diff --git a/episodes/c6_p013_e027/data.npz b/episodes/c6_p013_e027/data.npz new file mode 100644 index 0000000000000000000000000000000000000000..54ee2e688946e82d3a9dfd4a197b8ecb127531f2 --- /dev/null +++ b/episodes/c6_p013_e027/data.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:024a2b155b837762d9c11222d40ea1560042aad32ec6523597a3eb271b3faa47 +size 193971 diff --git a/episodes/c6_p013_e027/device_events.jsonl b/episodes/c6_p013_e027/device_events.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..3d2f0a0647253170d3e6a38b1c84653536ea26e2 --- /dev/null +++ b/episodes/c6_p013_e027/device_events.jsonl @@ -0,0 +1,37 @@ +{"env_id": 0, "seq": 1, "step": 120, "t": 0.6, "topic": "conveyor_1.belt.station.pick.captured", "source": "conveyor_1.belt", "data": {"rider": "carrier_1"}, "cause": null} +{"env_id": 0, "seq": 2, "step": 120, "t": 0.6, "topic": "conveyor_1.belt.state.changed", "source": "conveyor_1.belt", "data": {"from": "running", "to": "at_station"}, "cause": null} +{"env_id": 0, "seq": 3, "step": 125, "t": 0.625, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_1"}, "cause": null} +{"env_id": 0, "seq": 4, "step": 1467, "t": 7.335, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_1"}, "cause": null} +{"env_id": 0, "seq": 5, "step": 1521, "t": 7.605, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_1"}, "cause": null} +{"env_id": 0, "seq": 6, "step": 6466, "t": 32.33, "topic": "a4s_sealer_1.plate_present.present", "source": "a4s_sealer_1.plate_present", "data": {"object": "plate_1"}, "cause": null} +{"env_id": 0, "seq": 7, "step": 7076, "t": 35.38, "topic": "a4s_sealer_1.command.started", "source": "a4s_sealer_1", "data": {"command_id": "task-0-1", "name": "seal", "source": "task"}, "cause": "task-0-1"} +{"env_id": 0, "seq": 8, "step": 7076, "t": 35.38, "topic": "a4s_sealer_1.seal.started", "source": "a4s_sealer_1", "data": {"dwell": 4.608250753299565}, "cause": "task-0-1"} +{"env_id": 0, "seq": 9, "step": 7076, "t": 35.38, "topic": "a4s_sealer_1.drawer.command.started", "source": "a4s_sealer_1.drawer", "data": {"command_id": "program-0-2", "name": "close", "source": "program:seal"}, "cause": "program-0-2"} +{"env_id": 0, "seq": 10, "step": 7076, "t": 35.38, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "at_out", "to": "moving"}, "cause": null} +{"env_id": 0, "seq": 11, "step": 7076, "t": 35.38, "topic": "a4s_sealer_1.drawer.moving", "source": "a4s_sealer_1.drawer", "data": {"target": 0.3, "goal": "in"}, "cause": "program-0-2"} +{"env_id": 0, "seq": 12, "step": 7495, "t": 37.475, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "moving", "to": "at_in"}, "cause": null} +{"env_id": 0, "seq": 13, "step": 7495, "t": 37.475, "topic": "a4s_sealer_1.drawer.reached", "source": "a4s_sealer_1.drawer", "data": {"position": "in", "q": 0.30000001192092896}, "cause": "program-0-2"} +{"env_id": 0, "seq": 14, "step": 7495, "t": 37.475, "topic": "a4s_sealer_1.drawer.at_in", "source": "a4s_sealer_1.drawer", "data": {"q": 0.30000001192092896}, "cause": "program-0-2"} +{"env_id": 0, "seq": 15, "step": 7495, "t": 37.475, "topic": "a4s_sealer_1.drawer.command.succeeded", "source": "a4s_sealer_1.drawer", "data": {"command_id": "program-0-2", "name": "close", "source": "program:seal", "result": {"position": "in"}}, "cause": "program-0-2"} +{"env_id": 0, "seq": 16, "step": 7495, "t": 37.475, "topic": "labware.plate_1.changed", "source": "labware.plate_1", "data": {"key": "sealed", "value": true}, "cause": "task-0-1"} +{"env_id": 0, "seq": 17, "step": 7495, "t": 37.475, "topic": "a4s_sealer_1.sealed", "source": "a4s_sealer_1", "data": {"plate": "plate_1"}, "cause": "task-0-1"} +{"env_id": 0, "seq": 18, "step": 7495, "t": 37.475, "topic": "a4s_sealer_1.heater.command.started", "source": "a4s_sealer_1.heater", "data": {"command_id": "program-0-3", "name": "run", "source": "program:seal"}, "cause": "program-0-3"} +{"env_id": 0, "seq": 19, "step": 7495, "t": 37.475, "topic": "a4s_sealer_1.heater.state.changed", "source": "a4s_sealer_1.heater", "data": {"from": "ready", "to": "running"}, "cause": null} +{"env_id": 0, "seq": 20, "step": 7495, "t": 37.475, "topic": "a4s_sealer_1.heater.started", "source": "a4s_sealer_1.heater", "data": {"duration": 4.608250753299565}, "cause": "program-0-3"} +{"env_id": 0, "seq": 21, "step": 8417, "t": 42.085, "topic": "a4s_sealer_1.heater.state.changed", "source": "a4s_sealer_1.heater", "data": {"from": "running", "to": "ready"}, "cause": null} +{"env_id": 0, "seq": 22, "step": 8417, "t": 42.085, "topic": "a4s_sealer_1.heater.finished", "source": "a4s_sealer_1.heater", "data": {"elapsed": 4.610000000002358}, "cause": "program-0-3"} +{"env_id": 0, "seq": 23, "step": 8417, "t": 42.085, "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": 4.610000000002358}}, "cause": "program-0-3"} +{"env_id": 0, "seq": 24, "step": 8417, "t": 42.085, "topic": "a4s_sealer_1.drawer.command.started", "source": "a4s_sealer_1.drawer", "data": {"command_id": "program-0-4", "name": "open", "source": "program:seal"}, "cause": "program-0-4"} +{"env_id": 0, "seq": 25, "step": 8417, "t": 42.085, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "at_in", "to": "moving"}, "cause": null} +{"env_id": 0, "seq": 26, "step": 8417, "t": 42.085, "topic": "a4s_sealer_1.drawer.moving", "source": "a4s_sealer_1.drawer", "data": {"target": 0.0, "goal": "out"}, "cause": "program-0-4"} +{"env_id": 0, "seq": 27, "step": 8837, "t": 44.185, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "moving", "to": "at_out"}, "cause": null} +{"env_id": 0, "seq": 28, "step": 8837, "t": 44.185, "topic": "a4s_sealer_1.drawer.reached", "source": "a4s_sealer_1.drawer", "data": {"position": "out", "q": 4.75242969977252e-11}, "cause": "program-0-4"} +{"env_id": 0, "seq": 29, "step": 8837, "t": 44.185, "topic": "a4s_sealer_1.drawer.at_out", "source": "a4s_sealer_1.drawer", "data": {"q": 4.75242969977252e-11}, "cause": "program-0-4"} +{"env_id": 0, "seq": 30, "step": 8837, "t": 44.185, "topic": "a4s_sealer_1.drawer.command.succeeded", "source": "a4s_sealer_1.drawer", "data": {"command_id": "program-0-4", "name": "open", "source": "program:seal", "result": {"position": "out"}}, "cause": "program-0-4"} +{"env_id": 0, "seq": 31, "step": 8837, "t": 44.185, "topic": "a4s_sealer_1.seal.finished", "source": "a4s_sealer_1", "data": {}, "cause": "task-0-1"} +{"env_id": 0, "seq": 32, "step": 8837, "t": 44.185, "topic": "a4s_sealer_1.command.succeeded", "source": "a4s_sealer_1", "data": {"command_id": "task-0-1", "name": "seal", "source": "task"}, "cause": "task-0-1"} +{"env_id": 0, "seq": 33, "step": 9419, "t": 47.095, "topic": "a4s_sealer_1.plate_present.absent", "source": "a4s_sealer_1.plate_present", "data": {"object": "plate_1"}, "cause": null} +{"env_id": 0, "seq": 34, "step": 11188, "t": 55.94, "topic": "conveyor_1.belt.command.started", "source": "conveyor_1.belt", "data": {"command_id": "task-0-5", "name": "release", "source": "task"}, "cause": "task-0-5"} +{"env_id": 0, "seq": 35, "step": 11188, "t": 55.94, "topic": "conveyor_1.belt.station.pick.released", "source": "conveyor_1.belt", "data": {"rider": "carrier_1"}, "cause": "task-0-5"} +{"env_id": 0, "seq": 36, "step": 11188, "t": 55.94, "topic": "conveyor_1.belt.state.changed", "source": "conveyor_1.belt", "data": {"from": "at_station", "to": "running"}, "cause": null} +{"env_id": 0, "seq": 37, "step": 11188, "t": 55.94, "topic": "conveyor_1.belt.command.succeeded", "source": "conveyor_1.belt", "data": {"command_id": "task-0-5", "name": "release", "source": "task", "result": {"state": "running"}}, "cause": "task-0-5"} diff --git a/episodes/c6_p013_e027/env.mp4 b/episodes/c6_p013_e027/env.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..99fb68ab5188139551bd1da376586e3ab39b64fe --- /dev/null +++ b/episodes/c6_p013_e027/env.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:c10a5d4fa26720584868d295a65f8790c50135add903412c6d5da6d7c1bc7749 +size 1302193 diff --git a/episodes/c6_p013_e027/meta.json b/episodes/c6_p013_e027/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..e906f8a4cda6c71a9fad337ab89dd4a4d82eb1e7 --- /dev/null +++ b/episodes/c6_p013_e027/meta.json @@ -0,0 +1,32 @@ +{ + "source": "raw/c6_p013/magicsim/27", + "fps": 25, + "frames": 1272, + "kept_ticks": "even", + "video_frames": { + "wrist": 1272, + "env": 1272 + }, + "joint_target_source": "joint_pos_target", + "fk_vs_recorded_eef_max_m": 0.0, + "curobo_joints": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "joint_order": [ + "shoulder_pan", + "shoulder_lift", + "elbow", + "wrist_1", + "wrist_2", + "wrist_3", + "finger_left", + "finger_right" + ], + "frames_note": "eef / actions in the robot base frame; camera_pose = local pose (wrist: in plate_gripper_base, env: env frame), pos + quat wxyz", + "dr_version": "v2" +} \ No newline at end of file diff --git a/episodes/c6_p013_e027/scene_snapshot.json b/episodes/c6_p013_e027/scene_snapshot.json new file mode 100644 index 0000000000000000000000000000000000000000..007a7d4d94d58b5d694d796f7cfe630fc3ec75ff --- /dev/null +++ b/episodes/c6_p013_e027/scene_snapshot.json @@ -0,0 +1,1558 @@ +{ + "trajectory_id": 27, + "env_id": 0, + "run_id": "c6_p013", + "task_type": "BioPlateCell", + "success": true, + "timing": { + "fps": 50.0, + "sim_dt": 0.005, + "decimation": 4 + }, + "restore_interface": { + "scene": "scene_manager.reset_to(snapshot['scene'], env_ids=[env_id])", + "robots": "robot_manager.set_state({'robots': snapshot['robots']}, env_ids=[env_id])" + }, + "snapshot": { + "env_id": 0, + "scene": { + "objects": [ + { + "rac_cell": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/rac_cell.usd", + "pose": { + "pos": [ + 0.0, + 0.0, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "physics_material": { + "static_friction": 0.6, + "dynamic_friction": 0.5, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "robot_mount": [ + { + "asset": "Cube", + "pose": { + "pos": [ + 0.0, + 0.0, + 0.9075 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": "color", + "value": [ + 0.55, + 0.56, + 0.58 + ], + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": { + "size": [ + 0.2, + 0.2, + 0.015 + ] + } + }, + "type_specific": {} + } + ], + "plate_rack": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/plate_hotel.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 0.9 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "physics_material": { + "static_friction": 0.6, + "dynamic_friction": 0.5, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "hotel_plate": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_96_black/plate_96_black.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 0.9605 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/deep_well_96_2ml/deep_well_96_2ml.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.0285 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/pcr_96_blue/pcr_96_blue.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.0965 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_96_black/plate_96_black.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.1645 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_96_black/plate_96_black.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.2325 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "a4s_sealer": [ + { + "asset": "$MAGICSIM_ASSETS/Articulated/A4SSealer/Object.usd", + "pose": { + "pos": [ + 0.4951019287109375, + 0.0760946273803711, + 0.8999999761581421 + ], + "ori": [ + 0.7237980961799622, + 0.0, + 0.0, + -0.6900117993354797 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "articulation", + "solver_position_iteration_count": 16.0, + "solver_velocity_iteration_count": 1.0, + "enabled_self_collisions": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "joint_position": [ + 2.3549159584163037e-12 + ], + "joint_velocity": [ + 0.0 + ], + "linear_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "angular_velocity": [ + 0.0, + 0.0, + 0.0 + ] + } + } + ], + "conveyor": [ + { + "asset": "Cube", + "pose": { + "pos": [ + 0.15, + 0.45, + 0.9 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "conveyor", + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9 + }, + "ratio": 1.0 + }, + "primitive_params": { + "size": [ + 2.4, + 0.076, + 0.03 + ] + }, + "conveyor": { + "speed": 0.2335680347777245, + "direction": [ + 1.0, + 0.0, + 0.0 + ], + "enabled": true, + "drive": "surface_velocity", + "lines": null, + "station_line": null, + "riders": [ + "carrier" + ], + "stations": { + "pick": { + "position": -0.13216741561281317, + "slow_distance": 0.03, + "slow_speed": 0.03 + } + }, + "rails": { + "height": 0.01, + "thickness": 0.01, + "gap": 0.001, + "friction": 0.05 + }, + "legs": 0.87, + "loop": { + "radius": 0.35, + "side": "left", + "curve_extra_width": 0.0, + "segments": 18, + "curve_rails": "both" + }, + "snap_distance": 0.1, + "junction_snap": 0.02, + "collision_approximation": "auto", + "plate_mass": 1.0, + "lift_drop": 0.004, + "accel": 0.0, + "decel": 0.0, + "drive_damping": 1000000.0, + "drive_max_force": 1000000000.0 + } + }, + "type_specific": { + "controller": { + "state": "at_station", + "speed": 0.2335680347777245, + "holds": [], + "station": "pick", + "rider": "carrier_1", + "arrived": true, + "applied_speed": 0.0 + } + } + } + ], + "carrier": [ + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + 0.017373085021972656, + 0.4500007629394531, + 0.8999999761581421 + ], + "ori": [ + 1.0, + -3.906269474551749e-10, + -3.0864130695640313e-10, + 3.946388096665032e-05 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 1.6673318281590355e-09, + 2.1031474339849865e-09, + 1.1175870895385742e-08 + ], + "angular_velocity": [ + -1.281466950331378e-07, + 1.5671840003506077e-07, + -1.8427456893732597e-08 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + -1.0392179489135742, + 1.149312973022461, + 0.8999999761581421 + ], + "ori": [ + -0.016808602958917618, + 1.2808685667664577e-08, + 9.429890646117656e-09, + 0.9998587965965271 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 1.766817803172671e-10, + 1.334459209800798e-09, + 0.0 + ], + "angular_velocity": [ + 1.0364548330699108e-08, + 1.957690187737171e-08, + 1.010485206620615e-08 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + -0.08370399475097656, + 1.1500005722045898, + 0.8999999761581421 + ], + "ori": [ + 9.740140285430243e-07, + -8.313104871149335e-09, + -9.81692949153512e-10, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 2.5584079299534324e-10, + -9.94582860514015e-10, + 0.0 + ], + "angular_velocity": [ + 9.937306799656653e-08, + 2.7209434705355307e-08, + -5.017110726868168e-09 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + 1.5939416885375977, + 1.0482282638549805, + 0.8999999761581421 + ], + "ori": [ + 0.38475820422172546, + -7.959609860108685e-08, + 6.382727946174782e-08, + 0.9230174422264099 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -2.8983100364143866e-09, + 1.253985981719552e-08, + 0.0 + ], + "angular_velocity": [ + -7.086697451086366e-07, + 3.912721808774222e-07, + -6.977626298976247e-08 + ] + } + } + ], + "plate": [ + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_6_clear/Object.usd", + "pose": { + "pos": [ + 0.018535614013671875, + 0.4426441192626953, + 0.9179999828338623 + ], + "ori": [ + 0.999683678150177, + -1.1596157367677051e-09, + -8.287852071298119e-10, + -0.025150546804070473 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -1.4939114834078282e-08, + 2.190495784759605e-08, + 1.6391277313232422e-07 + ], + "angular_velocity": [ + -2.9438575666063116e-07, + -1.7943385728358408e-06, + 5.414306336604113e-09 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_96_black/Object.usd", + "pose": { + "pos": [ + -1.0402088165283203, + 1.1415681838989258, + 0.9180000424385071 + ], + "ori": [ + 0.02192373014986515, + 1.2587097586447271e-08, + 7.496248954907969e-09, + 0.9997596740722656 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 2.062082771203677e-08, + 1.5618645932136133e-08, + -5.621463060379028e-06 + ], + "angular_velocity": [ + -1.383266635457403e-06, + 1.9177091417077463e-06, + 1.2374943025861285e-07 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/pcr_96_blue/Object.usd", + "pose": { + "pos": [ + -0.08458423614501953, + 1.1598758697509766, + 0.9180000424385071 + ], + "ori": [ + 0.09586194902658463, + -7.839148885580016e-09, + -1.5144556719803859e-09, + 0.9953946471214294 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 2.4445869328815206e-08, + -3.2153330664641544e-08, + -5.681067705154419e-06 + ], + "angular_velocity": [ + 6.089325665925571e-07, + 1.7218053471879102e-06, + 2.477922009802569e-07 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/deep_well_96_2ml/Object.usd", + "pose": { + "pos": [ + 1.5817575454711914, + 1.052872657775879, + 0.9179999828338623 + ], + "ori": [ + 0.45178020000457764, + 9.351345511277032e-07, + 4.0459173078488675e-07, + 0.8921293020248413 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -1.1288011592114344e-07, + 1.697443804005161e-05, + -8.706003427505493e-06 + ], + "angular_velocity": [ + -0.00016988367133308202, + 0.0001332557003479451, + -9.633680747356266e-05 + ] + } + } + ], + "deco_hub_west": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/hub_d.usd", + "pose": { + "pos": [ + -3.36, + 0.0, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_hub_east": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/hub_e.usd", + "pose": { + "pos": [ + 3.36, + 0.0, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_hub_back": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/hub_b.usd", + "pose": { + "pos": [ + -3.0, + -2.1, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_bench_east": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/bench_a.usd", + "pose": { + "pos": [ + 2.6, + -2.5, + 0.0 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_bench_gap": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/bench_b.usd", + "pose": { + "pos": [ + -0.1, + -2.9, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ] + }, + {}, + {}, + {} + ], + "devices": { + "hub": [ + { + "t": 5.25999999999991, + "step": 1052, + "counter": 0, + "devices": { + "a4s_sealer_1": { + "mode": "auto", + "units": { + "drawer": { + "state": "at_out", + "active": null, + "target": 0.0, + "goal_name": "out", + "profile": null, + "q_start": null, + "reversing": false, + "blocked_for": 0.0, + "settled_for": 0.0, + "last_q": 2.3549159584163037e-12 + }, + "heater": { + "state": "ready", + "active": null, + "duration": 0.0, + "t_start": null, + "elapsed": 0.0 + } + }, + "queues": {}, + "program": null, + "sensors": { + "plate_present": { + "occupants": [], + "pending": {} + } + }, + "interlocks": {} + }, + "conveyor_1": { + "mode": "auto", + "units": { + "belt": { + "state": "at_station", + "active": null, + "controller": { + "speed": 0.2335680347777245, + "holds": [], + "station": "pick", + "rider": "carrier_1", + "arrived": true, + "settle_count": 931, + "released": { + "pick": [] + }, + "last_pos": { + "carrier_1": [ + -0.13262692093849182, + 7.748603820800781e-07, + 0.0 + ], + "carrier_2": [ + -1.1892179548740387, + 0.6993129849433899, + 0.0 + ], + "carrier_3": [ + -0.23370400071144104, + 0.7000005841255188, + 0.0 + ], + "carrier_4": [ + 1.4439416825771332, + 0.5982282757759094, + 0.0 + ] + }, + "command": 0.0 + }, + "belt": { + "target_speed": 0.0, + "command_speed": 0.0 + }, + "seen": { + "state": "at_station", + "station": "pick", + "rider": "carrier_1", + "arrived": true + } + } + }, + "queues": {}, + "program": null, + "sensors": {}, + "interlocks": {} + } + }, + "zones": {}, + "labware": { + "plate_1": { + "sealed": false + }, + "plate_2": { + "sealed": false + }, + "plate_3": { + "sealed": false + }, + "plate_4": { + "sealed": false + } + }, + "rules": {}, + "records": [], + "bus": { + "seq": 3, + "queue": [] + } + }, + null, + null, + null + ], + "drives": [ + {}, + null, + null, + null + ] + }, + "artifacts": [ + { + "ceiling": { + "type": "rect", + "pose": { + "pos": [ + 0.7161071511455855, + 0.2932784428408558, + 3.1748428751902624 + ], + "ori": [ + -5.655280977745743, + 6.040797204418304, + -10.110157477333885 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "color_temperature": 4684.781945306941, + "color": [ + 0.8673348081989286, + 0.9881176832947027, + 0.9340017004684058 + ], + "intensity": 11224.883277214802, + "width": 2.2011451700783033, + "height": 1.2970747564978535 + } + }, + "key": { + "type": "sphere", + "pose": { + "pos": [ + -0.031800491106161344, + -1.17186565673599, + 2.66533396703779 + ], + "ori": [ + -36.90220996743236, + 4.513446868267117, + -0.06531993262391467 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "color_temperature": 5847.755314416268, + "color": [ + 0.7596540738787148, + 0.9205053802715885, + 0.7790565202265528 + ], + "intensity": 8506.913136648716, + "radius": 0.15573968947114736 + } + } + }, + {}, + {}, + {} + ], + "background": { + "type": "dome", + "pose": { + "pos": null, + "ori": null, + "scale": null + }, + "dr": { + "intensity": 1421.652522684857, + "texture": null, + "color": [ + 0.92, + 0.94, + 0.96 + ] + } + } + }, + "robots": { + "UR5e": { + "root_pose": [ + [ + 11.0, + -11.0, + 0.9150000214576721, + 1.0, + 0.0, + 0.0, + 0.0 + ], + [ + 11.0, + 11.0, + 0.9150000214576721, + 1.0, + 0.0, + 0.0, + 0.0 + ], + [ + -11.0, + -11.0, + 0.9150000214576721, + 1.0, + 0.0, + 0.0, + 0.0 + ], + [ + -11.0, + 11.0, + 0.9150000214576721, + 1.0, + 0.0, + 0.0, + 0.0 + ] + ], + "root_vel": [ + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + ], + "joint_pos": [ + [ + 0.9141088724136353, + -1.7193950414657593, + 2.0904977321624756, + -1.9419012069702148, + -1.5707999467849731, + 2.4849042892456055, + 0.01799999549984932, + 0.018000002950429916 + ], + [ + -0.0695333406329155, + -2.0285651683807373, + 2.6659791469573975, + -2.2100331783294678, + -1.5696479082107544, + 4.706196308135986, + 0.007839631289243698, + 0.007175513077527285 + ], + [ + 2.681973457336426, + -2.000021457672119, + 1.9700889587402344, + -1.5404434204101562, + -1.5709856748580933, + 4.2526068687438965, + 0.01799999177455902, + 0.018000006675720215 + ], + [ + -0.106354720890522, + -1.9827786684036255, + 2.5062901973724365, + -2.093841552734375, + -1.5689693689346313, + 4.540917873382568, + 0.018000001087784767, + 0.01799999736249447 + ] + ], + "joint_vel": [ + [ + 0.0, + -2.4424517326707487e-38, + -1.4166208222531304e-38, + -3.6722949960163656e-37, + 6.226061899005439e-37, + -1.8697095379013302e-36, + 5.1980777016069624e-08, + -5.198078412149698e-08 + ], + [ + -0.00020322532509453595, + 0.012965626083314419, + 0.008751318790018559, + -0.022062983363866806, + 0.00013777209096588194, + -0.00048012554179877043, + -0.007874789647758007, + 0.0004494205641094595 + ], + [ + 0.004686905536800623, + 0.009760922752320766, + -0.005177308805286884, + -0.004195268731564283, + 6.529789516207529e-06, + 0.004727635532617569, + 1.5996130287021515e-06, + -1.5995696003301418e-06 + ], + [ + 0.00011767767136916518, + -0.017566772177815437, + -0.017064811661839485, + 0.033582866191864014, + 5.9074059208796825e-06, + -1.036821970501478e-07, + -4.7563699467900733e-07, + 4.7563841576447885e-07 + ] + ] + } + }, + "cameras": { + "cameras": { + "camera0": [ + [ + 0.05003722757101059, + 0.000780946749728173, + -0.030370019376277924, + -0.2935868501663208, + 0.6499580144882202, + 0.6410808563232422, + -0.283507764339447 + ], + [ + 0.04871946945786476, + 0.0017849673749879003, + -0.031851232051849365, + -0.28044450283050537, + 0.6544429659843445, + 0.636388897895813, + -0.2967565953731537 + ], + [ + 0.05332609638571739, + -0.0031514312140643597, + -0.029093466699123383, + -0.2784634828567505, + 0.6470271944999695, + 0.6563529968261719, + -0.27021220326423645 + ], + [ + 0.0518806055188179, + -0.0007706427131779492, + -0.03129883110523224, + -0.2792240381240845, + 0.65098637342453, + 0.6423071622848511, + -0.2927324175834656 + ] + ], + "camera1": [ + [ + 0.03135599568486214, + 0.6010205149650574, + 1.958905816078186, + 0.034561194479465485, + 0.010795589536428452, + 0.28549066185951233, + 0.9576972723007202 + ], + [ + 0.04135753959417343, + 0.564452588558197, + 1.9307130575180054, + 0.027616675943136215, + 0.011353817768394947, + 0.2824614346027374, + 0.9588138461112976 + ], + [ + 0.05671459436416626, + 0.6018974184989929, + 1.9621195793151855, + 0.03257996216416359, + 0.0067270477302372456, + 0.2662141025066376, + 0.9633396863937378 + ], + [ + 0.049023669213056564, + 0.5669511556625366, + 1.9576889276504517, + 0.05210404098033905, + -0.006026535760611296, + 0.2688453793525696, + 0.9617541432380676 + ] + ] + } + } + } +} \ No newline at end of file diff --git a/episodes/c6_p013_e027/wrist.mp4 b/episodes/c6_p013_e027/wrist.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..947bf88f9d9261674d17aca272f0f5bde80bba06 --- /dev/null +++ b/episodes/c6_p013_e027/wrist.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:b1dd2e7e5a93d4987c18596ef7c91148a6ce948f3a5cd93c25fe7ea0c4002055 +size 6888412 diff --git a/episodes/c7_p015_e022/data.npz b/episodes/c7_p015_e022/data.npz new file mode 100644 index 0000000000000000000000000000000000000000..d7b0cca4f7b91cc667399ee279ee9b0feb68161f --- /dev/null +++ b/episodes/c7_p015_e022/data.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:b8c94c9ca613594dc487a3b2b4a19807933b3493c96046f7eb5f7cfc425941b2 +size 196924 diff --git a/episodes/c7_p015_e022/device_events.jsonl b/episodes/c7_p015_e022/device_events.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..04ac5cd1f4c87db2265cd37baebe44b8c58ee564 --- /dev/null +++ b/episodes/c7_p015_e022/device_events.jsonl @@ -0,0 +1,36 @@ +{"env_id": 2, "seq": 1, "step": 134, "t": 0.67, "topic": "conveyor_1.belt.station.pick.captured", "source": "conveyor_1.belt", "data": {"rider": "carrier_2"}, "cause": null} +{"env_id": 2, "seq": 2, "step": 134, "t": 0.67, "topic": "conveyor_1.belt.state.changed", "source": "conveyor_1.belt", "data": {"from": "running", "to": "at_station"}, "cause": null} +{"env_id": 2, "seq": 3, "step": 139, "t": 0.695, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_2"}, "cause": null} +{"env_id": 2, "seq": 4, "step": 1570, "t": 7.85, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_2"}, "cause": null} +{"env_id": 2, "seq": 5, "step": 6087, "t": 30.435, "topic": "a4s_sealer_1.plate_present.present", "source": "a4s_sealer_1.plate_present", "data": {"object": "plate_2"}, "cause": null} +{"env_id": 2, "seq": 6, "step": 6700, "t": 33.5, "topic": "a4s_sealer_1.command.started", "source": "a4s_sealer_1", "data": {"command_id": "task-2-1", "name": "seal", "source": "task"}, "cause": "task-2-1"} +{"env_id": 2, "seq": 7, "step": 6700, "t": 33.5, "topic": "a4s_sealer_1.seal.started", "source": "a4s_sealer_1", "data": {"dwell": 2.2777456738016513}, "cause": "task-2-1"} +{"env_id": 2, "seq": 8, "step": 6700, "t": 33.5, "topic": "a4s_sealer_1.drawer.command.started", "source": "a4s_sealer_1.drawer", "data": {"command_id": "program-2-2", "name": "close", "source": "program:seal"}, "cause": "program-2-2"} +{"env_id": 2, "seq": 9, "step": 6700, "t": 33.5, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "at_out", "to": "moving"}, "cause": null} +{"env_id": 2, "seq": 10, "step": 6700, "t": 33.5, "topic": "a4s_sealer_1.drawer.moving", "source": "a4s_sealer_1.drawer", "data": {"target": 0.3, "goal": "in"}, "cause": "program-2-2"} +{"env_id": 2, "seq": 11, "step": 7119, "t": 35.595, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "moving", "to": "at_in"}, "cause": null} +{"env_id": 2, "seq": 12, "step": 7119, "t": 35.595, "topic": "a4s_sealer_1.drawer.reached", "source": "a4s_sealer_1.drawer", "data": {"position": "in", "q": 0.30000001192092896}, "cause": "program-2-2"} +{"env_id": 2, "seq": 13, "step": 7119, "t": 35.595, "topic": "a4s_sealer_1.drawer.at_in", "source": "a4s_sealer_1.drawer", "data": {"q": 0.30000001192092896}, "cause": "program-2-2"} +{"env_id": 2, "seq": 14, "step": 7119, "t": 35.595, "topic": "a4s_sealer_1.drawer.command.succeeded", "source": "a4s_sealer_1.drawer", "data": {"command_id": "program-2-2", "name": "close", "source": "program:seal", "result": {"position": "in"}}, "cause": "program-2-2"} +{"env_id": 2, "seq": 15, "step": 7119, "t": 35.595, "topic": "labware.plate_2.changed", "source": "labware.plate_2", "data": {"key": "sealed", "value": true}, "cause": "task-2-1"} +{"env_id": 2, "seq": 16, "step": 7119, "t": 35.595, "topic": "a4s_sealer_1.sealed", "source": "a4s_sealer_1", "data": {"plate": "plate_2"}, "cause": "task-2-1"} +{"env_id": 2, "seq": 17, "step": 7119, "t": 35.595, "topic": "a4s_sealer_1.heater.command.started", "source": "a4s_sealer_1.heater", "data": {"command_id": "program-2-3", "name": "run", "source": "program:seal"}, "cause": "program-2-3"} +{"env_id": 2, "seq": 18, "step": 7119, "t": 35.595, "topic": "a4s_sealer_1.heater.state.changed", "source": "a4s_sealer_1.heater", "data": {"from": "ready", "to": "running"}, "cause": null} +{"env_id": 2, "seq": 19, "step": 7119, "t": 35.595, "topic": "a4s_sealer_1.heater.started", "source": "a4s_sealer_1.heater", "data": {"duration": 2.2777456738016513}, "cause": "program-2-3"} +{"env_id": 2, "seq": 20, "step": 7575, "t": 37.875, "topic": "a4s_sealer_1.heater.state.changed", "source": "a4s_sealer_1.heater", "data": {"from": "running", "to": "ready"}, "cause": null} +{"env_id": 2, "seq": 21, "step": 7575, "t": 37.875, "topic": "a4s_sealer_1.heater.finished", "source": "a4s_sealer_1.heater", "data": {"elapsed": 2.2800000000011664}, "cause": "program-2-3"} +{"env_id": 2, "seq": 22, "step": 7575, "t": 37.875, "topic": "a4s_sealer_1.heater.command.succeeded", "source": "a4s_sealer_1.heater", "data": {"command_id": "program-2-3", "name": "run", "source": "program:seal", "result": {"elapsed": 2.2800000000011664}}, "cause": "program-2-3"} +{"env_id": 2, "seq": 23, "step": 7575, "t": 37.875, "topic": "a4s_sealer_1.drawer.command.started", "source": "a4s_sealer_1.drawer", "data": {"command_id": "program-2-4", "name": "open", "source": "program:seal"}, "cause": "program-2-4"} +{"env_id": 2, "seq": 24, "step": 7575, "t": 37.875, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "at_in", "to": "moving"}, "cause": null} +{"env_id": 2, "seq": 25, "step": 7575, "t": 37.875, "topic": "a4s_sealer_1.drawer.moving", "source": "a4s_sealer_1.drawer", "data": {"target": 0.0, "goal": "out"}, "cause": "program-2-4"} +{"env_id": 2, "seq": 26, "step": 7995, "t": 39.975, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "moving", "to": "at_out"}, "cause": null} +{"env_id": 2, "seq": 27, "step": 7995, "t": 39.975, "topic": "a4s_sealer_1.drawer.reached", "source": "a4s_sealer_1.drawer", "data": {"position": "out", "q": 0.0}, "cause": "program-2-4"} +{"env_id": 2, "seq": 28, "step": 7995, "t": 39.975, "topic": "a4s_sealer_1.drawer.at_out", "source": "a4s_sealer_1.drawer", "data": {"q": 0.0}, "cause": "program-2-4"} +{"env_id": 2, "seq": 29, "step": 7995, "t": 39.975, "topic": "a4s_sealer_1.drawer.command.succeeded", "source": "a4s_sealer_1.drawer", "data": {"command_id": "program-2-4", "name": "open", "source": "program:seal", "result": {"position": "out"}}, "cause": "program-2-4"} +{"env_id": 2, "seq": 30, "step": 7995, "t": 39.975, "topic": "a4s_sealer_1.seal.finished", "source": "a4s_sealer_1", "data": {}, "cause": "task-2-1"} +{"env_id": 2, "seq": 31, "step": 7995, "t": 39.975, "topic": "a4s_sealer_1.command.succeeded", "source": "a4s_sealer_1", "data": {"command_id": "task-2-1", "name": "seal", "source": "task"}, "cause": "task-2-1"} +{"env_id": 2, "seq": 32, "step": 8575, "t": 42.875, "topic": "a4s_sealer_1.plate_present.absent", "source": "a4s_sealer_1.plate_present", "data": {"object": "plate_2"}, "cause": null} +{"env_id": 2, "seq": 33, "step": 10824, "t": 54.12, "topic": "conveyor_1.belt.command.started", "source": "conveyor_1.belt", "data": {"command_id": "task-2-5", "name": "release", "source": "task"}, "cause": "task-2-5"} +{"env_id": 2, "seq": 34, "step": 10824, "t": 54.12, "topic": "conveyor_1.belt.station.pick.released", "source": "conveyor_1.belt", "data": {"rider": "carrier_2"}, "cause": "task-2-5"} +{"env_id": 2, "seq": 35, "step": 10824, "t": 54.12, "topic": "conveyor_1.belt.state.changed", "source": "conveyor_1.belt", "data": {"from": "at_station", "to": "running"}, "cause": null} +{"env_id": 2, "seq": 36, "step": 10824, "t": 54.12, "topic": "conveyor_1.belt.command.succeeded", "source": "conveyor_1.belt", "data": {"command_id": "task-2-5", "name": "release", "source": "task", "result": {"state": "running"}}, "cause": "task-2-5"} diff --git a/episodes/c7_p015_e022/env.mp4 b/episodes/c7_p015_e022/env.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..815b614b6c2f42a4935c8f3d76f84caf8fcb63fd --- /dev/null +++ b/episodes/c7_p015_e022/env.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:54ac3a9bf10ce7a78235b6452219a22b1e845c0f3b597eeef29154e226808433 +size 1387666 diff --git a/episodes/c7_p015_e022/meta.json b/episodes/c7_p015_e022/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..5ecc4e8d9e828a427db18940cd407ec7c51f6fd9 --- /dev/null +++ b/episodes/c7_p015_e022/meta.json @@ -0,0 +1,32 @@ +{ + "source": "raw/c7_p015/magicsim/22", + "fps": 25, + "frames": 1216, + "kept_ticks": "even", + "video_frames": { + "wrist": 1216, + "env": 1216 + }, + "joint_target_source": "joint_pos_target", + "fk_vs_recorded_eef_max_m": 0.0, + "curobo_joints": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "joint_order": [ + "shoulder_pan", + "shoulder_lift", + "elbow", + "wrist_1", + "wrist_2", + "wrist_3", + "finger_left", + "finger_right" + ], + "frames_note": "eef / actions in the robot base frame; camera_pose = local pose (wrist: in plate_gripper_base, env: env frame), pos + quat wxyz", + "dr_version": "v2" +} \ No newline at end of file diff --git a/episodes/c7_p015_e022/scene_snapshot.json b/episodes/c7_p015_e022/scene_snapshot.json new file mode 100644 index 0000000000000000000000000000000000000000..ae6bcdc9ef7a9c52903342adcb7bb79fda795a1b --- /dev/null +++ b/episodes/c7_p015_e022/scene_snapshot.json @@ -0,0 +1,1558 @@ +{ + "trajectory_id": 22, + "env_id": 2, + "run_id": "c7_p015", + "task_type": "BioPlateCell", + "success": true, + "timing": { + "fps": 50.0, + "sim_dt": 0.005, + "decimation": 4 + }, + "restore_interface": { + "scene": "scene_manager.reset_to(snapshot['scene'], env_ids=[env_id])", + "robots": "robot_manager.set_state({'robots': snapshot['robots']}, env_ids=[env_id])" + }, + "snapshot": { + "env_id": 2, + "scene": { + "objects": [ + {}, + {}, + { + "rac_cell": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/rac_cell.usd", + "pose": { + "pos": [ + 0.0, + 0.0, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "physics_material": { + "static_friction": 0.6, + "dynamic_friction": 0.5, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "robot_mount": [ + { + "asset": "Cube", + "pose": { + "pos": [ + 0.0, + 0.0, + 0.9075 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": "color", + "value": [ + 0.55, + 0.56, + 0.58 + ], + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": { + "size": [ + 0.2, + 0.2, + 0.015 + ] + } + }, + "type_specific": {} + } + ], + "plate_rack": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/plate_hotel.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 0.9 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "physics_material": { + "static_friction": 0.6, + "dynamic_friction": 0.5, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "hotel_plate": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/deep_well_96_2ml/deep_well_96_2ml.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 0.9605 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_24_clear/plate_24_clear.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.0285 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_48_clear/plate_48_clear.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.0965 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/pcr_96_blue/pcr_96_blue.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.1645 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/pcr_384_red/pcr_384_red.