|
| 145 |
+
"restitution": 0.0
|
| 146 |
+
},
|
| 147 |
+
"ratio": 1.0
|
| 148 |
+
},
|
| 149 |
+
"primitive_params": null
|
| 150 |
+
},
|
| 151 |
+
"type_specific": {}
|
| 152 |
+
}
|
| 153 |
+
],
|
| 154 |
+
"hotel_plate": [
|
| 155 |
+
{
|
| 156 |
+
"asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_6_clear/plate_6_clear.usd",
|
| 157 |
+
"pose": {
|
| 158 |
+
"pos": [
|
| 159 |
+
-0.6,
|
| 160 |
+
0.02,
|
| 161 |
+
0.9605
|
| 162 |
+
],
|
| 163 |
+
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episodes/c4_p012_e031/wrist.mp4
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{"env_id": 3, "seq": 2, "step": 96, "t": 0.48, "topic": "conveyor_1.belt.state.changed", "source": "conveyor_1.belt", "data": {"from": "running", "to": "at_station"}, "cause": null}
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| 8 |
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| 18 |
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|
| 19 |
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|
| 21 |
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{"env_id": 3, "seq": 22, "step": 7444, "t": 37.22, "topic": "a4s_sealer_1.drawer.command.started", "source": "a4s_sealer_1.drawer", "data": {"command_id": "program-3-4", "name": "open", "source": "program:seal"}, "cause": "program-3-4"}
|
| 23 |
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| 24 |
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{"env_id": 3, "seq": 24, "step": 7444, "t": 37.22, "topic": "a4s_sealer_1.drawer.moving", "source": "a4s_sealer_1.drawer", "data": {"target": 0.0, "goal": "out"}, "cause": "program-3-4"}
|
| 25 |
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| 26 |
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{"env_id": 3, "seq": 26, "step": 7864, "t": 39.32, "topic": "a4s_sealer_1.drawer.reached", "source": "a4s_sealer_1.drawer", "data": {"position": "out", "q": 1.456040510383616e-09}, "cause": "program-3-4"}
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| 29 |
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| 30 |
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| 31 |
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| 32 |
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| 33 |
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{"env_id": 3, "seq": 33, "step": 10204, "t": 51.02, "topic": "conveyor_1.belt.station.pick.released", "source": "conveyor_1.belt", "data": {"rider": "carrier_1"}, "cause": "task-3-5"}
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| 34 |
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{"env_id": 3, "seq": 34, "step": 10204, "t": 51.02, "topic": "conveyor_1.belt.state.changed", "source": "conveyor_1.belt", "data": {"from": "at_station", "to": "running"}, "cause": null}
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| 35 |
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episodes/c6_p012_e028/env.mp4
ADDED
|
@@ -0,0 +1,3 @@
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| 1 |
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version https://git-lfs.github.com/spec/v1
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| 3 |
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episodes/c6_p012_e028/meta.json
ADDED
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|
| 1 |
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{
|
| 2 |
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|
| 3 |
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|
| 4 |
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|
| 5 |
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|
| 6 |
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| 7 |
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|
| 8 |
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|
| 9 |
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},
|
| 10 |
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|
| 11 |
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|
| 12 |
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|
| 13 |
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"shoulder_pan_joint",
|
| 14 |
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|
| 15 |
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|
| 16 |
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|
| 17 |
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|
| 18 |
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|
| 19 |
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| 20 |
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| 21 |
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| 22 |
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| 25 |
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| 28 |
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|
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|
| 30 |
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|
| 31 |
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|
| 32 |
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episodes/c6_p012_e028/scene_snapshot.json
ADDED
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|
| 1 |
+
{
|
| 2 |
+
"trajectory_id": 28,
|
| 3 |
+
"env_id": 3,
|
| 4 |
+
"run_id": "c6_p012",
|
| 5 |
+
"task_type": "BioPlateCell",
|
| 6 |
+
"success": true,
|
| 7 |
+
"timing": {
|
| 8 |
+
"fps": 50.0,
|
| 9 |
+
"sim_dt": 0.005,
|
| 10 |
+
"decimation": 4
|
| 11 |
+
},
|
| 12 |
+
"restore_interface": {
|
| 13 |
+
"scene": "scene_manager.reset_to(snapshot['scene'], env_ids=[env_id])",
|
| 14 |
+
"robots": "robot_manager.set_state({'robots': snapshot['robots']}, env_ids=[env_id])"
|
| 15 |
+
},
|
| 16 |
+
"snapshot": {
|
| 17 |
+
"env_id": 3,
|
| 18 |
+
"scene": {
|
| 19 |
+
"objects": [
|
| 20 |
+
{},
|
| 21 |
+
{},
|
| 22 |
+
{},
|
| 23 |
+
{
|
| 24 |
+
"rac_cell": [
|
| 25 |
+
{
|
| 26 |
+
"asset": "$MAGICSIM_ASSETS/Bio/Lab/rac_cell.usd",
|
| 27 |
+
"pose": {
|
| 28 |
+
"pos": [
|
| 29 |
+
0.0,
|
| 30 |
+
0.0,
|
| 31 |
+
0.0
|
| 32 |
+
],
|
| 33 |
+
"ori": [
|
| 34 |
+
1.0,
|
| 35 |
+
0.0,
|
| 36 |
+
0.0,
|
| 37 |
+
0.0
|
| 38 |
+
],
|
| 39 |
+
"scale": [
|
| 40 |
+
1.0,
|
| 41 |
+
1.0,
|
| 42 |
+
1.0
|
| 43 |
+
]
|
| 44 |
+
},
|
| 45 |
+
"dr": {
|
| 46 |
+
"visual": {
|
| 47 |
+
"kind": null,
|
| 48 |
+
"value": null,
|
| 49 |
+
"visible": true
|
| 50 |
+
},
|
| 51 |
+
"physics": {
|
| 52 |
+
"type": "geometry",
|
| 53 |
+
"collision": false,
|
| 54 |
+
"physics_material": {
|
| 55 |
+
"static_friction": 0.6,
|
| 56 |
+
"dynamic_friction": 0.5,
|
| 57 |
+
"restitution": 0.0
|
| 58 |
+
},
|
| 59 |
+
"ratio": 1.0
|
| 60 |
+
},
|
| 61 |
+
"primitive_params": null
|
| 62 |
+
},
|
| 63 |
+
"type_specific": {}
|
| 64 |
+
}
|
| 65 |
+
],
|
| 66 |
+
"robot_mount": [
|
| 67 |
+
{
|
| 68 |
+
"asset": "Cube",
|
| 69 |
+
"pose": {
|
| 70 |
+
"pos": [
|
| 71 |
+
0.0,
|
| 72 |
+
0.0,
|
| 73 |
+
0.9075
|
| 74 |
+
],
|
| 75 |
+
"ori": [
|
| 76 |
+
1.0,
|
| 77 |
+
0.0,
|
| 78 |
+
0.0,
|
| 79 |
+
0.0
|
| 80 |
+
],
|
| 81 |
+
"scale": [
|
| 82 |
+
1.0,
|
| 83 |
+
1.0,
|
| 84 |
+
1.0
|
| 85 |
+
]
|
| 86 |
+
},
|
| 87 |
+
"dr": {
|
| 88 |
+
"visual": {
|
| 89 |
+
"kind": "color",
|
| 90 |
+
"value": [
|
| 91 |
+
0.55,
|
| 92 |
+
0.56,
|
| 93 |
+
0.58
|
| 94 |
+
],
|
| 95 |
+
"visible": true
|
| 96 |
+
},
|
| 97 |
+