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.2325 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "a4s_sealer": [ + { + "asset": "$MAGICSIM_ASSETS/Articulated/A4SSealer/Object.usd", + "pose": { + "pos": [ + 0.4706087112426758, + 0.09150505065917969, + 0.8999999761581421 + ], + "ori": [ + 0.7163568735122681, + 0.0, + 0.0, + -0.6977340579032898 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "articulation", + "solver_position_iteration_count": 16.0, + "solver_velocity_iteration_count": 1.0, + "enabled_self_collisions": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "joint_position": [ + 1.6820827499972046e-12 + ], + "joint_velocity": [ + 0.0 + ], + "linear_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "angular_velocity": [ + 0.0, + 0.0, + 0.0 + ] + } + } + ], + "conveyor": [ + { + "asset": "Cube", + "pose": { + "pos": [ + 0.15, + 0.45, + 0.9 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "conveyor", + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9 + }, + "ratio": 1.0 + }, + "primitive_params": { + "size": [ + 2.4, + 0.076, + 0.03 + ] + }, + "conveyor": { + "speed": 0.2453754842653013, + "direction": [ + 1.0, + 0.0, + 0.0 + ], + "enabled": true, + "drive": "surface_velocity", + "lines": null, + "station_line": null, + "riders": [ + "carrier" + ], + "stations": { + "pick": { + "position": -0.25562205407831223, + "slow_distance": 0.03, + "slow_speed": 0.03 + } + }, + "rails": { + "height": 0.01, + "thickness": 0.01, + "gap": 0.001, + "friction": 0.05 + }, + "legs": 0.87, + "loop": { + "radius": 0.35, + "side": "left", + "curve_extra_width": 0.0, + "segments": 18, + "curve_rails": "both" + }, + "snap_distance": 0.1, + "junction_snap": 0.02, + "collision_approximation": "auto", + "plate_mass": 1.0, + "lift_drop": 0.004, + "accel": 0.0, + "decel": 0.0, + "drive_damping": 1000000.0, + "drive_max_force": 1000000000.0 + } + }, + "type_specific": { + "controller": { + "state": "at_station", + "speed": 0.2453754842653013, + "holds": [], + "station": "pick", + "rider": "carrier_2", + "arrived": true, + "applied_speed": 0.0 + } + } + } + ], + "carrier": [ + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + 1.4815425872802734, + 0.47935009002685547, + 0.8999999761581421 + ], + "ori": [ + 0.9826499223709106, + 7.547915181760345e-09, + -2.820077682486044e-08, + 0.1854706108570099 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 6.022709442277119e-09, + -4.58544846537734e-08, + -1.4901161193847656e-08 + ], + "angular_velocity": [ + 1.6492410850332817e-06, + 4.491710683396377e-07, + 3.434101358834596e-07 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + -0.10507869720458984, + 0.44727325439453125, + 0.8999999761581421 + ], + "ori": [ + 0.9999583959579468, + 2.5524840019386374e-09, + 4.1880113266223873e-10, + 0.009122061543166637 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -1.7036474453391293e-09, + 2.715099256533904e-10, + -3.725290298461914e-09 + ], + "angular_velocity": [ + -2.468327764404421e-08, + -1.3133004017618077e-07, + -2.252158903814916e-09 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + -1.0833539962768555, + 1.1457757949829102, + 0.8999999761581421 + ], + "ori": [ + -0.05133098363876343, + 9.532484313012901e-08, + -6.898198279259304e-08, + 0.9986817836761475 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -2.210440941396996e-09, + 3.7431369115381585e-09, + -3.725290298461914e-09 + ], + "angular_velocity": [ + -7.045226197988086e-07, + -6.080678627284897e-09, + -6.854140366385764e-08 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + 0.2842283248901367, + 1.1536216735839844, + 0.8999999761581421 + ], + "ori": [ + -0.0029394624289125204, + 4.851692381180328e-10, + -2.2194517335094588e-09, + 0.999995768070221 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 6.717266742839456e-10, + 2.049047820307237e-09, + 3.725290298461914e-09 + ], + "angular_velocity": [ + -1.4939256232082698e-07, + 1.0473726774762326e-07, + 6.283462639089521e-10 + ] + } + } + ], + "plate": [ + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_24_clear/Object.usd", + "pose": { + "pos": [ + 1.4786195755004883, + 0.4779844284057617, + 0.9180000424385071 + ], + "ori": [ + 0.9684061408042908, + -4.398416422191076e-07, + -3.415660998484782e-08, + 0.2493782341480255 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 6.113923518569209e-07, + -2.0311899788794108e-06, + -5.19677996635437e-06 + ], + "angular_velocity": [ + -2.4540080630686134e-05, + -5.84245499339886e-05, + -1.3783832400804386e-05 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_384_black/Object.usd", + "pose": { + "pos": [ + -0.10485649108886719, + 0.4368934631347656, + 0.9180000424385071 + ], + "ori": [ + 0.9991582036018372, + 4.052303381740785e-09, + -4.4578545715934226e-11, + 0.04102475941181183 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -2.937242271627838e-08, + -1.0366887792656598e-08, + -5.234032869338989e-06 + ], + "angular_velocity": [ + 1.281731556446175e-07, + -1.5339228411903605e-06, + 4.709751877385315e-08 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_1536_black/Object.usd", + "pose": { + "pos": [ + -1.0906991958618164, + 1.1476678848266602, + 0.9180000424385071 + ], + "ori": [ + -0.15472544729709625, + 8.787690575218221e-08, + -7.879080499151314e-08, + 0.9879575371742249 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 4.5919975377728406e-08, + 1.4631579503543435e-08, + -5.81890344619751e-06 + ], + "angular_velocity": [ + -1.0467809943293105e-06, + 1.4908746379660442e-06, + 1.793691239981854e-07 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/deep_well_24_10ml/Object.usd", + "pose": { + "pos": [ + 0.2977886199951172, + 1.1545886993408203, + 0.9179999828338623 + ], + "ori": [ + -0.08961836993694305, + 1.3214592753385546e-09, + -2.46357756417126e-09, + 0.9959761500358582 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 3.9414466357357014e-08, + 5.7832757249798306e-08, + -1.0058283805847168e-06 + ], + "angular_velocity": [ + -2.6378329494036734e-06, + 2.0207016859785654e-06, + -2.203989879490109e-09 + ] + } + } + ], + "deco_hub_west": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/hub_c.usd", + "pose": { + "pos": [ + -3.36, + 0.0, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_hub_east": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/hub_a.usd", + "pose": { + "pos": [ + 3.36, + 0.0, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_hub_back": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/hub_e.usd", + "pose": { + "pos": [ + -3.0, + -2.1, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_bench_east": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/bench_a.usd", + "pose": { + "pos": [ + 2.6, + -2.5, + 0.0 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_bench_gap": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/bench_b.usd", + "pose": { + "pos": [ + -0.1, + -2.9, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ] + }, + {} + ], + "devices": { + "hub": [ + null, + null, + { + "t": 5.6599999999999016, + "step": 1132, + "counter": 0, + "devices": { + "a4s_sealer_1": { + "mode": "auto", + "units": { + "drawer": { + "state": "at_out", + "active": null, + "target": 0.0, + "goal_name": "out", + "profile": null, + "q_start": null, + "reversing": false, + "blocked_for": 0.0, + "settled_for": 0.0, + "last_q": 1.6820827499972046e-12 + }, + "heater": { + "state": "ready", + "active": null, + "duration": 0.0, + "t_start": null, + "elapsed": 0.0 + } + }, + "queues": {}, + "program": null, + "sensors": { + "plate_present": { + "occupants": [], + "pending": {} + } + }, + "interlocks": {} + }, + "conveyor_1": { + "mode": "auto", + "units": { + "belt": { + "state": "at_station", + "active": null, + "controller": { + "speed": 0.2453754842653013, + "holds": [], + "station": "pick", + "rider": "carrier_2", + "arrived": true, + "settle_count": 997, + "released": { + "pick": [] + }, + "last_pos": { + "carrier_1": [ + 1.331542581319809, + 0.029350101947784424, + 0.0 + ], + "carrier_2": [ + -0.2550787031650543, + -0.002726733684539795, + 0.0 + ], + "carrier_3": [ + -1.23335400223732, + 0.6957758069038391, + 0.0 + ], + "carrier_4": [ + 0.13422831892967224, + 0.7036216855049133, + 0.0 + ] + }, + "command": 0.0 + }, + "belt": { + "target_speed": 0.0, + "command_speed": 0.0 + }, + "seen": { + "state": "at_station", + "station": "pick", + "rider": "carrier_2", + "arrived": true + } + } + }, + "queues": {}, + "program": null, + "sensors": {}, + "interlocks": {} + } + }, + "zones": {}, + "labware": { + "plate_1": { + "sealed": false + }, + "plate_2": { + "sealed": false + }, + "plate_3": { + "sealed": false + }, + "plate_4": { + "sealed": false + } + }, + "rules": {}, + "records": [], + "bus": { + "seq": 3, + "queue": [] + } + }, + null + ], + "drives": [ + null, + null, + {}, + null + ] + }, + "artifacts": [ + {}, + {}, + { + "ceiling": { + "type": "rect", + "pose": { + "pos": [ + -0.23873776665577418, + -0.43467487484218637, + 2.8934039721798177 + ], + "ori": [ + -7.5025719805114175, + -12.690881403473615, + -13.869673606061241 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "color_temperature": 3297.8821144326116, + "color": [ + 0.9309110659540819, + 0.9152838009566724, + 0.8554441172091248 + ], + "intensity": 6441.813109795457, + "width": 2.064475076788879, + "height": 1.3748517981915187 + } + }, + "key": { + "type": "sphere", + "pose": { + "pos": [ + -1.5867749762712886, + 1.3783910830550739, + 2.3806864695433956 + ], + "ori": [ + 37.35005214862592, + -28.187421452337908, + -26.971393071441234 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "color_temperature": 3623.5567306391526, + "color": [ + 0.9476889584804807, + 0.7620317000071137, + 0.8043553120321156 + ], + "intensity": 7318.582445039626, + "radius": 0.1817581127880304 + } + } + }, + {} + ], + "background": { + "type": "dome", + "pose": { + "pos": null, + "ori": null, + "scale": null + }, + "dr": { + "intensity": 447.1366844478555, + "texture": null, + "color": [ + 0.92, + 0.94, + 0.96 + ] + } + } + }, + "robots": { + "UR5e": { + "root_pose": [ + [ + 11.0, + -11.0, + 0.9150000214576721, + 1.0, + 0.0, + 0.0, + 0.0 + ], + [ + 11.0, + 11.0, + 0.9150000214576721, + 1.0, + 0.0, + 0.0, + 0.0 + ], + [ + -11.0, + -11.0, + 0.9150000214576721, + 1.0, + 0.0, + 0.0, + 0.0 + ], + [ + -11.0, + 11.0, + 0.9150000214576721, + 1.0, + 0.0, + 0.0, + 0.0 + ] + ], + "root_vel": [ + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + ], + "joint_pos": [ + [ + 0.9106912612915039, + -1.3407334089279175, + 2.13175106048584, + -2.361768960952759, + -1.5707964897155762, + 2.4659276008605957, + 0.018000049516558647, + 0.01799994893372059 + ], + [ + 2.7870237827301025, + -1.6633532047271729, + 2.0775089263916016, + -1.98520827293396, + -1.5709409713745117, + 4.356420040130615, + 0.007272460963577032, + 0.006578036583960056 + ], + [ + 0.9141008257865906, + -1.719398021697998, + 2.0904994010925293, + -1.941900372505188, + -1.5707999467849731, + 2.4849002361297607, + 0.018000001087784767, + 0.01799999736249447 + ], + [ + 0.9140999913215637, + -1.7194000482559204, + 2.0905001163482666, + -1.9419000148773193, + -1.5707999467849731, + 2.4848999977111816, + 0.017999999225139618, + 0.017999999225139618 + ] + ], + "joint_vel": [ + [ + -0.00013705961464438587, + 0.01631738245487213, + 0.007844161242246628, + -0.022881953045725822, + -7.560111043858342e-06, + -2.0904017219436355e-05, + -7.224191904242616e-06, + 7.225627541629365e-06 + ], + [ + 0.006589328870177269, + 0.021960923448204994, + -0.019566288217902184, + -0.0025917389430105686, + -0.00024272689188364893, + 0.007657269015908241, + -0.009311786852777004, + 0.00013797594874631613 + ], + [ + 3.4059648896800354e-06, + -3.405958068469772e-06, + 6.811945695517352e-06, + 3.4059751214954304e-06, + 3.275006134340064e-13, + 9.458676246756892e-13, + -2.599000836767118e-08, + 2.5990793517394195e-08 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + ] + } + }, + "cameras": { + "cameras": { + "camera0": [ + [ + 0.0505744069814682, + 0.00017881911480799317, + -0.031488727778196335, + -0.28049299120903015, + 0.6418727040290833, + 0.6626284122467041, + -0.26504096388816833 + ], + [ + 0.04656876251101494, + -0.001027789432555437, + -0.028198525309562683, + -0.27697810530662537, + 0.6519824266433716, + 0.6494712233543396, + -0.27638593316078186 + ], + [ + 0.04995042830705643, + -0.0022248460445553064, + -0.028975769877433777, + -0.2885047197341919, + 0.6397977471351624, + 0.6535475850105286, + -0.2833714783191681 + ], + [ + 0.051485929638147354, + 0.002915356308221817, + -0.03000405617058277, + -0.283147394657135, + 0.6484677195549011, + 0.653218150138855, + -0.2694868743419647 + ] + ], + "camera1": [ + [ + 0.04536691680550575, + 0.5713446140289307, + 1.9539766311645508, + 0.03157634288072586, + -0.0013743893941864371, + 0.25604870915412903, + 0.9661470651626587 + ], + [ + 0.0672474279999733, + 0.5693768858909607, + 1.966483235359192, + 0.03533012792468071, + 0.006427648011595011, + 0.28280404210090637, + 0.9585052728652954 + ], + [ + 0.04763740301132202, + 0.5952988266944885, + 1.9673422574996948, + 0.04814846068620682, + 0.00875834934413433, + 0.2878819406032562, + 0.9564146399497986 + ], + [ + 0.06671426445245743, + 0.5839920043945312, + 1.9592188596725464, + 0.03813035041093826, + 0.023655222728848457, + 0.26060906052589417, + 0.9644010663032532 + ] + ] + } + } + } +} \ No newline at end of file diff --git a/episodes/c7_p015_e022/wrist.mp4 b/episodes/c7_p015_e022/wrist.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..fb2efd9696c4c1438b9c4f6654b739de4c629836 --- /dev/null +++ b/episodes/c7_p015_e022/wrist.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:58d7156a1145112312827cc015ea8ab3e5f852ef527478141e0211a0b0efc396 +size 7392596 diff --git a/episodes/c7_p015_e023/data.npz b/episodes/c7_p015_e023/data.npz new file mode 100644 index 0000000000000000000000000000000000000000..8056910cd26fc47c2dd01d6f98faaa1fb30d8291 --- /dev/null +++ b/episodes/c7_p015_e023/data.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:8658e7ea40ad9e6f293c1f313443afda437a2b3cf5a419ee76a178e51d95b673 +size 193227 diff --git a/episodes/c7_p015_e023/device_events.jsonl b/episodes/c7_p015_e023/device_events.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..7a71d05295885de4151118ae31f889de8f05dedd --- /dev/null +++ b/episodes/c7_p015_e023/device_events.jsonl @@ -0,0 +1,40 @@ +{"env_id": 3, "seq": 1, "step": 52, "t": 0.26, "topic": "conveyor_1.belt.station.pick.captured", "source": "conveyor_1.belt", "data": {"rider": "carrier_4"}, "cause": null} +{"env_id": 3, "seq": 2, "step": 52, "t": 0.26, "topic": "conveyor_1.belt.state.changed", "source": "conveyor_1.belt", "data": {"from": "running", "to": "at_station"}, "cause": null} +{"env_id": 3, "seq": 3, "step": 57, "t": 0.285, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_4"}, "cause": null} +{"env_id": 3, "seq": 4, "step": 1885, "t": 9.425, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_4"}, "cause": null} +{"env_id": 3, "seq": 5, "step": 1909, "t": 9.545, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_4"}, "cause": null} +{"env_id": 3, "seq": 6, "step": 1923, "t": 9.615, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_4"}, "cause": null} +{"env_id": 3, "seq": 7, "step": 1948, "t": 9.74, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_4"}, "cause": null} +{"env_id": 3, "seq": 8, "step": 2041, "t": 10.205, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_4"}, "cause": null} +{"env_id": 3, "seq": 9, "step": 6642, "t": 33.21, "topic": "a4s_sealer_1.plate_present.present", "source": "a4s_sealer_1.plate_present", "data": {"object": "plate_4"}, "cause": null} +{"env_id": 3, "seq": 10, "step": 7252, "t": 36.26, "topic": "a4s_sealer_1.command.started", "source": "a4s_sealer_1", "data": {"command_id": "task-3-1", "name": "seal", "source": "task"}, "cause": "task-3-1"} +{"env_id": 3, "seq": 11, "step": 7252, "t": 36.26, "topic": "a4s_sealer_1.seal.started", "source": "a4s_sealer_1", "data": {"dwell": 4.67214937833218}, "cause": "task-3-1"} +{"env_id": 3, "seq": 12, "step": 7252, "t": 36.26, "topic": "a4s_sealer_1.drawer.command.started", "source": "a4s_sealer_1.drawer", "data": {"command_id": "program-3-2", "name": "close", "source": "program:seal"}, "cause": "program-3-2"} +{"env_id": 3, "seq": 13, "step": 7252, "t": 36.26, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "at_out", "to": "moving"}, "cause": null} +{"env_id": 3, "seq": 14, "step": 7252, "t": 36.26, "topic": "a4s_sealer_1.drawer.moving", "source": "a4s_sealer_1.drawer", "data": {"target": 0.3, "goal": "in"}, "cause": "program-3-2"} +{"env_id": 3, "seq": 15, "step": 7671, "t": 38.355, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "moving", "to": "at_in"}, "cause": null} +{"env_id": 3, "seq": 16, "step": 7671, "t": 38.355, "topic": "a4s_sealer_1.drawer.reached", "source": "a4s_sealer_1.drawer", "data": {"position": "in", "q": 0.2999999523162842}, "cause": "program-3-2"} +{"env_id": 3, "seq": 17, "step": 7671, "t": 38.355, "topic": "a4s_sealer_1.drawer.at_in", "source": "a4s_sealer_1.drawer", "data": {"q": 0.2999999523162842}, "cause": "program-3-2"} +{"env_id": 3, "seq": 18, "step": 7671, "t": 38.355, "topic": "a4s_sealer_1.drawer.command.succeeded", "source": "a4s_sealer_1.drawer", "data": {"command_id": "program-3-2", "name": "close", "source": "program:seal", "result": {"position": "in"}}, "cause": "program-3-2"} +{"env_id": 3, "seq": 19, "step": 7671, "t": 38.355, "topic": "labware.plate_4.changed", "source": "labware.plate_4", "data": {"key": "sealed", "value": true}, "cause": "task-3-1"} +{"env_id": 3, "seq": 20, "step": 7671, "t": 38.355, "topic": "a4s_sealer_1.sealed", "source": "a4s_sealer_1", "data": {"plate": "plate_4"}, "cause": "task-3-1"} +{"env_id": 3, "seq": 21, "step": 7671, "t": 38.355, "topic": "a4s_sealer_1.heater.command.started", "source": "a4s_sealer_1.heater", "data": {"command_id": "program-3-3", "name": "run", "source": "program:seal"}, "cause": "program-3-3"} +{"env_id": 3, "seq": 22, "step": 7671, "t": 38.355, "topic": "a4s_sealer_1.heater.state.changed", "source": "a4s_sealer_1.heater", "data": {"from": "ready", "to": "running"}, "cause": null} +{"env_id": 3, "seq": 23, "step": 7671, "t": 38.355, "topic": "a4s_sealer_1.heater.started", "source": "a4s_sealer_1.heater", "data": {"duration": 4.67214937833218}, "cause": "program-3-3"} +{"env_id": 3, "seq": 24, "step": 8606, "t": 43.03, "topic": "a4s_sealer_1.heater.state.changed", "source": "a4s_sealer_1.heater", "data": {"from": "running", "to": "ready"}, "cause": null} +{"env_id": 3, "seq": 25, "step": 8606, "t": 43.03, "topic": "a4s_sealer_1.heater.finished", "source": "a4s_sealer_1.heater", "data": {"elapsed": 4.675000000002392}, "cause": "program-3-3"} +{"env_id": 3, "seq": 26, "step": 8606, "t": 43.03, "topic": "a4s_sealer_1.heater.command.succeeded", "source": "a4s_sealer_1.heater", "data": {"command_id": "program-3-3", "name": "run", "source": "program:seal", "result": {"elapsed": 4.675000000002392}}, "cause": "program-3-3"} +{"env_id": 3, "seq": 27, "step": 8606, "t": 43.03, "topic": "a4s_sealer_1.drawer.command.started", "source": "a4s_sealer_1.drawer", "data": {"command_id": "program-3-4", "name": "open", "source": "program:seal"}, "cause": "program-3-4"} +{"env_id": 3, "seq": 28, "step": 8606, "t": 43.03, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "at_in", "to": "moving"}, "cause": null} +{"env_id": 3, "seq": 29, "step": 8606, "t": 43.03, "topic": "a4s_sealer_1.drawer.moving", "source": "a4s_sealer_1.drawer", "data": {"target": 0.0, "goal": "out"}, "cause": "program-3-4"} +{"env_id": 3, "seq": 30, "step": 9025, "t": 45.125, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "moving", "to": "at_out"}, "cause": null} +{"env_id": 3, "seq": 31, "step": 9025, "t": 45.125, "topic": "a4s_sealer_1.drawer.reached", "source": "a4s_sealer_1.drawer", "data": {"position": "out", "q": 0.0}, "cause": "program-3-4"} +{"env_id": 3, "seq": 32, "step": 9025, "t": 45.125, "topic": "a4s_sealer_1.drawer.at_out", "source": "a4s_sealer_1.drawer", "data": {"q": 0.0}, "cause": "program-3-4"} +{"env_id": 3, "seq": 33, "step": 9025, "t": 45.125, "topic": "a4s_sealer_1.drawer.command.succeeded", "source": "a4s_sealer_1.drawer", "data": {"command_id": "program-3-4", "name": "open", "source": "program:seal", "result": {"position": "out"}}, "cause": "program-3-4"} +{"env_id": 3, "seq": 34, "step": 9025, "t": 45.125, "topic": "a4s_sealer_1.seal.finished", "source": "a4s_sealer_1", "data": {}, "cause": "task-3-1"} +{"env_id": 3, "seq": 35, "step": 9025, "t": 45.125, "topic": "a4s_sealer_1.command.succeeded", "source": "a4s_sealer_1", "data": {"command_id": "task-3-1", "name": "seal", "source": "task"}, "cause": "task-3-1"} +{"env_id": 3, "seq": 36, "step": 9607, "t": 48.035, "topic": "a4s_sealer_1.plate_present.absent", "source": "a4s_sealer_1.plate_present", "data": {"object": "plate_4"}, "cause": null} +{"env_id": 3, "seq": 37, "step": 11352, "t": 56.76, "topic": "conveyor_1.belt.command.started", "source": "conveyor_1.belt", "data": {"command_id": "task-3-5", "name": "release", "source": "task"}, "cause": "task-3-5"} +{"env_id": 3, "seq": 38, "step": 11352, "t": 56.76, "topic": "conveyor_1.belt.station.pick.released", "source": "conveyor_1.belt", "data": {"rider": "carrier_4"}, "cause": "task-3-5"} +{"env_id": 3, "seq": 39, "step": 11352, "t": 56.76, "topic": "conveyor_1.belt.state.changed", "source": "conveyor_1.belt", "data": {"from": "at_station", "to": "running"}, "cause": null} +{"env_id": 3, "seq": 40, "step": 11352, "t": 56.76, "topic": "conveyor_1.belt.command.succeeded", "source": "conveyor_1.belt", "data": {"command_id": "task-3-5", "name": "release", "source": "task", "result": {"state": "running"}}, "cause": "task-3-5"} diff --git a/episodes/c7_p015_e023/env.mp4 b/episodes/c7_p015_e023/env.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..e306d91b8433b403b0c4d7a233c15f764cf422dc --- /dev/null +++ b/episodes/c7_p015_e023/env.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:262fb9c579e17a69530263af743e05de532dee7c928cdc2d19c1971d9cf6be43 +size 1305786 diff --git a/episodes/c7_p015_e023/meta.json b/episodes/c7_p015_e023/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..407fe4736c648640ab216c621a22015da051cb58 --- /dev/null +++ b/episodes/c7_p015_e023/meta.json @@ -0,0 +1,32 @@ +{ + "source": "raw/c7_p015/magicsim/23", + "fps": 25, + "frames": 1242, + "kept_ticks": "even", + "video_frames": { + "wrist": 1242, + "env": 1242 + }, + "joint_target_source": "joint_pos_target", + "fk_vs_recorded_eef_max_m": 0.0, + "curobo_joints": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "joint_order": [ + "shoulder_pan", + "shoulder_lift", + "elbow", + "wrist_1", + "wrist_2", + "wrist_3", + "finger_left", + "finger_right" + ], + "frames_note": "eef / actions in the robot base frame; camera_pose = local pose (wrist: in plate_gripper_base, env: env frame), pos + quat wxyz", + "dr_version": "v2" +} \ No newline at end of file diff --git a/episodes/c7_p015_e023/scene_snapshot.json b/episodes/c7_p015_e023/scene_snapshot.json new file mode 100644 index 0000000000000000000000000000000000000000..f11266cc66326f185f266c5559c031216ba818f3 --- /dev/null +++ b/episodes/c7_p015_e023/scene_snapshot.json @@ -0,0 +1,1558 @@ +{ + "trajectory_id": 23, + "env_id": 3, + "run_id": "c7_p015", + "task_type": "BioPlateCell", + "success": true, + "timing": { + "fps": 50.0, + "sim_dt": 0.005, + "decimation": 4 + }, + "restore_interface": { + "scene": "scene_manager.reset_to(snapshot['scene'], env_ids=[env_id])", + "robots": "robot_manager.set_state({'robots': snapshot['robots']}, env_ids=[env_id])" + }, + "snapshot": { + "env_id": 3, + "scene": { + "objects": [ + {}, + {}, + {}, + { + "rac_cell": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/rac_cell.usd", + "pose": { + "pos": [ + 0.0, + 0.0, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "physics_material": { + "static_friction": 0.6, + "dynamic_friction": 0.5, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "robot_mount": [ + { + "asset": "Cube", + "pose": { + "pos": [ + 0.0, + 0.0, + 0.9075 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": "color", + "value": [ + 0.55, + 0.56, + 0.58 + ], + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": { + "size": [ + 0.2, + 0.2, + 0.015 + ] + } + }, + "type_specific": {} + } + ], + "plate_rack": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/plate_hotel.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 0.9 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "physics_material": { + "static_friction": 0.6, + "dynamic_friction": 0.5, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "hotel_plate": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_96_black/plate_96_black.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 0.9605 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_96_white/plate_96_white.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.0285 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_48_clear/plate_48_clear.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.0965 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_384_white/plate_384_white.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.1645 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_12_clear/plate_12_clear.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.2325 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "a4s_sealer": [ + { + "asset": "$MAGICSIM_ASSETS/Articulated/A4SSealer/Object.usd", + "pose": { + "pos": [ + 0.5025548934936523, + 0.05330467224121094, + 0.8999999761581421 + ], + "ori": [ + -0.6839194893836975, + 0.0, + 0.0, + 0.7295575141906738 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "articulation", + "solver_position_iteration_count": 16.0, + "solver_velocity_iteration_count": 1.0, + "enabled_self_collisions": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "joint_position": [ + 0.0 + ], + "joint_velocity": [ + 0.0 + ], + "linear_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "angular_velocity": [ + 0.0, + 0.0, + 0.0 + ] + } + } + ], + "conveyor": [ + { + "asset": "Cube", + "pose": { + "pos": [ + 0.15, + 0.45, + 0.9 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "conveyor", + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9 + }, + "ratio": 1.0 + }, + "primitive_params": { + "size": [ + 2.4, + 0.076, + 0.03 + ] + }, + "conveyor": { + "speed": 0.28004903949291055, + "direction": [ + 1.0, + 0.0, + 0.0 + ], + "enabled": true, + "drive": "surface_velocity", + "lines": null, + "station_line": null, + "riders": [ + "carrier" + ], + "stations": { + "pick": { + "position": -0.07504291860150089, + "slow_distance": 0.03, + "slow_speed": 0.03 + } + }, + "rails": { + "height": 0.01, + "thickness": 0.01, + "gap": 0.001, + "friction": 0.05 + }, + "legs": 0.87, + "loop": { + "radius": 0.35, + "side": "left", + "curve_extra_width": 0.0, + "segments": 18, + "curve_rails": "both" + }, + "snap_distance": 0.1, + "junction_snap": 0.02, + "collision_approximation": "auto", + "plate_mass": 1.0, + "lift_drop": 0.004, + "accel": 0.0, + "decel": 0.0, + "drive_damping": 1000000.0, + "drive_max_force": 1000000000.0 + } + }, + "type_specific": { + "controller": { + "state": "at_station", + "speed": 0.28004903949291055, + "holds": [], + "station": "pick", + "rider": "carrier_4", + "arrived": true, + "applied_speed": 0.0 + } + } + } + ], + "carrier": [ + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + 1.6989259719848633, + 0.7990741729736328, + 0.8999999761581421 + ], + "ori": [ + 0.7106456160545349, + -1.578045916161841e-09, + 1.690993229885862e-07, + 0.7035502195358276 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 1.0340738265668392e-09, + 7.647766864238292e-10, + 0.0 + ], + "angular_velocity": [ + -2.741911941939179e-08, + -2.483364980321312e-08, + -1.838920837826663e-08 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + -1.398127555847168, + 0.7772035598754883, + 0.8999999761581421 + ], + "ori": [ + -0.7287237048149109, + 3.85660037238722e-08, + -2.1466391331159684e-08, + 0.6848078370094299 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 2.8083568803793924e-10, + 3.2795349769187965e-11, + 0.0 + ], + "angular_velocity": [ + 3.128892700487995e-09, + -3.107455626150113e-09, + 3.169971174443731e-09 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + 0.16287612915039062, + 1.1499967575073242, + 0.8999999761581421 + ], + "ori": [ + 1.628597965463996e-05, + 1.4132099046548774e-08, + 7.859136452736948e-09, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -9.291837299585382e-10, + -9.750162899280213e-10, + 3.725290298461914e-09 + ], + "angular_velocity": [ + 7.201468577022752e-08, + -8.676043705690972e-08, + -4.786558260860829e-09 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + 0.07551383972167969, + 0.45000267028808594, + 0.8999999761581421 + ], + "ori": [ + 1.0, + 4.052036040036455e-09, + -4.194519398481589e-09, + -3.892950189765543e-05 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 2.0978805359561647e-09, + 1.5375746231782728e-09, + 1.4901161193847656e-08 + ], + "angular_velocity": [ + -6.582070000149542e-08, + 1.9746273949294846e-07, + -2.3621618439051417e-08 + ] + } + } + ], + "plate": [ + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_48_clear/Object.usd", + "pose": { + "pos": [ + 1.6934547424316406, + 0.8067893981933594, + 0.9179999828338623 + ], + "ori": [ + 0.7606138586997986, + -1.6426161764115932e-08, + 1.6593830309830082e-07, + 0.6492046117782593 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 3.1345308570962516e-08, + -2.6586512547055463e-08, + 4.470348358154297e-08 + ], + "angular_velocity": [ + 9.748471256898483e-07, + 7.51424636291631e-07, + -1.4353425115132268e-07 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_384_white/Object.usd", + "pose": { + "pos": [ + -1.3974790573120117, + 0.7917814254760742, + 0.9180000424385071 + ], + "ori": [ + -0.7388246655464172, + 5.516570311669966e-08, + -4.320514079836357e-08, + 0.6738978028297424 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -5.4927411952121474e-08, + -1.591226350683428e-08, + -5.379319190979004e-06 + ], + "angular_velocity": [ + -1.986902589123929e-06, + -1.1750440535251983e-05, + 2.2265966848067364e-10 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_96_clear/Object.usd", + "pose": { + "pos": [ + 0.16810226440429688, + 1.1483240127563477, + 0.9180000424385071 + ], + "ori": [ + -0.07064882665872574, + 1.556089657128723e-08, + 7.80975639713688e-09, + 0.9975012540817261 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 4.738506476087423e-09, + 2.8451987432731585e-09, + -5.278736352920532e-06 + ], + "angular_velocity": [ + -2.187994823543704e-06, + 2.103805854858365e-06, + -6.410490982489137e-08 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/reservoir_12ch/Object.usd", + "pose": { + "pos": [ + 0.08346748352050781, + 0.44564151763916016, + 0.9179999828338623 + ], + "ori": [ + 0.9998008608818054, + 5.773856059931859e-09, + -2.752983618847793e-09, + -0.01995958760380745 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -3.078604393635942e-08, + 1.5357441540686523e-08, + -1.344829797744751e-06 + ], + "angular_velocity": [ + -1.4421655691876367e-07, + -1.582614800099691e-06, + -1.2869965537731787e-08 + ] + } + } + ], + "deco_hub_west": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/hub_e.usd", + "pose": { + "pos": [ + -3.36, + 0.0, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_hub_east": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/hub_d.usd", + "pose": { + "pos": [ + 3.36, + 0.0, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_hub_back": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/hub_a.usd", + "pose": { + "pos": [ + -3.0, + -2.1, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_bench_east": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/bench_c.usd", + "pose": { + "pos": [ + 2.6, + -2.5, + 0.0 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_bench_gap": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/bench_b.usd", + "pose": { + "pos": [ + -0.1, + -2.9, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ] + } + ], + "devices": { + "hub": [ + null, + null, + null, + { + "t": 7.239999999999868, + "step": 1448, + "counter": 0, + "devices": { + "a4s_sealer_1": { + "mode": "auto", + "units": { + "drawer": { + "state": "at_out", + "active": null, + "target": 0.0, + "goal_name": "out", + "profile": null, + "q_start": null, + "reversing": false, + "blocked_for": 0.0, + "settled_for": 0.0, + "last_q": 0.0 + }, + "heater": { + "state": "ready", + "active": null, + "duration": 0.0, + "t_start": null, + "elapsed": 0.0 + } + }, + "queues": {}, + "program": null, + "sensors": { + "plate_present": { + "occupants": [], + "pending": {} + } + }, + "interlocks": {} + }, + "conveyor_1": { + "mode": "auto", + "units": { + "belt": { + "state": "at_station", + "active": null, + "controller": { + "speed": 0.28004903949291055, + "holds": [], + "station": "pick", + "rider": "carrier_4", + "arrived": true, + "settle_count": 1395, + "released": { + "pick": [] + }, + "last_pos": { + "carrier_1": [ + 1.5489259660243988, + 0.34907418489456177, + 0.0 + ], + "carrier_2": [ + -1.5481275618076324, + 0.32720357179641724, + 0.0 + ], + "carrier_3": [ + 0.012876123189926147, + 0.6999967694282532, + 0.0 + ], + "carrier_4": [ + -0.07448616623878479, + 2.682209014892578e-06, + 0.0 + ] + }, + "command": 0.0 + }, + "belt": { + "target_speed": 0.0, + "command_speed": 0.0 + }, + "seen": { + "state": "at_station", + "station": "pick", + "rider": "carrier_4", + "arrived": true + } + } + }, + "queues": {}, + "program": null, + "sensors": {}, + "interlocks": {} + } + }, + "zones": {}, + "labware": { + "plate_1": { + "sealed": false + }, + "plate_2": { + "sealed": false + }, + "plate_3": { + "sealed": false + }, + "plate_4": { + "sealed": false + } + }, + "rules": {}, + "records": [], + "bus": { + "seq": 3, + "queue": [] + } + } + ], + "drives": [ + null, + null, + null, + {} + ] + }, + "artifacts": [ + {}, + {}, + {}, + { + "ceiling": { + "type": "rect", + "pose": { + "pos": [ + 0.7421347219502074, + 0.4024484792315087, + 2.7548466321946656 + ], + "ori": [ + -13.256350272017746, + -3.8263712691827827, + -5.625367808574882 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "color_temperature": 4208.245266279177, + "color": [ + 0.9328069153154028, + 0.8996234960856432, + 0.9298475470072574 + ], + "intensity": 8480.215797216431, + "width": 2.0778580404253173, + "height": 1.756573820150447 + } + }, + "key": { + "type": "sphere", + "pose": { + "pos": [ + -1.2295791626367851, + 0.8368545180058156, + 2.2436104620976827 + ], + "ori": [ + 25.91339261021575, + -27.292861226796052, + 22.748956930697148 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "color_temperature": 4117.333027096337, + "color": [ + 0.8088440608938705, + 0.7956987532960234, + 0.8066493641738999 + ], + "intensity": 7297.19475010932, + "radius": 0.24323565963611876 + } + } + } + ], + "background": { + "type": "dome", + "pose": { + "pos": null, + "ori": null, + "scale": null + }, + "dr": { + "intensity": 447.1366844478555, + "texture": null, + "color": [ + 0.92, + 0.94, + 0.96 + ] + } + } + }, + "robots": { + "UR5e": { + "root_pose": [ + [ + 11.0, + -11.0, + 0.9150000214576721, + 1.0, + 0.0, + 0.0, + 0.0 + ], + [ + 11.0, + 11.0, + 0.9150000214576721, + 1.0, + 0.0, + 0.0, + 0.0 + ], + [ + -11.0, + -11.0, + 0.9150000214576721, + 1.0, + 0.0, + 0.0, + 0.0 + ], + [ + -11.0, + 11.0, + 0.9150000214576721, + 1.0, + 0.0, + 0.0, + 0.0 + ] + ], + "root_vel": [ + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + ], + "joint_pos": [ + [ + 1.0701948404312134, + -1.5633769035339355, + 2.1370723247528076, + -2.1441962718963623, + -1.5707578659057617, + 2.627652883529663, + 0.007731896825134754, + 0.006986397318542004 + ], + [ + 2.5253777503967285, + -2.2337989807128906, + 2.4131243228912354, + -1.750413417816162, + -1.5707290172576904, + 4.094736576080322, + 0.017999988049268723, + 0.018000010401010513 + ], + [ + 1.1924668550491333, + -1.557207465171814, + 2.155538320541382, + -2.169297933578491, + -1.570756196975708, + 2.6817755699157715, + 0.008846449665725231, + 0.006082105915993452 + ], + [ + 0.9141026139259338, + -1.7193984985351562, + 2.0904998779296875, + -1.9419010877609253, + -1.5707999467849731, + 2.484900712966919, + 0.01799999549984932, + 0.018000002950429916 + ] + ], + "joint_vel": [ + [ + 0.05221226438879967, + -0.029617900028824806, + 0.02452671527862549, + 0.01031617633998394, + -0.0008095796220004559, + 0.04269534721970558, + -0.007099170703440905, + 0.0002593782846815884 + ], + [ + 2.5700267856419586e-38, + -2.7835600087520886e-38, + -1.6267617820408228e-38, + -5.605060677893219e-37, + -7.387780028573011e-38, + -4.2674781897544183e-38, + 1.559422599939353e-07, + -1.559424447350466e-07 + ], + [ + 0.0038556382060050964, + 0.0003741568070836365, + -0.0020549113396555185, + 0.0049905478954315186, + -0.001320310984738171, + -0.006125374231487513, + -0.006303012371063232, + 0.0001626098674023524 + ], + [ + 3.4059648896800354e-06, + 3.405935331102228e-06, + -9.313081555939462e-12, + -1.578682388807262e-12, + -3.405976940484834e-06, + 6.693778560953878e-13, + 5.1980240556304125e-08, + -5.1980034498910754e-08 + ] + ] + } + }, + "cameras": { + "cameras": { + "camera0": [ + [ + 0.0493752583861351, + -0.0014424955006688833, + -0.031191613525152206, + -0.28915727138519287, + 0.6453330516815186, + 0.6557090282440186, + -0.26453548669815063 + ], + [ + 0.048864640295505524, + -0.0013112538727000356, + -0.031191986054182053, + -0.2726786136627197, + 0.6560506820678711, + 0.6476035714149475, + -0.2754151523113251 + ], + [ + 0.04907245934009552, + -0.0013310685753822327, + -0.029420280829072, + -0.2843760550022125, + 0.6422924399375916, + 0.6524829864501953, + -0.28435301780700684 + ], + [ + 0.052518922835588455, + 0.0010205572471022606, + -0.028387177735567093, + -0.28713130950927734, + 0.6463807821273804, + 0.6501322388648987, + -0.27762484550476074 + ] + ], + "camera1": [ + [ + 0.04536691680550575, + 0.5713446140289307, + 1.9539766311645508, + 0.03157634288072586, + -0.0013743893941864371, + 0.25604870915412903, + 0.9661470651626587 + ], + [ + 0.0672474279999733, + 0.5693768858909607, + 1.966483235359192, + 0.03533012792468071, + 0.006427648011595011, + 0.28280404210090637, + 0.9585052728652954 + ], + [ + 0.04763740301132202, + 0.5952988266944885, + 1.9673422574996948, + 0.04814846068620682, + 0.00875834934413433, + 0.2878819406032562, + 0.9564146399497986 + ], + [ + 0.06671426445245743, + 0.5839920043945312, + 1.9592188596725464, + 0.03813035041093826, + 0.023655222728848457, + 0.26060906052589417, + 0.9644010663032532 + ] + ] + } + } + } +} \ No newline at end of file diff --git a/episodes/c7_p015_e023/wrist.mp4 b/episodes/c7_p015_e023/wrist.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..f62d8ab53e5251d70aac33e09ba5becda575b5dd --- /dev/null +++ b/episodes/c7_p015_e023/wrist.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:6329e662af8b51381a9a5f98280e712d266d53a84ac28e6fdf42c288c66ea10b +size 6727401 diff --git a/episodes/c8_p015_e000/data.npz b/episodes/c8_p015_e000/data.npz new file mode 100644 index 0000000000000000000000000000000000000000..4c7da9740a2fe8a1599ef0023050853e20114b4e --- /dev/null +++ b/episodes/c8_p015_e000/data.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:6dc9e2c2397a26bb7ee3e382bd20509985adcead8ddf894cdc2dcbab29e5cdf4 +size 192641 diff --git a/episodes/c8_p015_e000/device_events.jsonl b/episodes/c8_p015_e000/device_events.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..e5ef24dad4ae396283043d35f8f040c167ef4178 --- /dev/null +++ b/episodes/c8_p015_e000/device_events.jsonl @@ -0,0 +1,37 @@ +{"env_id": 0, "seq": 1, "step": 140, "t": 0.7, "topic": "conveyor_1.belt.station.pick.captured", "source": "conveyor_1.belt", "data": {"rider": "carrier_3"}, "cause": null} +{"env_id": 0, "seq": 2, "step": 140, "t": 0.7, "topic": "conveyor_1.belt.state.changed", "source": "conveyor_1.belt", "data": {"from": "running", "to": "at_station"}, "cause": null} +{"env_id": 0, "seq": 3, "step": 145, "t": 0.725, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_3"}, "cause": null} +{"env_id": 0, "seq": 4, "step": 742, "t": 3.71, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_3"}, "cause": null} +{"env_id": 0, "seq": 5, "step": 781, "t": 3.905, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_3"}, "cause": null} +{"env_id": 0, "seq": 6, "step": 5778, "t": 28.89, "topic": "a4s_sealer_1.plate_present.present", "source": "a4s_sealer_1.plate_present", "data": {"object": "plate_3"}, "cause": null} +{"env_id": 0, "seq": 7, "step": 6392, "t": 31.96, "topic": "a4s_sealer_1.command.started", "source": "a4s_sealer_1", "data": {"command_id": "task-0-1", "name": "seal", "source": "task"}, "cause": "task-0-1"} +{"env_id": 0, "seq": 8, "step": 6392, "t": 31.96, "topic": "a4s_sealer_1.seal.started", "source": "a4s_sealer_1", "data": {"dwell": 4.329004628767339}, "cause": "task-0-1"} +{"env_id": 0, "seq": 9, "step": 6392, "t": 31.96, "topic": "a4s_sealer_1.drawer.command.started", "source": "a4s_sealer_1.drawer", "data": {"command_id": "program-0-2", "name": "close", "source": "program:seal"}, "cause": "program-0-2"} +{"env_id": 0, "seq": 10, "step": 6392, "t": 31.96, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "at_out", "to": "moving"}, "cause": null} +{"env_id": 0, "seq": 11, "step": 6392, "t": 31.96, "topic": "a4s_sealer_1.drawer.moving", "source": "a4s_sealer_1.drawer", "data": {"target": 0.3, "goal": "in"}, "cause": "program-0-2"} +{"env_id": 0, "seq": 12, "step": 6811, "t": 34.055, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "moving", "to": "at_in"}, "cause": null} +{"env_id": 0, "seq": 13, "step": 6811, "t": 34.055, "topic": "a4s_sealer_1.drawer.reached", "source": "a4s_sealer_1.drawer", "data": {"position": "in", "q": 0.30000001192092896}, "cause": "program-0-2"} +{"env_id": 0, "seq": 14, "step": 6811, "t": 34.055, "topic": "a4s_sealer_1.drawer.at_in", "source": "a4s_sealer_1.drawer", "data": {"q": 0.30000001192092896}, "cause": "program-0-2"} +{"env_id": 0, "seq": 15, "step": 6811, "t": 34.055, "topic": "a4s_sealer_1.drawer.command.succeeded", "source": "a4s_sealer_1.drawer", "data": {"command_id": "program-0-2", "name": "close", "source": "program:seal", "result": {"position": "in"}}, "cause": "program-0-2"} +{"env_id": 0, "seq": 16, "step": 6811, "t": 34.055, "topic": "labware.plate_3.changed", "source": "labware.plate_3", "data": {"key": "sealed", "value": true}, "cause": "task-0-1"} +{"env_id": 0, "seq": 17, "step": 6811, "t": 34.055, "topic": "a4s_sealer_1.sealed", "source": "a4s_sealer_1", "data": {"plate": "plate_3"}, "cause": "task-0-1"} +{"env_id": 0, "seq": 18, "step": 6811, "t": 34.055, "topic": "a4s_sealer_1.heater.command.started", "source": "a4s_sealer_1.heater", "data": {"command_id": "program-0-3", "name": "run", "source": "program:seal"}, "cause": "program-0-3"} +{"env_id": 0, "seq": 19, "step": 6811, "t": 34.055, "topic": "a4s_sealer_1.heater.state.changed", "source": "a4s_sealer_1.heater", "data": {"from": "ready", "to": "running"}, "cause": null} +{"env_id": 0, "seq": 20, "step": 6811, "t": 34.055, "topic": "a4s_sealer_1.heater.started", "source": "a4s_sealer_1.heater", "data": {"duration": 4.329004628767339}, "cause": "program-0-3"} +{"env_id": 0, "seq": 21, "step": 7677, "t": 38.385, "topic": "a4s_sealer_1.heater.state.changed", "source": "a4s_sealer_1.heater", "data": {"from": "running", "to": "ready"}, "cause": null} +{"env_id": 0, "seq": 22, "step": 7677, "t": 38.385, "topic": "a4s_sealer_1.heater.finished", "source": "a4s_sealer_1.heater", "data": {"elapsed": 4.330000000002215}, "cause": "program-0-3"} +{"env_id": 0, "seq": 23, "step": 7677, "t": 38.385, "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": 4.330000000002215}}, "cause": "program-0-3"} +{"env_id": 0, "seq": 24, "step": 7677, "t": 38.385, "topic": "a4s_sealer_1.drawer.command.started", "source": "a4s_sealer_1.drawer", "data": {"command_id": "program-0-4", "name": "open", "source": "program:seal"}, "cause": "program-0-4"} +{"env_id": 0, "seq": 25, "step": 7677, "t": 38.385, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "at_in", "to": "moving"}, "cause": null} +{"env_id": 0, "seq": 26, "step": 7677, "t": 38.385, "topic": "a4s_sealer_1.drawer.moving", "source": "a4s_sealer_1.drawer", "data": {"target": 0.0, "goal": "out"}, "cause": "program-0-4"} +{"env_id": 0, "seq": 27, "step": 8097, "t": 40.485, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "moving", "to": "at_out"}, "cause": null} +{"env_id": 0, "seq": 28, "step": 8097, "t": 40.485, "topic": "a4s_sealer_1.drawer.reached", "source": "a4s_sealer_1.drawer", "data": {"position": "out", "q": 5.605891306714739e-10}, "cause": "program-0-4"} +{"env_id": 0, "seq": 29, "step": 8097, "t": 40.485, "topic": "a4s_sealer_1.drawer.at_out", "source": "a4s_sealer_1.drawer", "data": {"q": 5.605891306714739e-10}, "cause": "program-0-4"} +{"env_id": 0, "seq": 30, "step": 8097, "t": 40.485, "topic": "a4s_sealer_1.drawer.command.succeeded", "source": "a4s_sealer_1.drawer", "data": {"command_id": "program-0-4", "name": "open", "source": "program:seal", "result": {"position": "out"}}, "cause": "program-0-4"} +{"env_id": 0, "seq": 31, "step": 8097, "t": 40.485, "topic": "a4s_sealer_1.seal.finished", "source": "a4s_sealer_1", "data": {}, "cause": "task-0-1"} +{"env_id": 0, "seq": 32, "step": 8097, "t": 40.485, "topic": "a4s_sealer_1.command.succeeded", "source": "a4s_sealer_1", "data": {"command_id": "task-0-1", "name": "seal", "source": "task"}, "cause": "task-0-1"} +{"env_id": 0, "seq": 33, "step": 8675, "t": 43.375, "topic": "a4s_sealer_1.plate_present.absent", "source": "a4s_sealer_1.plate_present", "data": {"object": "plate_3"}, "cause": null} +{"env_id": 0, "seq": 34, "step": 10444, "t": 52.22, "topic": "conveyor_1.belt.command.started", "source": "conveyor_1.belt", "data": {"command_id": "task-0-5", "name": "release", "source": "task"}, "cause": "task-0-5"} +{"env_id": 0, "seq": 35, "step": 10444, "t": 52.22, "topic": "conveyor_1.belt.station.pick.released", "source": "conveyor_1.belt", "data": {"rider": "carrier_3"}, "cause": "task-0-5"} +{"env_id": 0, "seq": 36, "step": 10444, "t": 52.22, "topic": "conveyor_1.belt.state.changed", "source": "conveyor_1.belt", "data": {"from": "at_station", "to": "running"}, "cause": null} +{"env_id": 0, "seq": 37, "step": 10444, "t": 52.22, "topic": "conveyor_1.belt.command.succeeded", "source": "conveyor_1.belt", "data": {"command_id": "task-0-5", "name": "release", "source": "task", "result": {"state": "running"}}, "cause": "task-0-5"} diff --git a/episodes/c8_p015_e000/env.mp4 b/episodes/c8_p015_e000/env.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..5dcecb92d9693b5c2391b0f3c5bdbbfdd2170776 --- /dev/null +++ b/episodes/c8_p015_e000/env.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:7d702db26b258314fd12c86084b85d8156f7cf652b3a1128bdf6b48465aad7e1 +size 1386046 diff --git a/episodes/c8_p015_e000/meta.json b/episodes/c8_p015_e000/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..cc672b8bad2513e27d3e60a3ba2b083516ae6bf0 --- /dev/null +++ b/episodes/c8_p015_e000/meta.json @@ -0,0 +1,32 @@ +{ + "source": "raw/c8_p015/magicsim/0", + "fps": 25, + "frames": 1276, + "kept_ticks": "even", + "video_frames": { + "wrist": 1276, + "env": 1276 + }, + "joint_target_source": "joint_pos_target", + "fk_vs_recorded_eef_max_m": 0.0, + "curobo_joints": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "joint_order": [ + "shoulder_pan", + "shoulder_lift", + "elbow", + "wrist_1", + "wrist_2", + "wrist_3", + "finger_left", + "finger_right" + ], + "frames_note": "eef / actions in the robot base frame; camera_pose = local pose (wrist: in plate_gripper_base, env: env frame), pos + quat wxyz", + "dr_version": "v2" +} \ No newline at end of file diff --git a/episodes/c8_p015_e000/scene_snapshot.json b/episodes/c8_p015_e000/scene_snapshot.json new file mode 100644 index 0000000000000000000000000000000000000000..443ea8585caf5ec3738aadf533851625377f720f --- /dev/null +++ b/episodes/c8_p015_e000/scene_snapshot.json @@ -0,0 +1,1558 @@ +{ + "trajectory_id": 0, + "env_id": 0, + "run_id": "c8_p015", + "task_type": "BioPlateCell", + "success": true, + "timing": { + "fps": 50.0, + "sim_dt": 0.005, + "decimation": 4 + }, + "restore_interface": { + "scene": "scene_manager.reset_to(snapshot['scene'], env_ids=[env_id])", + "robots": "robot_manager.set_state({'robots': snapshot['robots']}, env_ids=[env_id])" + }, + "snapshot": { + "env_id": 0, + "scene": { + "objects": [ + { + "rac_cell": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/rac_cell.usd", + "pose": { + "pos": [ + 0.0, + 0.0, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "physics_material": { + "static_friction": 0.6, + "dynamic_friction": 0.5, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "robot_mount": [ + { + "asset": "Cube", + "pose": { + "pos": [ + 0.0, + 0.0, + 0.9075 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": "color", + "value": [ + 0.55, + 0.56, + 0.58 + ], + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": { + "size": [ + 0.2, + 0.2, + 0.015 + ] + } + }, + "type_specific": {} + } + ], + "plate_rack": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/plate_hotel.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 0.9 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "physics_material": { + "static_friction": 0.6, + "dynamic_friction": 0.5, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "hotel_plate": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_96_clear/plate_96_clear.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 0.9605 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_96_white/plate_96_white.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.0285 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_12_clear/plate_12_clear.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.0965 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/pcr_384_red/pcr_384_red.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.1645 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/pcr_96_blue/pcr_96_blue.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.2325 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "a4s_sealer": [ + { + "asset": "$MAGICSIM_ASSETS/Articulated/A4SSealer/Object.usd", + "pose": { + "pos": [ + 0.4705057144165039, + 0.12225914001464844, + 0.8999999761581421 + ], + "ori": [ + -0.6852064728736877, + 0.0, + 0.0, + 0.7283488512039185 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "articulation", + "solver_position_iteration_count": 16.0, + "solver_velocity_iteration_count": 1.0, + "enabled_self_collisions": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "joint_position": [ + 4.6988355047183905e-12 + ], + "joint_velocity": [ + 0.0 + ], + "linear_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "angular_velocity": [ + 0.0, + 0.0, + 0.0 + ] + } + } + ], + "conveyor": [ + { + "asset": "Cube", + "pose": { + "pos": [ + 0.15, + 0.45, + 0.9 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "conveyor", + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9 + }, + "ratio": 1.0 + }, + "primitive_params": { + "size": [ + 2.4, + 0.076, + 0.03 + ] + }, + "conveyor": { + "speed": 0.20423259378174935, + "direction": [ + 1.0, + 0.0, + 0.0 + ], + "enabled": true, + "drive": "surface_velocity", + "lines": null, + "station_line": null, + "riders": [ + "carrier" + ], + "stations": { + "pick": { + "position": -0.22511185009069226, + "slow_distance": 0.03, + "slow_speed": 0.03 + } + }, + "rails": { + "height": 0.01, + "thickness": 0.01, + "gap": 0.001, + "friction": 0.05 + }, + "legs": 0.87, + "loop": { + "radius": 0.35, + "side": "left", + "curve_extra_width": 0.0, + "segments": 18, + "curve_rails": "both" + }, + "snap_distance": 0.1, + "junction_snap": 0.02, + "collision_approximation": "auto", + "plate_mass": 1.0, + "lift_drop": 0.004, + "accel": 0.0, + "decel": 0.0, + "drive_damping": 1000000.0, + "drive_max_force": 1000000000.0 + } + }, + "type_specific": { + "controller": { + "state": "at_station", + "speed": 0.20423259378174935, + "holds": [], + "station": "pick", + "rider": "carrier_3", + "arrived": true, + "applied_speed": 0.0 + } + } + } + ], + "carrier": [ + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + 0.4269075393676758, + 1.1518192291259766, + 0.8999999761581421 + ], + "ori": [ + -0.014155254699289799, + -1.5818388376942494e-08, + -1.4634277789582484e-08, + 0.9998998641967773 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 1.1005163003119378e-08, + 1.1188662085714896e-07, + -3.725290298461914e-08 + ], + "angular_velocity": [ + -2.083351546389167e-06, + 1.2347109077381901e-06, + 8.915972102840897e-07 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + 1.2968635559082031, + 0.44998645782470703, + 0.8999999761581421 + ], + "ori": [ + 1.0, + -1.90214688444712e-09, + -7.624445963472226e-09, + -0.00026845603133551776 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -1.745048550105821e-12, + -3.4742206889148974e-09, + 3.725290298461914e-09 + ], + "angular_velocity": [ + 8.26992234692625e-08, + -1.6591240381558237e-08, + -1.7157903542397435e-08 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + -0.0748453140258789, + 0.4500703811645508, + 0.8999999761581421 + ], + "ori": [ + 0.9999998211860657, + 2.404357823948544e-09, + -3.2499027913246437e-09, + 0.000619275204371661 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -3.677924631517726e-11, + -8.336265011621435e-11, + 7.450580596923828e-09 + ], + "angular_velocity": [ + 5.740668029829976e-08, + -5.0529536110843765e-09, + -1.6149311221624885e-08 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + -1.3508119583129883, + 0.9733467102050781, + 0.8999999761581421 + ], + "ori": [ + -0.49769142270088196, + -1.408633494293099e-07, + -8.884406099696207e-08, + 0.8673542141914368 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -1.937184208600229e-07, + 3.500110778986709e-08, + 8.568167686462402e-08 + ], + "angular_velocity": [ + -1.9593790057115257e-06, + -9.497744031250477e-07, + -2.8151157493994106e-06 + ] + } + } + ], + "plate": [ + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_6_clear/Object.usd", + "pose": { + "pos": [ + 0.42742443084716797, + 1.1605539321899414, + 0.9180000424385071 + ], + "ori": [ + -0.08968976885080338, + -1.533773570372432e-07, + -4.315262813747722e-08, + 0.9959697723388672 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 2.0044112716277596e-06, + 5.357020654628286e-06, + -2.127140760421753e-06 + ], + "angular_velocity": [ + -2.145934740838129e-05, + 4.545585397863761e-06, + -2.3244340354722226e-06 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_96_black/Object.usd", + "pose": { + "pos": [ + 1.2961540222167969, + 0.4563789367675781, + 0.9180000424385071 + ], + "ori": [ + 0.9986340999603271, + -1.6215742082437146e-09, + -7.819734193503791e-09, + -0.05224909633398056 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -1.810010807901108e-08, + -3.9008813956797894e-08, + -5.5655837059021e-06 + ], + "angular_velocity": [ + 1.0768510492198402e-06, + -1.9283534129499458e-06, + -5.029557215152636e-08 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/pcr_96_blue/Object.usd", + "pose": { + "pos": [ + -0.06179046630859375, + 0.45783042907714844, + 0.9180000424385071 + ], + "ori": [ + 0.9956631064414978, + 2.862126979863433e-09, + -2.937928789137345e-09, + -0.09303271025419235 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -1.6307197370224458e-08, + 1.2062039367322086e-08, + -5.6549906730651855e-06 + ], + "angular_velocity": [ + 1.1330542548648737e-07, + -2.0036904970766045e-06, + 8.269451257092442e-08 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/deep_well_96_2ml/Object.usd", + "pose": { + "pos": [ + -1.3502473831176758, + 0.969752311706543, + 0.9179999828338623 + ], + "ori": [ + -0.4837469160556793, + 6.07029164712003e-07, + -1.0037784932137583e-06, + 0.8752080202102661 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -1.5303878171835095e-05, + 1.454719949833816e-06, + -4.0978193283081055e-08 + ], + "angular_velocity": [ + -8.154043462127447e-05, + -0.00021029144409112632, + -6.402021972462535e-05 + ] + } + } + ], + "deco_hub_west": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/hub_d.usd", + "pose": { + "pos": [ + -3.36, + 0.0, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_hub_east": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/hub_e.usd", + "pose": { + "pos": [ + 3.36, + 0.0, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_hub_back": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/hub_b.usd", + "pose": { + "pos": [ + -3.0, + -2.1, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_bench_east": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/bench_a.usd", + "pose": { + "pos": [ + 2.6, + -2.5, + 0.0 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_bench_gap": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/bench_b.usd", + "pose": { + "pos": [ + -0.1, + -2.9, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ] + }, + {}, + {}, + {} + ], + "devices": { + "hub": [ + { + "t": 1.3999999999999921, + "step": 280, + "counter": 0, + "devices": { + "a4s_sealer_1": { + "mode": "auto", + "units": { + "drawer": { + "state": "at_out", + "active": null, + "target": 0.0, + "goal_name": "out", + "profile": null, + "q_start": null, + "reversing": false, + "blocked_for": 0.0, + "settled_for": 0.0, + "last_q": 4.6988355047183905e-12 + }, + "heater": { + "state": "ready", + "active": null, + "duration": 0.0, + "t_start": null, + "elapsed": 0.0 + } + }, + "queues": {}, + "program": null, + "sensors": { + "plate_present": { + "occupants": [], + "pending": {} + } + }, + "interlocks": {} + }, + "conveyor_1": { + "mode": "auto", + "units": { + "belt": { + "state": "at_station", + "active": null, + "controller": { + "speed": 0.20423259378174935, + "holds": [], + "station": "pick", + "rider": "carrier_3", + "arrived": true, + "settle_count": 139, + "released": { + "pick": [] + }, + "last_pos": { + "carrier_1": [ + 0.2769075334072113, + 0.7018192410469055, + 0.0 + ], + "carrier_2": [ + 1.1468635499477386, + -1.3530254364013672e-05, + 0.0 + ], + "carrier_3": [ + -0.22484531998634338, + 7.039308547973633e-05, + 0.0 + ], + "carrier_4": [ + -1.5008119642734528, + 0.5233467221260071, + 0.0 + ] + }, + "command": 0.0 + }, + "belt": { + "target_speed": 0.0, + "command_speed": 0.0 + }, + "seen": { + "state": "at_station", + "station": "pick", + "rider": "carrier_3", + "arrived": true + } + } + }, + "queues": {}, + "program": null, + "sensors": {}, + "interlocks": {} + } + }, + "zones": {}, + "labware": { + "plate_1": { + "sealed": false + }, + "plate_2": { + "sealed": false + }, + "plate_3": { + "sealed": false + }, + "plate_4": { + "sealed": false + } + }, + "rules": {}, + "records": [], + "bus": { + "seq": 3, + "queue": [] + } + }, + null, + null, + null + ], + "drives": [ + {}, + null, + null, + null + ] + }, + "artifacts": [ + { + "ceiling": { + "type": "rect", + "pose": { + "pos": [ + -0.02358065148142441, + 0.06758660453142007, + 2.977429658253845 + ], + "ori": [ + 13.448897280764516, + 10.329769511365981, + 18.220384897770636 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "color_temperature": 6337.276860556163, + "color": [ + 0.8562659254774238, + 0.8798886544568595, + 0.8361360027275629 + ], + "intensity": 7160.862421233605, + "width": 1.9182686752584548, + "height": 1.1487184296786994 + } + }, + "key": { + "type": "disk", + "pose": { + "pos": [ + 0.8747728156745183, + 1.2531732550618082, + 2.7245282537575353 + ], + "ori": [ + -6.811342490472924, + 10.862196543902193, + -34.985801398048146 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "color_temperature": 7241.297604946045, + "color": [ + 0.8228652500146528, + 0.8935412894878003, + 0.8547839157308028 + ], + "intensity": 10781.888894816073, + "radius": 0.47499571843776045 + } + } + }, + {}, + {}, + {} + ], + "background": { + "type": "dome", + "pose": { + "pos": null, + "ori": null, + "scale": null + }, + "dr": { + "intensity": 463.8315345497469, + "texture": null, + "color": [ + 0.92, + 0.94, + 0.96 + ] + } + } + }, + "robots": { + "UR5e": { + "root_pose": [ + [ + 11.0, + -11.0, + 0.9150000214576721, + 1.0, + 0.0, + 0.0, + 0.0 + ], + [ + 11.0, + 11.0, + 0.9150000214576721, + 1.0, + 0.0, + 0.0, + 0.0 + ], + [ + -11.0, + -11.0, + 0.9150000214576721, + 1.0, + 0.0, + 0.0, + 0.0 + ], + [ + -11.0, + 11.0, + 0.9150000214576721, + 1.0, + 0.0, + 0.0, + 0.0 + ] + ], + "root_vel": [ + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + ], + "joint_pos": [ + [ + 0.9140999913215637, + -1.7194000482559204, + 2.0905001163482666, + -1.9419000148773193, + -1.5707999467849731, + 2.4848999977111816, + 0.017999999225139618, + 0.017999999225139618 + ], + [ + 0.9140999913215637, + -1.7194000482559204, + 2.0905001163482666, + -1.9419000148773193, + -1.5707999467849731, + 2.4848999977111816, + 0.017999999225139618, + 0.017999999225139618 + ], + [ + 0.9140999913215637, + -1.7194000482559204, + 2.0905001163482666, + -1.9419000148773193, + -1.5707999467849731, + 2.4848999977111816, + 0.017999999225139618, + 0.017999999225139618 + ], + [ + 0.9140999913215637, + -1.7194000482559204, + 2.0905001163482666, + -1.9419000148773193, + -1.5707999467849731, + 2.4848999977111816, + 0.017999999225139618, + 0.017999999225139618 + ] + ], + "joint_vel": [ + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + ] + } + }, + "cameras": { + "cameras": { + "camera0": [ + [ + 0.04839583858847618, + -0.0034787370823323727, + -0.02694498933851719, + -0.27454039454460144, + 0.6554571986198425, + 0.6463910341262817, + -0.2778165638446808 + ], + [ + 0.047160688787698746, + -0.003576255403459072, + -0.029964370653033257, + -0.28029119968414307, + 0.648481547832489, + 0.6558560132980347, + -0.2660101652145386 + ], + [ + 0.05277956649661064, + 0.002086671069264412, + -0.031565334647893906, + -0.28319332003593445, + 0.6427720785140991, + 0.6504195332527161, + -0.289136677980423 + ], + [ + 0.05496957525610924, + -0.0008593198726885021, + -0.031493186950683594, + -0.268359899520874, + 0.649616539478302, + 0.652883768081665, + -0.282354474067688 + ] + ], + "camera1": [ + [ + 0.07392950356006622, + 0.5620927214622498, + 1.925349235534668, + 0.0467197448015213, + -0.0020974865183234215, + 0.26493045687675476, + 0.9631327390670776 + ], + [ + 0.027465179562568665, + 0.5654304623603821, + 1.9470843076705933, + 0.04367529973387718, + 0.007694880943745375, + 0.26933079957962036, + 0.962026059627533 + ], + [ + 0.06348613649606705, + 0.5693833231925964, + 1.9389934539794922, + 0.04901990666985512, + 0.022325867787003517, + 0.28392934799194336, + 0.9573310613632202 + ], + [ + 0.06985415518283844, + 0.5945490002632141, + 1.9402295351028442, + 0.030959274619817734, + 0.007318782154470682, + 0.285320520401001, + 0.957904040813446 + ] + ] + } + } + } +} \ No newline at end of file diff --git a/episodes/c8_p015_e000/wrist.mp4 b/episodes/c8_p015_e000/wrist.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..0ec71542b702ed1ba457551666292b5d9e32d752 --- /dev/null +++ b/episodes/c8_p015_e000/wrist.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:0a33925429212e3ca087d0d23e092b9efc28ca9dfc64a73784a0db95a0291cc5 +size 8297940 diff --git a/episodes/c8_p015_e001/data.npz b/episodes/c8_p015_e001/data.npz new file mode 100644 index 0000000000000000000000000000000000000000..adf4dd707cbc59cf3e0a5880fb7dfdde6c6ff26b --- /dev/null +++ b/episodes/c8_p015_e001/data.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:7fbe0bbb1767c52c1d90bc32194587ed2fcfe95168bafda33c55424b203b5c1a +size 186805 diff --git a/episodes/c8_p015_e001/device_events.jsonl b/episodes/c8_p015_e001/device_events.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..2e3d8055ec6a698391b9d6617a09ce4ffa8a5659 --- /dev/null +++ b/episodes/c8_p015_e001/device_events.jsonl @@ -0,0 +1,35 @@ +{"env_id": 1, "seq": 1, "step": 141, "t": 0.705, "topic": "conveyor_1.belt.station.pick.captured", "source": "conveyor_1.belt", "data": {"rider": "carrier_2"}, "cause": null} +{"env_id": 1, "seq": 2, "step": 141, "t": 0.705, "topic": "conveyor_1.belt.state.changed", "source": "conveyor_1.belt", "data": {"from": "running", "to": "at_station"}, "cause": null} +{"env_id": 1, "seq": 3, "step": 146, "t": 0.73, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_2"}, "cause": null} +{"env_id": 1, "seq": 4, "step": 6483, "t": 32.415, "topic": "a4s_sealer_1.plate_present.present", "source": "a4s_sealer_1.plate_present", "data": {"object": "plate_2"}, "cause": null} +{"env_id": 1, "seq": 5, "step": 7096, "t": 35.48, "topic": "a4s_sealer_1.command.started", "source": "a4s_sealer_1", "data": {"command_id": "task-1-1", "name": "seal", "source": "task"}, "cause": "task-1-1"} +{"env_id": 1, "seq": 6, "step": 7096, "t": 35.48, "topic": "a4s_sealer_1.seal.started", "source": "a4s_sealer_1", "data": {"dwell": 2.187382742457217}, "cause": "task-1-1"} +{"env_id": 1, "seq": 7, "step": 7096, "t": 35.48, "topic": "a4s_sealer_1.drawer.command.started", "source": "a4s_sealer_1.drawer", "data": {"command_id": "program-1-2", "name": "close", "source": "program:seal"}, "cause": "program-1-2"} +{"env_id": 1, "seq": 8, "step": 7096, "t": 35.48, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "at_out", "to": "moving"}, "cause": null} +{"env_id": 1, "seq": 9, "step": 7096, "t": 35.48, "topic": "a4s_sealer_1.drawer.moving", "source": "a4s_sealer_1.drawer", "data": {"target": 0.3, "goal": "in"}, "cause": "program-1-2"} +{"env_id": 1, "seq": 10, "step": 7515, "t": 37.575, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "moving", "to": "at_in"}, "cause": null} +{"env_id": 1, "seq": 11, "step": 7515, "t": 37.575, "topic": "a4s_sealer_1.drawer.reached", "source": "a4s_sealer_1.drawer", "data": {"position": "in", "q": 0.30000001192092896}, "cause": "program-1-2"} +{"env_id": 1, "seq": 12, "step": 7515, "t": 37.575, "topic": "a4s_sealer_1.drawer.at_in", "source": "a4s_sealer_1.drawer", "data": {"q": 0.30000001192092896}, "cause": "program-1-2"} +{"env_id": 1, "seq": 13, "step": 7515, "t": 37.575, "topic": "a4s_sealer_1.drawer.command.succeeded", "source": "a4s_sealer_1.drawer", "data": {"command_id": "program-1-2", "name": "close", "source": "program:seal", "result": {"position": "in"}}, "cause": "program-1-2"} +{"env_id": 1, "seq": 14, "step": 7515, "t": 37.575, "topic": "labware.plate_2.changed", "source": "labware.plate_2", "data": {"key": "sealed", "value": true}, "cause": "task-1-1"} +{"env_id": 1, "seq": 15, "step": 7515, "t": 37.575, "topic": "a4s_sealer_1.sealed", "source": "a4s_sealer_1", "data": {"plate": "plate_2"}, "cause": "task-1-1"} +{"env_id": 1, "seq": 16, "step": 7515, "t": 37.575, "topic": "a4s_sealer_1.heater.command.started", "source": "a4s_sealer_1.heater", "data": {"command_id": "program-1-3", "name": "run", "source": "program:seal"}, "cause": "program-1-3"} +{"env_id": 1, "seq": 17, "step": 7515, "t": 37.575, "topic": "a4s_sealer_1.heater.state.changed", "source": "a4s_sealer_1.heater", "data": {"from": "ready", "to": "running"}, "cause": null} +{"env_id": 1, "seq": 18, "step": 7515, "t": 37.575, "topic": "a4s_sealer_1.heater.started", "source": "a4s_sealer_1.heater", "data": {"duration": 2.187382742457217}, "cause": "program-1-3"} +{"env_id": 1, "seq": 19, "step": 7953, "t": 39.765, "topic": "a4s_sealer_1.heater.state.changed", "source": "a4s_sealer_1.heater", "data": {"from": "running", "to": "ready"}, "cause": null} +{"env_id": 1, "seq": 20, "step": 7953, "t": 39.765, "topic": "a4s_sealer_1.heater.finished", "source": "a4s_sealer_1.heater", "data": {"elapsed": 2.1900000000011204}, "cause": "program-1-3"} +{"env_id": 1, "seq": 21, "step": 7953, "t": 39.765, "topic": "a4s_sealer_1.heater.command.succeeded", "source": "a4s_sealer_1.heater", "data": {"command_id": "program-1-3", "name": "run", "source": "program:seal", "result": {"elapsed": 2.1900000000011204}}, "cause": "program-1-3"} +{"env_id": 1, "seq": 22, "step": 7953, "t": 39.765, "topic": "a4s_sealer_1.drawer.command.started", "source": "a4s_sealer_1.drawer", "data": {"command_id": "program-1-4", "name": "open", "source": "program:seal"}, "cause": "program-1-4"} +{"env_id": 1, "seq": 23, "step": 7953, "t": 39.765, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "at_in", "to": "moving"}, "cause": null} +{"env_id": 1, "seq": 24, "step": 7953, "t": 39.765, "topic": "a4s_sealer_1.drawer.moving", "source": "a4s_sealer_1.drawer", "data": {"target": 0.0, "goal": "out"}, "cause": "program-1-4"} +{"env_id": 1, "seq": 25, "step": 8373, "t": 41.865, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "moving", "to": "at_out"}, "cause": null} +{"env_id": 1, "seq": 26, "step": 8373, "t": 41.865, "topic": "a4s_sealer_1.drawer.reached", "source": "a4s_sealer_1.drawer", "data": {"position": "out", "q": 4.827059285616997e-08}, "cause": "program-1-4"} +{"env_id": 1, "seq": 27, "step": 8373, "t": 41.865, "topic": "a4s_sealer_1.drawer.at_out", "source": "a4s_sealer_1.drawer", "data": {"q": 4.827059285616997e-08}, "cause": "program-1-4"} +{"env_id": 1, "seq": 28, "step": 8373, "t": 41.865, "topic": "a4s_sealer_1.drawer.command.succeeded", "source": "a4s_sealer_1.drawer", "data": {"command_id": "program-1-4", "name": "open", "source": "program:seal", "result": {"position": "out"}}, "cause": "program-1-4"} +{"env_id": 1, "seq": 29, "step": 8373, "t": 41.865, "topic": "a4s_sealer_1.seal.finished", "source": "a4s_sealer_1", "data": {}, "cause": "task-1-1"} +{"env_id": 1, "seq": 30, "step": 8373, "t": 41.865, "topic": "a4s_sealer_1.command.succeeded", "source": "a4s_sealer_1", "data": {"command_id": "task-1-1", "name": "seal", "source": "task"}, "cause": "task-1-1"} +{"env_id": 1, "seq": 31, "step": 8956, "t": 44.78, "topic": "a4s_sealer_1.plate_present.absent", "source": "a4s_sealer_1.plate_present", "data": {"object": "plate_2"}, "cause": null} +{"env_id": 1, "seq": 32, "step": 10708, "t": 53.54, "topic": "conveyor_1.belt.command.started", "source": "conveyor_1.belt", "data": {"command_id": "task-1-5", "name": "release", "source": "task"}, "cause": "task-1-5"} +{"env_id": 1, "seq": 33, "step": 10708, "t": 53.54, "topic": "conveyor_1.belt.station.pick.released", "source": "conveyor_1.belt", "data": {"rider": "carrier_2"}, "cause": "task-1-5"} +{"env_id": 1, "seq": 34, "step": 10708, "t": 53.54, "topic": "conveyor_1.belt.state.changed", "source": "conveyor_1.belt", "data": {"from": "at_station", "to": "running"}, "cause": null} +{"env_id": 1, "seq": 35, "step": 10708, "t": 53.54, "topic": "conveyor_1.belt.command.succeeded", "source": "conveyor_1.belt", "data": {"command_id": "task-1-5", "name": "release", "source": "task", "result": {"state": "running"}}, "cause": "task-1-5"} diff --git a/episodes/c8_p015_e001/env.mp4 b/episodes/c8_p015_e001/env.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..0b416e3b722073c17b35940759f436d55f38a699 --- /dev/null +++ b/episodes/c8_p015_e001/env.