"physics": {
|
| 98 |
+
"type": "geometry",
|
| 99 |
+
"collision": false,
|
| 100 |
+
"ratio": 1.0
|
| 101 |
+
},
|
| 102 |
+
"primitive_params": {
|
| 103 |
+
"size": [
|
| 104 |
+
0.2,
|
| 105 |
+
0.2,
|
| 106 |
+
0.015
|
| 107 |
+
]
|
| 108 |
+
}
|
| 109 |
+
},
|
| 110 |
+
"type_specific": {}
|
| 111 |
+
}
|
| 112 |
+
],
|
| 113 |
+
"plate_rack": [
|
| 114 |
+
{
|
| 115 |
+
"asset": "$MAGICSIM_ASSETS/Bio/Lab/plate_hotel.usd",
|
| 116 |
+
"pose": {
|
| 117 |
+
"pos": [
|
| 118 |
+
-0.6,
|
| 119 |
+
0.02,
|
| 120 |
+
0.9
|
| 121 |
+
],
|
| 122 |
+
"ori": [
|
| 123 |
+
6.123234262925839e-17,
|
| 124 |
+
0.0,
|
| 125 |
+
0.0,
|
| 126 |
+
1.0
|
| 127 |
+
],
|
| 128 |
+
"scale": [
|
| 129 |
+
1.0,
|
| 130 |
+
1.0,
|
| 131 |
+
1.0
|
| 132 |
+
]
|
| 133 |
+
},
|
| 134 |
+
"dr": {
|
| 135 |
+
"visual": {
|
| 136 |
+
"kind": null,
|
| 137 |
+
"value": null,
|
| 138 |
+
"visible": true
|
| 139 |
+
},
|
| 140 |
+
"physics": {
|
| 141 |
+
"type": "geometry",
|
| 142 |
+
"collision": false,
|
| 143 |
+
"physics_material": {
|
| 144 |
+
"static_friction": 0.6,
|
| 145 |
+
"dynamic_friction": 0.5,
|
| 146 |
+
"restitution": 0.0
|
| 147 |
+
},
|
| 148 |
+
"ratio": 1.0
|
| 149 |
+
},
|
| 150 |
+
"primitive_params": null
|
| 151 |
+
},
|
| 152 |
+
"type_specific": {}
|
| 153 |
+
}
|
| 154 |
+
],
|
| 155 |
+
"hotel_plate": [
|
| 156 |
+
{
|
| 157 |
+
"asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_48_clear/plate_48_clear.usd",
|
| 158 |
+
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episodes/c6_p012_e028/wrist.mp4
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episodes/c7_p014_e004/device_events.jsonl
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{"env_id": 2, "seq": 1, "step": 167, "t": 0.835, "topic": "conveyor_1.belt.station.pick.captured", "source": "conveyor_1.belt", "data": {"rider": "carrier_1"}, "cause": null}
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{"env_id": 2, "seq": 2, "step": 167, "t": 0.835, "topic": "conveyor_1.belt.state.changed", "source": "conveyor_1.belt", "data": {"from": "running", "to": "at_station"}, "cause": null}
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{"env_id": 2, "seq": 3, "step": 172, "t": 0.86, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_1"}, "cause": null}
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{"env_id": 2, "seq": 4, "step": 1846, "t": 9.23, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_1"}, "cause": null}
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{"env_id": 2, "seq": 5, "step": 6398, "t": 31.99, "topic": "a4s_sealer_1.plate_present.present", "source": "a4s_sealer_1.plate_present", "data": {"object": "plate_1"}, "cause": null}
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{"env_id": 2, "seq": 6, "step": 7008, "t": 35.04, "topic": "a4s_sealer_1.command.started", "source": "a4s_sealer_1", "data": {"command_id": "task-2-1", "name": "seal", "source": "task"}, "cause": "task-2-1"}
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| 7 |
+
{"env_id": 2, "seq": 7, "step": 7008, "t": 35.04, "topic": "a4s_sealer_1.seal.started", "source": "a4s_sealer_1", "data": {"dwell": 3.5992245052944836}, "cause": "task-2-1"}
|
| 8 |
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{"env_id": 2, "seq": 8, "step": 7008, "t": 35.04, "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"}
|
| 9 |
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| 10 |
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{"env_id": 2, "seq": 10, "step": 7008, "t": 35.04, "topic": "a4s_sealer_1.drawer.moving", "source": "a4s_sealer_1.drawer", "data": {"target": 0.3, "goal": "in"}, "cause": "program-2-2"}
|
| 11 |
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|
| 12 |
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{"env_id": 2, "seq": 12, "step": 7427, "t": 37.135, "topic": "a4s_sealer_1.drawer.reached", "source": "a4s_sealer_1.drawer", "data": {"position": "in", "q": 0.30000001192092896}, "cause": "program-2-2"}
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| 13 |
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| 14 |
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| 15 |
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{"env_id": 2, "seq": 15, "step": 7427, "t": 37.135, "topic": "labware.plate_1.changed", "source": "labware.plate_1", "data": {"key": "sealed", "value": true}, "cause": "task-2-1"}
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| 16 |
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{"env_id": 2, "seq": 16, "step": 7427, "t": 37.135, "topic": "a4s_sealer_1.sealed", "source": "a4s_sealer_1", "data": {"plate": "plate_1"}, "cause": "task-2-1"}
|
| 17 |
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{"env_id": 2, "seq": 17, "step": 7427, "t": 37.135, "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"}
|
| 18 |
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{"env_id": 2, "seq": 18, "step": 7427, "t": 37.135, "topic": "a4s_sealer_1.heater.state.changed", "source": "a4s_sealer_1.heater", "data": {"from": "ready", "to": "running"}, "cause": null}
|
| 19 |
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{"env_id": 2, "seq": 19, "step": 7427, "t": 37.135, "topic": "a4s_sealer_1.heater.started", "source": "a4s_sealer_1.heater", "data": {"duration": 3.5992245052944836}, "cause": "program-2-3"}
|
| 20 |
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|
| 21 |
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{"env_id": 2, "seq": 21, "step": 8147, "t": 40.735, "topic": "a4s_sealer_1.heater.finished", "source": "a4s_sealer_1.heater", "data": {"elapsed": 3.6000000000018417}, "cause": "program-2-3"}
|
| 22 |
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{"env_id": 2, "seq": 22, "step": 8147, "t": 40.735, "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": 3.6000000000018417}}, "cause": "program-2-3"}
|
| 23 |
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{"env_id": 2, "seq": 23, "step": 8147, "t": 40.735, "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"}
|
| 24 |
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{"env_id": 2, "seq": 24, "step": 8147, "t": 40.735, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "at_in", "to": "moving"}, "cause": null}
|
| 25 |
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{"env_id": 2, "seq": 25, "step": 8147, "t": 40.735, "topic": "a4s_sealer_1.drawer.moving", "source": "a4s_sealer_1.drawer", "data": {"target": 0.0, "goal": "out"}, "cause": "program-2-4"}
|
| 26 |
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{"env_id": 2, "seq": 26, "step": 8567, "t": 42.835, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "moving", "to": "at_out"}, "cause": null}
|
| 27 |
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{"env_id": 2, "seq": 27, "step": 8567, "t": 42.835, "topic": "a4s_sealer_1.drawer.reached", "source": "a4s_sealer_1.drawer", "data": {"position": "out", "q": 4.971496738587211e-12}, "cause": "program-2-4"}
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| 28 |
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{"env_id": 2, "seq": 28, "step": 8567, "t": 42.835, "topic": "a4s_sealer_1.drawer.at_out", "source": "a4s_sealer_1.drawer", "data": {"q": 4.971496738587211e-12}, "cause": "program-2-4"}
|
| 29 |