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:426ccc71009efa976cbae93056f90aed0b8710119d0b512e0fa245157ce42b3d +size 1328171 diff --git a/episodes/c8_p015_e001/meta.json b/episodes/c8_p015_e001/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..35187b3e39039a9c020464034e2220f336fd2d21 --- /dev/null +++ b/episodes/c8_p015_e001/meta.json @@ -0,0 +1,32 @@ +{ + "source": "raw/c8_p015/magicsim/1", + "fps": 25, + "frames": 1174, + "kept_ticks": "even", + "video_frames": { + "wrist": 1174, + "env": 1174 + }, + "joint_target_source": "joint_pos_target", + "fk_vs_recorded_eef_max_m": 0.0, + "curobo_joints": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "joint_order": [ + "shoulder_pan", + "shoulder_lift", + "elbow", + "wrist_1", + "wrist_2", + "wrist_3", + "finger_left", + "finger_right" + ], + "frames_note": "eef / actions in the robot base frame; camera_pose = local pose (wrist: in plate_gripper_base, env: env frame), pos + quat wxyz", + "dr_version": "v2" +} \ No newline at end of file diff --git a/episodes/c8_p015_e001/scene_snapshot.json b/episodes/c8_p015_e001/scene_snapshot.json new file mode 100644 index 0000000000000000000000000000000000000000..a382def10dac0dba0025bbfa9913937a7eb5814f --- /dev/null +++ b/episodes/c8_p015_e001/scene_snapshot.json @@ -0,0 +1,1558 @@ +{ + "trajectory_id": 1, + "env_id": 1, + "run_id": "c8_p015", + "task_type": "BioPlateCell", + "success": true, + "timing": { + "fps": 50.0, + "sim_dt": 0.005, + "decimation": 4 + }, + "restore_interface": { + "scene": "scene_manager.reset_to(snapshot['scene'], env_ids=[env_id])", + "robots": "robot_manager.set_state({'robots': snapshot['robots']}, env_ids=[env_id])" + }, + "snapshot": { + "env_id": 1, + "scene": { + "objects": [ + {}, + { + "rac_cell": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/rac_cell.usd", + "pose": { + "pos": [ + 0.0, + 0.0, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "physics_material": { + "static_friction": 0.6, + "dynamic_friction": 0.5, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "robot_mount": [ + { + "asset": "Cube", + "pose": { + "pos": [ + 0.0, + 0.0, + 0.9075 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": "color", + "value": [ + 0.55, + 0.56, + 0.58 + ], + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": { + "size": [ + 0.2, + 0.2, + 0.015 + ] + } + }, + "type_specific": {} + } + ], + "plate_rack": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/plate_hotel.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 0.9 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "physics_material": { + "static_friction": 0.6, + "dynamic_friction": 0.5, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "hotel_plate": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_12_clear/plate_12_clear.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 0.9605 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_48_clear/plate_48_clear.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.0285 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/deep_well_24_10ml/deep_well_24_10ml.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.0965 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_96_white/plate_96_white.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.1645 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_96_white/plate_96_white.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.2325 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "a4s_sealer": [ + { + "asset": "$MAGICSIM_ASSETS/Articulated/A4SSealer/Object.usd", + "pose": { + "pos": [ + 0.4758901596069336, + 0.08242988586425781, + 0.8999999761581421 + ], + "ori": [ + -0.7004411816596985, + 0.0, + 0.0, + 0.7137101292610168 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "articulation", + "solver_position_iteration_count": 16.0, + "solver_velocity_iteration_count": 1.0, + "enabled_self_collisions": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "joint_position": [ + 4.6988363720801285e-12 + ], + "joint_velocity": [ + 0.0 + ], + "linear_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "angular_velocity": [ + 0.0, + 0.0, + 0.0 + ] + } + } + ], + "conveyor": [ + { + "asset": "Cube", + "pose": { + "pos": [ + 0.15, + 0.45, + 0.9 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "conveyor", + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9 + }, + "ratio": 1.0 + }, + "primitive_params": { + "size": [ + 2.4, + 0.076, + 0.03 + ] + }, + "conveyor": { + "speed": 0.21735035104197722, + "direction": [ + 1.0, + 0.0, + 0.0 + ], + "enabled": true, + "drive": "surface_velocity", + "lines": null, + "station_line": null, + "riders": [ + "carrier" + ], + "stations": { + "pick": { + "position": -0.23839825654611613, + "slow_distance": 0.03, + "slow_speed": 0.03 + } + }, + "rails": { + "height": 0.01, + "thickness": 0.01, + "gap": 0.001, + "friction": 0.05 + }, + "legs": 0.87, + "loop": { + "radius": 0.35, + "side": "left", + "curve_extra_width": 0.0, + "segments": 18, + "curve_rails": "both" + }, + "snap_distance": 0.1, + "junction_snap": 0.02, + "collision_approximation": "auto", + "plate_mass": 1.0, + "lift_drop": 0.004, + "accel": 0.0, + "decel": 0.0, + "drive_damping": 1000000.0, + "drive_max_force": 1000000000.0 + } + }, + "type_specific": { + "controller": { + "state": "at_station", + "speed": 0.21735035104197722, + "holds": [], + "station": "pick", + "rider": "carrier_2", + "arrived": true, + "applied_speed": 0.0 + } + } + } + ], + "carrier": [ + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + 0.7443370819091797, + 1.1525945663452148, + 0.8999999761581421 + ], + "ori": [ + -0.010419613681733608, + 7.764593412673548e-09, + 4.960152288902009e-09, + 0.9999457597732544 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -2.1030843733171878e-10, + -1.2110723535130319e-09, + 1.1175870895385742e-08 + ], + "angular_velocity": [ + 7.522994138753347e-08, + -2.48332341357127e-08, + -1.0770739855558986e-08 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + -0.0885019302368164, + 0.4467620849609375, + 0.8999999761581421 + ], + "ori": [ + 0.9999873042106628, + -1.7563566157008381e-09, + -3.342501275760412e-10, + 0.005036476068198681 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -7.016385250580015e-10, + -1.7058394696789492e-09, + 0.0 + ], + "angular_velocity": [ + 1.4255221003622864e-07, + -4.8561428656057615e-08, + -2.866117121413936e-09 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + -1.3241691589355469, + 1.0125770568847656, + 0.8999999761581421 + ], + "ori": [ + -0.4328238368034363, + -7.436417348571922e-08, + -7.387804856762159e-08, + 0.9014785289764404 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -1.8369472609691684e-11, + -2.530994303029388e-10, + 0.0 + ], + "angular_velocity": [ + 2.1672413197393325e-08, + -1.7993606604704837e-09, + -2.4549562382958356e-10 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + 1.4956493377685547, + 0.48531246185302734, + 0.8999999761581421 + ], + "ori": [ + 0.9777371287345886, + -4.5141405280446634e-08, + 1.343358206895573e-07, + 0.20983347296714783 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -7.048583938740194e-12, + 7.262315193656832e-10, + 3.725290298461914e-09 + ], + "angular_velocity": [ + -5.527908797375858e-08, + 1.4340912457555532e-08, + -2.592173586890567e-09 + ] + } + } + ], + "plate": [ + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_12_clear/Object.usd", + "pose": { + "pos": [ + 0.7541046142578125, + 1.1567392349243164, + 0.9179999828338623 + ], + "ori": [ + -0.10223712772130966, + 5.898878718824108e-09, + 4.044155232918456e-09, + 0.9947600960731506 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 8.965427511498092e-09, + 8.592381250949188e-10, + 1.601874828338623e-07 + ], + "angular_velocity": [ + -1.0674393706722185e-06, + 1.751810827954614e-06, + -6.606734359593247e-08 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_96_white/Object.usd", + "pose": { + "pos": [ + -0.0956716537475586, + 0.4351234436035156, + 0.9180000424385071 + ], + "ori": [ + 0.9938668608665466, + -7.352745634570113e-10, + 5.027633864784775e-10, + 0.11058349162340164 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -1.816073691429665e-08, + -2.4318488556218654e-08, + -5.714595317840576e-06 + ], + "angular_velocity": [ + 7.809150588400371e-07, + -1.1438969522714615e-06, + 1.7359802484406828e-10 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/pcr_384_red/Object.usd", + "pose": { + "pos": [ + -1.3250064849853516, + 1.0250911712646484, + 0.9179999828338623 + ], + "ori": [ + -0.34075111150741577, + -6.598563828674742e-08, + -8.183337740774732e-08, + 0.9401536583900452 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -7.825331493904741e-09, + -2.5599444786195136e-09, + -5.1371753215789795e-06 + ], + "angular_velocity": [ + -9.89306045084959e-07, + 8.539922760064655e-07, + -8.717267263591566e-08 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/deep_well_96_1ml/Object.usd", + "pose": { + "pos": [ + 1.496652603149414, + 0.4840126037597656, + 0.9179999828338623 + ], + "ori": [ + 0.9600824117660522, + -4.0754216001914756e-08, + 1.4027577321940043e-07, + 0.27971744537353516 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 7.67158780945465e-09, + -4.2409169509483036e-08, + 2.123415470123291e-07 + ], + "angular_velocity": [ + 3.6384735722094774e-06, + -1.7924248822964728e-06, + -2.836917474269285e-07 + ] + } + } + ], + "deco_hub_west": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/hub_a.usd", + "pose": { + "pos": [ + -3.36, + 0.0, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_hub_east": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/hub_c.usd", + "pose": { + "pos": [ + 3.36, + 0.0, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_hub_back": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/hub_d.usd", + "pose": { + "pos": [ + -3.0, + -2.1, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_bench_east": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/bench_c.usd", + "pose": { + "pos": [ + 2.6, + -2.5, + 0.0 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_bench_gap": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/bench_b.usd", + "pose": { + "pos": [ + -0.1, + -2.9, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ] + }, + {}, + {} + ], + "devices": { + "hub": [ + null, + { + "t": 6.779999999999878, + "step": 1356, + "counter": 0, + "devices": { + "a4s_sealer_1": { + "mode": "auto", + "units": { + "drawer": { + "state": "at_out", + "active": null, + "target": 0.0, + "goal_name": "out", + "profile": null, + "q_start": null, + "reversing": false, + "blocked_for": 0.0, + "settled_for": 0.0, + "last_q": 4.6988363720801285e-12 + }, + "heater": { + "state": "ready", + "active": null, + "duration": 0.0, + "t_start": null, + "elapsed": 0.0 + } + }, + "queues": {}, + "program": null, + "sensors": { + "plate_present": { + "occupants": [], + "pending": {} + } + }, + "interlocks": {} + }, + "conveyor_1": { + "mode": "auto", + "units": { + "belt": { + "state": "at_station", + "active": null, + "controller": { + "speed": 0.21735035104197722, + "holds": [], + "station": "pick", + "rider": "carrier_2", + "arrived": true, + "settle_count": 1214, + "released": { + "pick": [] + }, + "last_pos": { + "carrier_1": [ + 0.5943370759487152, + 0.7025945782661438, + 0.0 + ], + "carrier_2": [ + -0.23850193619728088, + -0.003237903118133545, + 0.0 + ], + "carrier_3": [ + -1.4741691648960114, + 0.5625770688056946, + 0.0 + ], + "carrier_4": [ + 1.3456493318080902, + 0.0353124737739563, + 0.0 + ] + }, + "command": 0.0 + }, + "belt": { + "target_speed": 0.0, + "command_speed": 0.0 + }, + "seen": { + "state": "at_station", + "station": "pick", + "rider": "carrier_2", + "arrived": true + } + } + }, + "queues": {}, + "program": null, + "sensors": {}, + "interlocks": {} + } + }, + "zones": {}, + "labware": { + "plate_1": { + "sealed": false + }, + "plate_2": { + "sealed": false + }, + "plate_3": { + "sealed": false + }, + "plate_4": { + "sealed": false + } + }, + "rules": {}, + "records": [], + "bus": { + "seq": 3, + "queue": [] + } + }, + null, + null + ], + "drives": [ + null, + {}, + null, + null + ] + }, + "artifacts": [ + {}, + { + "ceiling": { + "type": "rect", + "pose": { + "pos": [ + 0.3975671853400137, + 0.13805976548183918, + 2.6891637177559637 + ], + "ori": [ + -11.51188860869805, + 10.409943842064525, + -27.345726144780972 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "color_temperature": 3539.233772446267, + "color": [ + 0.8655777727950773, + 0.8000295538393529, + 0.9502898533357256 + ], + "intensity": 4912.760906565177, + "width": 2.2090399152620033, + "height": 0.9028809085673226 + } + }, + "key": { + "type": "disk", + "pose": { + "pos": [ + 0.5172682415088801, + 0.3018534146358782, + 2.0755704410403553 + ], + "ori": [ + -16.166928842636395, + -4.403576325348915, + -21.02041299688704 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "color_temperature": 3420.7342090549546, + "color": [ + 0.8221515517976459, + 0.9593284882019311, + 0.8861520685407931 + ], + "intensity": 4044.8625965621586, + "radius": 0.46817308065351193 + } + } + }, + {}, + {} + ], + "background": { + "type": "dome", + "pose": { + "pos": null, + "ori": null, + "scale": null + }, + "dr": { + "intensity": 463.8315345497469, + "texture": null, + "color": [ + 0.92, + 0.94, + 0.96 + ] + } + } + }, + "robots": { + "UR5e": { + "root_pose": [ + [ + 11.0, + -11.0, + 0.9150000214576721, + 1.0, + 0.0, + 0.0, + 0.0 + ], + [ + 11.0, + 11.0, + 0.9150000214576721, + 1.0, + 0.0, + 0.0, + 0.0 + ], + [ + -11.0, + -11.0, + 0.9150000214576721, + 1.0, + 0.0, + 0.0, + 0.0 + ], + [ + -11.0, + 11.0, + 0.9150000214576721, + 1.0, + 0.0, + 0.0, + 0.0 + ] + ], + "root_vel": [ + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + ], + "joint_pos": [ + [ + 1.0879794359207153, + -1.5851199626922607, + 2.1830334663391113, + -2.1690664291381836, + -1.5708413124084473, + 2.8454790115356445, + 0.0074832262471318245, + 0.006430857814848423 + ], + [ + 0.91410231590271, + -1.7193979024887085, + 2.09049916267395, + -1.9419004917144775, + -1.5707999467849731, + 2.484900712966919, + 0.018000001087784767, + 0.01799999736249447 + ], + [ + 0.9141020774841309, + -1.7193984985351562, + 2.0904996395111084, + -1.9419007301330566, + -1.5707999467849731, + 2.48490047454834, + 0.017999999225139618, + 0.017999999225139618 + ], + [ + 1.2067385911941528, + -1.3245748281478882, + 2.2322165966033936, + -2.4783987998962402, + -1.5707948207855225, + 2.6593008041381836, + 0.018000051379203796, + 0.01799994893372059 + ] + ], + "joint_vel": [ + [ + 0.0012581627815961838, + 0.0006697539356537163, + 0.001032549305818975, + 0.001290720421820879, + -0.0004986770218238235, + -0.0032597766257822514, + -0.0070151579566299915, + -0.0001053557571140118 + ], + [ + 2.296918339229984e-38, + -1.582784832334917e-38, + -2.501216865330367e-38, + -4.632914240319086e-37, + 5.770640346515382e-37, + -4.183351236448678e-37, + -2.599036363903906e-08, + 2.5990399166175848e-08 + ], + [ + 3.4059653444273863e-06, + 1.6386284690250719e-12, + 1.6227134653351571e-12, + -3.405976030990132e-06, + -3.405978077353211e-06, + 5.94373129273601e-13, + 2.2667229150532403e-13, + 6.484050763758825e-14 + ], + [ + -8.702058403287083e-05, + 0.019416917115449905, + 0.006554086692631245, + -0.024732833728194237, + -8.240839633799624e-06, + 4.712637382908724e-05, + -8.436440111836419e-06, + 8.412523129663896e-06 + ] + ] + } + }, + "cameras": { + "cameras": { + "camera0": [ + [ + 0.04997209459543228, + -0.0027013570070266724, + -0.029747046530246735, + -0.2752935290336609, + 0.6535400748252869, + 0.6488440036773682, + -0.27586281299591064 + ], + [ + 0.04919828847050667, + -0.0014518777607008815, + -0.02944987267255783, + -0.2785111665725708, + 0.6540380716323853, + 0.6510397791862488, + -0.2661069929599762 + ], + [ + 0.04895657300949097, + 0.001022541313432157, + -0.03334198147058487, + -0.2836054563522339, + 0.6445014476776123, + 0.6506319046020508, + -0.28436583280563354 + ], + [ + 0.053065478801727295, + 0.0007921369979158044, + -0.03188256919384003, + -0.2735597789287567, + 0.6469601392745972, + 0.6536815762519836, + -0.28161680698394775 + ] + ], + "camera1": [ + [ + 0.07392950356006622, + 0.5620927214622498, + 1.925349235534668, + 0.0467197448015213, + -0.0020974865183234215, + 0.26493045687675476, + 0.9631327390670776 + ], + [ + 0.027465179562568665, + 0.5654304623603821, + 1.9470843076705933, + 0.04367529973387718, + 0.007694880943745375, + 0.26933079957962036, + 0.962026059627533 + ], + [ + 0.06348613649606705, + 0.5693833231925964, + 1.9389934539794922, + 0.04901990666985512, + 0.022325867787003517, + 0.28392934799194336, + 0.9573310613632202 + ], + [ + 0.06985415518283844, + 0.5945490002632141, + 1.9402295351028442, + 0.030959274619817734, + 0.007318782154470682, + 0.285320520401001, + 0.957904040813446 + ] + ] + } + } + } +} \ No newline at end of file diff --git a/episodes/c8_p015_e001/wrist.mp4 b/episodes/c8_p015_e001/wrist.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..6d989ec584f0391a90dd341965f3d3979bfdb737 --- /dev/null +++ b/episodes/c8_p015_e001/wrist.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:17f543bf1c0acc562dbfcf474c1b3e2628e095afff9ca458689e787a92d799c4 +size 6188810 diff --git a/episodes/c8_p015_e002/data.npz b/episodes/c8_p015_e002/data.npz new file mode 100644 index 0000000000000000000000000000000000000000..5240a6f30941aa810b5a13df03e52e8fbcb2cb9c --- /dev/null +++ b/episodes/c8_p015_e002/data.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:d68a93e1138d97147e29cfb0e06455cd130eb2dca6f9f2d92916b4dcea050b89 +size 190258 diff --git a/episodes/c8_p015_e002/device_events.jsonl b/episodes/c8_p015_e002/device_events.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..f27ce1d53b0efcf7ab0aca3adb41fc0b4984260b --- /dev/null +++ b/episodes/c8_p015_e002/device_events.jsonl @@ -0,0 +1,43 @@ +{"env_id": 3, "seq": 1, "step": 8, "t": 0.04, "topic": "conveyor_1.belt.station.pick.captured", "source": "conveyor_1.belt", "data": {"rider": "carrier_2"}, "cause": null} +{"env_id": 3, "seq": 2, "step": 8, "t": 0.04, "topic": "conveyor_1.belt.state.changed", "source": "conveyor_1.belt", "data": {"from": "running", "to": "at_station"}, "cause": null} +{"env_id": 3, "seq": 3, "step": 14, "t": 0.07, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_2"}, "cause": null} +{"env_id": 3, "seq": 4, "step": 1435, "t": 7.175, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_2"}, "cause": null} +{"env_id": 3, "seq": 5, "step": 1468, "t": 7.34, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_2"}, "cause": null} +{"env_id": 3, "seq": 6, "step": 1493, "t": 7.465, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_2"}, "cause": null} +{"env_id": 3, "seq": 7, "step": 1507, "t": 7.535, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_2"}, "cause": null} +{"env_id": 3, "seq": 8, "step": 1528, "t": 7.64, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_2"}, "cause": null} +{"env_id": 3, "seq": 9, "step": 1593, "t": 7.965, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_2"}, "cause": null} +{"env_id": 3, "seq": 10, "step": 1611, "t": 8.055, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_2"}, "cause": null} +{"env_id": 3, "seq": 11, "step": 1617, "t": 8.085, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_2"}, "cause": null} +{"env_id": 3, "seq": 12, "step": 6070, "t": 30.35, "topic": "a4s_sealer_1.plate_present.present", "source": "a4s_sealer_1.plate_present", "data": {"object": "plate_2"}, "cause": null} +{"env_id": 3, "seq": 13, "step": 6684, "t": 33.42, "topic": "a4s_sealer_1.command.started", "source": "a4s_sealer_1", "data": {"command_id": "task-3-1", "name": "seal", "source": "task"}, "cause": "task-3-1"} +{"env_id": 3, "seq": 14, "step": 6684, "t": 33.42, "topic": "a4s_sealer_1.seal.started", "source": "a4s_sealer_1", "data": {"dwell": 4.399795017633821}, "cause": "task-3-1"} +{"env_id": 3, "seq": 15, "step": 6684, "t": 33.42, "topic": "a4s_sealer_1.drawer.command.started", "source": "a4s_sealer_1.drawer", "data": {"command_id": "program-3-2", "name": "close", "source": "program:seal"}, "cause": "program-3-2"} +{"env_id": 3, "seq": 16, "step": 6684, "t": 33.42, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "at_out", "to": "moving"}, "cause": null} +{"env_id": 3, "seq": 17, "step": 6684, "t": 33.42, "topic": "a4s_sealer_1.drawer.moving", "source": "a4s_sealer_1.drawer", "data": {"target": 0.3, "goal": "in"}, "cause": "program-3-2"} +{"env_id": 3, "seq": 18, "step": 7103, "t": 35.515, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "moving", "to": "at_in"}, "cause": null} +{"env_id": 3, "seq": 19, "step": 7103, "t": 35.515, "topic": "a4s_sealer_1.drawer.reached", "source": "a4s_sealer_1.drawer", "data": {"position": "in", "q": 0.30000001192092896}, "cause": "program-3-2"} +{"env_id": 3, "seq": 20, "step": 7103, "t": 35.515, "topic": "a4s_sealer_1.drawer.at_in", "source": "a4s_sealer_1.drawer", "data": {"q": 0.30000001192092896}, "cause": "program-3-2"} +{"env_id": 3, "seq": 21, "step": 7103, "t": 35.515, "topic": "a4s_sealer_1.drawer.command.succeeded", "source": "a4s_sealer_1.drawer", "data": {"command_id": "program-3-2", "name": "close", "source": "program:seal", "result": {"position": "in"}}, "cause": "program-3-2"} +{"env_id": 3, "seq": 22, "step": 7103, "t": 35.515, "topic": "labware.plate_2.changed", "source": "labware.plate_2", "data": {"key": "sealed", "value": true}, "cause": "task-3-1"} +{"env_id": 3, "seq": 23, "step": 7103, "t": 35.515, "topic": "a4s_sealer_1.sealed", "source": "a4s_sealer_1", "data": {"plate": "plate_2"}, "cause": "task-3-1"} +{"env_id": 3, "seq": 24, "step": 7103, "t": 35.515, "topic": "a4s_sealer_1.heater.command.started", "source": "a4s_sealer_1.heater", "data": {"command_id": "program-3-3", "name": "run", "source": "program:seal"}, "cause": "program-3-3"} +{"env_id": 3, "seq": 25, "step": 7103, "t": 35.515, "topic": "a4s_sealer_1.heater.state.changed", "source": "a4s_sealer_1.heater", "data": {"from": "ready", "to": "running"}, "cause": null} +{"env_id": 3, "seq": 26, "step": 7103, "t": 35.515, "topic": "a4s_sealer_1.heater.started", "source": "a4s_sealer_1.heater", "data": {"duration": 4.399795017633821}, "cause": "program-3-3"} +{"env_id": 3, "seq": 27, "step": 7983, "t": 39.915, "topic": "a4s_sealer_1.heater.state.changed", "source": "a4s_sealer_1.heater", "data": {"from": "running", "to": "ready"}, "cause": null} +{"env_id": 3, "seq": 28, "step": 7983, "t": 39.915, "topic": "a4s_sealer_1.heater.finished", "source": "a4s_sealer_1.heater", "data": {"elapsed": 4.400000000002251}, "cause": "program-3-3"} +{"env_id": 3, "seq": 29, "step": 7983, "t": 39.915, "topic": "a4s_sealer_1.heater.command.succeeded", "source": "a4s_sealer_1.heater", "data": {"command_id": "program-3-3", "name": "run", "source": "program:seal", "result": {"elapsed": 4.400000000002251}}, "cause": "program-3-3"} +{"env_id": 3, "seq": 30, "step": 7983, "t": 39.915, "topic": "a4s_sealer_1.drawer.command.started", "source": "a4s_sealer_1.drawer", "data": {"command_id": "program-3-4", "name": "open", "source": "program:seal"}, "cause": "program-3-4"} +{"env_id": 3, "seq": 31, "step": 7983, "t": 39.915, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "at_in", "to": "moving"}, "cause": null} +{"env_id": 3, "seq": 32, "step": 7983, "t": 39.915, "topic": "a4s_sealer_1.drawer.moving", "source": "a4s_sealer_1.drawer", "data": {"target": 0.0, "goal": "out"}, "cause": "program-3-4"} +{"env_id": 3, "seq": 33, "step": 8403, "t": 42.015, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "moving", "to": "at_out"}, "cause": null} +{"env_id": 3, "seq": 34, "step": 8403, "t": 42.015, "topic": "a4s_sealer_1.drawer.reached", "source": "a4s_sealer_1.drawer", "data": {"position": "out", "q": 4.400439124196964e-09}, "cause": "program-3-4"} +{"env_id": 3, "seq": 35, "step": 8403, "t": 42.015, "topic": "a4s_sealer_1.drawer.at_out", "source": "a4s_sealer_1.drawer", "data": {"q": 4.400439124196964e-09}, "cause": "program-3-4"} +{"env_id": 3, "seq": 36, "step": 8403, "t": 42.015, "topic": "a4s_sealer_1.drawer.command.succeeded", "source": "a4s_sealer_1.drawer", "data": {"command_id": "program-3-4", "name": "open", "source": "program:seal", "result": {"position": "out"}}, "cause": "program-3-4"} +{"env_id": 3, "seq": 37, "step": 8403, "t": 42.015, "topic": "a4s_sealer_1.seal.finished", "source": "a4s_sealer_1", "data": {}, "cause": "task-3-1"} +{"env_id": 3, "seq": 38, "step": 8403, "t": 42.015, "topic": "a4s_sealer_1.command.succeeded", "source": "a4s_sealer_1", "data": {"command_id": "task-3-1", "name": "seal", "source": "task"}, "cause": "task-3-1"} +{"env_id": 3, "seq": 39, "step": 8982, "t": 44.91, "topic": "a4s_sealer_1.plate_present.absent", "source": "a4s_sealer_1.plate_present", "data": {"object": "plate_2"}, "cause": null} +{"env_id": 3, "seq": 40, "step": 10764, "t": 53.82, "topic": "conveyor_1.belt.command.started", "source": "conveyor_1.belt", "data": {"command_id": "task-3-5", "name": "release", "source": "task"}, "cause": "task-3-5"} +{"env_id": 3, "seq": 41, "step": 10764, "t": 53.82, "topic": "conveyor_1.belt.station.pick.released", "source": "conveyor_1.belt", "data": {"rider": "carrier_2"}, "cause": "task-3-5"} +{"env_id": 3, "seq": 42, "step": 10764, "t": 53.82, "topic": "conveyor_1.belt.state.changed", "source": "conveyor_1.belt", "data": {"from": "at_station", "to": "running"}, "cause": null} +{"env_id": 3, "seq": 43, "step": 10764, "t": 53.82, "topic": "conveyor_1.belt.command.succeeded", "source": "conveyor_1.belt", "data": {"command_id": "task-3-5", "name": "release", "source": "task", "result": {"state": "running"}}, "cause": "task-3-5"} diff --git a/episodes/c8_p015_e002/env.mp4 b/episodes/c8_p015_e002/env.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..8e60743c621b3a00ff22ab8322c2616c4f6b8883 --- /dev/null +++ b/episodes/c8_p015_e002/env.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:e4f57d42a897bf7227b1271a0cbef0dfb7390dbfe406ae22a9a77c0fdcd76cf1 +size 1444906 diff --git a/episodes/c8_p015_e002/meta.json b/episodes/c8_p015_e002/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..67b1187808c44467c0c621b2f5224d2d1b13f1f1 --- /dev/null +++ b/episodes/c8_p015_e002/meta.json @@ -0,0 +1,32 @@ +{ + "source": "raw/c8_p015/magicsim/2", + "fps": 25, + "frames": 1229, + "kept_ticks": "even", + "video_frames": { + "wrist": 1229, + "env": 1229 + }, + "joint_target_source": "joint_pos_target", + "fk_vs_recorded_eef_max_m": 0.0, + "curobo_joints": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "joint_order": [ + "shoulder_pan", + "shoulder_lift", + "elbow", + "wrist_1", + "wrist_2", + "wrist_3", + "finger_left", + "finger_right" + ], + "frames_note": "eef / actions in the robot base frame; camera_pose = local pose (wrist: in plate_gripper_base, env: env frame), pos + quat wxyz", + "dr_version": "v2" +} \ No newline at end of file diff --git a/episodes/c8_p015_e002/scene_snapshot.json b/episodes/c8_p015_e002/scene_snapshot.json new file mode 100644 index 0000000000000000000000000000000000000000..88788304081925d5c2e9bd6aa4895c6102059662 --- /dev/null +++ b/episodes/c8_p015_e002/scene_snapshot.json @@ -0,0 +1,1558 @@ +{ + "trajectory_id": 2, + "env_id": 3, + "run_id": "c8_p015", + "task_type": "BioPlateCell", + "success": true, + "timing": { + "fps": 50.0, + "sim_dt": 0.005, + "decimation": 4 + }, + "restore_interface": { + "scene": "scene_manager.reset_to(snapshot['scene'], env_ids=[env_id])", + "robots": "robot_manager.set_state({'robots': snapshot['robots']}, env_ids=[env_id])" + }, + "snapshot": { + "env_id": 3, + "scene": { + "objects": [ + {}, + {}, + {}, + { + "rac_cell": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/rac_cell.usd", + "pose": { + "pos": [ + 0.0, + 0.0, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "physics_material": { + "static_friction": 0.6, + "dynamic_friction": 0.5, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "robot_mount": [ + { + "asset": "Cube", + "pose": { + "pos": [ + 0.0, + 0.0, + 0.9075 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": "color", + "value": [ + 0.55, + 0.56, + 0.58 + ], + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": { + "size": [ + 0.2, + 0.2, + 0.015 + ] + } + }, + "type_specific": {} + } + ], + "plate_rack": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/plate_hotel.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 0.9 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "physics_material": { + "static_friction": 0.6, + "dynamic_friction": 0.5, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "hotel_plate": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_96_black/plate_96_black.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 0.9605 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_48_clear/plate_48_clear.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.0285 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_48_clear/plate_48_clear.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.0965 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_24_clear/plate_24_clear.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.1645 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_96_clear/plate_96_clear.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.2325 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "a4s_sealer": [ + { + "asset": "$MAGICSIM_ASSETS/Articulated/A4SSealer/Object.usd", + "pose": { + "pos": [ + 0.46161746978759766, + 0.08483600616455078, + 0.8999999761581421 + ], + "ori": [ + -0.6854670643806458, + 0.0, + 0.0, + 0.7281036376953125 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "articulation", + "solver_position_iteration_count": 16.0, + "solver_velocity_iteration_count": 1.0, + "enabled_self_collisions": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "joint_position": [ + 1.8072430487889313e-12 + ], + "joint_velocity": [ + 0.0 + ], + "linear_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "angular_velocity": [ + 0.0, + 0.0, + 0.0 + ] + } + } + ], + "conveyor": [ + { + "asset": "Cube", + "pose": { + "pos": [ + 0.15, + 0.45, + 0.9 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "conveyor", + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9 + }, + "ratio": 1.0 + }, + "primitive_params": { + "size": [ + 2.4, + 0.076, + 0.03 + ] + }, + "conveyor": { + "speed": 0.15287437402826212, + "direction": [ + 1.0, + 0.0, + 0.0 + ], + "enabled": true, + "drive": "surface_velocity", + "lines": null, + "station_line": null, + "riders": [ + "carrier" + ], + "stations": { + "pick": { + "position": -0.2676591109487115, + "slow_distance": 0.03, + "slow_speed": 0.03 + } + }, + "rails": { + "height": 0.01, + "thickness": 0.01, + "gap": 0.001, + "friction": 0.05 + }, + "legs": 0.87, + "loop": { + "radius": 0.35, + "side": "left", + "curve_extra_width": 0.0, + "segments": 18, + "curve_rails": "both" + }, + "snap_distance": 0.1, + "junction_snap": 0.02, + "collision_approximation": "auto", + "plate_mass": 1.0, + "lift_drop": 0.004, + "accel": 0.0, + "decel": 0.0, + "drive_damping": 1000000.0, + "drive_max_force": 1000000000.0 + } + }, + "type_specific": { + "controller": { + "state": "at_station", + "speed": 0.15287437402826212, + "holds": [], + "station": "pick", + "rider": "carrier_2", + "arrived": true, + "applied_speed": 0.0 + } + } + } + ], + "carrier": [ + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + -0.040266990661621094, + 1.1499996185302734, + 0.8999999761581421 + ], + "ori": [ + -5.247141388053933e-08, + -2.222552453190474e-08, + 1.456865472704294e-08, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -1.7669354868132814e-09, + 1.1465678184663375e-08, + 2.60770320892334e-08 + ], + "angular_velocity": [ + -3.5434027267911006e-07, + -1.8611218877140345e-07, + 5.264202229682269e-08 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + -0.09817218780517578, + 0.4499998092651367, + 0.8999999761581421 + ], + "ori": [ + 1.0, + 1.671595306618201e-09, + 7.479172836610815e-09, + -1.600434131887596e-07 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -2.428725665026832e-09, + 6.986254241780898e-09, + 1.862645149230957e-08 + ], + "angular_velocity": [ + -3.4282955141407e-08, + -1.852792195222719e-07, + 5.492315224842059e-08 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + 1.6950302124023438, + 0.8455753326416016, + 0.8999999761581421 + ], + "ori": [ + 0.6675425171852112, + 2.043186952960241e-08, + 2.902058593434731e-09, + 0.7445716857910156 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -1.8032346726926107e-09, + 1.1024740009801803e-09, + 7.450580596923828e-09 + ], + "angular_velocity": [ + -6.484996362132733e-08, + -1.9825154851105253e-08, + -1.870748533860933e-08 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + -1.3942604064941406, + 0.8524255752563477, + 0.8999999761581421 + ], + "ori": [ + -0.6422173976898193, + -1.839586971641438e-08, + -2.755118977404436e-08, + 0.7665225863456726 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -6.208296099430299e-09, + -3.9487975556085075e-08, + 2.7939677238464355e-07 + ], + "angular_velocity": [ + 4.329045168560697e-06, + -9.028385647980031e-07, + -1.9674331497299136e-08 + ] + } + } + ], + "plate": [ + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_48_clear/Object.usd", + "pose": { + "pos": [ + -0.038578033447265625, + 1.1419849395751953, + 0.9179999828338623 + ], + "ori": [ + 0.059787288308143616, + -2.4968137779524113e-08, + 1.4621126531721984e-08, + 0.998211145401001 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 9.85570114409029e-09, + 7.048708994261688e-08, + 2.384185791015625e-07 + ], + "angular_velocity": [ + -2.038390448433347e-06, + 2.453940169289126e-06, + -1.945630145883115e-08 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_384_white/Object.usd", + "pose": { + "pos": [ + -0.10541343688964844, + 0.4462404251098633, + 0.9180000424385071 + ], + "ori": [ + 0.9982513189315796, + 2.843940860586258e-09, + 8.160577991134232e-09, + 0.05911429971456528 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -5.731625662974693e-08, + 2.2320345571813505e-09, + -4.9620866775512695e-06 + ], + "angular_velocity": [ + 7.401765174108732e-07, + -2.7454084374767262e-06, + 3.0478187795779377e-07 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_96_clear/Object.usd", + "pose": { + "pos": [ + 1.7010746002197266, + 0.834406852722168, + 0.9180000424385071 + ], + "ori": [ + 0.7321583032608032, + 2.0850535520366975e-08, + 8.107770455012542e-09, + 0.6811345815658569 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -3.264995740437371e-08, + 4.5843178142490615e-09, + -5.707144737243652e-06 + ], + "angular_velocity": [ + 1.21599566682562e-06, + -9.815095154408482e-07, + 2.0231329500575157e-08 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/reservoir_12ch/Object.usd", + "pose": { + "pos": [ + -1.3861169815063477, + 0.8461790084838867, + 0.9179999828338623 + ], + "ori": [ + -0.591583788394928, + -8.243067384228198e-08, + -3.93030347822787e-07, + 0.8062436580657959 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 1.5896665672698873e-07, + 4.84170868730871e-07, + -5.211681127548218e-06 + ], + "angular_velocity": [ + 3.597051545511931e-05, + 4.420806362759322e-06, + 1.0695075616240501e-05 + ] + } + } + ], + "deco_hub_west": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/hub_e.usd", + "pose": { + "pos": [ + -3.36, + 0.0, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_hub_east": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/hub_d.usd", + "pose": { + "pos": [ + 3.36, + 0.0, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_hub_back": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/hub_a.usd", + "pose": { + "pos": [ + -3.0, + -2.1, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_bench_east": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/bench_c.usd", + "pose": { + "pos": [ + 2.6, + -2.5, + 0.0 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_bench_gap": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/bench_b.usd", + "pose": { + "pos": [ + -0.1, + -2.9, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ] + } + ], + "devices": { + "hub": [ + null, + null, + null, + { + "t": 4.939999999999917, + "step": 988, + "counter": 0, + "devices": { + "a4s_sealer_1": { + "mode": "auto", + "units": { + "drawer": { + "state": "at_out", + "active": null, + "target": 0.0, + "goal_name": "out", + "profile": null, + "q_start": null, + "reversing": false, + "blocked_for": 0.0, + "settled_for": 0.0, + "last_q": 1.8072430487889313e-12 + }, + "heater": { + "state": "ready", + "active": null, + "duration": 0.0, + "t_start": null, + "elapsed": 0.0 + } + }, + "queues": {}, + "program": null, + "sensors": { + "plate_present": { + "occupants": [], + "pending": {} + } + }, + "interlocks": {} + }, + "conveyor_1": { + "mode": "auto", + "units": { + "belt": { + "state": "at_station", + "active": null, + "controller": { + "speed": 0.15287437402826212, + "holds": [], + "station": "pick", + "rider": "carrier_2", + "arrived": true, + "settle_count": 978, + "released": { + "pick": [] + }, + "last_pos": { + "carrier_1": [ + -0.19026699662208557, + 0.6999996304512024, + 0.0 + ], + "carrier_2": [ + -0.24817219376564026, + -1.7881393432617188e-07, + 0.0 + ], + "carrier_3": [ + 1.5450302064418793, + 0.3955753445625305, + 0.0 + ], + "carrier_4": [ + -1.544260412454605, + 0.4024255871772766, + 0.0 + ] + }, + "command": 0.0 + }, + "belt": { + "target_speed": 0.0, + "command_speed": 0.0 + }, + "seen": { + "state": "at_station", + "station": "pick", + "rider": "carrier_2", + "arrived": true + } + } + }, + "queues": {}, + "program": null, + "sensors": {}, + "interlocks": {} + } + }, + "zones": {}, + "labware": { + "plate_1": { + "sealed": false + }, + "plate_2": { + "sealed": false + }, + "plate_3": { + "sealed": false + }, + "plate_4": { + "sealed": false + } + }, + "rules": {}, + "records": [], + "bus": { + "seq": 3, + "queue": [] + } + } + ], + "drives": [ + null, + null, + null, + {} + ] + }, + "artifacts": [ + {}, + {}, + {}, + { + "ceiling": { + "type": "rect", + "pose": { + "pos": [ + 0.37589412260671884, + 0.41745093972659153, + 2.6786436770523916 + ], + "ori": [ + -12.56649834981546, + -6.2018223271682995, + 7.3980573145486375 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "color_temperature": 3340.9327326993475, + "color": [ + 0.9882141711332942, + 0.8047176508092226, + 0.8820403513585884 + ], + "intensity": 14425.63799940557, + "width": 2.705653251823356, + "height": 0.8767164766311409 + } + }, + "key": { + "type": "disk", + "pose": { + "pos": [ + -1.0881643565523829, + 0.2957498773890306, + 2.7481166910812025 + ], + "ori": [ + 20.765504043679513, + -28.690062550983058, + 32.85171880694236 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "color_temperature": 4288.0427452627355, + "color": [ + 0.845199968941105, + 0.7537861727024309, + 0.8611500137547584 + ], + "intensity": 5232.058438787051, + "radius": 0.19138189807573125 + } + } + } + ], + "background": { + "type": "dome", + "pose": { + "pos": null, + "ori": null, + "scale": null + }, + "dr": { + "intensity": 463.8315345497469, + "texture": null, + "color": [ + 0.92, + 0.94, + 0.96 + ] + } + } + }, + "robots": { + "UR5e": { + "root_pose": [ + [ + 11.0, + -11.0, + 0.9150000214576721, + 1.0, + 0.0, + 0.0, + 0.0 + ], + [ + 11.0, + 11.0, + 0.9150000214576721, + 1.0, + 0.0, + 0.0, + 0.0 + ], + [ + -11.0, + -11.0, + 0.9150000214576721, + 1.0, + 0.0, + 0.0, + 0.0 + ], + [ + -11.0, + 11.0, + 0.9150000214576721, + 1.0, + 0.0, + 0.0, + 0.0 + ] + ], + "root_vel": [ + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + ], + "joint_pos": [ + [ + 1.0882071256637573, + -1.3918417692184448, + 2.295182704925537, + -2.4742329120635986, + -1.5707820653915405, + 2.8454370498657227, + 0.007235485129058361, + 0.0066704582422971725 + ], + [ + 0.9141010642051697, + -1.719397783279419, + 2.09049916267395, + -1.9419004917144775, + -1.5707999467849731, + 2.4849002361297607, + 0.018000001087784767, + 0.01799999736249447 + ], + [ + 0.9141020774841309, + -1.7193984985351562, + 2.0904996395111084, + -1.9419007301330566, + -1.5707999467849731, + 2.48490047454834, + 0.017999999225139618, + 0.017999999225139618 + ], + [ + 0.9141013622283936, + -1.7193995714187622, + 2.0905003547668457, + -1.9419008493423462, + -1.5707999467849731, + 2.48490047454834, + 0.01799999736249447, + 0.018000001087784767 + ] + ], + "joint_vel": [ + [ + 0.0002791208098642528, + -0.021234732121229172, + -0.007873989641666412, + 0.02803325653076172, + -0.00012746258289553225, + -0.0009982784977182746, + -0.007500506471842527, + 0.00015066539344843477 + ], + [ + 2.3021862405469203e-38, + -1.9620815744257298e-38, + 1.2895017518022117e-38, + -5.7362235594005475e-37, + 5.7705246553141675e-37, + -2.980420941466089e-36, + -2.5990388508034812e-08, + 2.5990388508034812e-08 + ], + [ + 3.4059653444273863e-06, + 1.6571719040417432e-12, + 1.604049250196471e-12, + -3.405976030990132e-06, + -3.405978077353211e-06, + 1.033601156052999e-12, + 1.2876146275511008e-13, + 1.0635521868578024e-13 + ], + [ + -2.527969334572485e-38, + 1.5499014020516852e-38, + 3.8572760902926146e-38, + 5.210929902362941e-37, + -4.883688819832621e-38, + 4.337454158544144e-37, + 2.5990399166175848e-08, + -2.5990386731677972e-08 + ] + ] + } + }, + "cameras": { + "cameras": { + "camera0": [ + [ + 0.04872015118598938, + -0.0026552691124379635, + -0.026867957785725594, + -0.2734644114971161, + 0.6526816487312317, + 0.64763343334198, + -0.28247979283332825 + ], + [ + 0.048275962471961975, + -0.0010049105621874332, + -0.02763601392507553, + -0.2818950414657593, + 0.6465125679969788, + 0.6561766862869263, + -0.2683074176311493 + ], + [ + 0.05397281050682068, + 0.0015909825451672077, + -0.03129420801997185, + -0.278787225484848, + 0.6427387595176697, + 0.651569664478302, + -0.29089778661727905 + ], + [ + 0.05324116721749306, + -0.0007328189094550908, + -0.03297720476984978, + -0.27004188299179077, + 0.6487219929695129, + 0.6547346711158752, + -0.2784953713417053 + ] + ], + "camera1": [ + [ + 0.07392950356006622, + 0.5620927214622498, + 1.925349235534668, + 0.0467197448015213, + -0.0020974865183234215, + 0.26493045687675476, + 0.9631327390670776 + ], + [ + 0.027465179562568665, + 0.5654304623603821, + 1.9470843076705933, + 0.04367529973387718, + 0.007694880943745375, + 0.26933079957962036, + 0.962026059627533 + ], + [ + 0.06348613649606705, + 0.5693833231925964, + 1.9389934539794922, + 0.04901990666985512, + 0.022325867787003517, + 0.28392934799194336, + 0.9573310613632202 + ], + [ + 0.06985415518283844, + 0.5945490002632141, + 1.9402295351028442, + 0.030959274619817734, + 0.007318782154470682, + 0.285320520401001, + 0.957904040813446 + ] + ] + } + } + } +} \ No newline at end of file diff --git a/episodes/c8_p015_e002/wrist.mp4 b/episodes/c8_p015_e002/wrist.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..cc8507479f8d3e07409e77f1037b9787ae3376c6 --- /dev/null +++ b/episodes/c8_p015_e002/wrist.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:5424455530b29017e149f8bf21eee15638b36cc3a05eb31e51f82271f38793c9 +size 7079560 diff --git a/episodes/c8_p015_e003/data.npz b/episodes/c8_p015_e003/data.npz new file mode 100644 index 0000000000000000000000000000000000000000..42adde5da6c2bef2a666bf62bf5577e65a4c26eb --- /dev/null +++ b/episodes/c8_p015_e003/data.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:acb1c44a4ee7f34df301944470ebd591d9653a73d44ed7ad672413950c779975 +size 191365 diff --git a/episodes/c8_p015_e003/device_events.jsonl b/episodes/c8_p015_e003/device_events.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..5f23ea1ca2bc80e48136a16fec60f3434d1e79e0 --- /dev/null +++ b/episodes/c8_p015_e003/device_events.jsonl @@ -0,0 +1,36 @@ +{"env_id": 2, "seq": 1, "step": 192, "t": 0.96, "topic": "conveyor_1.belt.station.pick.captured", "source": "conveyor_1.belt", "data": {"rider": "carrier_2"}, "cause": null} +{"env_id": 2, "seq": 2, "step": 192, "t": 0.96, "topic": "conveyor_1.belt.state.changed", "source": "conveyor_1.belt", "data": {"from": "running", "to": "at_station"}, "cause": null} +{"env_id": 2, "seq": 3, "step": 197, "t": 0.985, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_2"}, "cause": null} +{"env_id": 2, "seq": 4, "step": 2104, "t": 10.52, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_2"}, "cause": null} +{"env_id": 2, "seq": 5, "step": 7159, "t": 35.795, "topic": "a4s_sealer_1.plate_present.present", "source": "a4s_sealer_1.plate_present", "data": {"object": "plate_2"}, "cause": null} +{"env_id": 2, "seq": 6, "step": 7772, "t": 38.86, "topic": "a4s_sealer_1.command.started", "source": "a4s_sealer_1", "data": {"command_id": "task-2-1", "name": "seal", "source": "task"}, "cause": "task-2-1"} +{"env_id": 2, "seq": 7, "step": 7772, "t": 38.86, "topic": "a4s_sealer_1.seal.started", "source": "a4s_sealer_1", "data": {"dwell": 3.709994495990052}, "cause": "task-2-1"} +{"env_id": 2, "seq": 8, "step": 7772, "t": 38.86, "topic": "a4s_sealer_1.drawer.command.started", "source": "a4s_sealer_1.drawer", "data": {"command_id": "program-2-2", "name": "close", "source": "program:seal"}, "cause": "program-2-2"} +{"env_id": 2, "seq": 9, "step": 7772, "t": 38.86, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "at_out", "to": "moving"}, "cause": null} +{"env_id": 2, "seq": 10, "step": 7772, "t": 38.86, "topic": "a4s_sealer_1.drawer.moving", "source": "a4s_sealer_1.drawer", "data": {"target": 0.3, "goal": "in"}, "cause": "program-2-2"} +{"env_id": 2, "seq": 11, "step": 8191, "t": 40.955, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "moving", "to": "at_in"}, "cause": null} +{"env_id": 2, "seq": 12, "step": 8191, "t": 40.955, "topic": "a4s_sealer_1.drawer.reached", "source": "a4s_sealer_1.drawer", "data": {"position": "in", "q": 0.30000001192092896}, "cause": "program-2-2"} +{"env_id": 2, "seq": 13, "step": 8191, "t": 40.955, "topic": "a4s_sealer_1.drawer.at_in", "source": "a4s_sealer_1.drawer", "data": {"q": 0.30000001192092896}, "cause": "program-2-2"} +{"env_id": 2, "seq": 14, "step": 8191, "t": 40.955, "topic": "a4s_sealer_1.drawer.command.succeeded", "source": "a4s_sealer_1.drawer", "data": {"command_id": "program-2-2", "name": "close", "source": "program:seal", "result": {"position": "in"}}, "cause": "program-2-2"} +{"env_id": 2, "seq": 15, "step": 8191, "t": 40.955, "topic": "labware.plate_2.changed", "source": "labware.plate_2", "data": {"key": "sealed", "value": true}, "cause": "task-2-1"} +{"env_id": 2, "seq": 16, "step": 8191, "t": 40.955, "topic": "a4s_sealer_1.sealed", "source": "a4s_sealer_1", "data": {"plate": "plate_2"}, "cause": "task-2-1"} +{"env_id": 2, "seq": 17, "step": 8191, "t": 40.955, "topic": "a4s_sealer_1.heater.command.started", "source": "a4s_sealer_1.heater", "data": {"command_id": "program-2-3", "name": "run", "source": "program:seal"}, "cause": "program-2-3"} +{"env_id": 2, "seq": 18, "step": 8191, "t": 40.955, "topic": "a4s_sealer_1.heater.state.changed", "source": "a4s_sealer_1.heater", "data": {"from": "ready", "to": "running"}, "cause": null} +{"env_id": 2, "seq": 19, "step": 8191, "t": 40.955, "topic": "a4s_sealer_1.heater.started", "source": "a4s_sealer_1.heater", "data": {"duration": 3.709994495990052}, "cause": "program-2-3"} +{"env_id": 2, "seq": 20, "step": 8933, "t": 44.665, "topic": "a4s_sealer_1.heater.state.changed", "source": "a4s_sealer_1.heater", "data": {"from": "running", "to": "ready"}, "cause": null} +{"env_id": 2, "seq": 21, "step": 8933, "t": 44.665, "topic": "a4s_sealer_1.heater.finished", "source": "a4s_sealer_1.heater", "data": {"elapsed": 3.710000000001898}, "cause": "program-2-3"} +{"env_id": 2, "seq": 22, "step": 8933, "t": 44.665, "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": 3.710000000001898}}, "cause": "program-2-3"} +{"env_id": 2, "seq": 23, "step": 8933, "t": 44.665, "topic": "a4s_sealer_1.drawer.command.started", "source": "a4s_sealer_1.drawer", "data": {"command_id": "program-2-4", "name": "open", "source": "program:seal"}, "cause": "program-2-4"} +{"env_id": 2, "seq": 24, "step": 8933, "t": 44.665, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "at_in", "to": "moving"}, "cause": null} +{"env_id": 2, "seq": 25, "step": 8933, "t": 44.665, "topic": "a4s_sealer_1.drawer.moving", "source": "a4s_sealer_1.drawer", "data": {"target": 0.0, "goal": "out"}, "cause": "program-2-4"} +{"env_id": 2, "seq": 26, "step": 9353, "t": 46.765, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "moving", "to": "at_out"}, "cause": null} +{"env_id": 2, "seq": 27, "step": 9353, "t": 46.765, "topic": "a4s_sealer_1.drawer.reached", "source": "a4s_sealer_1.drawer", "data": {"position": "out", "q": 2.6629490279539425e-11}, "cause": "program-2-4"} +{"env_id": 2, "seq": 28, "step": 9353, "t": 46.765, "topic": "a4s_sealer_1.drawer.at_out", "source": "a4s_sealer_1.drawer", "data": {"q": 2.6629490279539425e-11}, "cause": "program-2-4"} +{"env_id": 2, "seq": 29, "step": 9353, "t": 46.765, "topic": "a4s_sealer_1.drawer.command.succeeded", "source": "a4s_sealer_1.drawer", "data": {"command_id": "program-2-4", "name": "open", "source": "program:seal", "result": {"position": "out"}}, "cause": "program-2-4"} +{"env_id": 2, "seq": 30, "step": 9353, "t": 46.765, "topic": "a4s_sealer_1.seal.finished", "source": "a4s_sealer_1", "data": {}, "cause": "task-2-1"} +{"env_id": 2, "seq": 31, "step": 9353, "t": 46.765, "topic": "a4s_sealer_1.command.succeeded", "source": "a4s_sealer_1", "data": {"command_id": "task-2-1", "name": "seal", "source": "task"}, "cause": "task-2-1"} +{"env_id": 2, "seq": 32, "step": 9934, "t": 49.67, "topic": "a4s_sealer_1.plate_present.absent", "source": "a4s_sealer_1.plate_present", "data": {"object": "plate_2"}, "cause": null} +{"env_id": 2, "seq": 33, "step": 11728, "t": 58.64, "topic": "conveyor_1.belt.command.started", "source": "conveyor_1.belt", "data": {"command_id": "task-2-5", "name": "release", "source": "task"}, "cause": "task-2-5"} +{"env_id": 2, "seq": 34, "step": 11728, "t": 58.64, "topic": "conveyor_1.belt.station.pick.released", "source": "conveyor_1.belt", "data": {"rider": "carrier_2"}, "cause": "task-2-5"} +{"env_id": 2, "seq": 35, "step": 11728, "t": 58.64, "topic": "conveyor_1.belt.state.changed", "source": "conveyor_1.belt", "data": {"from": "at_station", "to": "running"}, "cause": null} +{"env_id": 2, "seq": 36, "step": 11728, "t": 58.64, "topic": "conveyor_1.belt.command.succeeded", "source": "conveyor_1.belt", "data": {"command_id": "task-2-5", "name": "release", "source": "task", "result": {"state": "running"}}, "cause": "task-2-5"} diff --git a/episodes/c8_p015_e003/env.mp4 b/episodes/c8_p015_e003/env.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..cbe4e346898faabf30b4921b95a775bbaf195d11 --- /dev/null +++ b/episodes/c8_p015_e003/env.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:d07750183da41b5839029f73217f36b03b3054704f1c1a10ae7059074cfcc0b0 +size 1343075 diff --git a/episodes/c8_p015_e003/meta.json b/episodes/c8_p015_e003/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..f7221403557de42915ab5b4532e45c6cd68ea32f --- /dev/null +++ b/episodes/c8_p015_e003/meta.json @@ -0,0 +1,32 @@ +{ + "source": "raw/c8_p015/magicsim/3", + "fps": 25, + "frames": 1262, + "kept_ticks": "even", + "video_frames": { + "wrist": 1262, + "env": 1262 + }, + "joint_target_source": "joint_pos_target", + "fk_vs_recorded_eef_max_m": 0.0, + "curobo_joints": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "joint_order": [ + "shoulder_pan", + "shoulder_lift", + "elbow", + "wrist_1", + "wrist_2", + "wrist_3", + "finger_left", + "finger_right" + ], + "frames_note": "eef / actions in the robot base frame; camera_pose = local pose (wrist: in plate_gripper_base, env: env frame), pos + quat wxyz", + "dr_version": "v2" +} \ No newline at end of file diff --git a/episodes/c8_p015_e003/scene_snapshot.json b/episodes/c8_p015_e003/scene_snapshot.json new file mode 100644 index 0000000000000000000000000000000000000000..73e2bf1dcc936cef9fd3e5e180cba63563b2a49b --- /dev/null +++ b/episodes/c8_p015_e003/scene_snapshot.json @@ -0,0 +1,1558 @@ +{ + "trajectory_id": 3, + "env_id": 2, + "run_id": "c8_p015", + "task_type": "BioPlateCell", + "success": true, + "timing": { + "fps": 50.0, + "sim_dt": 0.005, + "decimation": 4 + }, + "restore_interface": { + "scene": "scene_manager.reset_to(snapshot['scene'], env_ids=[env_id])", + "robots": "robot_manager.set_state({'robots': snapshot['robots']}, env_ids=[env_id])" + }, + "snapshot": { + "env_id": 2, + "scene": { + "objects": [ + {}, + {}, + { + "rac_cell": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/rac_cell.usd", + "pose": { + "pos": [ + 0.0, + 0.0, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "physics_material": { + "static_friction": 0.6, + "dynamic_friction": 0.5, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "robot_mount": [ + { + "asset": "Cube", + "pose": { + "pos": [ + 0.0, + 0.0, + 0.9075 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": "color", + "value": [ + 0.55, + 0.56, + 0.58 + ], + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": { + "size": [ + 0.2, + 0.2, + 0.015 + ] + } + }, + "type_specific": {} + } + ], + "plate_rack": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/plate_hotel.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 0.9 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "physics_material": { + "static_friction": 0.6, + "dynamic_friction": 0.5, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "hotel_plate": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_384_white/plate_384_white.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 0.9605 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_48_clear/plate_48_clear.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.0285 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_96_black/plate_96_black.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.0965 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_96_white/plate_96_white.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.1645 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_96_white/plate_96_white.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.2325 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "a4s_sealer": [ + { + "asset": "$MAGICSIM_ASSETS/Articulated/A4SSealer/Object.usd", + "pose": { + "pos": [ + 0.5213470458984375, + 0.08469390869140625, + 0.8999999761581421 + ], + "ori": [ + -0.6827499270439148, + 0.0, + 0.0, + 0.7306521534919739 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "articulation", + "solver_position_iteration_count": 16.0, + "solver_velocity_iteration_count": 1.0, + "enabled_self_collisions": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "joint_position": [ + 0.0 + ], + "joint_velocity": [ + 0.0 + ], + "linear_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "angular_velocity": [ + 0.0, + 0.0, + 0.0 + ] + } + } + ], + "conveyor": [ + { + "asset": "Cube", + "pose": { + "pos": [ + 0.15, + 0.45, + 0.9 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "conveyor", + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9 + }, + "ratio": 1.0 + }, + "primitive_params": { + "size": [ + 2.4, + 0.076, + 0.03 + ] + }, + "conveyor": { + "speed": 0.18289370542270644, + "direction": [ + 1.0, + 0.0, + 0.0 + ], + "enabled": true, + "drive": "surface_velocity", + "lines": null, + "station_line": null, + "riders": [ + "carrier" + ], + "stations": { + "pick": { + "position": -0.22784251348106094, + "slow_distance": 0.03, + "slow_speed": 0.03 + } + }, + "rails": { + "height": 0.01, + "thickness": 0.01, + "gap": 0.001, + "friction": 0.05 + }, + "legs": 0.87, + "loop": { + "radius": 0.35, + "side": "left", + "curve_extra_width": 0.0, + "segments": 18, + "curve_rails": "both" + }, + "snap_distance": 0.1, + "junction_snap": 0.02, + "collision_approximation": "auto", + "plate_mass": 1.0, + "lift_drop": 0.004, + "accel": 0.0, + "decel": 0.0, + "drive_damping": 1000000.0, + "drive_max_force": 1000000000.0 + } + }, + "type_specific": { + "controller": { + "state": "at_station", + "speed": 0.18289370542270644, + "holds": [], + "station": "pick", + "rider": "carrier_2", + "arrived": true, + "applied_speed": 0.0 + } + } + } + ], + "carrier": [ + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + 0.5798187255859375, + 1.1526336669921875, + 0.8999999761581421 + ], + "ori": [ + -0.009289320558309555, + 2.250188924080021e-09, + -1.7653208062018422e-10, + 0.9999568462371826 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 5.392195578934889e-10, + -1.0918119741631926e-09, + 0.0 + ], + "angular_velocity": [ + 7.168679871938366e-08, + 5.798951363544802e-08, + -6.074042380177502e-10 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + -0.07760906219482422, + 0.44720458984375, + 0.8999999761581421 + ], + "ori": [ + 0.9999547004699707, + 4.903273342904413e-10, + 2.2223554552169844e-08, + 0.009520629420876503 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 3.4719782604497595e-11, + 2.0021340141340715e-09, + 3.725290298461914e-09 + ], + "angular_velocity": [ + -1.0052041687913515e-07, + 2.7113436829040438e-08, + -2.7998982687904572e-08 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + 1.3671026229858398, + 0.4528207778930664, + 0.8999999761581421 + ], + "ori": [ + 0.999596357345581, + -1.2740803079225316e-08, + 5.983733331049734e-08, + 0.028411107137799263 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 6.939204766354123e-10, + -8.569745468811618e-10, + -3.725290298461914e-09 + ], + "angular_velocity": [ + -3.407856752346561e-08, + 5.969626926116689e-08, + 1.1136681798973314e-08 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + -1.372293472290039, + 0.669245719909668, + 0.8999999761581421 + ], + "ori": [ + -0.8284947872161865, + 3.9556304898269445e-08, + -1.9231100267802503e-08, + 0.5599969029426575 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -2.4455391667288495e-07, + 3.4786928893026925e-09, + 7.450580596923828e-09 + ], + "angular_velocity": [ + 2.221208887931425e-06, + -5.006997525924817e-06, + -2.4140031200658996e-06 + ] + } + } + ], + "plate": [ + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_24_clear/Object.usd", + "pose": { + "pos": [ + 0.5942554473876953, + 1.142751693725586, + 0.9179999828338623 + ], + "ori": [ + -0.012091998010873795, + 2.3253463599104407e-09, + -2.0215609186635675e-09, + 0.9999269843101501 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 1.9683135121795203e-08, + 1.5462372715546735e-08, + 9.313225746154785e-08 + ], + "angular_velocity": [ + -9.386931196786463e-07, + 1.4454793699769652e-06, + 3.651771152135552e-08 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_384_black/Object.usd", + "pose": { + "pos": [ + -0.0779867172241211, + 0.4377174377441406, + 0.9180000424385071 + ], + "ori": [ + 0.9995037913322449, + 9.325171745899752e-10, + 2.17082636311261e-08, + 0.03149913251399994 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -2.2729370385832226e-08, + 1.0223503821293889e-08, + -5.748122930526733e-06 + ], + "angular_velocity": [ + -2.611723175505176e-07, + -1.7357322121824836e-06, + 2.3792317449533584e-08 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_1536_black/Object.usd", + "pose": { + "pos": [ + 1.3542146682739258, + 0.44853687286376953, + 0.9180000424385071 + ], + "ori": [ + 0.9921125769615173, + -2.4543885146499633e-08, + 6.179647726867188e-08, + 0.12535002827644348 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -3.8738932062187814e-08, + -4.633946915078013e-08, + -5.602836608886719e-06 + ], + "angular_velocity": [ + 7.503934739361284e-06, + -1.2109359204259817e-06, + 2.723641046031844e-07 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/deep_well_24_10ml/Object.usd", + "pose": { + "pos": [ + -1.3814401626586914, + 0.6808500289916992, + 0.9179999828338623 + ], + "ori": [ + -0.8627182841300964, + 1.4920331068424275e-06, + -8.231313017859065e-07, + 0.5056849718093872 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -1.8254166207043454e-05, + -1.1733897736121435e-05, + -1.6771256923675537e-05 + ], + "angular_velocity": [ + 0.0003860167635139078, + -0.000688244472257793, + -3.9025249861879274e-05 + ] + } + } + ], + "deco_hub_west": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/hub_c.usd", + "pose": { + "pos": [ + -3.36, + 0.0, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_hub_east": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/hub_a.usd", + "pose": { + "pos": [ + 3.36, + 0.0, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_hub_back": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/hub_e.usd", + "pose": { + "pos": [ + -3.0, + -2.1, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_bench_east": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/bench_a.usd", + "pose": { + "pos": [ + 2.6, + -2.5, + 0.0 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_bench_gap": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/bench_b.usd", + "pose": { + "pos": [ + -0.1, + -2.9, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ] + }, + {} + ], + "devices": { + "hub": [ + null, + null, + { + "t": 8.399999999999913, + "step": 1680, + "counter": 0, + "devices": { + "a4s_sealer_1": { + "mode": "auto", + "units": { + "drawer": { + "state": "at_out", + "active": null, + "target": 0.0, + "goal_name": "out", + "profile": null, + "q_start": null, + "reversing": false, + "blocked_for": 0.0, + "settled_for": 0.0, + "last_q": 0.0 + }, + "heater": { + "state": "ready", + "active": null, + "duration": 0.0, + "t_start": null, + "elapsed": 0.0 + } + }, + "queues": {}, + "program": null, + "sensors": { + "plate_present": { + "occupants": [], + "pending": {} + } + }, + "interlocks": {} + }, + "conveyor_1": { + "mode": "auto", + "units": { + "belt": { + "state": "at_station", + "active": null, + "controller": { + "speed": 0.18289370542270644, + "holds": [], + "station": "pick", + "rider": "carrier_2", + "arrived": true, + "settle_count": 1487, + "released": { + "pick": [] + }, + "last_pos": { + "carrier_1": [ + 0.429818719625473, + 0.7026336789131165, + 0.0 + ], + "carrier_2": [ + -0.2276090681552887, + -0.002795398235321045, + 0.0 + ], + "carrier_3": [ + 1.2171026170253754, + 0.0028207898139953613, + 0.0 + ], + "carrier_4": [ + -1.5222934782505035, + 0.21924573183059692, + 0.0 + ] + }, + "command": 0.0 + }, + "belt": { + "target_speed": 0.0, + "command_speed": 0.0 + }, + "seen": { + "state": "at_station", + "station": "pick", + "rider": "carrier_2", + "arrived": true + } + } + }, + "queues": {}, + "program": null, + "sensors": {}, + "interlocks": {} + } + }, + "zones": {}, + "labware": { + "plate_1": { + "sealed": false + }, + "plate_2": { + "sealed": false + }, + "plate_3": { + "sealed": false + }, + "plate_4": { + "sealed": false + } + }, + "rules": {}, + "records": [], + "bus": { + "seq": 3, + "queue": [] + } + }, + null + ], + "drives": [ + null, + null, + {}, + null + ] + }, + "artifacts": [ + {}, + {}, + { + "ceiling": { + "type": "rect", + "pose": { + "pos": [ + 0.1787080949141181, + -0.46571702559140077, + 2.7413572359866594 + ], + "ori": [ + 10.930526206904279, + -10.459495449865859, + 28.144486692573444 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "color_temperature": 6121.357142940659, + "color": [ + 0.9823828584657006, + 0.8696806084085613, + 0.8339052972095409 + ], + "intensity": 10818.252687695065, + "width": 2.4865965765003324, + "height": 1.86085506436228 + } + }, + "key": { + "type": "disk", + "pose": { + "pos": [ + 0.7383325387500652, + -0.7781168948038804, + 2.351517455503679 + ], + "ori": [ + 34.949081161389074, + -6.596684684927979, + 17.747635751550362 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "color_temperature": 5551.0002033598, + "color": [ + 0.8481076273932205, + 0.8750002276906416, + 0.7872629366032866 + ], + "intensity": 8525.607085778462, + "radius": 0.19781963321747353 + } + } + }, + {} + ], + "background": { + "type": "dome", + "pose": { + "pos": null, + "ori": null, + "scale": null + }, + "dr": { + "intensity": 463.8315345497469, + "texture": null, + "color": [ + 0.92, + 0.94, + 0.96 + ] + } + } + }, + "robots": { + "UR5e": { + "root_pose": [ + [ + 11.0, + -11.0, + 0.9150000214576721, + 1.0, + 0.0, + 0.0, + 0.0 + ], + [ + 11.0, + 11.0, + 0.9150000214576721, + 1.0, + 0.0, + 0.0, + 0.0 + ], + [ + -11.0, + -11.0, + 0.9150000214576721, + 1.0, + 0.0, + 0.0, + 0.0 + ], + [ + -11.0, + 11.0, + 0.9150000214576721, + 1.0, + 0.0, + 0.0, + 0.0 + ] + ], + "root_vel": [ + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + ], + "joint_pos": [ + [ + 1.3240432739257812, + -1.7618306875228882, + 2.2394895553588867, + -2.047792911529541, + -1.5706686973571777, + 3.044285297393799, + 0.0071269734762609005, + 0.007662197574973106 + ], + [ + 1.1939539909362793, + -1.369449496269226, + 2.202270269393921, + -2.4035754203796387, + -1.5707964897155762, + 2.543325185775757, + 0.018000049516558647, + 0.017999950796365738 + ], + [ + 0.9141144752502441, + -1.7193934917449951, + 2.09049654006958, + -1.9419009685516357, + -1.5707999467849731, + 2.484907627105713, + 0.01799999363720417, + 0.018000004813075066 + ], + [ + 1.2068960666656494, + -1.3488109111785889, + 2.223613977432251, + -2.445585250854492, + -1.5708171129226685, + 2.6592886447906494, + 0.007702701725065708, + 0.007160691078752279 + ] + ], + "joint_vel": [ + [ + 0.059683118015527725, + -0.04335325211286545, + 0.010851511731743813, + 0.027338551357388496, + 0.00012030450307065621, + 0.04916825145483017, + -0.002120381221175194, + 0.00027186545776203275 + ], + [ + -0.00010050501441583037, + 0.01772475615143776, + 0.007752603851258755, + -0.024223893880844116, + -7.751514203846455e-06, + 1.9930936105083674e-05, + -7.68347945268033e-06, + 7.659084985789377e-06 + ], + [ + 3.4059648896800354e-06, + 3.405934876354877e-06, + -9.443296838940185e-12, + -1.4613661843132508e-12, + -3.405976940484834e-06, + 6.737071837903397e-13, + 7.797073919846298e-08, + -7.797152079547232e-08 + ], + [ + 0.0002711068373173475, + -0.019297871738672256, + -0.007648264057934284, + 0.02510886825621128, + 0.0002834343467839062, + 0.0012104706838726997, + -0.0067319972440600395, + 0.0002777905610855669 + ] + ] + } + }, + "cameras": { + "cameras": { + "camera0": [ + [ + 0.046326588839292526, + -0.0028873803094029427, + -0.026516811922192574, + -0.27106228470802307, + 0.6544598937034607, + 0.6499859094619751, + -0.27518323063850403 + ], + [ + 0.049847353249788284, + -0.002822482492774725, + -0.029566725715994835, + -0.2826347053050995, + 0.6462860107421875, + 0.6553595662117004, + -0.27006635069847107 + ], + [ + 0.050391342490911484, + 9.188197873299941e-05, + -0.03426622599363327, + -0.28490543365478516, + 0.6439028978347778, + 0.649681806564331, + -0.2865859866142273 + ], + [ + 0.051625777035951614, + -0.0005607572966255248, + -0.03152021765708923, + -0.273872971534729, + 0.6460638642311096, + 0.6559597849845886, + -0.27805015444755554 + ] + ], + "camera1": [ + [ + 0.07392950356006622, + 0.5620927214622498, + 1.925349235534668, + 0.0467197448015213, + -0.0020974865183234215, + 0.26493045687675476, + 0.9631327390670776 + ], + [ + 0.027465179562568665, + 0.5654304623603821, + 1.9470843076705933, + 0.04367529973387718, + 0.007694880943745375, + 0.26933079957962036, + 0.962026059627533 + ], + [ + 0.06348613649606705, + 0.5693833231925964, + 1.9389934539794922, + 0.04901990666985512, + 0.022325867787003517, + 0.28392934799194336, + 0.9573310613632202 + ], + [ + 0.06985415518283844, + 0.5945490002632141, + 1.9402295351028442, + 0.030959274619817734, + 0.007318782154470682, + 0.285320520401001, + 0.957904040813446 + ] + ] + } + } + } +} \ No newline at end of file diff --git a/episodes/c8_p015_e003/wrist.mp4 b/episodes/c8_p015_e003/wrist.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..9baa811f2a79d41fcae80e3504233b587c994a1b --- /dev/null +++ b/episodes/c8_p015_e003/wrist.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:c331a7d0f884d6056d61a27d0d008b127d9a03b871884be2c3f7f991394b9896 +size 6884717 diff --git a/episodes/c9_p019_e008/data.npz b/episodes/c9_p019_e008/data.npz new file mode 100644 index 0000000000000000000000000000000000000000..59b2b16958c2d943e0ec35719a32e9da4539f04f --- /dev/null +++ b/episodes/c9_p019_e008/data.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:2bc18e7abe863f76fe0833ce30379f86770d34236d409eba5328a076e28ca742 +size 188554 diff --git a/episodes/c9_p019_e008/device_events.jsonl b/episodes/c9_p019_e008/device_events.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..da674e0ba252fb98031de9bc63d80ad0a55029d6 --- /dev/null +++ b/episodes/c9_p019_e008/device_events.jsonl @@ -0,0 +1,35 @@ +{"env_id": 0, "seq": 1, "step": 72, "t": 0.36, "topic": "conveyor_1.belt.station.pick.captured", "source": "conveyor_1.belt", "data": {"rider": "carrier_2"}, "cause": null} +{"env_id": 0, "seq": 2, "step": 72, "t": 0.36, "topic": "conveyor_1.belt.state.changed", "source": "conveyor_1.belt", "data": {"from": "running", "to": "at_station"}, "cause": null} +{"env_id": 0, "seq": 3, "step": 77, "t": 0.385, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_2"}, "cause": null} +{"env_id": 0, "seq": 4, "step": 5399, "t": 26.995, "topic": "a4s_sealer_1.plate_present.present", "source": "a4s_sealer_1.plate_present", "data": {"object": "plate_2"}, "cause": null} +{"env_id": 0, "seq": 5, "step": 6012, "t": 30.06, "topic": "a4s_sealer_1.command.started", "source": "a4s_sealer_1", "data": {"command_id": "task-0-1", "name": "seal", "source": "task"}, "cause": "task-0-1"} +{"env_id": 0, "seq": 6, "step": 6012, "t": 30.06, "topic": "a4s_sealer_1.seal.started", "source": "a4s_sealer_1", "data": {"dwell": 4.303445087415349}, "cause": "task-0-1"} +{"env_id": 0, "seq": 7, "step": 6012, "t": 30.06, "topic": "a4s_sealer_1.drawer.command.started", "source": "a4s_sealer_1.drawer", "data": {"command_id": "program-0-2", "name": "close", "source": "program:seal"}, "cause": "program-0-2"} +{"env_id": 0, "seq": 8, "step": 6012, "t": 30.06, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "at_out", "to": "moving"}, "cause": null} +{"env_id": 0, "seq": 9, "step": 6012, "t": 30.06, "topic": "a4s_sealer_1.drawer.moving", "source": "a4s_sealer_1.drawer", "data": {"target": 0.3, "goal": "in"}, "cause": "program-0-2"} +{"env_id": 0, "seq": 10, "step": 6431, "t": 32.155, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "moving", "to": "at_in"}, "cause": null} +{"env_id": 0, "seq": 11, "step": 6431, "t": 32.155, "topic": "a4s_sealer_1.drawer.reached", "source": "a4s_sealer_1.drawer", "data": {"position": "in", "q": 0.30000001192092896}, "cause": "program-0-2"} +{"env_id": 0, "seq": 12, "step": 6431, "t": 32.155, "topic": "a4s_sealer_1.drawer.at_in", "source": "a4s_sealer_1.drawer", "data": {"q": 0.30000001192092896}, "cause": "program-0-2"} +{"env_id": 0, "seq": 13, "step": 6431, "t": 32.155, "topic": "a4s_sealer_1.drawer.command.succeeded", "source": "a4s_sealer_1.drawer", "data": {"command_id": "program-0-2", "name": "close", "source": "program:seal", "result": {"position": "in"}}, "cause": "program-0-2"} +{"env_id": 0, "seq": 14, "step": 6431, "t": 32.155, "topic": "labware.plate_2.changed", "source": "labware.plate_2", "data": {"key": "sealed", "value": true}, "cause": "task-0-1"} +{"env_id": 0, "seq": 15, "step": 6431, "t": 32.155, "topic": "a4s_sealer_1.sealed", "source": "a4s_sealer_1", "data": {"plate": "plate_2"}, "cause": "task-0-1"} +{"env_id": 0, "seq": 16, "step": 6431, "t": 32.155, "topic": "a4s_sealer_1.heater.command.started", "source": "a4s_sealer_1.heater", "data": {"command_id": "program-0-3", "name": "run", "source": "program:seal"}, "cause": "program-0-3"} +{"env_id": 0, "seq": 17, "step": 6431, "t": 32.155, "topic": "a4s_sealer_1.heater.state.changed", "source": "a4s_sealer_1.heater", "data": {"from": "ready", "to": "running"}, "cause": null} +{"env_id": 0, "seq": 18, "step": 6431, "t": 32.155, "topic": "a4s_sealer_1.heater.started", "source": "a4s_sealer_1.heater", "data": {"duration": 4.303445087415349}, "cause": "program-0-3"} +{"env_id": 0, "seq": 19, "step": 7292, "t": 36.46, "topic": "a4s_sealer_1.heater.state.changed", "source": "a4s_sealer_1.heater", "data": {"from": "running", "to": "ready"}, "cause": null} +{"env_id": 0, "seq": 20, "step": 7292, "t": 36.46, "topic": "a4s_sealer_1.heater.finished", "source": "a4s_sealer_1.heater", "data": {"elapsed": 4.305000000002202}, "cause": "program-0-3"} +{"env_id": 0, "seq": 21, "step": 7292, "t": 36.46, "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": 4.305000000002202}}, "cause": "program-0-3"} +{"env_id": 0, "seq": 22, "step": 7292, "t": 36.46, "topic": "a4s_sealer_1.drawer.command.started", "source": "a4s_sealer_1.drawer", "data": {"command_id": "program-0-4", "name": "open", "source": "program:seal"}, "cause": "program-0-4"} +{"env_id": 0, "seq": 23, "step": 7292, "t": 36.46, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "at_in", "to": "moving"}, "cause": null} +{"env_id": 0, "seq": 24, "step": 7292, "t": 36.46, "topic": "a4s_sealer_1.drawer.moving", "source": "a4s_sealer_1.drawer", "data": {"target": 0.0, "goal": "out"}, "cause": "program-0-4"} +{"env_id": 0, "seq": 25, "step": 7712, "t": 38.56, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "moving", "to": "at_out"}, "cause": null} +{"env_id": 0, "seq": 26, "step": 7712, "t": 38.56, "topic": "a4s_sealer_1.drawer.reached", "source": "a4s_sealer_1.drawer", "data": {"position": "out", "q": 0.0}, "cause": "program-0-4"} +{"env_id": 0, "seq": 27, "step": 7712, "t": 38.56, "topic": "a4s_sealer_1.drawer.at_out", "source": "a4s_sealer_1.drawer", "data": {"q": 0.0}, "cause": "program-0-4"} +{"env_id": 0, "seq": 28, "step": 7712, "t": 38.56, "topic": "a4s_sealer_1.drawer.command.succeeded", "source": "a4s_sealer_1.drawer", "data": {"command_id": "program-0-4", "name": "open", "source": "program:seal", "result": {"position": "out"}}, "cause": "program-0-4"} +{"env_id": 0, "seq": 29, "step": 7712, "t": 38.56, "topic": "a4s_sealer_1.seal.finished", "source": "a4s_sealer_1", "data": {}, "cause": "task-0-1"} +{"env_id": 0, "seq": 30, "step": 7712, "t": 38.56, "topic": "a4s_sealer_1.command.succeeded", "source": "a4s_sealer_1", "data": {"command_id": "task-0-1", "name": "seal", "source": "task"}, "cause": "task-0-1"} +{"env_id": 0, "seq": 31, "step": 8285, "t": 41.425, "topic": "a4s_sealer_1.plate_present.absent", "source": "a4s_sealer_1.plate_present", "data": {"object": "plate_2"}, "cause": null} +{"env_id": 0, "seq": 32, "step": 10012, "t": 50.06, "topic": "conveyor_1.belt.command.started", "source": "conveyor_1.belt", "data": {"command_id": "task-0-5", "name": "release", "source": "task"}, "cause": "task-0-5"} +{"env_id": 0, "seq": 33, "step": 10012, "t": 50.06, "topic": "conveyor_1.belt.station.pick.released", "source": "conveyor_1.belt", "data": {"rider": "carrier_2"}, "cause": "task-0-5"} +{"env_id": 0, "seq": 34, "step": 10012, "t": 50.06, "topic": "conveyor_1.belt.state.changed", "source": "conveyor_1.belt", "data": {"from": "at_station", "to": "running"}, "cause": null} +{"env_id": 0, "seq": 35, "step": 10012, "t": 50.06, "topic": "conveyor_1.belt.command.succeeded", "source": "conveyor_1.belt", "data": {"command_id": "task-0-5", "name": "release", "source": "task", "result": {"state": "running"}}, "cause": "task-0-5"} diff --git a/episodes/c9_p019_e008/env.mp4 b/episodes/c9_p019_e008/env.