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{"env_id": 2, "seq": 29, "step": 8567, "t": 42.835, "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"}
|
| 30 |
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|
| 31 |
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|
| 32 |
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{"env_id": 2, "seq": 32, "step": 9147, "t": 45.735, "topic": "a4s_sealer_1.plate_present.absent", "source": "a4s_sealer_1.plate_present", "data": {"object": "plate_1"}, "cause": null}
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| 33 |
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{"env_id": 2, "seq": 33, "step": 11360, "t": 56.8, "topic": "conveyor_1.belt.command.started", "source": "conveyor_1.belt", "data": {"command_id": "task-2-5", "name": "release", "source": "task"}, "cause": "task-2-5"}
|
| 34 |
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{"env_id": 2, "seq": 34, "step": 11360, "t": 56.8, "topic": "conveyor_1.belt.station.pick.released", "source": "conveyor_1.belt", "data": {"rider": "carrier_1"}, "cause": "task-2-5"}
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| 35 |
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{"env_id": 2, "seq": 35, "step": 11360, "t": 56.8, "topic": "conveyor_1.belt.state.changed", "source": "conveyor_1.belt", "data": {"from": "at_station", "to": "running"}, "cause": null}
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| 36 |
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{"env_id": 2, "seq": 36, "step": 11360, "t": 56.8, "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"}
|
episodes/c7_p014_e004/env.mp4
ADDED
|
@@ -0,0 +1,3 @@
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| 1 |
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version https://git-lfs.github.com/spec/v1
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| 3 |
+
size 1305355
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episodes/c7_p014_e004/meta.json
ADDED
|
@@ -0,0 +1,32 @@
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|
|
| 1 |
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{
|
| 2 |
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"source": "raw/c7_p014/magicsim/4",
|
| 3 |
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|
| 4 |
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"frames": 1251,
|
| 5 |
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"kept_ticks": "even",
|
| 6 |
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|
| 7 |
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"wrist": 1251,
|
| 8 |
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"env": 1251
|
| 9 |
+
},
|
| 10 |
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"joint_target_source": "joint_pos_target",
|
| 11 |
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|
| 12 |
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"curobo_joints": [
|
| 13 |
+
"shoulder_pan_joint",
|
| 14 |
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|
| 15 |
+
"elbow_joint",
|
| 16 |
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"wrist_1_joint",
|
| 17 |
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"wrist_2_joint",
|
| 18 |
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|
| 19 |
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],
|
| 20 |
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"joint_order": [
|
| 21 |
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"shoulder_pan",
|
| 22 |
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|
| 23 |
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|
| 24 |