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..59fa68b257ea743703bf6a50b652c5d38c8ddcfd --- /dev/null +++ b/episodes/c9_p019_e008/env.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:fd02efe32a5fdb9c275daa0c4415f4dc17587919cf8afc06a2662b95de573223 +size 1349450 diff --git a/episodes/c9_p019_e008/meta.json b/episodes/c9_p019_e008/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..4d6b647eebb9c6bf2137338239e02542a91188cd --- /dev/null +++ b/episodes/c9_p019_e008/meta.json @@ -0,0 +1,32 @@ +{ + "source": "raw/c9_p019/magicsim/8", + "fps": 25, + "frames": 1236, + "kept_ticks": "even", + "video_frames": { + "wrist": 1236, + "env": 1236 + }, + "joint_target_source": "joint_pos_target", + "fk_vs_recorded_eef_max_m": 0.0, + "curobo_joints": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "joint_order": [ + "shoulder_pan", + "shoulder_lift", + "elbow", + "wrist_1", + "wrist_2", + "wrist_3", + "finger_left", + "finger_right" + ], + "frames_note": "eef / actions in the robot base frame; camera_pose = local pose (wrist: in plate_gripper_base, env: env frame), pos + quat wxyz", + "dr_version": "v2" +} \ No newline at end of file diff --git a/episodes/c9_p019_e008/scene_snapshot.json b/episodes/c9_p019_e008/scene_snapshot.json new file mode 100644 index 0000000000000000000000000000000000000000..7e2d1cfb62b20ae46b8592213435ba164441d5ba --- /dev/null +++ b/episodes/c9_p019_e008/scene_snapshot.json @@ -0,0 +1,1558 @@ +{ + "trajectory_id": 8, + "env_id": 0, + "run_id": "c9_p019", + "task_type": "BioPlateCell", + "success": true, + "timing": { + "fps": 50.0, + "sim_dt": 0.005, + "decimation": 4 + }, + "restore_interface": { + "scene": "scene_manager.reset_to(snapshot['scene'], env_ids=[env_id])", + "robots": "robot_manager.set_state({'robots': snapshot['robots']}, env_ids=[env_id])" + }, + "snapshot": { + "env_id": 0, + "scene": { + "objects": [ + { + "rac_cell": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/rac_cell.usd", + "pose": { + "pos": [ + 0.0, + 0.0, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "physics_material": { + "static_friction": 0.6, + "dynamic_friction": 0.5, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "robot_mount": [ + { + "asset": "Cube", + "pose": { + "pos": [ + 0.0, + 0.0, + 0.9075 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": "color", + "value": [ + 0.55, + 0.56, + 0.58 + ], + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": { + "size": [ + 0.2, + 0.2, + 0.015 + ] + } + }, + "type_specific": {} + } + ], + "plate_rack": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/plate_hotel.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 0.9 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "physics_material": { + "static_friction": 0.6, + "dynamic_friction": 0.5, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "hotel_plate": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_12_clear/plate_12_clear.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 0.9605 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/pcr_384_red/pcr_384_red.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.0285 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_48_clear/plate_48_clear.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.0965 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/pcr_384_red/pcr_384_red.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.1645 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/deep_well_96_2ml/deep_well_96_2ml.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.2325 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "a4s_sealer": [ + { + "asset": "$MAGICSIM_ASSETS/Articulated/A4SSealer/Object.usd", + "pose": { + "pos": [ + 0.5144157409667969, + 0.09686946868896484, + 0.8999999761581421 + ], + "ori": [ + 0.7106865644454956, + 0.0, + 0.0, + -0.7035087943077087 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "articulation", + "solver_position_iteration_count": 16.0, + "solver_velocity_iteration_count": 1.0, + "enabled_self_collisions": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "joint_position": [ + 3.02774927525562e-12 + ], + "joint_velocity": [ + 0.0 + ], + "linear_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "angular_velocity": [ + 0.0, + 0.0, + 0.0 + ] + } + } + ], + "conveyor": [ + { + "asset": "Cube", + "pose": { + "pos": [ + 0.15, + 0.45, + 0.9 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "conveyor", + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9 + }, + "ratio": 1.0 + }, + "primitive_params": { + "size": [ + 2.4, + 0.076, + 0.03 + ] + }, + "conveyor": { + "speed": 0.23879853475709348, + "direction": [ + 1.0, + 0.0, + 0.0 + ], + "enabled": true, + "drive": "surface_velocity", + "lines": null, + "station_line": null, + "riders": [ + "carrier" + ], + "stations": { + "pick": { + "position": -0.123353477714261, + "slow_distance": 0.03, + "slow_speed": 0.03 + } + }, + "rails": { + "height": 0.01, + "thickness": 0.01, + "gap": 0.001, + "friction": 0.05 + }, + "legs": 0.87, + "loop": { + "radius": 0.35, + "side": "left", + "curve_extra_width": 0.0, + "segments": 18, + "curve_rails": "both" + }, + "snap_distance": 0.1, + "junction_snap": 0.02, + "collision_approximation": "auto", + "plate_mass": 1.0, + "lift_drop": 0.004, + "accel": 0.0, + "decel": 0.0, + "drive_damping": 1000000.0, + "drive_max_force": 1000000000.0 + } + }, + "type_specific": { + "controller": { + "state": "at_station", + "speed": 0.23879853475709348, + "holds": [], + "station": "pick", + "rider": "carrier_2", + "arrived": true, + "applied_speed": 0.0 + } + } + } + ], + "carrier": [ + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + 0.29857635498046875, + 1.1499977111816406, + 0.8999999761581421 + ], + "ori": [ + 2.1352519979700446e-05, + 6.895692905573014e-10, + -4.733431424597256e-10, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 2.712753355282871e-10, + -1.3308116830756944e-09, + 3.725290298461914e-09 + ], + "angular_velocity": [ + 9.968839265184215e-08, + 3.5539319043209616e-08, + -5.266141744897368e-09 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + 0.02643299102783203, + 0.45000171661376953, + 0.8999999761581421 + ], + "ori": [ + 1.0, + 3.604299525505894e-09, + -6.604674029908608e-10, + -1.2613475519174244e-05 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 6.084239778658684e-10, + 1.2777022773136082e-09, + 1.1175870895385742e-08 + ], + "angular_velocity": [ + -4.054979996226393e-08, + 5.449126661005721e-08, + -2.2203860083891414e-08 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + 1.4908037185668945, + 0.4826822280883789, + 0.8999999761581421 + ], + "ori": [ + 0.9798570871353149, + -3.5196112690982773e-09, + -3.350088206843793e-08, + 0.19970037043094635 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 9.002437684202391e-12, + 6.821355702513188e-10, + 0.0 + ], + "angular_velocity": [ + 8.169362075705067e-09, + 1.8761944886591664e-08, + 6.185115086765336e-09 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + -1.325993537902832, + 0.5867767333984375, + 0.8999999761581421 + ], + "ori": [ + -0.896468997001648, + -3.72592356967516e-09, + -9.040235227075755e-09, + 0.4431065618991852 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 1.8084590180933446e-07, + -2.3791926651028916e-08, + -3.688037395477295e-07 + ], + "angular_velocity": [ + 5.316767783369869e-06, + 5.569169388763839e-06, + 2.285522441525245e-06 + ] + } + } + ], + "plate": [ + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_6_clear/Object.usd", + "pose": { + "pos": [ + 0.3009967803955078, + 1.1596193313598633, + 0.9179999828338623 + ], + "ori": [ + 0.09833762794733047, + 9.392575606170794e-10, + -8.679501561914549e-11, + 0.9951531887054443 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 2.8042183686238786e-08, + -3.171279772118396e-08, + 1.0803341865539551e-07 + ], + "angular_velocity": [ + 1.1642866866168333e-06, + 1.6772496564954054e-06, + 1.1306201486149803e-07 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_96_black/Object.usd", + "pose": { + "pos": [ + 0.031599998474121094, + 0.44528865814208984, + 0.9180000424385071 + ], + "ori": [ + 0.9996525049209595, + 4.143509979570581e-09, + -1.5860349700247411e-09, + -0.026364265009760857 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -7.714882066522932e-09, + 1.5539614039994376e-08, + -5.46872615814209e-06 + ], + "angular_velocity": [ + 4.486693683247722e-09, + -1.556350980536081e-06, + -3.926100333728755e-09 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/pcr_96_blue/Object.usd", + "pose": { + "pos": [ + 1.4795942306518555, + 0.48860836029052734, + 0.9180000424385071 + ], + "ori": [ + 0.9949682950973511, + 5.7060848490664284e-08, + -4.3030979668401415e-08, + 0.10019058734178543 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 5.4930694659560686e-08, + 1.5036370371035446e-07, + -6.109476089477539e-06 + ], + "angular_velocity": [ + -2.1571540855802596e-05, + 8.129197794914944e-07, + -4.965907578480255e-07 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/deep_well_96_2ml/Object.usd", + "pose": { + "pos": [ + -1.3293695449829102, + 0.5936346054077148, + 0.9179999828338623 + ], + "ori": [ + -0.8648641705513, + -9.2395805495471e-07, + 1.423682931545045e-07, + 0.5020061135292053 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 7.1987128649197984e-06, + 1.2675263860728592e-05, + -8.728355169296265e-06 + ], + "angular_velocity": [ + -0.00028160010697320104, + 0.0002634545380715281, + 5.359694841899909e-05 + ] + } + } + ], + "deco_hub_west": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/hub_d.usd", + "pose": { + "pos": [ + -3.36, + 0.0, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_hub_east": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/hub_e.usd", + "pose": { + "pos": [ + 3.36, + 0.0, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_hub_back": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/hub_b.usd", + "pose": { + "pos": [ + -3.0, + -2.1, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_bench_east": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/bench_a.usd", + "pose": { + "pos": [ + 2.6, + -2.5, + 0.0 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_bench_gap": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/bench_b.usd", + "pose": { + "pos": [ + -0.1, + -2.9, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ] + }, + {}, + {}, + {} + ], + "devices": { + "hub": [ + { + "t": 0.8200000000000006, + "step": 164, + "counter": 0, + "devices": { + "a4s_sealer_1": { + "mode": "auto", + "units": { + "drawer": { + "state": "at_out", + "active": null, + "target": 0.0, + "goal_name": "out", + "profile": null, + "q_start": null, + "reversing": false, + "blocked_for": 0.0, + "settled_for": 0.0, + "last_q": 3.02774927525562e-12 + }, + "heater": { + "state": "ready", + "active": null, + "duration": 0.0, + "t_start": null, + "elapsed": 0.0 + } + }, + "queues": {}, + "program": null, + "sensors": { + "plate_present": { + "occupants": [], + "pending": {} + } + }, + "interlocks": {} + }, + "conveyor_1": { + "mode": "auto", + "units": { + "belt": { + "state": "at_station", + "active": null, + "controller": { + "speed": 0.23879853475709348, + "holds": [], + "station": "pick", + "rider": "carrier_2", + "arrived": true, + "settle_count": 91, + "released": { + "pick": [] + }, + "last_pos": { + "carrier_1": [ + 0.14857634902000427, + 0.6999977231025696, + 0.0 + ], + "carrier_2": [ + -0.12356701493263245, + 1.7285346984863281e-06, + 0.0 + ], + "carrier_3": [ + 1.34080371260643, + 0.03268224000930786, + 0.0 + ], + "carrier_4": [ + -1.4759935438632965, + 0.13677674531936646, + 0.0 + ] + }, + "command": 0.0 + }, + "belt": { + "target_speed": 0.0, + "command_speed": 0.0 + }, + "seen": { + "state": "at_station", + "station": "pick", + "rider": "carrier_2", + "arrived": true + } + } + }, + "queues": {}, + "program": null, + "sensors": {}, + "interlocks": {} + } + }, + "zones": {}, + "labware": { + "plate_1": { + "sealed": false + }, + "plate_2": { + "sealed": false + }, + "plate_3": { + "sealed": false + }, + "plate_4": { + "sealed": false + } + }, + "rules": {}, + "records": [], + "bus": { + "seq": 3, + "queue": [] + } + }, + null, + null, + null + ], + "drives": [ + {}, + null, + null, + null + ] + }, + "artifacts": [ + { + "ceiling": { + "type": "rect", + "pose": { + "pos": [ + -0.47969223806080835, + 0.5093291010746548, + 2.6533933958065448 + ], + "ori": [ + 3.876960008991343, + 13.828369840692773, + 24.821007127005508 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "color_temperature": 3256.58587691405, + "color": [ + 0.8250035135162781, + 0.8765310185550022, + 0.8166758320548829 + ], + "intensity": 7012.322089586425, + "width": 2.0132382918657856, + "height": 1.3186665908095867 + } + }, + "key": { + "type": "sphere", + "pose": { + "pos": [ + 1.5939148156863054, + 1.5495704326602568, + 2.5789322179332976 + ], + "ori": [ + -19.963434944557772, + -15.262608987972037, + -33.28393004735791 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "color_temperature": 7270.66191801048, + "color": [ + 0.9914113174698401, + 0.7797459494679166, + 0.8049735024697071 + ], + "intensity": 7503.030251792932, + "radius": 0.09488334949212743 + } + } + }, + {}, + {}, + {} + ], + "background": { + "type": "dome", + "pose": { + "pos": null, + "ori": null, + "scale": null + }, + "dr": { + "intensity": 526.3395730628298, + "texture": null, + "color": [ + 0.92, + 0.94, + 0.96 + ] + } + } + }, + "robots": { + "UR5e": { + "root_pose": [ + [ + 11.0, + -11.0, + 0.9150000214576721, + 1.0, + 0.0, + 0.0, + 0.0 + ], + [ + 11.0, + 11.0, + 0.9150000214576721, + 1.0, + 0.0, + 0.0, + 0.0 + ], + [ + -11.0, + -11.0, + 0.9150000214576721, + 1.0, + 0.0, + 0.0, + 0.0 + ], + [ + -11.0, + 11.0, + 0.9150000214576721, + 1.0, + 0.0, + 0.0, + 0.0 + ] + ], + "root_vel": [ + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + ], + "joint_pos": [ + [ + 0.9141013026237488, + -1.719399094581604, + 2.0904998779296875, + -1.941900610923767, + -1.5707999467849731, + 2.4849002361297607, + 0.01799999736249447, + 0.018000001087784767 + ], + [ + 0.8865646719932556, + -1.4184948205947876, + 2.037262439727783, + -2.1895217895507812, + -1.5707963705062866, + 2.363757371902466, + 0.018000036478042603, + 0.017999963834881783 + ], + [ + 1.1343038082122803, + -1.59539794921875, + 2.144857168197632, + -2.1202242374420166, + -1.570793628692627, + 2.6712660789489746, + 0.018000898882746696, + 0.017999103292822838 + ], + [ + 0.10675840079784393, + -2.010629653930664, + 2.3435425758361816, + -1.9046320915222168, + -1.570360541343689, + 3.9685134887695312, + 0.006683656945824623, + 0.008275886066257954 + ] + ], + "joint_vel": [ + [ + -2.561200847394255e-38, + 2.955124903375076e-38, + 2.948814015611143e-38, + 7.019193242489217e-37, + -7.28138089352723e-37, + 2.525459777178695e-37, + 2.5990399166175848e-08, + -2.5990386731677972e-08 + ], + [ + -0.00010919684427790344, + 0.011136496439576149, + 0.009033946320414543, + -0.019036434590816498, + -9.28456211113371e-06, + -2.0730714823002927e-05, + -4.651605649996782e-06, + 4.626607733371202e-06 + ], + [ + 0.029276307672262192, + 0.01668361760675907, + 0.007525728549808264, + -0.023209404200315475, + 5.520968261407688e-05, + 0.024340512230992317, + 1.8606693629408255e-05, + -1.863171382865403e-05 + ], + [ + 0.026806730777025223, + 0.010503153316676617, + 0.0036202436313033104, + -1.539289951324463e-05, + 0.0024701165966689587, + -0.07888157665729523, + -0.005178515333682299, + -1.7057474906323478e-05 + ] + ] + } + }, + "cameras": { + "cameras": { + "camera0": [ + [ + 0.04882659390568733, + -0.0014005962293595076, + -0.029733367264270782, + -0.2747712731361389, + 0.6510211229324341, + 0.6454637050628662, + -0.2899117171764374 + ], + [ + 0.05102409049868584, + 0.0013461350463330746, + -0.030864069238305092, + -0.278352290391922, + 0.6504591107368469, + 0.6483534574508667, + -0.28117749094963074 + ], + [ + 0.04806104302406311, + -0.0014796251198276877, + -0.026588374748826027, + -0.26730474829673767, + 0.6582885384559631, + 0.6452771425247192, + -0.28075218200683594 + ], + [ + 0.047879401594400406, + 0.0025644709821790457, + -0.02862471342086792, + -0.2831648290157318, + 0.6512455940246582, + 0.6536665558815002, + -0.2615662217140198 + ] + ], + "camera1": [ + [ + 0.06719697266817093, + 0.5649887919425964, + 1.973844051361084, + 0.03577404096722603, + 0.024012349545955658, + 0.2845747768878937, + 0.957685112953186 + ], + [ + 0.036351870745420456, + 0.5736538767814636, + 1.9610047340393066, + 0.03151782602071762, + 0.021825838834047318, + 0.26110976934432983, + 0.9645475149154663 + ], + [ + 0.05651431530714035, + 0.5935235619544983, + 1.9483001232147217, + 0.03187085688114166, + 0.0024376828223466873, + 0.2657139003276825, + 0.9635218977928162 + ], + [ + 0.045384034514427185, + 0.5785560011863708, + 1.9625914096832275, + 0.04984012991189957, + 0.013125700876116753, + 0.2612762451171875, + 0.9638871550559998 + ] + ] + } + } + } +} \ No newline at end of file diff --git a/episodes/c9_p019_e008/wrist.mp4 b/episodes/c9_p019_e008/wrist.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..d0b5c3c9c75f5f423bcb4f91a942a5ce88564d2b --- /dev/null +++ b/episodes/c9_p019_e008/wrist.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:cf0efa89945fb486c22ad87817956520b5698c3dca852f74ec3fee5495710bb6 +size 6501073 diff --git a/episodes/c9_p019_e009/data.npz b/episodes/c9_p019_e009/data.npz new file mode 100644 index 0000000000000000000000000000000000000000..0479beadccb74704473c384f17861965a0c6f077 --- /dev/null +++ b/episodes/c9_p019_e009/data.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:6dfcc517f2299ad82296f284b7f5a9ecf4bfcf6d70bfe8282ed15aa3b48be453 +size 197474 diff --git a/episodes/c9_p019_e009/device_events.jsonl b/episodes/c9_p019_e009/device_events.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..b1163a80531d780bf377a5f6ebbbcf0e01313155 --- /dev/null +++ b/episodes/c9_p019_e009/device_events.jsonl @@ -0,0 +1,36 @@ +{"env_id": 2, "seq": 1, "step": 172, "t": 0.86, "topic": "conveyor_1.belt.station.pick.captured", "source": "conveyor_1.belt", "data": {"rider": "carrier_1"}, "cause": null} +{"env_id": 2, "seq": 2, "step": 172, "t": 0.86, "topic": "conveyor_1.belt.state.changed", "source": "conveyor_1.belt", "data": {"from": "running", "to": "at_station"}, "cause": null} +{"env_id": 2, "seq": 3, "step": 177, "t": 0.885, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_1"}, "cause": null} +{"env_id": 2, "seq": 4, "step": 1162, "t": 5.81, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_1"}, "cause": null} +{"env_id": 2, "seq": 5, "step": 5907, "t": 29.535, "topic": "a4s_sealer_1.plate_present.present", "source": "a4s_sealer_1.plate_present", "data": {"object": "plate_1"}, "cause": null} +{"env_id": 2, "seq": 6, "step": 6520, "t": 32.6, "topic": "a4s_sealer_1.command.started", "source": "a4s_sealer_1", "data": {"command_id": "task-2-1", "name": "seal", "source": "task"}, "cause": "task-2-1"} +{"env_id": 2, "seq": 7, "step": 6520, "t": 32.6, "topic": "a4s_sealer_1.seal.started", "source": "a4s_sealer_1", "data": {"dwell": 2.879985818766133}, "cause": "task-2-1"} +{"env_id": 2, "seq": 8, "step": 6520, "t": 32.6, "topic": "a4s_sealer_1.drawer.command.started", "source": "a4s_sealer_1.drawer", "data": {"command_id": "program-2-2", "name": "close", "source": "program:seal"}, "cause": "program-2-2"} +{"env_id": 2, "seq": 9, "step": 6520, "t": 32.6, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "at_out", "to": "moving"}, "cause": null} +{"env_id": 2, "seq": 10, "step": 6520, "t": 32.6, "topic": "a4s_sealer_1.drawer.moving", "source": "a4s_sealer_1.drawer", "data": {"target": 0.3, "goal": "in"}, "cause": "program-2-2"} +{"env_id": 2, "seq": 11, "step": 6939, "t": 34.695, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "moving", "to": "at_in"}, "cause": null} +{"env_id": 2, "seq": 12, "step": 6939, "t": 34.695, "topic": "a4s_sealer_1.drawer.reached", "source": "a4s_sealer_1.drawer", "data": {"position": "in", "q": 0.30000001192092896}, "cause": "program-2-2"} +{"env_id": 2, "seq": 13, "step": 6939, "t": 34.695, "topic": "a4s_sealer_1.drawer.at_in", "source": "a4s_sealer_1.drawer", "data": {"q": 0.30000001192092896}, "cause": "program-2-2"} +{"env_id": 2, "seq": 14, "step": 6939, "t": 34.695, "topic": "a4s_sealer_1.drawer.command.succeeded", "source": "a4s_sealer_1.drawer", "data": {"command_id": "program-2-2", "name": "close", "source": "program:seal", "result": {"position": "in"}}, "cause": "program-2-2"} +{"env_id": 2, "seq": 15, "step": 6939, "t": 34.695, "topic": "labware.plate_1.changed", "source": "labware.plate_1", "data": {"key": "sealed", "value": true}, "cause": "task-2-1"} +{"env_id": 2, "seq": 16, "step": 6939, "t": 34.695, "topic": "a4s_sealer_1.sealed", "source": "a4s_sealer_1", "data": {"plate": "plate_1"}, "cause": "task-2-1"} +{"env_id": 2, "seq": 17, "step": 6939, "t": 34.695, "topic": "a4s_sealer_1.heater.command.started", "source": "a4s_sealer_1.heater", "data": {"command_id": "program-2-3", "name": "run", "source": "program:seal"}, "cause": "program-2-3"} +{"env_id": 2, "seq": 18, "step": 6939, "t": 34.695, "topic": "a4s_sealer_1.heater.state.changed", "source": "a4s_sealer_1.heater", "data": {"from": "ready", "to": "running"}, "cause": null} +{"env_id": 2, "seq": 19, "step": 6939, "t": 34.695, "topic": "a4s_sealer_1.heater.started", "source": "a4s_sealer_1.heater", "data": {"duration": 2.879985818766133}, "cause": "program-2-3"} +{"env_id": 2, "seq": 20, "step": 7515, "t": 37.575, "topic": "a4s_sealer_1.heater.state.changed", "source": "a4s_sealer_1.heater", "data": {"from": "running", "to": "ready"}, "cause": null} +{"env_id": 2, "seq": 21, "step": 7515, "t": 37.575, "topic": "a4s_sealer_1.heater.finished", "source": "a4s_sealer_1.heater", "data": {"elapsed": 2.8800000000014734}, "cause": "program-2-3"} +{"env_id": 2, "seq": 22, "step": 7515, "t": 37.575, "topic": "a4s_sealer_1.heater.command.succeeded", "source": "a4s_sealer_1.heater", "data": {"command_id": "program-2-3", "name": "run", "source": "program:seal", "result": {"elapsed": 2.8800000000014734}}, "cause": "program-2-3"} +{"env_id": 2, "seq": 23, "step": 7515, "t": 37.575, "topic": "a4s_sealer_1.drawer.command.started", "source": "a4s_sealer_1.drawer", "data": {"command_id": "program-2-4", "name": "open", "source": "program:seal"}, "cause": "program-2-4"} +{"env_id": 2, "seq": 24, "step": 7515, "t": 37.575, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "at_in", "to": "moving"}, "cause": null} +{"env_id": 2, "seq": 25, "step": 7515, "t": 37.575, "topic": "a4s_sealer_1.drawer.moving", "source": "a4s_sealer_1.drawer", "data": {"target": 0.0, "goal": "out"}, "cause": "program-2-4"} +{"env_id": 2, "seq": 26, "step": 7935, "t": 39.675, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "moving", "to": "at_out"}, "cause": null} +{"env_id": 2, "seq": 27, "step": 7935, "t": 39.675, "topic": "a4s_sealer_1.drawer.reached", "source": "a4s_sealer_1.drawer", "data": {"position": "out", "q": 5.41075351190301e-10}, "cause": "program-2-4"} +{"env_id": 2, "seq": 28, "step": 7935, "t": 39.675, "topic": "a4s_sealer_1.drawer.at_out", "source": "a4s_sealer_1.drawer", "data": {"q": 5.41075351190301e-10}, "cause": "program-2-4"} +{"env_id": 2, "seq": 29, "step": 7935, "t": 39.675, "topic": "a4s_sealer_1.drawer.command.succeeded", "source": "a4s_sealer_1.drawer", "data": {"command_id": "program-2-4", "name": "open", "source": "program:seal", "result": {"position": "out"}}, "cause": "program-2-4"} +{"env_id": 2, "seq": 30, "step": 7935, "t": 39.675, "topic": "a4s_sealer_1.seal.finished", "source": "a4s_sealer_1", "data": {}, "cause": "task-2-1"} +{"env_id": 2, "seq": 31, "step": 7935, "t": 39.675, "topic": "a4s_sealer_1.command.succeeded", "source": "a4s_sealer_1", "data": {"command_id": "task-2-1", "name": "seal", "source": "task"}, "cause": "task-2-1"} +{"env_id": 2, "seq": 32, "step": 8515, "t": 42.575, "topic": "a4s_sealer_1.plate_present.absent", "source": "a4s_sealer_1.plate_present", "data": {"object": "plate_1"}, "cause": null} +{"env_id": 2, "seq": 33, "step": 10712, "t": 53.56, "topic": "conveyor_1.belt.command.started", "source": "conveyor_1.belt", "data": {"command_id": "task-2-5", "name": "release", "source": "task"}, "cause": "task-2-5"} +{"env_id": 2, "seq": 34, "step": 10712, "t": 53.56, "topic": "conveyor_1.belt.station.pick.released", "source": "conveyor_1.belt", "data": {"rider": "carrier_1"}, "cause": "task-2-5"} +{"env_id": 2, "seq": 35, "step": 10712, "t": 53.56, "topic": "conveyor_1.belt.state.changed", "source": "conveyor_1.belt", "data": {"from": "at_station", "to": "running"}, "cause": null} +{"env_id": 2, "seq": 36, "step": 10712, "t": 53.56, "topic": "conveyor_1.belt.command.succeeded", "source": "conveyor_1.belt", "data": {"command_id": "task-2-5", "name": "release", "source": "task", "result": {"state": "running"}}, "cause": "task-2-5"} diff --git a/episodes/c9_p019_e009/env.mp4 b/episodes/c9_p019_e009/env.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..7a56582856bc093c496ef2ed45ad0fa12d3ad7c6 --- /dev/null +++ b/episodes/c9_p019_e009/env.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:7f3c6fe5f102da2195b5a82ebc0a171955696bb147dff140d49c12a5fe65515a +size 1350357 diff --git a/episodes/c9_p019_e009/meta.json b/episodes/c9_p019_e009/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..349c813b87514977edd0aa087502186d214d276f --- /dev/null +++ b/episodes/c9_p019_e009/meta.json @@ -0,0 +1,32 @@ +{ + "source": "raw/c9_p019/magicsim/9", + "fps": 25, + "frames": 1252, + "kept_ticks": "even", + "video_frames": { + "wrist": 1252, + "env": 1252 + }, + "joint_target_source": "joint_pos_target", + "fk_vs_recorded_eef_max_m": 0.0, + "curobo_joints": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "joint_order": [ + "shoulder_pan", + "shoulder_lift", + "elbow", + "wrist_1", + "wrist_2", + "wrist_3", + "finger_left", + "finger_right" + ], + "frames_note": "eef / actions in the robot base frame; camera_pose = local pose (wrist: in plate_gripper_base, env: env frame), pos + quat wxyz", + "dr_version": "v2" +} \ No newline at end of file diff --git a/episodes/c9_p019_e009/scene_snapshot.json b/episodes/c9_p019_e009/scene_snapshot.json new file mode 100644 index 0000000000000000000000000000000000000000..055337955e3d38a7442bcc308de1962511b4f3da --- /dev/null +++ b/episodes/c9_p019_e009/scene_snapshot.json @@ -0,0 +1,1558 @@ +{ + "trajectory_id": 9, + "env_id": 2, + "run_id": "c9_p019", + "task_type": "BioPlateCell", + "success": true, + "timing": { + "fps": 50.0, + "sim_dt": 0.005, + "decimation": 4 + }, + "restore_interface": { + "scene": "scene_manager.reset_to(snapshot['scene'], env_ids=[env_id])", + "robots": "robot_manager.set_state({'robots': snapshot['robots']}, env_ids=[env_id])" + }, + "snapshot": { + "env_id": 2, + "scene": { + "objects": [ + {}, + {}, + { + "rac_cell": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/rac_cell.usd", + "pose": { + "pos": [ + 0.0, + 0.0, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "physics_material": { + "static_friction": 0.6, + "dynamic_friction": 0.5, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "robot_mount": [ + { + "asset": "Cube", + "pose": { + "pos": [ + 0.0, + 0.0, + 0.9075 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": "color", + "value": [ + 0.55, + 0.56, + 0.58 + ], + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": { + "size": [ + 0.2, + 0.2, + 0.015 + ] + } + }, + "type_specific": {} + } + ], + "plate_rack": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/plate_hotel.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 0.9 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "physics_material": { + "static_friction": 0.6, + "dynamic_friction": 0.5, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "hotel_plate": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_6_clear/plate_6_clear.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 0.9605 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/pcr_96_blue/pcr_96_blue.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.0285 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/pcr_384_red/pcr_384_red.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.0965 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_12_clear/plate_12_clear.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.1645 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_96_clear/plate_96_clear.