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"wrist_1",
|
| 25 |
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|
| 26 |
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"wrist_3",
|
| 27 |
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"finger_left",
|
| 28 |
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"finger_right"
|
| 29 |
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],
|
| 30 |
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"frames_note": "eef / actions in the robot base frame; camera_pose = local pose (wrist: in plate_gripper_base, env: env frame), pos + quat wxyz",
|
| 31 |
+
"dr_version": "v2"
|
| 32 |
+
}
|
episodes/c7_p014_e004/scene_snapshot.json
ADDED
|
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|
| 1 |
+
{
|
| 2 |
+
"trajectory_id": 4,
|
| 3 |
+
"env_id": 2,
|
| 4 |
+
"run_id": "c7_p014",
|
| 5 |
+
"task_type": "BioPlateCell",
|
| 6 |
+
"success": true,
|
| 7 |
+
"timing": {
|
| 8 |
+
"fps": 50.0,
|
| 9 |
+
"sim_dt": 0.005,
|
| 10 |
+
"decimation": 4
|
| 11 |
+
},
|
| 12 |
+
"restore_interface": {
|
| 13 |
+
"scene": "scene_manager.reset_to(snapshot['scene'], env_ids=[env_id])",
|
| 14 |
+
"robots": "robot_manager.set_state({'robots': snapshot['robots']}, env_ids=[env_id])"
|
| 15 |
+
},
|
| 16 |
+
"snapshot": {
|
| 17 |
+
"env_id": 2,
|
| 18 |
+
"scene": {
|
| 19 |
+
"objects": [
|
| 20 |
+
{},
|
| 21 |
+
{},
|
| 22 |
+
{
|
| 23 |
+
"rac_cell": [
|
| 24 |
+
{
|
| 25 |
+
"asset": "$MAGICSIM_ASSETS/Bio/Lab/rac_cell.usd",
|
| 26 |
+
"pose": {
|
| 27 |
+
"pos": [
|
| 28 |
+
0.0,
|
| 29 |
+
0.0,
|
| 30 |
+
0.0
|
| 31 |
+
],
|
| 32 |
+
"ori": [
|
| 33 |
+
1.0,
|
| 34 |
+
0.0,
|
| 35 |
+
0.0,
|
| 36 |
+
0.0
|
| 37 |
+
],
|
| 38 |
+
"scale": [
|
| 39 |
+
1.0,
|
| 40 |
+
1.0,
|
| 41 |
+
1.0
|
| 42 |
+
]
|
| 43 |
+
},
|
| 44 |
+
"dr": {
|
| 45 |
+
"visual": {
|
| 46 |
+
"kind": null,
|
| 47 |
+
"value": null,
|
| 48 |
+
"visible": true
|
| 49 |
+
},
|
| 50 |
+
"physics": {
|
| 51 |
+
"type": "geometry",
|
| 52 |
+
"collision": false,
|
| 53 |
+
"physics_material": {
|
| 54 |
+
"static_friction": 0.6,
|
| 55 |
+
"dynamic_friction": 0.5,
|
| 56 |
+
"restitution": 0.0
|
| 57 |
+
},
|
| 58 |
+
"ratio": 1.0
|
| 59 |
+
},
|
| 60 |
+
"primitive_params": null
|
| 61 |
+
},
|
| 62 |
+
"type_specific": {}
|
| 63 |
+
}
|
| 64 |
+
],
|
| 65 |
+
"robot_mount": [
|
| 66 |
+
{
|
| 67 |
+
"asset": "Cube",
|
| 68 |
+
"pose": {
|
| 69 |
+
"pos": [
|
| 70 |
+
0.0,
|
| 71 |
+
0.0,
|
| 72 |
+
0.9075
|
| 73 |
+
],
|
| 74 |
+
"ori": [
|
| 75 |
+
1.0,
|
| 76 |
+
0.0,
|
| 77 |
+
0.0,
|
| 78 |
+
0.0
|
| 79 |
+
],
|
| 80 |
+
"scale": [
|
| 81 |
+
1.0,
|
| 82 |
+
1.0,
|
| 83 |
+
1.0
|
| 84 |
+
]
|
| 85 |
+
},
|
| 86 |
+
"dr": {
|
| 87 |
+
"visual": {
|
| 88 |
+
"kind": "color",
|
| 89 |
+
"value": [
|
| 90 |
+
0.55,
|
| 91 |
+
0.56,
|
| 92 |
+
0.58
|
| 93 |
+
],
|
| 94 |
+
"visible": true
|
| 95 |
+
},
|
| 96 |
+
"physics": {
|
| 97 |
+
"type": "geometry",
|
| 98 |
+
"collision": false,
|
| 99 |
+
"ratio": 1.0
|
| 100 |
+
},
|
| 101 |
+
"primitive_params": {
|
| 102 |
+
"size": [
|
| 103 |
+
0.2,
|
| 104 |
+
0.2,
|
| 105 |
+
0.015
|
| 106 |
+
]
|
| 107 |
+
}
|
| 108 |
+
},
|
| 109 |
+
"type_specific": {}
|
| 110 |
+
}
|
| 111 |
+
],
|
| 112 |
+
"plate_rack": [
|
| 113 |
+
{
|
| 114 |
+
"asset": "$MAGICSIM_ASSETS/Bio/Lab/plate_hotel.usd",
|
| 115 |
+
"pose": {
|
| 116 |
+
"pos": [
|
| 117 |
+
-0.6,
|
| 118 |
+
0.02,
|
| 119 |
+
0.9
|
| 120 |
+
],
|
| 121 |
+
"ori": [
|
| 122 |
+
6.123234262925839e-17,
|
| 123 |
+
0.0,
|
| 124 |
+
0.0,
|
| 125 |
+
1.0
|
| 126 |
+
],
|
| 127 |
+
"scale": [
|
| 128 |
+
1.0,
|
| 129 |
+
1.0,
|
| 130 |
+
1.0
|
| 131 |
+
]
|
| 132 |
+
},
|
| 133 |
+
"dr": {
|
| 134 |
+
"visual": {
|
| 135 |
+
"kind": null,
|
| 136 |
+
"value": null,
|
| 137 |
+
"visible": true
|
| 138 |
+
},
|
| 139 |
+
"physics": {
|
| 140 |
+
"type": "geometry",
|
| 141 |
+
"collision": false,
|
| 142 |
+
"physics_material": {
|
| 143 |
+
"static_friction": 0.6,
|
| 144 |
+
"dynamic_friction": 0.5,
|
| 145 |
+
"restitution": 0.0
|
| 146 |
+
},
|
| 147 |
+
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episodes/c7_p014_e005/env.mp4
ADDED
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| 28 |
+
"finger_right"
|
| 29 |
+
],
|
| 30 |
+
"frames_note": "eef / actions in the robot base frame; camera_pose = local pose (wrist: in plate_gripper_base, env: env frame), pos + quat wxyz",
|
| 31 |
+
"dr_version": "v2"
|
| 32 |
+
}
|
episodes/c7_p014_e005/scene_snapshot.json
ADDED
|
@@ -0,0 +1,1558 @@
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|
|
| 1 |
+
{
|
| 2 |
+
"trajectory_id": 5,
|
| 3 |
+
"env_id": 3,
|
| 4 |
+
"run_id": "c7_p014",
|
| 5 |
+
"task_type": "BioPlateCell",
|
| 6 |
+
"success": true,
|
| 7 |
+
"timing": {
|
| 8 |
+
"fps": 50.0,
|
| 9 |
+
"sim_dt": 0.005,
|
| 10 |
+
"decimation": 4
|
| 11 |
+
},
|
| 12 |
+
"restore_interface": {
|
| 13 |
+
"scene": "scene_manager.reset_to(snapshot['scene'], env_ids=[env_id])",
|
| 14 |
+
"robots": "robot_manager.set_state({'robots': snapshot['robots']}, env_ids=[env_id])"
|
| 15 |
+
},
|
| 16 |
+
"snapshot": {
|
| 17 |
+
"env_id": 3,
|
| 18 |
+
"scene": {
|
| 19 |
+
"objects": [
|
| 20 |
+
{},
|
| 21 |
+
{},
|
| 22 |
+
{},
|
| 23 |
+
{
|
| 24 |
+
"rac_cell": [
|
| 25 |
+
{
|
| 26 |
+
"asset": "$MAGICSIM_ASSETS/Bio/Lab/rac_cell.usd",
|
| 27 |
+
"pose": {
|
| 28 |
+
"pos": [
|
| 29 |
+
0.0,
|
| 30 |
+
0.0,
|
| 31 |
+
0.0
|
| 32 |
+
],
|
| 33 |
+
"ori": [
|
| 34 |
+
1.0,
|
| 35 |
+
0.0,
|
| 36 |
+
0.0,
|
| 37 |
+
0.0
|
| 38 |
+
],
|
| 39 |
+
"scale": [
|
| 40 |
+
1.0,
|
| 41 |
+
1.0,
|
| 42 |
+
1.0
|
| 43 |
+
]
|
| 44 |
+
},
|
| 45 |
+
"dr": {
|
| 46 |
+
"visual": {
|
| 47 |
+
"kind": null,
|
| 48 |
+
"value": null,
|
| 49 |
+
"visible": true
|
| 50 |
+
},
|
| 51 |
+
"physics": {
|
| 52 |
+
"type": "geometry",
|
| 53 |
+
"collision": false,
|
| 54 |
+
"physics_material": {
|
| 55 |
+
"static_friction": 0.6,
|
| 56 |
+
"dynamic_friction": 0.5,
|
| 57 |
+
"restitution": 0.0
|
| 58 |
+
},
|
| 59 |
+
"ratio": 1.0
|
| 60 |
+
},
|
| 61 |
+
"primitive_params": null
|
| 62 |
+
},
|
| 63 |
+
"type_specific": {}
|
| 64 |
+
}
|
| 65 |
+
],
|
| 66 |
+
"robot_mount": [
|
| 67 |
+
{
|
| 68 |
+
"asset": "Cube",
|
| 69 |
+
"pose": {
|
| 70 |
+
"pos": [
|
| 71 |
+
0.0,
|
| 72 |
+
0.0,
|
| 73 |
+
0.9075
|
| 74 |
+
],
|
| 75 |
+
"ori": [
|
| 76 |
+
1.0,
|
| 77 |
+
0.0,
|
| 78 |
+
0.0,
|
| 79 |
+
0.0
|
| 80 |
+
],
|
| 81 |
+
"scale": [
|
| 82 |
+
1.0,
|
| 83 |
+
1.0,
|
| 84 |
+
1.0
|
| 85 |
+
]
|
| 86 |
+
},
|
| 87 |
+
"dr": {
|
| 88 |
+
"visual": {
|
| 89 |
+
"kind": "color",
|
| 90 |
+
"value": [
|
| 91 |
+
0.55,
|
| 92 |
+
0.56,
|
| 93 |
+
0.58
|
| 94 |
+
],
|
| 95 |
+
"visible": true
|
| 96 |
+
},
|
| 97 |
+
"physics": {
|
| 98 |
+
"type": "geometry",
|
| 99 |
+
"collision": false,
|
| 100 |
+
"ratio": 1.0
|
| 101 |
+
},
|
| 102 |
+
"primitive_params": {
|
| 103 |
+
"size": [
|
| 104 |
+
0.2,
|
| 105 |
+
0.2,
|
| 106 |
+
0.015
|
| 107 |
+
]
|
| 108 |
+
}
|
| 109 |
+
},
|
| 110 |
+
"type_specific": {}
|
| 111 |
+
}
|
| 112 |
+
],
|
| 113 |
+
"plate_rack": [
|
| 114 |
+
{
|
| 115 |
+
"asset": "$MAGICSIM_ASSETS/Bio/Lab/plate_hotel.usd",
|
| 116 |
+
"pose": {
|
| 117 |
+
"pos": [
|
| 118 |
+
-0.6,
|
| 119 |
+
0.02,
|
| 120 |
+
0.9
|
| 121 |
+
],
|
| 122 |
+
"ori": [
|
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