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.2325 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "a4s_sealer": [ + { + "asset": "$MAGICSIM_ASSETS/Articulated/A4SSealer/Object.usd", + "pose": { + "pos": [ + 0.526087760925293, + 0.08208084106445312, + 0.8999999761581421 + ], + "ori": [ + 0.7248749732971191, + 0.0, + 0.0, + -0.688880443572998 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "articulation", + "solver_position_iteration_count": 16.0, + "solver_velocity_iteration_count": 1.0, + "enabled_self_collisions": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "joint_position": [ + 1.6820830752578564e-12 + ], + "joint_velocity": [ + 0.0 + ], + "linear_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "angular_velocity": [ + 0.0, + 0.0, + 0.0 + ] + } + } + ], + "conveyor": [ + { + "asset": "Cube", + "pose": { + "pos": [ + 0.15, + 0.45, + 0.9 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "conveyor", + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9 + }, + "ratio": 1.0 + }, + "primitive_params": { + "size": [ + 2.4, + 0.076, + 0.03 + ] + }, + "conveyor": { + "speed": 0.22417855429179506, + "direction": [ + 1.0, + 0.0, + 0.0 + ], + "enabled": true, + "drive": "surface_velocity", + "lines": null, + "station_line": null, + "riders": [ + "carrier" + ], + "stations": { + "pick": { + "position": -0.2539059583190209, + "slow_distance": 0.03, + "slow_speed": 0.03 + } + }, + "rails": { + "height": 0.01, + "thickness": 0.01, + "gap": 0.001, + "friction": 0.05 + }, + "legs": 0.87, + "loop": { + "radius": 0.35, + "side": "left", + "curve_extra_width": 0.0, + "segments": 18, + "curve_rails": "both" + }, + "snap_distance": 0.1, + "junction_snap": 0.02, + "collision_approximation": "auto", + "plate_mass": 1.0, + "lift_drop": 0.004, + "accel": 0.0, + "decel": 0.0, + "drive_damping": 1000000.0, + "drive_max_force": 1000000000.0 + } + }, + "type_specific": { + "controller": { + "state": "at_station", + "speed": 0.22417855429179506, + "holds": [], + "station": "pick", + "rider": "carrier_1", + "arrived": true, + "applied_speed": 0.0 + } + } + } + ], + "carrier": [ + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + -0.10400199890136719, + 0.4471397399902344, + 0.8999999761581421 + ], + "ori": [ + 0.9999579191207886, + 1.701739082982101e-09, + -1.579882002999966e-09, + 0.009182499721646309 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -6.581364342395091e-10, + 4.251498708640611e-09, + 3.725290298461914e-09 + ], + "angular_velocity": [ + 4.833481170862797e-09, + -1.0956598295308595e-08, + 4.899804295632748e-08 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + 1.3690223693847656, + 0.4527158737182617, + 0.8999999761581421 + ], + "ori": [ + 0.9993244409561157, + 1.3509676932699222e-08, + -1.9016522401216207e-07, + 0.03675096854567528 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -1.3970359304948943e-06, + -1.3667660425653594e-07, + -3.1366944313049316e-06 + ], + "angular_velocity": [ + 1.2936321581946686e-05, + -0.00012269950821064413, + 3.5323441238688247e-07 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + -1.3818750381469727, + 0.6968202590942383, + 0.8999999761581421 + ], + "ori": [ + -0.8028267621994019, + -3.1594190375017206e-08, + -6.059075730036056e-08, + 0.5962124466896057 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -2.4186526559333288e-08, + 3.036569662384636e-09, + 7.450580596923828e-09 + ], + "angular_velocity": [ + -1.4956583527236944e-08, + -1.901411565086164e-06, + -2.4399845699463185e-08 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + 0.5253763198852539, + 1.152705192565918, + 0.8999999761581421 + ], + "ori": [ + -0.010652626864612103, + 2.2314390335509415e-08, + -2.7017545534135934e-08, + 0.9999433159828186 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 1.1845314418224007e-07, + 4.473282615435892e-07, + -3.986060619354248e-07 + ], + "angular_velocity": [ + -6.334887075354345e-06, + -2.945539108623052e-06, + -6.098728590586688e-06 + ] + } + } + ], + "plate": [ + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_24_clear/Object.usd", + "pose": { + "pos": [ + -0.10668087005615234, + 0.4407835006713867, + 0.9179999828338623 + ], + "ori": [ + 0.9997681975364685, + -1.190771925507761e-09, + -1.6713042061411443e-09, + 0.021532997488975525 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -3.475868481928046e-08, + 1.89631830238568e-08, + 1.0058283805847168e-07 + ], + "angular_velocity": [ + -2.5081345711441827e-07, + -1.8205095102530322e-06, + 2.535730061481445e-07 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_384_black/Object.usd", + "pose": { + "pos": [ + 1.3685321807861328, + 0.44179821014404297, + 0.9179999828338623 + ], + "ori": [ + 0.9999991655349731, + 1.2450255049145653e-08, + -1.8160497461394698e-07, + 0.0013179262168705463 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -2.923410193034215e-06, + -2.3798770598659758e-07, + -3.2782554626464844e-06 + ], + "angular_velocity": [ + 1.1482619811431505e-05, + -0.00012398106628097594, + 1.0338544598198496e-06 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_1536_black/Object.usd", + "pose": { + "pos": [ + -1.3772754669189453, + 0.6946649551391602, + 0.9180000424385071 + ], + "ori": [ + -0.7410194873809814, + 1.2060674237091007e-07, + -2.5872455466924293e-07, + 0.67148357629776 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -2.18062359635951e-06, + 3.4478150610084413e-06, + -5.025416612625122e-06 + ], + "angular_velocity": [ + -2.836054773069918e-05, + -0.00013099021452944726, + -9.453160600969568e-07 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/deep_well_24_10ml/Object.usd", + "pose": { + "pos": [ + 0.52655029296875, + 1.1411075592041016, + 0.9179999828338623 + ], + "ori": [ + 0.05764521658420563, + -4.826777626476542e-07, + -2.025171568220685e-07, + 0.9983371496200562 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 3.992221536464058e-06, + 5.510550636245171e-06, + -9.644776582717896e-06 + ], + "angular_velocity": [ + -8.715418516658247e-06, + -1.6259629774140194e-05, + 4.016890670754947e-06 + ] + } + } + ], + "deco_hub_west": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/hub_c.usd", + "pose": { + "pos": [ + -3.36, + 0.0, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_hub_east": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/hub_a.usd", + "pose": { + "pos": [ + 3.36, + 0.0, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_hub_back": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/hub_e.usd", + "pose": { + "pos": [ + -3.0, + -2.1, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_bench_east": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/bench_a.usd", + "pose": { + "pos": [ + 2.6, + -2.5, + 0.0 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_bench_gap": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/bench_b.usd", + "pose": { + "pos": [ + -0.1, + -2.9, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ] + }, + {} + ], + "devices": { + "hub": [ + null, + null, + { + "t": 3.659999999999944, + "step": 732, + "counter": 0, + "devices": { + "a4s_sealer_1": { + "mode": "auto", + "units": { + "drawer": { + "state": "at_out", + "active": null, + "target": 0.0, + "goal_name": "out", + "profile": null, + "q_start": null, + "reversing": false, + "blocked_for": 0.0, + "settled_for": 0.0, + "last_q": 1.6820830752578564e-12 + }, + "heater": { + "state": "ready", + "active": null, + "duration": 0.0, + "t_start": null, + "elapsed": 0.0 + } + }, + "queues": {}, + "program": null, + "sensors": { + "plate_present": { + "occupants": [], + "pending": {} + } + }, + "interlocks": {} + }, + "conveyor_1": { + "mode": "auto", + "units": { + "belt": { + "state": "at_station", + "active": null, + "controller": { + "speed": 0.22417855429179506, + "holds": [], + "station": "pick", + "rider": "carrier_1", + "arrived": true, + "settle_count": 559, + "released": { + "pick": [] + }, + "last_pos": { + "carrier_1": [ + -0.25400200486183167, + -0.00286024808883667, + 0.0 + ], + "carrier_2": [ + 1.2190223634243011, + 0.002715885639190674, + 0.0 + ], + "carrier_3": [ + -1.5318750441074371, + 0.24682027101516724, + 0.0 + ], + "carrier_4": [ + 0.37537631392478943, + 0.7027052044868469, + 0.0 + ] + }, + "command": 0.0 + }, + "belt": { + "target_speed": 0.0, + "command_speed": 0.0 + }, + "seen": { + "state": "at_station", + "station": "pick", + "rider": "carrier_1", + "arrived": true + } + } + }, + "queues": {}, + "program": null, + "sensors": {}, + "interlocks": {} + } + }, + "zones": {}, + "labware": { + "plate_1": { + "sealed": false + }, + "plate_2": { + "sealed": false + }, + "plate_3": { + "sealed": false + }, + "plate_4": { + "sealed": false + } + }, + "rules": {}, + "records": [], + "bus": { + "seq": 3, + "queue": [] + } + }, + null + ], + "drives": [ + null, + null, + {}, + null + ] + }, + "artifacts": [ + {}, + {}, + { + "ceiling": { + "type": "rect", + "pose": { + "pos": [ + 0.5177262071403418, + 0.5550069594769682, + 2.7895288246239702 + ], + "ori": [ + -1.2193563285890647, + 11.9035940046084, + -24.719551350093983 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "color_temperature": 6319.641659246757, + "color": [ + 0.8870079515535556, + 0.8557796564885937, + 0.8632805693911951 + ], + "intensity": 14948.577315743596, + "width": 1.6848860504198053, + "height": 0.9551724370560604 + } + }, + "key": { + "type": "sphere", + "pose": { + "pos": [ + -0.3377818811224993, + -1.1696483499771757, + 1.9343811455449345 + ], + "ori": [ + -9.448181860564915, + -36.42196569538497, + 36.29995606040097 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "color_temperature": 4290.434498936367, + "color": [ + 0.8995199049098634, + 0.9650776351828079, + 0.9647721976650397 + ], + "intensity": 2549.3706486481306, + "radius": 0.1602245141555092 + } + } + }, + {} + ], + "background": { + "type": "dome", + "pose": { + "pos": null, + "ori": null, + "scale": null + }, + "dr": { + "intensity": 526.3395730628298, + "texture": null, + "color": [ + 0.92, + 0.94, + 0.96 + ] + } + } + }, + "robots": { + "UR5e": { + "root_pose": [ + [ + 11.0, + -11.0, + 0.9150000214576721, + 1.0, + 0.0, + 0.0, + 0.0 + ], + [ + 11.0, + 11.0, + 0.9150000214576721, + 1.0, + 0.0, + 0.0, + 0.0 + ], + [ + -11.0, + -11.0, + 0.9150000214576721, + 1.0, + 0.0, + 0.0, + 0.0 + ], + [ + -11.0, + 11.0, + 0.9150000214576721, + 1.0, + 0.0, + 0.0, + 0.0 + ] + ], + "root_vel": [ + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + ], + "joint_pos": [ + [ + 0.9140999913215637, + -1.7194000482559204, + 2.0905001163482666, + -1.9419000148773193, + -1.5707999467849731, + 2.4848999977111816, + 0.017999999225139618, + 0.017999999225139618 + ], + [ + 0.9020493626594543, + -1.5955928564071655, + 2.0604546070098877, + -2.0355966091156006, + -1.5708001852035522, + 2.4319541454315186, + 0.018001558259129524, + 0.01799846813082695 + ], + [ + 0.9141008257865906, + -1.7193976640701294, + 2.0904996395111084, + -1.9419010877609253, + -1.5707999467849731, + 2.4849002361297607, + 0.01799999736249447, + 0.018000001087784767 + ], + [ + -0.0977109894156456, + -2.0838327407836914, + 2.3743200302124023, + -1.8612757921218872, + -1.5707563161849976, + 4.512774467468262, + 0.007700082380324602, + 0.006884824018925428 + ] + ], + "joint_vel": [ + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + [ + -0.004566943272948265, + 0.04205961525440216, + -0.009389354847371578, + -0.030317259952425957, + -1.93074611161137e-05, + -0.017155826091766357, + 4.702301521319896e-05, + -4.7287372581195086e-05 + ], + [ + 2.826497475257158e-38, + -1.6420051067357482e-38, + 1.5538511019032311e-38, + -5.007201284347999e-37, + 4.235020361840771e-37, + -2.905056060829242e-37, + 2.5990388508034812e-08, + -2.5990388508034812e-08 + ], + [ + 0.014277837239205837, + 0.005047844722867012, + -0.002449195832014084, + -0.0029901701491326094, + -0.00022610824089497328, + -0.03772718086838722, + -0.01042177900671959, + 0.0003956626751460135 + ] + ] + } + }, + "cameras": { + "cameras": { + "camera0": [ + [ + 0.047132622450590134, + 2.0654833861044608e-05, + -0.0297537874430418, + -0.27664607763290405, + 0.6524500250816345, + 0.6424117684364319, + -0.2916899621486664 + ], + [ + 0.05322062969207764, + 0.004153104033321142, + -0.031983066350221634, + -0.2800208330154419, + 0.6445431709289551, + 0.6513025760650635, + -0.2862820029258728 + ], + [ + 0.046908631920814514, + 0.00030292486189864576, + -0.026355013251304626, + -0.2670961320400238, + 0.6536597609519958, + 0.6489945650100708, + -0.28318658471107483 + ], + [ + 0.04685557633638382, + 0.001982169458642602, + -0.026758350431919098, + -0.2785811722278595, + 0.6486279964447021, + 0.6584924459457397, + -0.2608868181705475 + ] + ], + "camera1": [ + [ + 0.06719697266817093, + 0.5649887919425964, + 1.973844051361084, + 0.03577404096722603, + 0.024012349545955658, + 0.2845747768878937, + 0.957685112953186 + ], + [ + 0.036351870745420456, + 0.5736538767814636, + 1.9610047340393066, + 0.03151782602071762, + 0.021825838834047318, + 0.26110976934432983, + 0.9645475149154663 + ], + [ + 0.05651431530714035, + 0.5935235619544983, + 1.9483001232147217, + 0.03187085688114166, + 0.0024376828223466873, + 0.2657139003276825, + 0.9635218977928162 + ], + [ + 0.045384034514427185, + 0.5785560011863708, + 1.9625914096832275, + 0.04984012991189957, + 0.013125700876116753, + 0.2612762451171875, + 0.9638871550559998 + ] + ] + } + } + } +} \ No newline at end of file diff --git a/episodes/c9_p019_e009/wrist.mp4 b/episodes/c9_p019_e009/wrist.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..c310117081ae0387f922bffe2d3ef3cfbb0a3a67 --- /dev/null +++ b/episodes/c9_p019_e009/wrist.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:d0c8cbb174b01c2ecbf7a700eb2ed3ff7ddea5ea117cf84bd2229657962bf082 +size 7640195 diff --git a/episodes/c9_p019_e010/data.npz b/episodes/c9_p019_e010/data.npz new file mode 100644 index 0000000000000000000000000000000000000000..95ae47247b91cf2f3721f895e24b708591e7b6f4 --- /dev/null +++ b/episodes/c9_p019_e010/data.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:02cd3d309fbb637e545a334e466c2f089372522267182e44638fa8f56e52df24 +size 190640 diff --git a/episodes/c9_p019_e010/device_events.jsonl b/episodes/c9_p019_e010/device_events.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..842d07665ebc2eb1f4002fc4cebb90cff91bc610 --- /dev/null +++ b/episodes/c9_p019_e010/device_events.jsonl @@ -0,0 +1,36 @@ +{"env_id": 1, "seq": 1, "step": 207, "t": 1.035, "topic": "conveyor_1.belt.station.pick.captured", "source": "conveyor_1.belt", "data": {"rider": "carrier_2"}, "cause": null} +{"env_id": 1, "seq": 2, "step": 207, "t": 1.035, "topic": "conveyor_1.belt.state.changed", "source": "conveyor_1.belt", "data": {"from": "running", "to": "at_station"}, "cause": null} +{"env_id": 1, "seq": 3, "step": 212, "t": 1.06, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_2"}, "cause": null} +{"env_id": 1, "seq": 4, "step": 1589, "t": 7.945, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_2"}, "cause": null} +{"env_id": 1, "seq": 5, "step": 6699, "t": 33.495, "topic": "a4s_sealer_1.plate_present.present", "source": "a4s_sealer_1.plate_present", "data": {"object": "plate_2"}, "cause": null} +{"env_id": 1, "seq": 6, "step": 7312, "t": 36.56, "topic": "a4s_sealer_1.command.started", "source": "a4s_sealer_1", "data": {"command_id": "task-1-1", "name": "seal", "source": "task"}, "cause": "task-1-1"} +{"env_id": 1, "seq": 7, "step": 7312, "t": 36.56, "topic": "a4s_sealer_1.seal.started", "source": "a4s_sealer_1", "data": {"dwell": 4.264513790672021}, "cause": "task-1-1"} +{"env_id": 1, "seq": 8, "step": 7312, "t": 36.56, "topic": "a4s_sealer_1.drawer.command.started", "source": "a4s_sealer_1.drawer", "data": {"command_id": "program-1-2", "name": "close", "source": "program:seal"}, "cause": "program-1-2"} +{"env_id": 1, "seq": 9, "step": 7312, "t": 36.56, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "at_out", "to": "moving"}, "cause": null} +{"env_id": 1, "seq": 10, "step": 7312, "t": 36.56, "topic": "a4s_sealer_1.drawer.moving", "source": "a4s_sealer_1.drawer", "data": {"target": 0.3, "goal": "in"}, "cause": "program-1-2"} +{"env_id": 1, "seq": 11, "step": 7731, "t": 38.655, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "moving", "to": "at_in"}, "cause": null} +{"env_id": 1, "seq": 12, "step": 7731, "t": 38.655, "topic": "a4s_sealer_1.drawer.reached", "source": "a4s_sealer_1.drawer", "data": {"position": "in", "q": 0.30000001192092896}, "cause": "program-1-2"} +{"env_id": 1, "seq": 13, "step": 7731, "t": 38.655, "topic": "a4s_sealer_1.drawer.at_in", "source": "a4s_sealer_1.drawer", "data": {"q": 0.30000001192092896}, "cause": "program-1-2"} +{"env_id": 1, "seq": 14, "step": 7731, "t": 38.655, "topic": "a4s_sealer_1.drawer.command.succeeded", "source": "a4s_sealer_1.drawer", "data": {"command_id": "program-1-2", "name": "close", "source": "program:seal", "result": {"position": "in"}}, "cause": "program-1-2"} +{"env_id": 1, "seq": 15, "step": 7731, "t": 38.655, "topic": "labware.plate_2.changed", "source": "labware.plate_2", "data": {"key": "sealed", "value": true}, "cause": "task-1-1"} +{"env_id": 1, "seq": 16, "step": 7731, "t": 38.655, "topic": "a4s_sealer_1.sealed", "source": "a4s_sealer_1", "data": {"plate": "plate_2"}, "cause": "task-1-1"} +{"env_id": 1, "seq": 17, "step": 7731, "t": 38.655, "topic": "a4s_sealer_1.heater.command.started", "source": "a4s_sealer_1.heater", "data": {"command_id": "program-1-3", "name": "run", "source": "program:seal"}, "cause": "program-1-3"} +{"env_id": 1, "seq": 18, "step": 7731, "t": 38.655, "topic": "a4s_sealer_1.heater.state.changed", "source": "a4s_sealer_1.heater", "data": {"from": "ready", "to": "running"}, "cause": null} +{"env_id": 1, "seq": 19, "step": 7731, "t": 38.655, "topic": "a4s_sealer_1.heater.started", "source": "a4s_sealer_1.heater", "data": {"duration": 4.264513790672021}, "cause": "program-1-3"} +{"env_id": 1, "seq": 20, "step": 8584, "t": 42.92, "topic": "a4s_sealer_1.heater.state.changed", "source": "a4s_sealer_1.heater", "data": {"from": "running", "to": "ready"}, "cause": null} +{"env_id": 1, "seq": 21, "step": 8584, "t": 42.92, "topic": "a4s_sealer_1.heater.finished", "source": "a4s_sealer_1.heater", "data": {"elapsed": 4.265000000002182}, "cause": "program-1-3"} +{"env_id": 1, "seq": 22, "step": 8584, "t": 42.92, "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": 4.265000000002182}}, "cause": "program-1-3"} +{"env_id": 1, "seq": 23, "step": 8584, "t": 42.92, "topic": "a4s_sealer_1.drawer.command.started", "source": "a4s_sealer_1.drawer", "data": {"command_id": "program-1-4", "name": "open", "source": "program:seal"}, "cause": "program-1-4"} +{"env_id": 1, "seq": 24, "step": 8584, "t": 42.92, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "at_in", "to": "moving"}, "cause": null} +{"env_id": 1, "seq": 25, "step": 8584, "t": 42.92, "topic": "a4s_sealer_1.drawer.moving", "source": "a4s_sealer_1.drawer", "data": {"target": 0.0, "goal": "out"}, "cause": "program-1-4"} +{"env_id": 1, "seq": 26, "step": 9004, "t": 45.02, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "moving", "to": "at_out"}, "cause": null} +{"env_id": 1, "seq": 27, "step": 9004, "t": 45.02, "topic": "a4s_sealer_1.drawer.reached", "source": "a4s_sealer_1.drawer", "data": {"position": "out", "q": 5.514556811192506e-09}, "cause": "program-1-4"} +{"env_id": 1, "seq": 28, "step": 9004, "t": 45.02, "topic": "a4s_sealer_1.drawer.at_out", "source": "a4s_sealer_1.drawer", "data": {"q": 5.514556811192506e-09}, "cause": "program-1-4"} +{"env_id": 1, "seq": 29, "step": 9004, "t": 45.02, "topic": "a4s_sealer_1.drawer.command.succeeded", "source": "a4s_sealer_1.drawer", "data": {"command_id": "program-1-4", "name": "open", "source": "program:seal", "result": {"position": "out"}}, "cause": "program-1-4"} +{"env_id": 1, "seq": 30, "step": 9004, "t": 45.02, "topic": "a4s_sealer_1.seal.finished", "source": "a4s_sealer_1", "data": {}, "cause": "task-1-1"} +{"env_id": 1, "seq": 31, "step": 9004, "t": 45.02, "topic": "a4s_sealer_1.command.succeeded", "source": "a4s_sealer_1", "data": {"command_id": "task-1-1", "name": "seal", "source": "task"}, "cause": "task-1-1"} +{"env_id": 1, "seq": 32, "step": 9582, "t": 47.91, "topic": "a4s_sealer_1.plate_present.absent", "source": "a4s_sealer_1.plate_present", "data": {"object": "plate_2"}, "cause": null} +{"env_id": 1, "seq": 33, "step": 11312, "t": 56.56, "topic": "conveyor_1.belt.command.started", "source": "conveyor_1.belt", "data": {"command_id": "task-1-5", "name": "release", "source": "task"}, "cause": "task-1-5"} +{"env_id": 1, "seq": 34, "step": 11312, "t": 56.56, "topic": "conveyor_1.belt.station.pick.released", "source": "conveyor_1.belt", "data": {"rider": "carrier_2"}, "cause": "task-1-5"} +{"env_id": 1, "seq": 35, "step": 11312, "t": 56.56, "topic": "conveyor_1.belt.state.changed", "source": "conveyor_1.belt", "data": {"from": "at_station", "to": "running"}, "cause": null} +{"env_id": 1, "seq": 36, "step": 11312, "t": 56.56, "topic": "conveyor_1.belt.command.succeeded", "source": "conveyor_1.belt", "data": {"command_id": "task-1-5", "name": "release", "source": "task", "result": {"state": "running"}}, "cause": "task-1-5"} diff --git a/episodes/c9_p019_e010/env.mp4 b/episodes/c9_p019_e010/env.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..229caa77e5e74430cb8e2fef92ed8bdd500131bf --- /dev/null +++ b/episodes/c9_p019_e010/env.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:a2842e988e773d0f6b3720ecd4f438f0bfc2246fdc3b973407f7d055978751e4 +size 1389804 diff --git a/episodes/c9_p019_e010/meta.json b/episodes/c9_p019_e010/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..5ccb66232245c99f2c5086aaf9f6875c4b3a0190 --- /dev/null +++ b/episodes/c9_p019_e010/meta.json @@ -0,0 +1,32 @@ +{ + "source": "raw/c9_p019/magicsim/10", + "fps": 25, + "frames": 1274, + "kept_ticks": "even", + "video_frames": { + "wrist": 1274, + "env": 1274 + }, + "joint_target_source": "joint_pos_target", + "fk_vs_recorded_eef_max_m": 0.0, + "curobo_joints": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "joint_order": [ + "shoulder_pan", + "shoulder_lift", + "elbow", + "wrist_1", + "wrist_2", + "wrist_3", + "finger_left", + "finger_right" + ], + "frames_note": "eef / actions in the robot base frame; camera_pose = local pose (wrist: in plate_gripper_base, env: env frame), pos + quat wxyz", + "dr_version": "v2" +} \ No newline at end of file diff --git a/episodes/c9_p019_e010/scene_snapshot.json b/episodes/c9_p019_e010/scene_snapshot.json new file mode 100644 index 0000000000000000000000000000000000000000..fee59bc6dedba96f7293d9e0c1d51cd0e2934164 --- /dev/null +++ b/episodes/c9_p019_e010/scene_snapshot.json @@ -0,0 +1,1558 @@ +{ + "trajectory_id": 10, + "env_id": 1, + "run_id": "c9_p019", + "task_type": "BioPlateCell", + "success": true, + "timing": { + "fps": 50.0, + "sim_dt": 0.005, + "decimation": 4 + }, + "restore_interface": { + "scene": "scene_manager.reset_to(snapshot['scene'], env_ids=[env_id])", + "robots": "robot_manager.set_state({'robots': snapshot['robots']}, env_ids=[env_id])" + }, + "snapshot": { + "env_id": 1, + "scene": { + "objects": [ + {}, + { + "rac_cell": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/rac_cell.usd", + "pose": { + "pos": [ + 0.0, + 0.0, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "physics_material": { + "static_friction": 0.6, + "dynamic_friction": 0.5, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "robot_mount": [ + { + "asset": "Cube", + "pose": { + "pos": [ + 0.0, + 0.0, + 0.9075 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": "color", + "value": [ + 0.55, + 0.56, + 0.58 + ], + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": { + "size": [ + 0.2, + 0.2, + 0.015 + ] + } + }, + "type_specific": {} + } + ], + "plate_rack": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/plate_hotel.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 0.9 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "physics_material": { + "static_friction": 0.6, + "dynamic_friction": 0.5, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "hotel_plate": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/pcr_96_blue/pcr_96_blue.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 0.9605 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_96_white/plate_96_white.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.0285 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_96_clear/plate_96_clear.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.0965 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_96_white/plate_96_white.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.1645 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_96_clear/plate_96_clear.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.2325 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "a4s_sealer": [ + { + "asset": "$MAGICSIM_ASSETS/Articulated/A4SSealer/Object.usd", + "pose": { + "pos": [ + 0.46865272521972656, + 0.1265573501586914, + 0.8999999761581421 + ], + "ori": [ + 0.7168585658073425, + 0.0, + 0.0, + -0.6972185969352722 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "articulation", + "solver_position_iteration_count": 16.0, + "solver_velocity_iteration_count": 1.0, + "enabled_self_collisions": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "joint_position": [ + 0.0 + ], + "joint_velocity": [ + 0.0 + ], + "linear_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "angular_velocity": [ + 0.0, + 0.0, + 0.0 + ] + } + } + ], + "conveyor": [ + { + "asset": "Cube", + "pose": { + "pos": [ + 0.15, + 0.45, + 0.9 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "conveyor", + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9 + }, + "ratio": 1.0 + }, + "primitive_params": { + "size": [ + 2.4, + 0.076, + 0.03 + ] + }, + "conveyor": { + "speed": 0.1782038867262001, + "direction": [ + 1.0, + 0.0, + 0.0 + ], + "enabled": true, + "drive": "surface_velocity", + "lines": null, + "station_line": null, + "riders": [ + "carrier" + ], + "stations": { + "pick": { + "position": -0.08179556668913832, + "slow_distance": 0.03, + "slow_speed": 0.03 + } + }, + "rails": { + "height": 0.01, + "thickness": 0.01, + "gap": 0.001, + "friction": 0.05 + }, + "legs": 0.87, + "loop": { + "radius": 0.35, + "side": "left", + "curve_extra_width": 0.0, + "segments": 18, + "curve_rails": "both" + }, + "snap_distance": 0.1, + "junction_snap": 0.02, + "collision_approximation": "auto", + "plate_mass": 1.0, + "lift_drop": 0.004, + "accel": 0.0, + "decel": 0.0, + "drive_damping": 1000000.0, + "drive_max_force": 1000000000.0 + } + }, + "type_specific": { + "controller": { + "state": "at_station", + "speed": 0.1782038867262001, + "holds": [], + "station": "pick", + "rider": "carrier_2", + "arrived": true, + "applied_speed": 0.0 + } + } + } + ], + "carrier": [ + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + -1.1601810455322266, + 1.1288557052612305, + 0.8999999761581421 + ], + "ori": [ + -0.15882393717765808, + -1.3179799474016818e-08, + 9.304662818010456e-09, + 0.9873068928718567 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 8.806804174810168e-10, + 2.6090845040016575e-09, + 3.725290298461914e-08 + ], + "angular_velocity": [ + -2.849747033906169e-07, + -2.6446133460922283e-07, + -5.460704954884932e-08 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + 0.06787300109863281, + 0.4471254348754883, + 0.8999999761581421 + ], + "ori": [ + 0.9999584555625916, + -4.3672013227968876e-10, + 7.704056836921325e-10, + 0.00911672506481409 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -8.508116433603163e-11, + 2.594419346024779e-09, + 0.0 + ], + "angular_velocity": [ + 3.2834638119538795e-08, + 1.7712181943352334e-08, + 3.3174710978300936e-08 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + 1.6159162521362305, + 1.0238122940063477, + 0.8999999761581421 + ], + "ori": [ + 0.42867475748062134, + -1.1968099045134295e-07, + 4.1831498265310074e-08, + 0.9034589529037476 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -4.5594650277536175e-10, + -1.9365437031737542e-10, + 0.0 + ], + "angular_velocity": [ + -3.8519871736752975e-09, + 2.134035348433372e-08, + 1.3078329530458177e-08 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + 0.3785667419433594, + 1.1526622772216797, + 0.8999999761581421 + ], + "ori": [ + -0.010102562606334686, + -1.3159741074630915e-09, + 6.552648701418917e-11, + 0.999949038028717 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 7.977889460164533e-10, + 1.0755060175782205e-09, + 7.450580596923828e-09 + ], + "angular_velocity": [ + -1.3928070075053256e-07, + 9.41105753327065e-08, + 1.2660803960784506e-08 + ] + } + } + ], + "plate": [ + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_12_clear/Object.usd", + "pose": { + "pos": [ + -1.1496601104736328, + 1.1333017349243164, + 0.9179999828338623 + ], + "ori": [ + -0.18920134007930756, + -1.853965443388006e-07, + 4.4439772750592965e-07, + 0.981938362121582 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 4.943023668602109e-06, + 2.5041381377377547e-06, + -3.416091203689575e-06 + ], + "angular_velocity": [ + 7.927567639853805e-05, + 2.729735388129484e-05, + 3.0063023586990312e-05 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_96_white/Object.usd", + "pose": { + "pos": [ + 0.06320571899414062, + 0.446044921875, + 0.9180000424385071 + ], + "ori": [ + 0.998896598815918, + 7.473505148070103e-10, + 2.2918211772804398e-10, + 0.04696536064147949 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -1.9666714479171787e-08, + 1.2349895328611638e-08, + -4.861503839492798e-06 + ], + "angular_velocity": [ + 2.797321201342129e-07, + -1.2331516927588382e-06, + 1.913819005494588e-07 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/pcr_384_red/Object.usd", + "pose": { + "pos": [ + 1.6157379150390625, + 1.0089120864868164, + 0.9179999828338623 + ], + "ori": [ + 0.4538489878177643, + -1.200518653377003e-07, + 3.8281829262132305e-08, + 0.8910785913467407 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -2.6980959688671646e-09, + -3.3544029776066964e-09, + -5.5246055126190186e-06 + ], + "angular_velocity": [ + 7.852015073694929e-07, + 8.352872100658715e-07, + 6.161605625720767e-08 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/deep_well_96_1ml/Object.usd", + "pose": { + "pos": [ + 0.39340686798095703, + 1.151937484741211, + 0.9179999828338623 + ], + "ori": [ + 0.0315578356385231, + -1.759496326414478e-09, + 5.199941366385019e-09, + 0.9995020031929016 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 5.843512695946629e-08, + 6.092883353403522e-08, + 1.564621925354004e-07 + ], + "angular_velocity": [ + -1.704695478110807e-06, + 2.7877913453266956e-06, + 2.17998490370519e-08 + ] + } + } + ], + "deco_hub_west": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/hub_a.usd", + "pose": { + "pos": [ + -3.36, + 0.0, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_hub_east": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/hub_c.usd", + "pose": { + "pos": [ + 3.36, + 0.0, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_hub_back": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/hub_d.usd", + "pose": { + "pos": [ + -3.0, + -2.1, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_bench_east": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/bench_c.usd", + "pose": { + "pos": [ + 2.6, + -2.5, + 0.0 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_bench_gap": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/bench_b.usd", + "pose": { + "pos": [ + -0.1, + -2.9, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ] + }, + {}, + {} + ], + "devices": { + "hub": [ + null, + { + "t": 5.839999999999898, + "step": 1168, + "counter": 0, + "devices": { + "a4s_sealer_1": { + "mode": "auto", + "units": { + "drawer": { + "state": "at_out", + "active": null, + "target": 0.0, + "goal_name": "out", + "profile": null, + "q_start": null, + "reversing": false, + "blocked_for": 0.0, + "settled_for": 0.0, + "last_q": 0.0 + }, + "heater": { + "state": "ready", + "active": null, + "duration": 0.0, + "t_start": null, + "elapsed": 0.0 + } + }, + "queues": {}, + "program": null, + "sensors": { + "plate_present": { + "occupants": [], + "pending": {} + } + }, + "interlocks": {} + }, + "conveyor_1": { + "mode": "auto", + "units": { + "belt": { + "state": "at_station", + "active": null, + "controller": { + "speed": 0.1782038867262001, + "holds": [], + "station": "pick", + "rider": "carrier_2", + "arrived": true, + "settle_count": 960, + "released": { + "pick": [] + }, + "last_pos": { + "carrier_1": [ + -1.310181051492691, + 0.6788557171821594, + 0.0 + ], + "carrier_2": [ + -0.08212700486183167, + -0.0028745532035827637, + 0.0 + ], + "carrier_3": [ + 1.465916246175766, + 0.5738123059272766, + 0.0 + ], + "carrier_4": [ + 0.2285667359828949, + 0.7026622891426086, + 0.0 + ] + }, + "command": 0.0 + }, + "belt": { + "target_speed": 0.0, + "command_speed": 0.0 + }, + "seen": { + "state": "at_station", + "station": "pick", + "rider": "carrier_2", + "arrived": true + } + } + }, + "queues": {}, + "program": null, + "sensors": {}, + "interlocks": {} + } + }, + "zones": {}, + "labware": { + "plate_1": { + "sealed": false + }, + "plate_2": { + "sealed": false + }, + "plate_3": { + "sealed": false + }, + "plate_4": { + "sealed": false + } + }, + "rules": {}, + "records": [], + "bus": { + "seq": 3, + "queue": [] + } + }, + null, + null + ], + "drives": [ + null, + {}, + null, + null + ] + }, + "artifacts": [ + {}, + { + "ceiling": { + "type": "rect", + "pose": { + "pos": [ + 0.21012376863577964, + -0.2101573550344309, + 2.7482654747093713 + ], + "ori": [ + 12.976410886334875, + -0.9102903078075695, + 21.159431563416476 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "color_temperature": 4130.938781664295, + "color": [ + 0.8319862546864882, + 0.9527632439342595, + 0.9814687571172185 + ], + "intensity": 4285.954450312351, + "width": 1.9886974320851634, + "height": 0.8692989668090627 + } + }, + "key": { + "type": "sphere", + "pose": { + "pos": [ + -1.5228956199253008, + 0.34928058901543335, + 1.8021768051405234 + ], + "ori": [ + 7.748789828867828, + 27.33272035548748, + 27.773649828612918 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "color_temperature": 2875.998059791124, + "color": [ + 0.7660954418090441, + 0.8635754916411867, + 0.8995769828436335 + ], + "intensity": 8882.22826813664, + "radius": 0.23643987500601 + } + } + }, + {}, + {} + ], + "background": { + "type": "dome", + "pose": { + "pos": null, + "ori": null, + "scale": null + }, + "dr": { + "intensity": 1486.622596738123, + "texture": null, + "color": [ + 0.92, + 0.94, + 0.96 + ] + } + } + }, + "robots": { + "UR5e": { + "root_pose": [ + [ + 11.0, + -11.0, + 0.9150000214576721, + 1.0, + 0.0, + 0.0, + 0.0 + ], + [ + 11.0, + 11.0, + 0.9150000214576721, + 1.0, + 0.0, + 0.0, + 0.0 + ], + [ + -11.0, + -11.0, + 0.9150000214576721, + 1.0, + 0.0, + 0.0, + 0.0 + ], + [ + -11.0, + 11.0, + 0.9150000214576721, + 1.0, + 0.0, + 0.0, + 0.0 + ] + ], + "root_vel": [ + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + ], + "joint_pos": [ + [ + 1.388432264328003, + -1.594266414642334, + 2.093839406967163, + -2.0707414150238037, + -1.5704957246780396, + 6.102189540863037, + 0.017999999225139618, + 0.017999999225139618 + ], + [ + 0.9141027331352234, + -1.7193983793258667, + 2.0904998779296875, + -1.9419009685516357, + -1.5707999467849731, + 2.48490047454834, + 0.01799999549984932, + 0.018000002950429916 + ], + [ + 0.9141008257865906, + -1.7193976640701294, + 2.0904996395111084, + -1.9419010877609253, + -1.5707999467849731, + 2.4849002361297607, + 0.01799999736249447, + 0.018000001087784767 + ], + [ + -0.1398070603609085, + -2.0989444255828857, + 2.3805716037750244, + -1.8523870706558228, + -1.5708168745040894, + 4.62502908706665, + 0.0076696062460541725, + 0.006915821693837643 + ] + ], + "joint_vel": [ + [ + 8.580866052432246e-12, + -1.0217765520792454e-05, + -2.0435805708984844e-05, + 2.0435882106539793e-05, + -6.811957064201124e-06, + 4.087174602318555e-05, + 7.772603741185158e-12, + 7.92796991250233e-12 + ], + [ + 2.759374718296614e-38, + -2.918147439498473e-38, + -1.8471924764520525e-38, + -3.2228328856353893e-37, + 6.391311085397776e-37, + -2.0553636029624743e-37, + 5.19807308307918e-08, + -5.198079477963802e-08 + ], + [ + 2.826497475257158e-38, + -1.6420051067357482e-38, + 1.5538511019032311e-38, + -5.007201284347999e-37, + 4.235020361840771e-37, + -2.905056060829242e-37, + 2.5990388508034812e-08, + -2.5990388508034812e-08 + ], + [ + -0.00022921465279068798, + -5.7269375247415155e-05, + -0.00016314824461005628, + 7.862481288611889e-05, + -0.00030822010012343526, + 0.0004810296813957393, + -0.009905440732836723, + -0.0002116804535035044 + ] + ] + } + }, + "cameras": { + "cameras": { + "camera0": [ + [ + 0.048851367086172104, + 0.0022056959569454193, + -0.029308617115020752, + -0.28943192958831787, + 0.6432082653045654, + 0.6467934250831604, + -0.2901216149330139 + ], + [ + 0.04942247271537781, + 0.00025340256979689, + -0.030471496284008026, + -0.2735835909843445, + 0.6530983448028564, + 0.647704541683197, + -0.2812355160713196 + ], + [ + 0.04855784401297569, + -0.0003339177928864956, + -0.026571428403258324, + -0.2677901089191437, + 0.654350757598877, + 0.6492817401885986, + -0.28026196360588074 + ], + [ + 0.04965169355273247, + 0.003399041248485446, + -0.02671842649579048, + -0.28512611985206604, + 0.6476469039916992, + 0.6576780676841736, + -0.25829464197158813 + ] + ], + "camera1": [ + [ + 0.03474486991763115, + 0.5941803455352783, + 1.9357757568359375, + 0.02690669521689415, + 0.00041752838296815753, + 0.2595037519931793, + 0.9653671383857727 + ], + [ + 0.036351870745420456, + 0.5736538767814636, + 1.9610047340393066, + 0.03151782602071762, + 0.021825838834047318, + 0.26110976934432983, + 0.9645475149154663 + ], + [ + 0.05651431530714035, + 0.5935235619544983, + 1.9483001232147217, + 0.03187085688114166, + 0.0024376828223466873, + 0.2657139003276825, + 0.9635218977928162 + ], + [ + 0.045384034514427185, + 0.5785560011863708, + 1.9625914096832275, + 0.04984012991189957, + 0.013125700876116753, + 0.2612762451171875, + 0.9638871550559998 + ] + ] + } + } + } +} \ No newline at end of file diff --git a/episodes/c9_p019_e010/wrist.mp4 b/episodes/c9_p019_e010/wrist.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..916bd831b6cbcacbf46fb83daec36fec087837db --- /dev/null +++ b/episodes/c9_p019_e010/wrist.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:965578675345ececcadf3808d7db5e9b754b5395d2ff1f8f02df5c17ab04ba41 +size 7031517 diff --git a/episodes/c9_p019_e011/data.npz b/episodes/c9_p019_e011/data.npz new file mode 100644 index 0000000000000000000000000000000000000000..151d6581bc5d22fe83218042de55ff7adcc1adb2 --- /dev/null +++ b/episodes/c9_p019_e011/data.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:f119dcf973da2b6e6e065dbfb49ca0145f47d3ae0874a4fe98ec4ec8a6b7b6f6 +size 187136 diff --git a/episodes/c9_p019_e011/device_events.jsonl b/episodes/c9_p019_e011/device_events.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..09bb023d14dc7e07b8139c70ce619d3bf6a0840d --- /dev/null +++ b/episodes/c9_p019_e011/device_events.jsonl @@ -0,0 +1,36 @@ +{"env_id": 3, "seq": 1, "step": 143, "t": 0.715, "topic": "conveyor_1.belt.station.pick.captured", "source": "conveyor_1.belt", "data": {"rider": "carrier_3"}, "cause": null} +{"env_id": 3, "seq": 2, "step": 143, "t": 0.715, "topic": "conveyor_1.belt.state.changed", "source": "conveyor_1.belt", "data": {"from": "running", "to": "at_station"}, "cause": null} +{"env_id": 3, "seq": 3, "step": 148, "t": 0.74, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_3"}, "cause": null} +{"env_id": 3, "seq": 4, "step": 1129, "t": 5.645, "topic": "conveyor_1.belt.station.pick.arrived", "source": "conveyor_1.belt", "data": {"rider": "carrier_3"}, "cause": null} +{"env_id": 3, "seq": 5, "step": 5817, "t": 29.085, "topic": "a4s_sealer_1.plate_present.present", "source": "a4s_sealer_1.plate_present", "data": {"object": "plate_3"}, "cause": null} +{"env_id": 3, "seq": 6, "step": 6432, "t": 32.16, "topic": "a4s_sealer_1.command.started", "source": "a4s_sealer_1", "data": {"command_id": "task-3-1", "name": "seal", "source": "task"}, "cause": "task-3-1"} +{"env_id": 3, "seq": 7, "step": 6432, "t": 32.16, "topic": "a4s_sealer_1.seal.started", "source": "a4s_sealer_1", "data": {"dwell": 3.3189401033860615}, "cause": "task-3-1"} +{"env_id": 3, "seq": 8, "step": 6432, "t": 32.16, "topic": "a4s_sealer_1.drawer.command.started", "source": "a4s_sealer_1.drawer", "data": {"command_id": "program-3-2", "name": "close", "source": "program:seal"}, "cause": "program-3-2"} +{"env_id": 3, "seq": 9, "step": 6432, "t": 32.16, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "at_out", "to": "moving"}, "cause": null} +{"env_id": 3, "seq": 10, "step": 6432, "t": 32.16, "topic": "a4s_sealer_1.drawer.moving", "source": "a4s_sealer_1.drawer", "data": {"target": 0.3, "goal": "in"}, "cause": "program-3-2"} +{"env_id": 3, "seq": 11, "step": 6851, "t": 34.255, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "moving", "to": "at_in"}, "cause": null} +{"env_id": 3, "seq": 12, "step": 6851, "t": 34.255, "topic": "a4s_sealer_1.drawer.reached", "source": "a4s_sealer_1.drawer", "data": {"position": "in", "q": 0.30000001192092896}, "cause": "program-3-2"} +{"env_id": 3, "seq": 13, "step": 6851, "t": 34.255, "topic": "a4s_sealer_1.drawer.at_in", "source": "a4s_sealer_1.drawer", "data": {"q": 0.30000001192092896}, "cause": "program-3-2"} +{"env_id": 3, "seq": 14, "step": 6851, "t": 34.255, "topic": "a4s_sealer_1.drawer.command.succeeded", "source": "a4s_sealer_1.drawer", "data": {"command_id": "program-3-2", "name": "close", "source": "program:seal", "result": {"position": "in"}}, "cause": "program-3-2"} +{"env_id": 3, "seq": 15, "step": 6851, "t": 34.255, "topic": "labware.plate_3.changed", "source": "labware.plate_3", "data": {"key": "sealed", "value": true}, "cause": "task-3-1"} +{"env_id": 3, "seq": 16, "step": 6851, "t": 34.255, "topic": "a4s_sealer_1.sealed", "source": "a4s_sealer_1", "data": {"plate": "plate_3"}, "cause": "task-3-1"} +{"env_id": 3, "seq": 17, "step": 6851, "t": 34.255, "topic": "a4s_sealer_1.heater.command.started", "source": "a4s_sealer_1.heater", "data": {"command_id": "program-3-3", "name": "run", "source": "program:seal"}, "cause": "program-3-3"} +{"env_id": 3, "seq": 18, "step": 6851, "t": 34.255, "topic": "a4s_sealer_1.heater.state.changed", "source": "a4s_sealer_1.heater", "data": {"from": "ready", "to": "running"}, "cause": null} +{"env_id": 3, "seq": 19, "step": 6851, "t": 34.255, "topic": "a4s_sealer_1.heater.started", "source": "a4s_sealer_1.heater", "data": {"duration": 3.3189401033860615}, "cause": "program-3-3"} +{"env_id": 3, "seq": 20, "step": 7515, "t": 37.575, "topic": "a4s_sealer_1.heater.state.changed", "source": "a4s_sealer_1.heater", "data": {"from": "running", "to": "ready"}, "cause": null} +{"env_id": 3, "seq": 21, "step": 7515, "t": 37.575, "topic": "a4s_sealer_1.heater.finished", "source": "a4s_sealer_1.heater", "data": {"elapsed": 3.3200000000016985}, "cause": "program-3-3"} +{"env_id": 3, "seq": 22, "step": 7515, "t": 37.575, "topic": "a4s_sealer_1.heater.command.succeeded", "source": "a4s_sealer_1.heater", "data": {"command_id": "program-3-3", "name": "run", "source": "program:seal", "result": {"elapsed": 3.3200000000016985}}, "cause": "program-3-3"} +{"env_id": 3, "seq": 23, "step": 7515, "t": 37.575, "topic": "a4s_sealer_1.drawer.command.started", "source": "a4s_sealer_1.drawer", "data": {"command_id": "program-3-4", "name": "open", "source": "program:seal"}, "cause": "program-3-4"} +{"env_id": 3, "seq": 24, "step": 7515, "t": 37.575, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "at_in", "to": "moving"}, "cause": null} +{"env_id": 3, "seq": 25, "step": 7515, "t": 37.575, "topic": "a4s_sealer_1.drawer.moving", "source": "a4s_sealer_1.drawer", "data": {"target": 0.0, "goal": "out"}, "cause": "program-3-4"} +{"env_id": 3, "seq": 26, "step": 7935, "t": 39.675, "topic": "a4s_sealer_1.drawer.state.changed", "source": "a4s_sealer_1.drawer", "data": {"from": "moving", "to": "at_out"}, "cause": null} +{"env_id": 3, "seq": 27, "step": 7935, "t": 39.675, "topic": "a4s_sealer_1.drawer.reached", "source": "a4s_sealer_1.drawer", "data": {"position": "out", "q": 0.0}, "cause": "program-3-4"} +{"env_id": 3, "seq": 28, "step": 7935, "t": 39.675, "topic": "a4s_sealer_1.drawer.at_out", "source": "a4s_sealer_1.drawer", "data": {"q": 0.0}, "cause": "program-3-4"} +{"env_id": 3, "seq": 29, "step": 7935, "t": 39.675, "topic": "a4s_sealer_1.drawer.command.succeeded", "source": "a4s_sealer_1.drawer", "data": {"command_id": "program-3-4", "name": "open", "source": "program:seal", "result": {"position": "out"}}, "cause": "program-3-4"} +{"env_id": 3, "seq": 30, "step": 7935, "t": 39.675, "topic": "a4s_sealer_1.seal.finished", "source": "a4s_sealer_1", "data": {}, "cause": "task-3-1"} +{"env_id": 3, "seq": 31, "step": 7935, "t": 39.675, "topic": "a4s_sealer_1.command.succeeded", "source": "a4s_sealer_1", "data": {"command_id": "task-3-1", "name": "seal", "source": "task"}, "cause": "task-3-1"} +{"env_id": 3, "seq": 32, "step": 8515, "t": 42.575, "topic": "a4s_sealer_1.plate_present.absent", "source": "a4s_sealer_1.plate_present", "data": {"object": "plate_3"}, "cause": null} +{"env_id": 3, "seq": 33, "step": 10280, "t": 51.4, "topic": "conveyor_1.belt.command.started", "source": "conveyor_1.belt", "data": {"command_id": "task-3-5", "name": "release", "source": "task"}, "cause": "task-3-5"} +{"env_id": 3, "seq": 34, "step": 10280, "t": 51.4, "topic": "conveyor_1.belt.station.pick.released", "source": "conveyor_1.belt", "data": {"rider": "carrier_3"}, "cause": "task-3-5"} +{"env_id": 3, "seq": 35, "step": 10280, "t": 51.4, "topic": "conveyor_1.belt.state.changed", "source": "conveyor_1.belt", "data": {"from": "at_station", "to": "running"}, "cause": null} +{"env_id": 3, "seq": 36, "step": 10280, "t": 51.4, "topic": "conveyor_1.belt.command.succeeded", "source": "conveyor_1.belt", "data": {"command_id": "task-3-5", "name": "release", "source": "task", "result": {"state": "running"}}, "cause": "task-3-5"} diff --git a/episodes/c9_p019_e011/env.mp4 b/episodes/c9_p019_e011/env.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..fea50d6084b037366154a2c6d329d25bea001c34 --- /dev/null +++ b/episodes/c9_p019_e011/env.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:cd2af6ac8d4776a07ba8d8264b28dccf826628877beec83ae117adaeaae28436 +size 1346436 diff --git a/episodes/c9_p019_e011/meta.json b/episodes/c9_p019_e011/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..9ccb55a365ad43f7d2e8e9b5c42ef094f786bdfb --- /dev/null +++ b/episodes/c9_p019_e011/meta.json @@ -0,0 +1,32 @@ +{ + "source": "raw/c9_p019/magicsim/11", + "fps": 25, + "frames": 1202, + "kept_ticks": "even", + "video_frames": { + "wrist": 1202, + "env": 1202 + }, + "joint_target_source": "joint_pos_target", + "fk_vs_recorded_eef_max_m": 0.0, + "curobo_joints": [ + "shoulder_pan_joint", + "shoulder_lift_joint", + "elbow_joint", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "joint_order": [ + "shoulder_pan", + "shoulder_lift", + "elbow", + "wrist_1", + "wrist_2", + "wrist_3", + "finger_left", + "finger_right" + ], + "frames_note": "eef / actions in the robot base frame; camera_pose = local pose (wrist: in plate_gripper_base, env: env frame), pos + quat wxyz", + "dr_version": "v2" +} \ No newline at end of file diff --git a/episodes/c9_p019_e011/scene_snapshot.json b/episodes/c9_p019_e011/scene_snapshot.json new file mode 100644 index 0000000000000000000000000000000000000000..56f3a03c0e742cb91f9402e0e16f8ee80a55dfdc --- /dev/null +++ b/episodes/c9_p019_e011/scene_snapshot.json @@ -0,0 +1,1558 @@ +{ + "trajectory_id": 11, + "env_id": 3, + "run_id": "c9_p019", + "task_type": "BioPlateCell", + "success": true, + "timing": { + "fps": 50.0, + "sim_dt": 0.005, + "decimation": 4 + }, + "restore_interface": { + "scene": "scene_manager.reset_to(snapshot['scene'], env_ids=[env_id])", + "robots": "robot_manager.set_state({'robots': snapshot['robots']}, env_ids=[env_id])" + }, + "snapshot": { + "env_id": 3, + "scene": { + "objects": [ + {}, + {}, + {}, + { + "rac_cell": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/rac_cell.usd", + "pose": { + "pos": [ + 0.0, + 0.0, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "physics_material": { + "static_friction": 0.6, + "dynamic_friction": 0.5, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "robot_mount": [ + { + "asset": "Cube", + "pose": { + "pos": [ + 0.0, + 0.0, + 0.9075 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": "color", + "value": [ + 0.55, + 0.56, + 0.58 + ], + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": { + "size": [ + 0.2, + 0.2, + 0.015 + ] + } + }, + "type_specific": {} + } + ], + "plate_rack": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/plate_hotel.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 0.9 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "physics_material": { + "static_friction": 0.6, + "dynamic_friction": 0.5, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "hotel_plate": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_6_clear/plate_6_clear.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 0.9605 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_96_clear/plate_96_clear.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.0285 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_96_clear/plate_96_clear.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.0965 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/pcr_96_blue/pcr_96_blue.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.1645 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + }, + { + "asset": "$MAGICSIM_ASSETS/Bio/CAD/plates/plate_384_white/plate_384_white.usd", + "pose": { + "pos": [ + -0.6, + 0.02, + 1.2325 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "a4s_sealer": [ + { + "asset": "$MAGICSIM_ASSETS/Articulated/A4SSealer/Object.usd", + "pose": { + "pos": [ + 0.4907093048095703, + 0.12754058837890625, + 0.8999999761581421 + ], + "ori": [ + 0.7251709699630737, + 0.0, + 0.0, + -0.6885688304901123 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "articulation", + "solver_position_iteration_count": 16.0, + "solver_velocity_iteration_count": 1.0, + "enabled_self_collisions": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "joint_position": [ + 0.0 + ], + "joint_velocity": [ + 0.0 + ], + "linear_velocity": [ + 0.0, + 0.0, + 0.0 + ], + "angular_velocity": [ + 0.0, + 0.0, + 0.0 + ] + } + } + ], + "conveyor": [ + { + "asset": "Cube", + "pose": { + "pos": [ + 0.15, + 0.45, + 0.9 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "conveyor", + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9 + }, + "ratio": 1.0 + }, + "primitive_params": { + "size": [ + 2.4, + 0.076, + 0.03 + ] + }, + "conveyor": { + "speed": 0.1978919052952422, + "direction": [ + 1.0, + 0.0, + 0.0 + ], + "enabled": true, + "drive": "surface_velocity", + "lines": null, + "station_line": null, + "riders": [ + "carrier" + ], + "stations": { + "pick": { + "position": -0.10635365784155393, + "slow_distance": 0.03, + "slow_speed": 0.03 + } + }, + "rails": { + "height": 0.01, + "thickness": 0.01, + "gap": 0.001, + "friction": 0.05 + }, + "legs": 0.87, + "loop": { + "radius": 0.35, + "side": "left", + "curve_extra_width": 0.0, + "segments": 18, + "curve_rails": "both" + }, + "snap_distance": 0.1, + "junction_snap": 0.02, + "collision_approximation": "auto", + "plate_mass": 1.0, + "lift_drop": 0.004, + "accel": 0.0, + "decel": 0.0, + "drive_damping": 1000000.0, + "drive_max_force": 1000000000.0 + } + }, + "type_specific": { + "controller": { + "state": "at_station", + "speed": 0.1978919052952422, + "holds": [], + "station": "pick", + "rider": "carrier_3", + "arrived": true, + "applied_speed": 0.0 + } + } + } + ], + "carrier": [ + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + 0.13376331329345703, + 1.1499967575073242, + 0.8999999761581421 + ], + "ori": [ + 4.211338091408834e-05, + 2.0956191448817663e-08, + 6.115136397255583e-09, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -1.4809518056324578e-09, + -2.4667337061856642e-09, + 1.1175870895385742e-08 + ], + "angular_velocity": [ + 1.524886528159186e-07, + -1.3346621585696994e-07, + -2.0041859727371047e-08 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + -1.2932405471801758, + 1.047368049621582, + 0.8999999761581421 + ], + "ori": [ + -0.37457606196403503, + -6.454246204157243e-08, + 2.1045156728405345e-08, + 0.9271962642669678 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -1.9074512636052532e-08, + 1.4601017284121554e-08, + 2.9802322387695312e-08 + ], + "angular_velocity": [ + -2.5301783352915663e-06, + -1.97966232917679e-06, + -1.8990185424172523e-07 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + 0.043807029724121094, + 0.4499998092651367, + 0.8999999761581421 + ], + "ori": [ + 1.0, + 1.223801948668779e-09, + -2.3462363163417876e-09, + 4.361704213806661e-06 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 3.1609292960865787e-10, + 1.0280122308969908e-09, + 7.450580596923828e-09 + ], + "angular_velocity": [ + -6.810086006225902e-08, + 3.2834577723406255e-08, + -7.237783261615505e-09 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Conveyor/LoopCarrier/Object.usda", + "pose": { + "pos": [ + 1.574777603149414, + 1.0653934478759766, + 0.8999999761581421 + ], + "ori": [ + 0.34895578026771545, + 8.13149227951726e-08, + -8.687435126830678e-08, + 0.9371392130851746 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "mass": 0.5, + "physics_material": { + "static_friction": 0.9, + "dynamic_friction": 0.9, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 1.0115165371971102e-09, + 2.0093049446501254e-10, + -3.725290298461914e-09 + ], + "angular_velocity": [ + -1.795406134874611e-08, + 6.525266371681937e-08, + 3.346492860600847e-09 + ] + } + } + ], + "plate": [ + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_48_clear/Object.usd", + "pose": { + "pos": [ + 0.14182758331298828, + 1.156930923461914, + 0.9179999828338623 + ], + "ori": [ + 0.0698796957731247, + 2.050449410262445e-08, + 8.735323575592702e-09, + 0.9975554943084717 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 1.6207444275551097e-08, + -2.4449514413049656e-08, + 1.564621925354004e-07 + ], + "angular_velocity": [ + 4.3492426016200625e-07, + 1.929694917635061e-06, + 6.119524442738111e-09 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_384_white/Object.usd", + "pose": { + "pos": [ + -1.2839164733886719, + 1.0450811386108398, + 0.9180000424385071 + ], + "ori": [ + -0.46102645993232727, + -6.32866701266721e-08, + 2.849500901902502e-08, + 0.8873864412307739 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -4.0550233393332746e-08, + 6.987158940319205e-08, + -5.152076482772827e-06 + ], + "angular_velocity": [ + -5.904592853767099e-06, + -2.489714461262338e-06, + -1.3367633755478892e-07 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/plate_96_clear/Object.usd", + "pose": { + "pos": [ + 0.037505149841308594, + 0.45495033264160156, + 0.9180000424385071 + ], + "ori": [ + 0.9996206760406494, + 1.2838723417729625e-09, + -2.42692399510247e-09, + -0.027543136849999428 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -7.1402359580474695e-09, + 4.437746614627258e-09, + -5.0924718379974365e-06 + ], + "angular_velocity": [ + 6.161198484733177e-07, + -1.7367655118505354e-06, + -3.439293294604795e-08 + ] + } + }, + { + "asset": "$MAGICSIM_ASSETS/Object/Bio/Microplate/reservoir_12ch/Object.usd", + "pose": { + "pos": [ + 1.5783605575561523, + 1.0644254684448242, + 0.9179999828338623 + ], + "ori": [ + 0.4140225648880005, + 8.592198952328545e-08, + -8.718354393977279e-08, + 0.9102666974067688 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": "asset", + "max_depenetration_velocity": 1.0, + "physics_material": { + "static_friction": 0.5, + "dynamic_friction": 0.45, + "restitution": 0.0, + "friction_combine_mode": "average" + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 7.749218866592855e-08, + -5.3765834451269257e-08, + -1.7695128917694092e-06 + ], + "angular_velocity": [ + 6.523006277348031e-07, + 3.039623607037356e-06, + 1.6762271570769371e-07 + ] + } + } + ], + "deco_hub_west": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/hub_e.usd", + "pose": { + "pos": [ + -3.36, + 0.0, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_hub_east": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/hub_d.usd", + "pose": { + "pos": [ + 3.36, + 0.0, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_hub_back": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/hub_a.usd", + "pose": { + "pos": [ + -3.0, + -2.1, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_bench_east": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/bench_c.usd", + "pose": { + "pos": [ + 2.6, + -2.5, + 0.0 + ], + "ori": [ + 6.123234262925839e-17, + 0.0, + 0.0, + 1.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "deco_bench_gap": [ + { + "asset": "$MAGICSIM_ASSETS/Bio/Lab/deco/bench_b.usd", + "pose": { + "pos": [ + -0.1, + -2.9, + 0.0 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": false, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ] + } + ], + "devices": { + "hub": [ + null, + null, + null, + { + "t": 3.5599999999999463, + "step": 712, + "counter": 0, + "devices": { + "a4s_sealer_1": { + "mode": "auto", + "units": { + "drawer": { + "state": "at_out", + "active": null, + "target": 0.0, + "goal_name": "out", + "profile": null, + "q_start": null, + "reversing": false, + "blocked_for": 0.0, + "settled_for": 0.0, + "last_q": 0.0 + }, + "heater": { + "state": "ready", + "active": null, + "duration": 0.0, + "t_start": null, + "elapsed": 0.0 + } + }, + "queues": {}, + "program": null, + "sensors": { + "plate_present": { + "occupants": [], + "pending": {} + } + }, + "interlocks": {} + }, + "conveyor_1": { + "mode": "auto", + "units": { + "belt": { + "state": "at_station", + "active": null, + "controller": { + "speed": 0.1978919052952422, + "holds": [], + "station": "pick", + "rider": "carrier_3", + "arrived": true, + "settle_count": 568, + "released": { + "pick": [] + }, + "last_pos": { + "carrier_1": [ + -0.016236692667007446, + 0.6999967694282532, + 0.0 + ], + "carrier_2": [ + -1.4432405531406403, + 0.597368061542511, + 0.0 + ], + "carrier_3": [ + -0.10619297623634338, + -1.7881393432617188e-07, + 0.0 + ], + "carrier_4": [ + 1.4247775971889496, + 0.6153934597969055, + 0.0 + ] + }, + "command": 0.0 + }, + "belt": { + "target_speed": 0.0, + "command_speed": 0.0 + }, + "seen": { + "state": "at_station", + "station": "pick", + "rider": "carrier_3", + "arrived": true + } + } + }, + "queues": {}, + "program": null, + "sensors": {}, + "interlocks": {} + } + }, + "zones": {}, + "labware": { + "plate_1": { + "sealed": false + }, + "plate_2": { + "sealed": false + }, + "plate_3": { + "sealed": false + }, + "plate_4": { + "sealed": false + } + }, + "rules": {}, + "records": [], + "bus": { + "seq": 3, + "queue": [] + } + } + ], + "drives": [ + null, + null, + null, + {} + ] + }, + "artifacts": [ + {}, + {}, + {}, + { + "ceiling": { + "type": "rect", + "pose": { + "pos": [ + -0.3811550000947325, + 0.06432049911797189, + 2.854549975657394 + ], + "ori": [ + 10.203842298016827, + -4.376074209868918, + 26.242889462674825 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "color_temperature": 3996.221899471383, + "color": [ + 0.955891084560424, + 0.9414949219065148, + 0.8979755242198245 + ], + "intensity": 12340.678628980528, + "width": 2.3003452563335802, + "height": 0.9008446236311872 + } + }, + "key": { + "type": "disk", + "pose": { + "pos": [ + 1.169084636560442, + -0.4470299504023064, + 2.5724452898892136 + ], + "ori": [ + -3.560700897999645, + -26.966961523257336, + 30.33754753603739 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "color_temperature": 3281.261836681907, + "color": [ + 0.812490532444929, + 0.9582370797491593, + 0.812426117301325 + ], + "intensity": 10507.563367072818, + "radius": 0.21224955442224666 + } + } + } + ], + "background": { + "type": "dome", + "pose": { + "pos": null, + "ori": null, + "scale": null + }, + "dr": { + "intensity": 526.3395730628298, + "texture": null, + "color": [ + 0.92, + 0.94, + 0.96 + ] + } + } + }, + "robots": { + "UR5e": { + "root_pose": [ + [ + 11.0, + -11.0, + 0.9150000214576721, + 1.0, + 0.0, + 0.0, + 0.0 + ], + [ + 11.0, + 11.0, + 0.9150000214576721, + 1.0, + 0.0, + 0.0, + 0.0 + ], + [ + -11.0, + -11.0, + 0.9150000214576721, + 1.0, + 0.0, + 0.0, + 0.0 + ], + [ + -11.0, + 11.0, + 0.9150000214576721, + 1.0, + 0.0, + 0.0, + 0.0 + ] + ], + "root_vel": [ + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + ], + "joint_pos": [ + [ + 2.8056533336639404, + -1.6904081106185913, + 1.7434254884719849, + -1.623292088508606, + -1.5695720911026, + 4.378102779388428, + 0.017999986186623573, + 0.017999986186623573 + ], + [ + 2.737067937850952, + -1.556928038597107, + 2.4108617305755615, + -2.4250173568725586, + -1.5705134868621826, + 4.305225849151611, + 0.01800001971423626, + 0.017999978736042976 + ], + [ + 2.7566206455230713, + -1.7601444721221924, + 2.1572561264038086, + -1.9680017232894897, + -1.570974588394165, + 4.328416347503662, + 0.01800002157688141, + 0.017999976873397827 + ], + [ + 0.9141038656234741, + -1.7193962335586548, + 2.0904977321624756, + -1.941900610923767, + -1.5707999467849731, + 2.4849016666412354, + 0.017999999225139618, + 0.017999999225139618 + ] + ], + "joint_vel": [ + [ + -6.8119270508759655e-06, + 3.405934421607526e-06, + -1.0725982602100004e-11, + 3.405976940484834e-06, + 4.028829136623613e-13, + 1.3623912309412844e-05, + 1.819289963123083e-07, + 1.8192829998042725e-07 + ], + [ + -0.008729901164770126, + -0.02043669857084751, + 0.02085563726723194, + -0.00048607963253743947, + -4.7189278120640665e-06, + -0.008855878375470638, + -3.702069761857274e-06, + 3.701976311276667e-06 + ], + [ + -0.007654787041246891, + -0.022526880726218224, + 0.017222940921783447, + 0.004830280784517527, + -5.4083875511423685e-06, + -0.007793203927576542, + -3.5020227642235113e-06, + 3.5021300845983205e-06 + ], + [ + 2.8427374034199114e-38, + -1.9060585026011022e-38, + 1.7718639959441147e-38, + -6.195970527886405e-37, + 5.883978263140991e-38, + -2.8141481121507565e-38, + 6.015610635685807e-38, + -6.418941327997947e-38 + ] + ] + } + }, + "cameras": { + "cameras": { + "camera0": [ + [ + 0.04869993031024933, + -0.003279778640717268, + -0.03143429383635521, + -0.2759031057357788, + 0.6499651670455933, + 0.6437324285507202, + -0.29501068592071533 + ], + [ + 0.05015696957707405, + 0.0033856267109513283, + -0.03158779814839363, + -0.2839620113372803, + 0.6415968537330627, + 0.6527087092399597, + -0.28581535816192627 + ], + [ + 0.05208428576588631, + 0.0019311602227389812, + -0.028160974383354187, + -0.2628660798072815, + 0.6567091345787048, + 0.6509484648704529, + -0.27550074458122253 + ], + [ + 0.05082060024142265, + 0.001961727859452367, + -0.030531296506524086, + -0.29099947214126587, + 0.6368880271911621, + 0.6570717096328735, + -0.2791946828365326 + ] + ], + "camera1": [ + [ + 0.06719697266817093, + 0.5649887919425964, + 1.973844051361084, + 0.03577404096722603, + 0.024012349545955658, + 0.2845747768878937, + 0.957685112953186 + ], + [ + 0.036351870745420456, + 0.5736538767814636, + 1.9610047340393066, + 0.03151782602071762, + 0.021825838834047318, + 0.26110976934432983, + 0.9645475149154663 + ], + [ + 0.05651431530714035, + 0.5935235619544983, + 1.9483001232147217, + 0.03187085688114166, + 0.0024376828223466873, + 0.2657139003276825, + 0.9635218977928162 + ], + [ + 0.04504140838980675, + 0.5629408955574036, + 1.9512664079666138, + 0.054843444377183914, + 0.015525765717029572, + 0.28039854764938354, + 0.958189845085144 + ] + ] + } + } + } +} \ No newline at end of file diff --git a/episodes/c9_p019_e011/wrist.mp4 b/episodes/c9_p019_e011/wrist.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..f70f9862e83d35517dd3921ba891982e47c7d517 --- /dev/null +++ b/episodes/c9_p019_e011/wrist.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:c7be640a771347eada8344278ec9f090b2991b8b92cd9650a6f00815d2b60651 +size 7313528 diff --git a/index/episodes.csv b/index/episodes.csv index d4eba2835dbb755cd6833f4faaee0da2877b46f0..2019b256f340a42b4346f28603d7abcfe328df50 100644 --- a/index/episodes.csv +++ b/index/episodes.csv @@ -4109,3 +4109,14 @@ c6_p013_e025,1,True,0.05062389373779297,0.44889354705810547,-0.00500148183700645 c6_p013_e026,2,True,0.02552509307861328,0.4470987319946289,0.0020403436062873676,-0.01138203376217094,2.7695984218662204,plate_1536_black,0.478240966796875,0.061928749084472656,-94.39775395472809,0.2881862026115196,716.3271181298323,rect,-0.15000508642999927,0.4904739652437343,2.764892869172566,9400.264713721475,4180.093123639712,disk,-1.12501621837557,1.1686677787436135,2.7603440202893212,4812.48386123327,4465.89040993199,0.05264926329255104,-0.0012426194734871387,-0.02985146827995777,-0.2789393961429596,0.6449578404426575,0.6574969291687012,-0.2718822956085205,0.05671459436416626,0.6018974184989929,1.9621195793151855,0.03257996216416359,0.0067270477302372456,0.2662141025066376,0.9633396863937378,1173,1,,2.0262393951416016,0.2661750298057487,0.0,0.007343398407101631,0.5447570332480819,12,release,0.04263395071029663,"Pre-grasping the small plate, moving the arm toward it; the ",v2,True,False c7_p015_e020,1,True,-0.1079702377319336,0.4473896026611328,-0.014326232974249134,0.010550399854292456,5.958799115183382,pcr_384_red,0.4789695739746094,0.08251476287841797,-93.08367378637153,0.2970074353093474,1028.0693120869357,rect,0.8111989525363367,0.5830396877210462,3.1075121174582345,7162.592322135329,5506.825161081754,sphere,-0.9448940743653096,1.0006240851225476,1.809494580692952,4430.180353795618,5122.707620632592,0.04932275414466858,-0.0013525272952392697,-0.028770288452506065,-0.27636563777923584,0.6458256244659424,0.6542641520500183,-0.2801244556903839,0.0672474279999733,0.5693768858909607,1.966483235359192,0.03533012792468071,0.006427648011595011,0.28280404210090637,0.9585052728652954,1234,1,,2.095313549041748,0.33281225325936137,0.0,0.006809469312429428,0.5153970826580226,12,release,0.04226112365722656,"Pre-grasping the small plate, moving the arm toward it; the ",v2,True,False c7_p015_e021,0,True,0.029911041259765625,0.4499998092651367,0.014390993054281362,0.0025965912564336765,0.8924541806933917,plate_6_clear,0.5013265609741211,0.12685012817382812,-86.2240741152387,0.16515893302905726,447.1366844478555,rect,-0.23394194491713943,0.1691052564263219,3.117272556149864,11152.998642322313,7037.027271427627,sphere,0.9172613158031964,-0.024810132606723823,1.9800932551109414,7593.6254385835,5556.728292675842,0.049414049834012985,-0.00031013769330456853,-0.02890719100832939,-0.2826409637928009,0.6431808471679688,0.6591899991035461,-0.2681436240673065,0.04536691680550575,0.5713446140289307,1.9539766311645508,0.03157634288072586,-0.0013743893941864371,0.25604870915412903,0.9661470651626587,1219,1,,2.085451126098633,0.2524659059336425,0.0,0.007341259159147739,0.51681706316653,12,release,0.042159080505371094,"Pre-grasping the small plate, moving the arm toward it; the ",v2,True,False +c6_p013_e027,0,True,0.017373085021972656,0.4500007629394531,0.0011619483446574312,-0.007356735409654867,-2.8868665310790504,plate_6_clear,0.4951019287109375,0.0760946273803711,-87.26208570395877,0.2335680347777245,1421.652522684857,rect,0.7161071511455855,0.2932784428408558,3.1748428751902624,11224.883277214802,4684.781945306941,sphere,-0.031800491106161344,-1.17186565673599,2.66533396703779,8506.913136648716,5847.755314416268,0.05003722757101059,0.000780946749728173,-0.030370019376277924,-0.2935868501663208,0.6499580144882202,0.6410808563232422,-0.283507764339447,0.03135599568486214,0.6010205149650574,1.958905816078186,0.034561194479465485,0.010795589536428452,0.28549066185951233,0.9576972723007202,1272,1,,2.0922529697418213,0.2969108072704521,0.0,0.007382415235042572,0.5070754716981132,12,release,0.04271125793457031,"Pre-grasping the small plate, moving the arm toward it; the ",v2,True,False +c7_p015_e022,2,True,-0.10507869720458984,0.44727325439453125,3.28068245007126e-05,-0.010382117600298968,3.6570854092992136,plate_384_black,0.4706087112426758,0.09150505065917969,-88.49097733404378,0.2453754842653013,447.1366844478555,rect,-0.23873776665577418,-0.43467487484218637,2.8934039721798177,6441.813109795457,3297.8821144326116,sphere,-1.5867749762712886,1.3783910830550739,2.3806864695433956,7318.582445039626,3623.5567306391526,0.04995042830705643,-0.0022248460445553064,-0.028975769877433777,-0.2885047197341919,0.6397977471351624,0.6535475850105286,-0.2833714783191681,0.04763740301132202,0.5952988266944885,1.9673422574996948,0.04814846068620682,0.00875834934413433,0.2878819406032562,0.9564146399497986,1216,1,,2.067202568054199,0.28856875110272295,0.0,0.007417856715619564,0.5731907894736842,12,release,0.04216930270195007,"Pre-grasping the small plate, moving the arm toward it; the ",v2,True,False +c7_p015_e023,3,True,0.07551383972167969,0.45000267028808594,0.007953983329721179,-0.004360533372924354,-2.282891327886688,reservoir_12ch,0.5025548934936523,0.05330467224121094,-93.69862331648446,0.28004903949291055,447.1366844478555,rect,0.7421347219502074,0.4024484792315087,2.7548466321946656,8480.215797216431,4208.245266279177,sphere,-1.2295791626367851,0.8368545180058156,2.2436104620976827,7297.19475010932,4117.333027096337,0.052518922835588455,0.0010205572471022606,-0.028387177735567093,-0.28713130950927734,0.6463807821273804,0.6501322388648987,-0.27762484550476074,0.06671426445245743,0.5839920043945312,1.9592188596725464,0.03813035041093826,0.023655222728848457,0.26060906052589417,0.9644010663032532,1242,1,,2.138803720474243,0.2778272466197411,0.0,0.007467562798410654,0.5193236714975845,12,release,0.042672157287597656,"Pre-grasping the small plate, moving the arm toward it; the ",v2,True,False +c8_p015_e000,0,True,-0.0748453140258789,0.4500703811645508,0.013064448912965654,0.00774387287652808,-10.747166094466138,pcr_96_blue,0.4705057144165039,0.12225914001464844,-93.49630103581289,0.20423259378174935,463.8315345497469,rect,-0.02358065148142441,0.06758660453142007,2.977429658253845,7160.862421233605,6337.276860556163,disk,0.8747728156745183,1.2531732550618082,2.7245282537575353,10781.888894816073,7241.297604946045,0.04839583858847618,-0.0034787370823323727,-0.02694498933851719,-0.27454039454460144,0.6554571986198425,0.6463910341262817,-0.2778165638446808,0.07392950356006622,0.5620927214622498,1.925349235534668,0.0467197448015213,-0.0020974865183234215,0.26493045687675476,0.9631327390670776,1276,1,,2.151080846786499,0.2675394678936652,0.0,0.006904308218508959,0.4992163009404389,12,release,0.04213094711303711,"Pre-grasping the small plate, moving the arm toward it; the ",v2,True,False +c8_p015_e001,1,True,-0.0885019302368164,0.4467620849609375,-0.007286593763959935,-0.011565831538899413,12.120764980938048,plate_96_white,0.4758901596069336,0.08242988586425781,-91.07517813999307,0.21735035104197722,463.8315345497469,rect,0.3975671853400137,0.13805976548183918,2.6891637177559637,4912.760906565177,3539.233772446267,disk,0.5172682415088801,0.3018534146358782,2.0755704410403553,4044.8625965621586,3420.7342090549546,0.04919828847050667,-0.0014518777607008815,-0.02944987267255783,-0.2785111665725708,0.6540380716323853,0.6510397791862488,-0.2661069929599762,0.027465179562568665,0.5654304623603821,1.9470843076705933,0.04367529973387718,0.007694880943745375,0.26933079957962036,0.962026059627533,1174,1,,2.0278146266937256,0.32938983080279927,0.0,0.007257519289851189,0.5468483816013628,12,release,0.042383670806884766,"Pre-grasping the small plate, moving the arm toward it; the ",v2,True,False +c8_p015_e002,3,True,-0.09817218780517578,0.4499998092651367,-0.007241247881142943,-0.0037593864731016832,6.777970273482055,plate_384_white,0.46161746978759766,0.08483600616455078,-93.4553000116265,0.15287437402826212,463.8315345497469,rect,0.37589412260671884,0.41745093972659153,2.6786436770523916,14425.63799940557,3340.9327326993475,disk,-1.0881643565523829,0.2957498773890306,2.7481166910812025,5232.058438787051,4288.0427452627355,0.05324116721749306,-0.0007328189094550908,-0.03297720476984978,-0.27004188299179077,0.6487219929695129,0.6547346711158752,-0.2784953713417053,0.06985415518283844,0.5945490002632141,1.9402295351028442,0.030959274619817734,0.007318782154470682,0.285320520401001,0.957904040813446,1229,1,,2.0744614601135254,0.266199392453052,0.0,0.007422344759106636,0.5174938974776241,12,release,0.0422518253326416,"Pre-grasping the small plate, moving the arm toward it; the ",v2,True,False +c8_p015_e003,2,True,-0.07760906219482422,0.44720458984375,-0.0005582257017485829,-0.009478241521937658,2.5191316317831536,plate_384_black,0.5213470458984375,0.08469390869140625,-93.88218841504512,0.18289370542270644,463.8315345497469,rect,0.1787080949141181,-0.46571702559140077,2.7413572359866594,10818.252687695065,6121.357142940659,disk,0.7383325387500652,-0.7781168948038804,2.351517455503679,8525.607085778462,5551.0002033598,0.050391342490911484,9.188197873299941e-05,-0.03426622599363327,-0.28490543365478516,0.6439028978347778,0.649681806564331,-0.2865859866142273,0.06348613649606705,0.5693833231925964,1.9389934539794922,0.04901990666985512,0.022325867787003517,0.28392934799194336,0.9573310613632202,1262,1,,2.0743160247802734,0.27110425343722366,0.0,0.007418026216328144,0.5079239302694136,12,release,0.04204392433166504,"Pre-grasping the small plate, moving the arm toward it; the ",v2,True,False +c9_p019_e008,0,True,0.02643299102783203,0.45000171661376953,0.005167126340740229,-0.004712928122336132,-3.0200272353316677,plate_96_black,0.5144157409667969,0.09686946868896484,-89.41839473485591,0.23879853475709348,526.3395730628298,rect,-0.47969223806080835,0.5093291010746548,2.6533933958065448,7012.322089586425,3256.58587691405,sphere,1.5939148156863054,1.5495704326602568,2.5789322179332976,7503.030251792932,7270.66191801048,0.04882659390568733,-0.0014005962293595076,-0.029733367264270782,-0.2747712731361389,0.6510211229324341,0.6454637050628662,-0.2899117171764374,0.06719697266817093,0.5649887919425964,1.973844051361084,0.03577404096722603,0.024012349545955658,0.2845747768878937,0.957685112953186,1236,1,,2.0949132442474365,0.2741566005209104,0.0,0.007253184914588928,0.5137540453074434,12,release,0.04217708110809326,"Pre-grasping the small plate, moving the arm toward it; the ",v2,True,False +c9_p019_e009,2,True,-0.10400199890136719,0.4471397399902344,-0.0027951468183339823,-0.006305972027083715,1.4154387934349302,plate_24_clear,0.526087760925293,0.08208084106445312,-87.08310295375541,0.22417855429179506,526.3395730628298,rect,0.5177262071403418,0.5550069594769682,2.7895288246239702,14948.577315743596,6319.641659246757,sphere,-0.3377818811224993,-1.1696483499771757,1.9343811455449345,2549.3706486481306,4290.434498936367,0.046908631920814514,0.00030292486189864576,-0.026355013251304626,-0.2670961320400238,0.6536597609519958,0.6489945650100708,-0.28318658471107483,0.05651431530714035,0.5935235619544983,1.9483001232147217,0.03187085688114166,0.0024376828223466873,0.2657139003276825,0.9635218977928162,1252,1,,2.1359076499938965,0.27709129212117795,0.0,0.007289275527000427,0.5559105431309904,12,release,0.0422402024269104,"Pre-grasping the small plate, moving the arm toward it; the ",v2,True,False +c9_p019_e010,1,True,0.06787300109863281,0.4471254348754883,-0.004686206926613696,-0.0009952362674737199,4.339100559601519,plate_96_white,0.46865272521972656,0.1265573501586914,-88.40855080820758,0.1782038867262001,1486.622596738123,rect,0.21012376863577964,-0.2101573550344309,2.7482654747093713,4285.954450312351,4130.938781664295,sphere,-1.5228956199253008,0.34928058901543335,1.8021768051405234,8882.22826813664,2875.998059791124,0.04942247271537781,0.00025340256979689,-0.030471496284008026,-0.2735835909843445,0.6530983448028564,0.647704541683197,-0.2812355160713196,0.036351870745420456,0.5736538767814636,1.9610047340393066,0.03151782602071762,0.021825838834047318,0.26110976934432983,0.9645475149154663,1274,1,,2.0645525455474854,0.32885886645620194,0.0,0.007304077036678791,0.5039246467817896,12,release,0.04228627681732178,"Pre-grasping the small plate, moving the arm toward it; the ",v2,True,False +c9_p019_e011,3,True,0.043807029724121094,0.4499998092651367,-0.006301836697135377,0.004950578350148561,-3.1571101957150347,plate_96_clear,0.4907093048095703,0.12754058837890625,-87.03385172275225,0.1978919052952422,526.3395730628298,rect,-0.3811550000947325,0.06432049911797189,2.854549975657394,12340.678628980528,3996.221899471383,disk,1.169084636560442,-0.4470299504023064,2.5724452898892136,10507.563367072818,3281.261836681907,0.05082060024142265,0.001961727859452367,-0.030531296506524086,-0.29099947214126587,0.6368880271911621,0.6570717096328735,-0.2791946828365326,0.04504140838980675,0.5629408955574036,1.9512664079666138,0.054843444377183914,0.015525765717029572,0.28039854764938354,0.958189845085144,1202,1,,2.0952324867248535,0.26234100968492685,0.0,0.007307898718863726,0.5374376039933444,12,release,0.04230010509490967,"Pre-grasping the small plate, moving the arm toward it; the ",v2,True,False